Exploring Autonomous and Remotely Operated Vehicles in Offshore Structure Inspections

Fun Sang Cepeda, Maricruz; Freitas Machado, Marcos de Souza; Sousa Barbosa, Fabrício Hudson; Santana Souza Moreira, Douglas; Legaz Almansa, Maria José; Lourenço de Souza, Marcelo Igor; Caprace, Jean-David

doi:10.3390/jmse11112172

Cited by 5 publications

(1 citation statement)

References 111 publications

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“…The AUV adopts the main body outline of the SUBOFF [19] standard submarine shape, initially released by DARPA in 1989. Simulation conditions are established by referencing the HUGIN Endurance's technical specifications, a Kongsberg Maritime product [20]. Table 1 shows comprehensive technical dimensions and parameters for the AUV and the mission payload.…”

Section: Separation Model and Parametersmentioning

confidence: 99%

Safety Analysis of Initial Separation Phase for AUV Deployment of Mission Payloads

Wang,

Gu,

Lang

et al. 2024

JMSE

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This study verifies the effects of deployment parameters on the safe separation of Autonomous Underwater Vehicles (AUVs) and mission payloads. The initial separation phase is meticulously modeled based on computational fluid dynamics (CFD) simulations employing the cubic constitutive Shear Stress Transport (SST) k-ω turbulence model and overset grid technologies. This phase is characterized by a 6-degree-of-freedom (6-DOF) framework incorporating Dynamic Fluid-Body Interaction (DFBI), supported by empirical validation. The SST k-ω turbulence model demonstrates superior performance in managing flows characterized by adverse pressure gradients and separation. DFBI entails computationally modeling fluid–solid interactions during motion or deformation. The utilization of overset grids presents several advantages, including enhanced computational efficiency by concentrating computational resources solely on regions of interest, simplified handling of intricate geometries and moving bodies, and adaptability in adjusting grids to accommodate changing simulation conditions. This research analyzes mission payloads’ trajectories and attitude adjustments after release from AUVs under various cruising speeds and initial release dynamics, such as descent and angular velocities. Additionally, this study evaluates the effects of varying ocean currents at different depths on separation safety. Results indicate that the interaction between AUVs and mission payloads during separation increases under higher navigational speeds, reducing the separation speed and degrading the stability. As the initial drop velocities increase, fast transition through the AUV’s immediate flow field promotes separation. The core of this process is the initial pitch angle management upon deployment. Optimizing initial pitching angular velocity prolongs the time for mission payloads to reach their maximum pitch angle, thus decreasing horizontal displacement and improving separation safety. Deploying AUVs at greater depths alleviates the influence of ocean currents, thereby reducing disturbances during payload separation.

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Section: Separation Model and Parametersmentioning

confidence: 99%

Safety Analysis of Initial Separation Phase for AUV Deployment of Mission Payloads

Wang,

Gu,

Lang

et al. 2024

JMSE

View full text Add to dashboard Cite

show abstract

Numerical simulation of hydrodynamics of ocean-observation-used remotely operated vehicle

Zhang,

Zhao,

Zhang

et al. 2024

Front. Mar. Sci.

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Remotely operated vehicle is the most widely used underwater robot and can work safely and steadily in complex environments compared to autonomous underwater vehicle and other types. It has obvious advantages in operation time and plays a significant function in marine engineering equipment. Hydrodynamic coefficients are the coefficients of ROV motion equation. In order to simulate the motion and predict the performance of a ROV, the hydrodynamic coefficients must be determined first. The motion mathematical model of remotely operated vehicles is also established, and the hydrodynamic dynamics of the vehicles are simulated using the finite volume method by combining overset mesh technology and governing equations. Finally, a simulation and verification of the standard model SUBOFF model and the calculation process’s dependability are also conducted. The primary hydrodynamic coefficients of the ROV were derived through the simulation data fitting process. The results showed that the ROV’s asymmetry results in an obvious disparity in pressure resistance between the forward and backward sailing, ascending and descending motions, and this disparity becomes significantly greater as the velocity increases. This method confirmed the accuracy of the hydrodynamic simulation computation of the remotely operated vehicle and served as a guide for the maneuverability and design of the vehicle.

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Optimization Design of a Winch Suction Underwater Dredging Robot Using Orthogonal Experimental Design

Wang,

Kang,

Wang

et al. 2024

JMSE

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In marine engineering and water conservancy projects, dredging often occurs due to silt accumulation, which can impede the long-term development of water ecosystems and water storage systems. To enhance dredging efficiency and the performance of dredging machines, a novel type of winch suction underwater dredging robot was designed. Computational fluid dynamics software was utilized to establish a fluid model of the robot’s winch suction dredging device and conduct model simulation experiments. The simulation test results were used to investigate the factors influencing dredging performance and their impact laws. Five key factors—namely, the reamer rotational speed, reamer arrangement angle, water flow rate, inlet pipe diameter, and outlet pipe diameter—were selected for consideration. By setting up various sets of factor levels, the significant influence of different factors on dredging efficiency was examined. Analysis of variance was employed to analyse the results of the orthogonal experimental design, leading to the identification of optimal factor levels and the establishment of an optimal scheme group. The results of the optimal scheme were verified, demonstrating a 13.049% increase in dredging efficiency and a 19.23% decrease in power consumption of the sludge pump compared to the initial experimental setup. The performance of the optimal program surpassed that of all the experimental designs and met the design requirements.

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Exploring Autonomous and Remotely Operated Vehicles in Offshore Structure Inspections

Cited by 5 publications

References 111 publications

Safety Analysis of Initial Separation Phase for AUV Deployment of Mission Payloads

Safety Analysis of Initial Separation Phase for AUV Deployment of Mission Payloads

Numerical simulation of hydrodynamics of ocean-observation-used remotely operated vehicle

Optimization Design of a Winch Suction Underwater Dredging Robot Using Orthogonal Experimental Design

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