Review on Unmanned Underwater Robotics, Structure Designs, Materials, Sensors, Actuators, and Navigation Control

Neira, Javier; Sequeiros, Cristhel; Huamani, Richard; Machaca, Elfer; Fonseca, Paola; Nina, Wilder

doi:10.1155/2021/5542920

Cited by 44 publications

(45 citation statements)

References 78 publications

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“…This type of underwater vehicle allows one to solve a wide range of tasks: bottom mapping, inspection work, rescue operations, extraction of objects from the bottom, work to ensure oil and gas complex objects (drilling support, inspection of gas pipeline routes, inspection of structures for breakdowns, performing operations with valves and valves), scientific applications, support for diving operations, work to maintain fish farms, archaeological surveys, inspection of urban communications, inspection of ships, etc. The tasks to be solved are constantly expanding, and the fleet of underwater robots is growing rapidly [1][2][3][4][5][6][7][8][9][10]. Working with the robots is much cheaper than expensive diving work, despite the fact that the initial investment is quite large, although working with the robots cannot replace the entire range of diving work.…”

Section: Introductionmentioning

confidence: 99%

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

Kabanov

Kramar

Ermakov

2021

Drones

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With the development of underwater technology, it is important to develop a wide range of autonomous and remotely operated underwater vehicles for various tasks. Depending on the problem that needs to be solved, vehicles will have different designs and dimensions, while the issues surrounding reduced costs and increasing the functionality of vehicles are relevant. This article discusses the development of inspection class experimental remotely operated vehicles (ROVs) for performing coastal underwater inspection operations, with a smaller number of thrusters, but having the same functional capabilities in terms of controllability (as vehicles with traditionally-shaped layouts). The proposed design provides controllability of the vehicle in six degrees of freedom, using six thrusters. In classical design vehicles, such controllability is usually achieved using eight thrusters. The proposed design of the ROV is described; the mathematical model, the results of modeling, and experimental tests of the developed ROVs are shown.

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Section: Introductionmentioning

confidence: 99%

“…The authors of [2] conducted a review of underwater robots, in terms of morphological characteristics and the layout of the propulsion devices. The geometric shapes depend on many factors.…”

Section: Introductionmentioning

confidence: 99%

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

Kabanov

Kramar

Ermakov

2021

Drones

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“…Typically, these may include compasses, sensors (depth and biological to measure turbidity, pH, dissolved oxygen, chlorophyll, etc. ), sonars, magnetometers, thermistors, and conductivity probes (Neira et al, 2021). In order to simplify understanding, these sensors may be divided into three broad groups.…”

Section: Sensors and Equipment Onboardmentioning

confidence: 99%

Integrating UUVs for naval applications

Agarwala¹

2021

Marit. Technol. Res.

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Underwater surveillance technology was an advent of the Cold War. This technology saw numerous advancements only once the technology was declassified and pursued by academia. One such advancement in the maritime domain was the development of the Unmanned Underwater Vehicle (UUV) that has the ability to enhance war-fighting capabilities while de-risking human life. Though this technology has since been commercialised, it has found limited takers in the Navy. The limited inroad it has made has been driven primarily by the developers and the governments that fund them. However, since this technology offers numerous benefits to the military it needs to be integrated into the Navy sooner than later. This essentially means that to achieve greater acceptance for naval use/ applications, integrating this technology into the Navy is essential. This in return requires numerous queries to be answered and facts understood to create greater confidence in the technology and its potential. Accordingly, some of these queries that can help address the knowledge gaps to facilitate future acceptance and induction of the UUV technology into the Navy are discussed. Though an attempt to provide comprehensive answers has been made, these answers are not considered complete but only a start point for a debate. As it stands, the technology exists; however, it is a lack of imagination that is disallowing its usage.

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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

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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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Review on Unmanned Underwater Robotics, Structure Designs, Materials, Sensors, Actuators, and Navigation Control

Cited by 44 publications

References 78 publications

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

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

Integrating UUVs for naval applications

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

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