Design of an open source-based control platform for an underwater remotely operated vehicle

Aristizábal, Luis M.; Rúa, Santiago; Gaviria, Carlos Esteban; Osorio, Sandra Patricia; Zuluaga, Carlos A.; Posada, Norha L.; Vásquez, Rafael E.

doi:10.15446/dyna.v83n195.49828

Cited by 19 publications

(8 citation statements)

References 27 publications

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“…For more information about inspection ROVs, the reader may want to refer to (Capocci et al, 2017, Ledezma et al, 2015. (Poore et al, 2016, Aristizábal et al, 2016, Aguirre-Castro et al, 2019 present the development of light remotely operated underwater vehicles, dedicated to education and research. Their work focuses on the development of the vehicle itself and the remote control architecture, which is made open-source by (Aristizábal et al, 2016).…”

Section: Related Workmentioning

confidence: 99%

“…(Poore et al, 2016, Aristizábal et al, 2016, Aguirre-Castro et al, 2019 present the development of light remotely operated underwater vehicles, dedicated to education and research. Their work focuses on the development of the vehicle itself and the remote control architecture, which is made open-source by (Aristizábal et al, 2016). (Clark et al, 2008) describes the integration of multi-sensors on a micro ROV for mapping and localization within maltese cistern systems.…”

Section: Related Workmentioning

confidence: 99%

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A Portable Opto-Acoustic Survey Solution for Mapping of Underwater Targets

Chemisky

Nocerino

Menna

et al. 2021

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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Abstract. During underwater investigations, whatever the mission objective and the type of vehicle, obstacles detection and avoidance are essential tasks. They can either represent a target of interest that is the object of the mission or, on the contrary, represent obstacles that can hinder or affect the navigation of the vehicle. The underwater optical cameras that are usually fitted to underwater vehicles only offer a narrow field of view. The absorption of electromagnetic waves in the first few meters and the diffusion of light by the particles limit the use of these sensors to only a few meters range. The use of acoustic sensors, such as the forward looking sonar (FLS), is then necessary to enlarge the volume in which a target can be detected during the progression of the vehicle. Traditionally, sonars featured mechanical rotating parts, but lately bidirectional forward looking sonar, which directly produces a 2D image of the area, are becoming more and more common. Although these sonars can operate at frequency higher than 1MHz, their spatial resolution remains much lower if compared to current optical sensors and can be insufficient to identify and characterize a target. The combination of these two sensors in an operational scenario is essential to take advantage of each technology. In this paper we describe a low cost, multi-sensor, underwater survey solution for the identification, tracking, and 3D mapping of targets. After a description of the architecture of the opto-acoustics data acquisition and processing platform, we will focus on the calibration of the rigid transformation between the two sensors.

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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

A Portable Opto-Acoustic Survey Solution for Mapping of Underwater Targets

Chemisky

Nocerino

Menna

et al. 2021

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

View full text Add to dashboard Cite

show abstract

“…O investimento nesta tecnologia pode vir através de órgãos governamentais (Chadwick Jr et al, 2019, Carminatto et al, 2020 ou privados (Vásquez et al, 2015, Aristizábal et al, 2016 sendo o ROV adquirido no mercado comercial internacional (Pereira-Filho et al, 2011, Carminatto et al, 2020 ou até mesmo sendo desenvolvido para fins específicos e dedicados (Wahab et al, 2020, Zhou & Zhao, 2020. Tal investimento pode trazer benefícios não somente para as entidades e colaboradores diretamente envolvidos como pode favorecer a sociedade como um todo (NUTECMAR, 2020).…”

Section: Estudos Com Rov Parcerias E Financiamentounclassified

Panorama mundial das pesquisas com robôs subaquáticos remotamente operados (ROV)

Carminatto

Ciongoli

Sabundjian

2021

RSD

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Veículos subaquáticos operados remotamente (ROVs) fazem parte de um grupo de tecnologias que vem sendo cada vez mais utilizados como ferramenta em pesquisas científicas. As aplicações para esses veículos são vastas e o trabalho tem por objetivo apresentar análises de âmbito socioeconômico e ambiental trazendo um panorama mundial sobre as pesquisas científicas que incluem os ROVs. Foi criada uma matriz de dados com pesquisa literária sendo incluídos 78 documentos publicados. As principais informações avaliadas foram continentes e países que publicam trabalhos, parcerias realizadas entre os países, se houve ou não financiamento para a realização do projeto, qual a área de estudo e aplicação e quais as características do ROV utilizado, especialmente se ele foi desenvolvido exclusivamente para o projeto ou se houve aquisição de equipamento já existente. Notamos que os países mais desenvolvidos são os que mais investem na tecnologia, tanto em número de publicações quanto em financiamentos, fato esse que pode ser justificado pelo compromisso de as entidades governamentais fazerem aportes constantes na pesquisa científica. Em contrapartida, países em desenvolvimento como Brasil e China vem apresentando ótimos resultados e crescimento na aplicação de recursos em ciência e tecnologia. Os benefícios do investimento nesta tecnologia refletem em toda a sociedade, gerando empregos, contribuindo para a economia nacional e incentivando a pesquisa, o conhecimento e a ciência.

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“…-improvement of their manual and automated control systems; -development of methods for creating cheap ROVs, including for shallow water; -creation of training ROVs. For example, in [14], a modular approach to the creation of hardware and software controls for ROV based on the open source platform Visor3 is described. This shortens the development time of the ROV software control systems and simplifies the implementation of their diagnostics and repair modes.…”

Section: Literature Review and Problem Statementmentioning

confidence: 99%

Generalized Method of Designing Unmanned Remotely Operated Complexes Based on the System Approach

Blintsov

Klochkov

2019

EUREKA: Physics and Engineering

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Self-propelled underwater systems belong to the effective means of marine robotics. The advantages of their use include the ability to perform underwater work in real time with high quality and without risk to the life of a human operator. At present, the design of such complexes is not formalized and is carried out separately for each of the components – a remotely operated vehicle, a tether-cable and cable winch, a cargo device and a control and energy device. As a result, the time spent on design increases and its quality decreases. The system approach to the design of remotely operated complexes ensures that the features of the interaction of the components of the complex are taken into account when performing its main operating modes. In this paper, the system interaction between the components of the complex is proposed to take into account in the form of decomposition of “underwater tasks (mission) – underwater technology of its implementation – underwater work on the selected technology – task for the executive mechanism of the complex” operations. With this approach, an information base is formed for the formation of a list of mechanisms of the complex, the technical appearance of its components is being formed, which is important for the early design stages. Operative, creative and engineering phases of the design of the complex are proposed. For each phase, a set of works has been formulated that cover all the components of the complex and use the author's existence equations for these components as a tool for system analysis of technical solutions. The perspective of the scientific task of the creative phase to create accurate information models of the functioning of the components of the complex and models to support the adoption of design decisions based on a systematic approach is shown. The obtained results form the theoretical basis for finding effective technical solutions in the early stages of designing remotely operated complexes and for automating the design with the assistance of modern applied computer research and design packages.

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Design of an open source-based control platform for an underwater remotely operated vehicle

Cited by 19 publications

References 27 publications

A Portable Opto-Acoustic Survey Solution for Mapping of Underwater Targets

A Portable Opto-Acoustic Survey Solution for Mapping of Underwater Targets

Panorama mundial das pesquisas com robôs subaquáticos remotamente operados (ROV)

Generalized Method of Designing Unmanned Remotely Operated Complexes Based on the System Approach

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