Experimental model identification of open-frame underwater vehicles

Ávila, Juan Pablo Julca; Donha, Décio Crisol; Adamowski, Júlio C.

doi:10.1016/j.oceaneng.2012.10.007

Cited by 43 publications

(29 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…For example, the ROV ROSUB 6000 [36], sends down 6.6 kV at a frequency of 460 Hz through its 6000 m umbilical. As ever, there are exceptions to the voltage applied to work-class vehicles; the LAURS ROV uses a DC power supply which generates 4.5 kW [55].…”

Section: Tethered Power Systemmentioning

confidence: 99%

Inspection-Class Remotely Operated Vehicles—A Review

Capocci

Dooly

Omerdić

et al. 2017

JMSE

147

View full text Add to dashboard Cite

This paper presents a review of inspection-class Remotely Operated Vehicles (ROVs). The review divides the classification of inspection-class ROVs; categorising the vehicles in order of size and capability. A state of the art technology review is undertaken, discussing various common subsystems of the ROV. Standard and novel ROV shapes and designs are reviewed, with emphasis on buoyancy, frame materials and hydrodynamics. Several power considerations and designs are discussed, accounting for battery fed and mains fed systems. ROV telemetry is split into a discussion on the various transmission hardware systems and the communication protocols that are most widely used in industry and research today. A range of thruster technologies is then introduced with consideration taken of the various thruster architectures available. Finally, the navigation and positioning sensors employed for ROV navigation and control are reviewed. The author has also created a number of comparison tables throughout the review; tables include comparison of wired data transmission technology, comparison of common ROV communication protocols and comparisons of various inertial navigation systems. By the end of the review the reader will have clearer understanding on the fundamentals of inspection-class ROV technologies and can use this as an introduction to further paper investigation.

show abstract

Section: Tethered Power Systemmentioning

confidence: 99%

Inspection-Class Remotely Operated Vehicles—A Review

Capocci

Dooly

Omerdić

et al. 2017

JMSE

147

View full text Add to dashboard Cite

show abstract

“…There are three types of methods for quantifying the hydrodynamics of ROVs [1,2,3,4]: model test in a water tank by using the Planar Motion Mechanism (PMM), system identification (SI) and computational fluid dynamics (CFD) Model test method with PMM is the most traditional method and is suitable for vehicles with complex geometric hulls and may allow to evaluate all hydrodynamics more accurately, depending on availability of laboratory facilities and instruments. System identification (SI) method is that data are gathered by free-running trials of a ROV and hydrodynamic forces are estimated by using the data measured during the trials in a water tank [10] or in a real water area such as a lake or reservoir. This method requires a vehicle that is equipped with all components (such as propellers and thrusters) for the free-running trials of a model or even prototype in addition to on-board sensors.…”

Section: Introductionmentioning

confidence: 99%

“…Avila et al [8,9,10] carried out a series of study with system identification method as well as model test method with PMM to estimate inertial and drag hydrodynamic components based on the Morison's equation for a ROV composed mainly of cylinders and jacket-type structural members. They only considered the main inertial coefficients (related to the inertial hydrodynamic forces generated by a motion in the same direction) without counting for the cross inertial coefficients (related to the inertial hydrodynamic forces generated by a motion in other directions).…”

Section: Introductionmentioning

confidence: 99%

Experimental study on inertial hydrodynamic behaviors of a complex remotely operated vehicle

Han

2017

European Journal of Mechanics - B/Fluids

View full text Add to dashboard Cite

This paper will present an experimental study on inertial hydrodynamic behaviors of an openframe ROV (Remotely Operated Vehicle) that has a complex open-frame hull but has a large capacity holding more instruments on board than other ROVs. A 1:4 scaled model has been tested by a VPMM (vertical planar motion mechanism) in the circulating water channel of Harbin Engineering University. The inertial coefficients, which can be used for simulating the motions and so for predicting the maneuverability of the ROV, will be presented. Particular attention will be paid to discuss the properties of the cross inertial coefficients (these related to the inertial forces/moments induced by the motion in other directions).

show abstract

“…En Latinoamérica se han desarrollado diversos trabajos relacionados con ROV, especialmente en universidades de México [14], [15], Brasil [16], [17], [18] y Colombia [19], [20], [21], [22], [23]. El Grupo de Automática y Diseño A+D de la Universidad Pontificia Bolivariana, con sede en Medellín, Colombia, ha desarrollado tres vehículos tipo ROV de Clase I, Figura 1.…”

unclassified

“…Ingeniería y Ciencia dinámico es altamente dependiente de los parámetros hidrodinámicos que aparecen por la interacción con el medio en el que se desplaza el vehículo [18]. Estos parámetros son importantes para el diseño del sistema de control y es posible encontrar en la literatura diversos trabajos que muestran diferentes metodologías para la determinación e identificación del modelo matemático [67], [68], [69].…”

unclassified

Una arquitectura para el diseño conceptual de vehículos para exploración subacuática

et al. 2015

View full text Add to dashboard Cite

ResumenEste artículo presenta una arquitectura para el diseño conceptual de vehícu-los subacuáticos operados remotamente (ROV). La arquitectura propuesta está basada en una revisión extensa de literatura y la experiencia obtenida durante 20 años con el desarrollo de tres sistemas ROV diseñados para misiones de inspección subacuática. El ROV se divide en cinco subsistemas: vehículo, estación en superficie, interfaz superficie/vehículo, sistema de control y software. Para cada uno de estos subsistemas se definen funciones y tareas, se enuncian componentes, se establecen interrelaciones con otros subsistemas y se plantean alternativas comúnmente utilizadas. La delimitación de los subsistemas desde el diseño conceptual busca evitar problemas en las fases avanzadas del desarrollo del sistema robótico de exploración.Palabras clave: diseño de ROV; exploración subacuática; sistema robótico de exploración; vehículos submarinos autónomos

show abstract

Experimental model identification of open-frame underwater vehicles

Cited by 43 publications

References 7 publications

Inspection-Class Remotely Operated Vehicles—A Review

Inspection-Class Remotely Operated Vehicles—A Review

Experimental study on inertial hydrodynamic behaviors of a complex remotely operated vehicle

Una arquitectura para el diseño conceptual de vehículos para exploración subacuática

Contact Info

Product

Resources

About