Dataset – Experimental Force Data of a Restrained ROV under Waves and Current

Gabl, Roman; Davey, Thomas; Cao, Yu; Li, Qian; Li, Boyang; Walker, Kyle L.; Giorgio-Serchi, Francesco; Aracri, Simona; Kiprakis, Aristides; Stokes, Adam A.; Ingram, David

doi:10.7488/ds/2835

Cited by 3 publications

(3 citation statements)

References 3 publications

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“…However, for rough seas from 6 to 12 • B, corresponding to restricted visibility at sea, a safe passing distance D s of 1 to 3 nm should be assumed. In future works, the components of the disturbance vector from waves, wind and the sea current should be taken into account directly in the mathematical model of the process [22,23].…”

Section: Autonomous Surface Object Control Processmentioning

confidence: 99%

Optimality of Safe Game and Non-Game Control of Marine Objects

Lisowski

2023

Electronics

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The article presents a model of the process of safe and optimal control of an autonomous surface object in a group of encountered objects. An algorithm for determining the optimal and safe trajectory based on a multi-object game model was proposed, and an algorithm for determining the optimal trajectory was proposed for comparative analysis, not taking into account the maneuverability of other objects. Simulation studies of the algorithms made it possible to assess the optimality of the trajectories for various acceptable object strategies. An analysis of the characteristics of the sensitivity of the safe control—assessed with the risk of collision, both on the inaccuracy of navigation data and on the number of possible strategies of objects, was carried out.

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Section: Autonomous Surface Object Control Processmentioning

confidence: 99%

Optimality of Safe Game and Non-Game Control of Marine Objects

Lisowski

2023

Electronics

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“…The results of the experiments with regular waves are presented in Section 3.5. A detailed overview of the specific hydraulic conditions for each individual case is presented in Gabl et al (2020b) and the full data-set is also available (Gabl et al, 2020a).…”

Section: Experimental Conditionsmentioning

confidence: 99%

“…Additional information and analysis of the experiments are available in Gabl et al (2020b). The full data-set is freely accessible via the Edinburgh DataShare (Gabl et al, 2020a).…”

Section: Introductionmentioning

confidence: 99%

Hydrodynamic loads on a restrained ROV under waves and current

et al. 2021

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Experimental Force Data of a Restrained ROV under Waves and Current

Gabl

Davey

Cao

et al. 2020

Data

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Hydrodynamic forces are an important input value for the design, navigation and station keeping of underwater Remotely Operated Vehicles (ROVs). The experiment investigated the forces imparted by currents (with representative real world turbulence) and waves on a commercially available ROV, namely the BlueROV2 (Blue Robotics, Torrance, USA). Three different distances of a simplified cylindrical obstacle (shading effects) were investigated in addition to the free stream cases. Eight tethers held the ROV in the middle of the 2 m water depth to minimise the influence of the support structure without completely restricting the degrees of freedom (DoF). Each tether was equipped with a load cell and small motions and rotations were documented with an underwater video motion capture system. The paper describes the experimental set-up, input values (current speed and wave definitions) and initial processing of the data. In addition to the raw data, a processed dataset is provided, which includes forces in all three main coordinate directions for each mounting point synchronised with the 6DoF results and the free surface elevations. The provided dataset can be used as a validation experiment as well as for testing and development of an algorithm for position control of comparable ROVs.

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Dataset – Experimental Force Data of a Restrained ROV under Waves and Current

Cited by 3 publications

References 3 publications

Optimality of Safe Game and Non-Game Control of Marine Objects

Optimality of Safe Game and Non-Game Control of Marine Objects

Hydrodynamic loads on a restrained ROV under waves and current

Experimental Force Data of a Restrained ROV under Waves and Current

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