Download or read book Development of Open Loop Speed Control System for Remotely Operated Underwater Vehicle ROV Thruster written by and published by . This book was released on 2014 with total page 80 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Development of Remotely Operated Vehicle ROV for Underwater Exploration written by Azizie Asmawi and published by . This book was released on 2009 with total page 110 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis deals with the development of vehicle design, fabrication and testing of the micro class tethered remotely operated vehicle (ROV) for underwater exploration. It will emphasize on the development of tri-thruster ROV. This will be a new type of design where the ROV will have two motors mounted at the front. Its layout is very different from other conventional ROV which have two horizontal motors mounted at the rear. The development accentuate on mechanical approach. The ROV developed will have hydrodynamic features add to it. The prototype is modeled using SOLIDWORKSTM and the further analysis of the model was done using COSMOSFloWorksTM. The quantitative analyses done has determined limiting factor for the ROV as it is desired to be operational in both sea and fresh water for a limited depth. For the fabrication purpose, this project will proceed with PVC pipe as its main component for frame. In methodological section, objective of material selection was to reduce fabrication cost without reducing the performance. The type of onboard control method used simple circuit of double pole double throw (DPDT). Simple circuit were chosen as it is easier to troubleshot and provide more reliability in executing motion compare to complex coding. From COSMOS analysis, the hydrodynamic cover performs very well in decreasing the drag force of developed vehicle. Guided by preliminary result and initial specification, a handmade fabrication will be done to create a prototype to show how this innovative ROV behave underwater, how its drive system response, how the control is functioned and how the motions are perform. The real time testing then runs and the testing bed preferred were surrounding area and control environment. The result was than recorded in video and examination done base on the recorded motion. From real time analysis, the hydrodynamic cover effectively smoothen the prototype motion at underwater and within water surface. The fabricated model can submerge, resurface, move forward and reverse, rotate to left and right. The result of this development will be significantly improved the existing design of ROV and pioneering the future development of remotely operated vehicle for underwater exploration. The fabricated model has installed camera and the first to be equipped with oblique hydrodynamic cover and frontal thruster layout. The development in phrase can be concluded as an innovation of design and invention of layout.
Download or read book Modeling of a Small Remotely Operated Underwater Vehicle for Autonomous Navigation and Control written by Wilmer Rustrian and published by . This book was released on 2016 with total page 130 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: Small scale unmanned underwater vehicles provide an opportunity to safely and efficiently complete tasks such as boat hull inspection and subsea development survey. These Remotely Operated Vehicles (ROVs) can be made more efficient if navigating underwater autonomously. This requires the development of highly accurate navigation and control algorithms, which, in turn, require a high-fidelity dynamic model of the vehicle based on first principles and validated by empirical data. In this thesis, a simulation of a dynamics model for a commercially available ROV is developed. Empirical data from open-loop testing is used to generate a second-order transfer function using system identification to validate the simulation model. The transient response characteristics of the experimentally generated transfer function are then utilized to fine-tune the physical parameters in the simulation model. Finally, autopilot systems are designed using classical control theory to enable autonomous control over the attitudes and depth of the underwater vehicle.
Download or read book Advanced Model Predictive Control for Autonomous Marine Vehicles written by Yang Shi and published by Springer Nature. This book was released on 2023-02-13 with total page 210 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a comprehensive overview of marine control system design related to underwater robotics applications. In particular, it presents novel optimization-based model predictive control strategies to solve control problems appearing in autonomous underwater vehicle applications. These novel approaches bring unique features, such as constraint handling, prioritization between multiple design objectives, optimal control performance, and robustness against disturbances and uncertainties, into the control system design. They therefore form a more general framework to design marine control systems and can be widely applied. Advanced Model Predictive Control for Autonomous Marine Vehicles balances theoretical rigor – providing thorough analysis and developing provably-correct design conditions – and application perspectives – addressing practical system constraints and implementation issues. Starting with a fixed-point positioning problem for a single vehicle and progressing to the trajectory-tracking and path-following problem of the vehicle, and then to the coordination control of a large-scale multi-robot team, this book addresses the motion control problems, increasing their level of challenge step-by-step. At each step, related subproblems such as path planning, thrust allocation, collision avoidance, and time constraints for real-time implementation are also discussed with solutions. In each chapter of this book, compact and illustrative examples are provided to demonstrate the design and implementation procedures. As a result, this book is useful for both theoretical study and practical engineering design, and the tools provided in the book are readily applicable for real-world implementation.
Download or read book Recueil factice d articles de presse concernant L o Dinat trap ziste written by and published by . This book was released on with total page 2 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book ROV 86 Remotely Operated Vehicles written by Robert L. Wernli and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 303 pages. Available in PDF, EPUB and Kindle. Book excerpt: There is now an awareness within the industry, particularly as oil companies direct considerable resources towards developing diverless production systems, that a fully integrated approach to equipment design and intervention is necessary to achieve an acceptable system. The requirement for an integrated approach to equipment design and intervention is applicable not only to diverless depths but to all subsea structures, equipment and intervention techniques in whatever depth. Fortunately the inherent dexterity of the diver does not impact so severely on design as other intervention techniques. However the benefits of an integrated approach are still applicable and the use of such simple "diver aids" as cutting guides and subsea markings installed prior to the installation of jackets and subsea equipment can have a significant impact on the cost of intervention. This paper examines the requirements and limitations in designing subsea equipment for Remotely Operated Vehicle (ROV) intervention. For the oil company embarking on the development of a diverless production system, be it totally diverless because of the envisaged water depth or primarily diverless with the possibility of diver back up, the intervention techniques adopted will strongly influence the final system design. The necessity to undertake an extensive development programme to produce the optimum intervention system is very costly, requires long lead times and comprehensive testing particularly where novel solutions are adopted. It is a daunting prospect for even the most progressive of oil companies.
Download or read book Underwater Robotic Vehicles written by Junku Yuh and published by Tsi Press. This book was released on 1995 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt: Workshop held on Maui, Hawaii, on August 14, 1994.
Download or read book The ROV Manual written by Robert D Christ and published by Elsevier. This book was released on 2011-04-01 with total page 327 pages. Available in PDF, EPUB and Kindle. Book excerpt: The ROV Manual: A User Guide for Observation-Class Remotely Operated Vehicles is the first manual to provide a basic ""How To"" for using small observation-class ROVs for surveying, inspection and research procedures. It serves as a user guide that offers complete training and information about ROV operations for technicians, underwater activities enthusiasts, and engineers working offshore. The book focuses on the observation-class ROV and underwater uses for industrial, recreational, commercial, and scientific studies. It provides information about marine robotics and navigation tools used to obtain mission results and data faster and more efficiently. This manual also covers two common denominators: the technology and its application. It introduces the basic technologies needed and their relationship to specific requirements; and it helps identify the equipment essential for a cost-effective and efficient operation. This user guide can be invaluable in marine research and surveying, crime investigations, harbor security, military and coast guarding, commercial boating, diving and fishing, nuclear energy and hydroelectric inspection, and ROV courses in marine and petroleum engineering.*The first book to focus on observation class ROV (Remotely Operated Vehicle) underwater deployment in real conditions for industrial, commercial, scientific and recreational tasks *A complete user guide to ROV operation with basic information on underwater robotics and navigation equipment to obtain mission results quickly and efficiently *Ideal for anyone involved with ROVs complete with self-learning questions and answers
Download or read book Underwater Robots written by Gianluca Antonelli and published by Springer. This book was released on 2013-11-21 with total page 201 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book deals with the state of the art in underwater robotics experiments of dynamic control of an underwater vehicle. The author presents experimental results on motion control and fault tolerance to thrusters’ faults with the autonomous vehicle ODIN. This second substantially improved and expanded edition new features are presented dealing with fault-tolerant control and coordinated control of autonomous underwater vehicles.
Download or read book Computer Aided Control Systems Design written by Cheng Siong Chin and published by CRC Press. This book was released on 2017-12-19 with total page 385 pages. Available in PDF, EPUB and Kindle. Book excerpt: Computer-Aided Control Systems Design: Practical Applications Using MATLAB® and Simulink® supplies a solid foundation in applied control to help you bridge the gap between control theory and its real-world applications. Working from basic principles, the book delves into control systems design through the practical examples of the ALSTOM gasifier system in power stations and underwater robotic vehicles in the marine industry. It also shows how powerful software such as MATLAB® and Simulink® can aid in control systems design. Make Control Engineering Come Alive with Computer-Aided Software Emphasizing key aspects of the design process, the book covers the dynamic modeling, control structure design, controller design, implementation, and testing of control systems. It begins with the essential ideas of applied control engineering and a hands-on introduction to MATLAB and Simulink. It then discusses the analysis, model order reduction, and controller design for a power plant and the modeling, simulation, and control of a remotely operated vehicle (ROV) for pipeline tracking. The author explains how to obtain the ROV model and verify it by using computational fluid dynamic software before designing and implementing the control system. In addition, the book details the nonlinear subsystem modeling and linearization of the ROV at vertical plane equilibrium points. Throughout, the author delineates areas for further study. Appendices provide additional information on various simulation models and their results. Learn How to Perform Simulations on Real Industry Systems A step-by-step guide to computer-aided applied control design, this book supplies the knowledge to help you deal with control problems in industry. It is a valuable reference for anyone who wants a better understanding of the theory and practice of basic control systems design, analysis, and implementation.
Download or read book Coordinated Control of Small Remotely Operated and Submerged Vehicle manipulator Systems written by Serdar Soylu and published by . This book was released on 2011 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Current submerged science projects such as VENUS and NEPTUNE have revealed the need for small, low-cost and easily deployed underwater remotely operated vehicle manipulator (ROVM) systems. Unfortunately, existing small remotely operated underwater vehicles (ROV) are not equipped to complete the complex and interactive submerged tasks required for these projects. Therefore, this thesis is aimed at adapting a popular small ROV into a ROVM that is capable of low-cost and time-efficient underwater manipulation. To realize this objective, the coordinated control of ROVM systems is required, which, in the context of this research, is defined as the collection of hardware and software that provides advanced functionalities to small ROVM systems. In light of this, the primary focus of this dissertation is to propose various technical building blocks that ultimately lead to the realization of such a coordinated control system for small ROVMs. To develop such a coordinated control of ROVM systems, it is proposed that ROV and manipulator motion be coordinated optimally and intelligently. With coordination, the system becomes redundant: there are more degrees of freedom (DOF) than required. Hence, the extra DOFs can be used to achieve secondary objectives in addition to the primary end-effector following task with a redundancy resolution scheme. This eliminates the standard practice of holding the ROV stationary during a task and uncovers significant potential in the small ROVM platform. In the proposed scheme, the ROV and manipulator motion is first coordinated such that singular configurations of the manipulator are avoided, and hence dexterous manipulation is ensured. This is done by using the ROV's mobility in an optimal, coordinated manner. Later, to accommodate a more comprehensive set of secondary objectives, a fuzzy based approach is proposed. The method considers the human pilot as the main operator and the fuzzy machine as an artificial assistant pilot that dynamically prioritizes the secondary objectives and then determines the optimal motion. Several model-based control methodologies are proposed for small ROV/ROVM systems to realize the desired motion produced by the redundancy resolution, including an adaptive sliding-mode control, an upper bound adaptive sliding-mode control with adaptive PID layer, and an H? sliding-mode control. For the unified system (redundancy resolution and controller), a new human-machine interface (HMI) is designed that can facilitate the coordinated control of ROVM systems. This HMI involves a 6-DOF parallel joystick, and a 3-D visual display and a graphical user interface (GUI) that enables a human pilot to smoothly interact with the ROVM systems. Hardware-in-the loop simulations are carried out to evaluate the performance of the coordination schemes. On the thrust allocation side, a novel fault-tolerant thrust allocation scheme is proposed to distribute forces and moments commanded by the controller over the thrusters. The method utilizes the redundancy in the thruster layout of ROVM systems. The proposed scheme minimizes the largest component of the thrust vector instead of the two-norm, and hence provides better manoeuvrability ...
Download or read book Autonomous Control of a Differential Thrust Micro ROV written by Wei Wang and published by . This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Undersea Vehicles and National Needs written by Committee on Undersea Vehicles and National Needs and published by National Academies Press. This book was released on 1996-12-03 with total page 114 pages. Available in PDF, EPUB and Kindle. Book excerpt: The United States faces decisions requiring information about the oceans in vastly expanded scales of time and space and from oceanic sectors not accessible with the suite of tools now used by scientists and engineers. Advances in guidance and control, communications, sensors, and other technologies for undersea vehicles can provide an opportunity to understand the oceans' influence on the energy and chemical balance that sustains humankind and to manage and deliver resources from and beneath the sea. This book assesses the state of undersea vehicle technology and opportunities for vehicle applications in science and industry. It provides guidance about vehicle subsystem development priorities and describes how national research can be focused most effectively.
Download or read book Development of Remotely Operated Underwater Vehicle written by Afiq Fikri Hamid and published by . This book was released on 2013 with total page 44 pages. Available in PDF, EPUB and Kindle. Book excerpt: Underwater Vehicle (UV) contributes in numerous applications in our daily life. Several problems in UV is commonly related to the control system of the vehicle as its application in real life is unpredictable due to changes and effects on or by the vehicle. Throughout this thesis, it will be focus on developing Remotely Operated Underwater Vehicle (ROV), design and apply control system to test the actual behavior of the vehicle. Method used to test the vehicle was by autonomous control, where image processing was applied to observe the vehicle movements. Two types of test was conducted to observe the surge and yaw behavior, therefore overshoot percentage was concluded and compared with simulation. With the design of control system actual behavior was observable and able to be compared with simulation.
Download or read book Control Configured Design for Smooth Highly maneuverable Underwater Vehicles written by Anirban Mazumdar and published by . This book was released on 2013 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: We describe the development of a new type of robotic underwater vehicle designed specifically for the inspection of critical infrastructures such as boiling water reactor nuclear power plants. These applications require vehicles that can access confined areas, maneuver precisely, and move easily in several directions. In addition, external appendages such as fins or propellers should be avoided in order to reduce the risk of damage through collisions. We propose a smooth, spheroid shaped vehicle that uses an internal propulsion system to generate and direct water-jets for propulsion and maneuvering. Drawing inspiration from aeronautics and ocean engineering, we treat this system as a control-configured vehicle (CCV) and design the system specifically for superior control performance. Like many modern CCV aircraft, our robot is designed to be open loop unstable in order to avoid bulky external stabilizers. We refer to this new type vehicle as a Control Configured Spheroidal Vehicle (CCSV). An integrated pump-valve maneuvering system is developed by combining powerful centrifugal pumps with compact Coanda-effect valves. This system is used to design and construct a compact, multi-degree-of-freedom (DOF) prototype vehicle. To achieve precision orientation control, high speed valve switching is exploited using a unique Pulse Width Modulation (PWM) control scheme. Dead zones and other complex nonlinear dynamics of traditional propeller thrusters and water jet pumps are avoided with use of integrated pump-valve control. Three simple control algorithms for coordinating valve switching and pump output are presented and are verified through experiments. Planar control is complicated by the presence of hydrodynamic instability. A dynamic control system that augments stability and achieves high maneuverability is outlined and implemented. A nonlinear hydrodynamic model is formulated, and its linearized dynamics are analyzed to attain insights into how physical design parameters, such as jet direction and body shape, influence controllability and stability. The integrated design method is implemented and shown to achieve high maneuverability and stability. Finally, this thesis concludes with a discussion on broader CCSV design approaches. The vehicle open loop dynamics are studied and a plant zero is shown to significantly influence closed loop performance. Jet angle and vehicle shape are explored through the lens of optimizing this plant zero location, and design recommendations are presented for both ideal and practical situations. These lessons can be used to design new CCSV systems for a variety of scales and applications.
Download or read book Meeting United States Japan Marine Facilities Panel written by United States-Japan Cooperative Program in Natural Resources. Panel on Marine Facilities. Meeting and published by . This book was released on 1991 with total page 548 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book CANCAM Proceedings written by and published by . This book was released on 1989 with total page 514 pages. Available in PDF, EPUB and Kindle. Book excerpt:
