Design and Modeling of an Experimental ROV with Six Degrees of Freedom

Kabanov, Aleksey; Kramar, Vadim; Ermakov, Igor

doi:10.3390/drones5040113

Cited by 18 publications

(7 citation statements)

References 25 publications

(34 reference statements)

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“…Table 1 tabulates the power distribution for each component and the tether power loss due to temperature. The table shows that the power consumption is lower than the available power [2].…”

Section: Power Distributionmentioning

confidence: 97%

“…To overcome these challenges, remotely operated vehicles (ROVs) have gained popularity among governmental agencies and commercial companies as they can undertake complex missions without risking human lives [1]. ROVs are often equipped with cameras, sensors, and manipulator's arms, allowing operators to remotely navigate and interact with the underwater environment [2][3][4][5][6]. They are operated from a surface vessel or a control room onshore, using a tether that provides power and communication between the vehicle and the operator.…”

Section: Introductionmentioning

confidence: 99%

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Design and Implementation of a Six-Degrees-of-Freedom Underwater Remotely Operated Vehicle

et al. 2023

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In recent decades, there has been considerable interest in developing underwater remotely operated vehicles (ROVs) due to their vital role in exploring ocean depths to perform missions in various applications, including offshore oil and gas, military and defense, scientific research, and aquaculture. To this end, researchers must consider multiple aspects to develop ROVs, such as general design, power and thrust system, navigation and control, and obstacle avoidance. Accordingly, this paper proposes an integrated framework for designing and implementing an ROV prototype, considering the mechanical, electrical, and software systems. Eventually, image processing was implemented using Python to examine the ROV’s capabilities in performing underwater missions. The proposed design employs six thrusters to provide controllability of the ROV in six-degrees-of-freedom (DOF). We coated the track width of the printed circuit board (PCB) with a composite mixture of tin, silver, and gold to resist corrosion and harsh environments, enhance the circuit performance and solderability, and increase its life span. The PCB was designed to sustain 30 A with 10 cm × 10 cm dimensions. The image processing results revealed that the proposed ROV could successfully identify the benthic species, follow the desired routes, detect cracks, and analyze obstacles.

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“…Table 1 tabulates the power distribution for each component and the tether power loss due to temperature. The table shows that the power consumption is lower than the available power [2].…”

Section: Power Distributionmentioning

confidence: 97%

Section: Introductionmentioning

confidence: 99%

Design and Implementation of a Six-Degrees-of-Freedom Underwater Remotely Operated Vehicle

et al. 2023

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“…In [40], an underwater vehicle using the Blue Robotic's open-source has been developed, which uses 6 thrusters to control 5 DOF through a symmetrical distribution of thrusters, and an IntelSense camera to perform mapping and control tasks through Simultaneous Localization and Mapping (SLAM). In [41], the design of a vehicle that uses a distribution of thrusters and geometries which is different from the conventional is presented. This new configuration in "Y" has 6 DOF controlled by 6 thrusters and is used to conduct inspection tasks.…”

Section: Related Workmentioning

confidence: 99%

“…The matrix Q is positive definite if the gains are chosen as in Equation (41). Therefore, the derivative of the Lyapunov function is negative definite.…”

Section: Super Twisting Control Strategymentioning

confidence: 99%

Development of a 6 Degree of Freedom Unmanned Underwater Vehicle: Design, Construction and Real-Time Experiments

Garcia-Nava,

García-Rangel,

Zamora-Suárez

et al. 2023

JMSE

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This research work describes the development of a fully actuated 6 Degree of Freedom (DOF) Unmanned Underwater Vehicle (UUV), which can be used for environmental monitoring, three-dimensional (3D) reconstruction applications, as well a research platform. The main vehicle’s characteristics are: it is designed to have easy access to all components, it has eight thrusters in a vectored configuration, it is based on an open source ArduSub firmware, it has a vision system composed of a stereo camera and a powerful computer for image processing. The mechatronics design is presented, where the mechanical, electrical and electronics, and the vision system are described. Furthermore, a general dynamic model for 6 DOF based on Fossen’s methodology is presented. In addition, a reduced 3 DOF mathematical model is derived for control purposes, where the roll, pitch and depth dynamics are considered. To show the performance in trajectory tracking tasks, two classical control strategies are introduced: a Super Twisting Controller and a Robust Proportional Derivative (PD) Controller. Finally, in order to exhibit the satisfactory performance of the developed vehicle, some experiments were conducted with the Super Twisting and Robust PD Controllers, as well as a 3D reconstruction of a plastic cover on the pool wall.

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“…Underwater vehicles are divided into two common type classes [1][2][3][4][5]: remotely operated underwater vehicles (ROVs) and unmanned underwater vehicles (UUVs) [6][7][8][9][10]. The first type of UV requires operator control from an on-surface sea vessel.…”

Section: Introductionmentioning

confidence: 99%

Cooperative Control of Underwater Vehicle–Manipulator Systems Based on the SDC Method

Kabanov

Kramar

Lipko

et al. 2022

Sensors

Self Cite

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The paper considers the problem of cooperative control synthesis for a complex of underwater vehicle–manipulator systems (UVMS) to perform the work of moving a cargo along a given trajectory. Here, we used the approach based on the representation of nonlinear dynamics models in the form of state space with state-dependent coefficients (SDC-form). That allowed us to apply methods of suboptimal control with feedback based on the state-dependent differential Riccati equation (SDDRE) solution at a finite time interval, providing the change in control intensity with the transient effect of the system matrices in SDC form. The paper reveals two approaches to system implementation: a general controller for the whole system and a set of independent subcontrollers for UVMSs. The results of both approaches are similar; however, for the systems with a small number of manipulators, the common structure is recommended, and for the systems with a large number of manipulators, the approach with independent subcontrollers may be more acceptable. The proposed method of cooperative control was tested on the task of cooperative control for two UVMSs with six-link manipulators Orion 7R. The simulation results are presented in the article and show the effectiveness of the proposed method.

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Design and Modeling of an Experimental ROV with Six Degrees of Freedom

Cited by 18 publications

References 25 publications

Design and Implementation of a Six-Degrees-of-Freedom Underwater Remotely Operated Vehicle

Design and Implementation of a Six-Degrees-of-Freedom Underwater Remotely Operated Vehicle

Development of a 6 Degree of Freedom Unmanned Underwater Vehicle: Design, Construction and Real-Time Experiments

Cooperative Control of Underwater Vehicle–Manipulator Systems Based on the SDC Method

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