A new navigation strategy for underwater robot in reactor pool combined propeller speed detection and dynamics analysis with sonar data correction

Dong, Mingjie; Chou, Wu; Yao, Guodong

doi:10.1080/00223131.2017.1372229

Cited by 14 publications

(5 citation statements)

References 15 publications

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“…In 2017, the navigation compensation of an ROV was presented through the comparison of data extracted from a sonar with the use of the dead reckoning methodology and its compensated error [47], which details the use of the sonar when the ROV does not have any movement due to the interference that occurs with the operation of the engines, for its previous compensation. ere are passive sonar systems, in which hydrophone-based communication participates in points not so far away between the robot and a boat or surface, giving sound pulses to find the distance between both objects and calculate the angle of the sound source.…”

Section: Navigation Instrumentsmentioning

confidence: 99%

Review on Unmanned Underwater Robotics, Structure Designs, Materials, Sensors, Actuators, and Navigation Control

Neira¹,

Sequeiros²,

Huamani³

et al. 2021

Journal of Robotics

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Since its beginning, around the 50s decade, until present days, the area of unmanned underwater vehicles (UUV) has considerably grown through time; those have been used for many tasks and applications, from bomb searching and recovery to sea exploration. Initially, these robots were used mainly for military and scientific purposes. However, nowadays, they are very much extended into civils, and it is not hard to find them being used for recreation. In this context, the present research is an effort to make a walkthrough of evolution in this area, showing a diversity of structure designs, used materials, sensor and instrumentation technologies, kinds and the number of actuators employed, navigation control techniques, and what is new in development trends. The paper gives a clear starting point for those who are initializing into this research area; also, it brings some helpful knowledge for those who already have experience.

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Section: Navigation Instrumentsmentioning

confidence: 99%

Review on Unmanned Underwater Robotics, Structure Designs, Materials, Sensors, Actuators, and Navigation Control

Neira¹,

Sequeiros²,

Huamani³

et al. 2021

Journal of Robotics

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show abstract

“…To ensure relatively high precision navigation of underwater remote-operated vehicle (ROV) in the reactor pool of NPP, a new navigation algorithm combining the propellers' rotating speed detection and hydrodynamics analysis to deduce a position of the ROV and correcting deduced position by using sonar data is proposed [2].…”

Section: Editorial Summarymentioning

confidence: 99%

Recent activities in the field of reactor instrumentation and control human-machine system in 2017

Kawarabayashi

Matsuzaki

Ujita³

2019

Journal of Nuclear Science and Technology

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“…Remotely operated underwater vehicle (ROV) has been widely used in oceanographic mapping, marine resources development, deep-sea salvage operation, nuclear power plant detection, and other fields because of its good adaptability, flexible movement, and strong operation ability. 1,2 ROV is usually equipped with several thrusters. The control system in the ROV realizes the multi-degree-of-freedom (m-DoF) motion control by adjusting the speed of the thrusters.…”

Section: Introductionmentioning

confidence: 99%

Multistep thrust allocation method based on priority idea for remotely operated underwater vehicle with horizontal thrusters configured as X shape

Sun

Xie

et al. 2022

International Journal of Advanced Robotic Systems

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The horizontal thrusters located as X shape is a commonly used configuration in remotely operated underwater vehicle (ROV). To improve the motion performance of the remotely operated underwater vehicle with this configuration for some typical operation tasks, a multistep thrust allocation method based on priority idea is proposed. Firstly, the thrust allocation result of every single force/moment among the horizontal thrusters is obtained by using a piecewise calculation method. Then, a thrust allocation function of multiple forces and moment is constructed, transforming the thrust allocation problem into a multiparameter optimization problem. The objective function of the optimization problem is established based on priority idea, and limits of the thrusters are considered as constraints. Finally, a thrust redistribution method is adopted in order to further utilize the unsaturated thrusters in the propulsion system. Simulation results show that the proposed thrust allocation method has various advantages over the pseudo-inverse method, which makes the remotely operated underwater vehicle perform perfectly in the given operation task. The proposed method has important practical value and application prospects.

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A new navigation strategy for underwater robot in reactor pool combined propeller speed detection and dynamics analysis with sonar data correction

Cited by 14 publications

References 15 publications

Review on Unmanned Underwater Robotics, Structure Designs, Materials, Sensors, Actuators, and Navigation Control

Review on Unmanned Underwater Robotics, Structure Designs, Materials, Sensors, Actuators, and Navigation Control

Recent activities in the field of reactor instrumentation and control human-machine system in 2017

Multistep thrust allocation method based on priority idea for remotely operated underwater vehicle with horizontal thrusters configured as X shape

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