Study of manipulator operations maneuvered by a ROV in virtual environments

Jin, Zhang; Wei, Li; Yu, Jiancheng; Feng, Xisheng; Zhang, Qifeng; Chen, Genshe

doi:10.1016/j.oceaneng.2017.07.008

Cited by 18 publications

(3 citation statements)

References 14 publications

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“…Divers typically work in environments with a water depth of up to 60 meters. Due to factors such as ocean currents, visibility, support vessels, and the equipment used, underwater operations exhibit significant unpredictability, leading to relatively high operational risks [1] . The underwater accompanying robot designed in this study can assist divers in carrying a large number of tools, enabling prolonged collaboration with divers and enhancing their underwater efficiency.…”

Section: Introductionmentioning

confidence: 99%

Analysis of hydrodynamic performance of underwater accompanying robot based on CFD

Chen,

Liu,

Shao

et al. 2024

J. Phys.: Conf. Ser.

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We design a novel underwater accompanying robot capable of collaborating with divers for joint operations to improve the efficiency and safety coefficient of underwater operations for divers by studying the impact of speed and drift angles on its hydrodynamic performance under various underwater conditions. Utilizing the computational fluid dynamics (CFD) method, applying the Realizable k − ε turbulence model, and incorporating standard wall functions for near-wall regions, Fluent software is employed to simulate fluid dynamics and solve hydrodynamic parameters for various underwater conditions and postures. Research findings indicate that conditions of horizontal straight navigation and vertical ascent/descent, pressure drag, and viscous drag on the robot exhibit a positive correlation with velocity. Experiencing variations in drift angle, the robot’s longitudinal movement is not significantly altered during horizontal maneuvering and remains consistent under the same velocity. Conversely, later resistance distinctly increases with larger drift angles. This study can offer valuable reference and insights for subsequent research on underwater accompanying robots.

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Section: Introductionmentioning

confidence: 99%

Analysis of hydrodynamic performance of underwater accompanying robot based on CFD

Chen,

Liu,

Shao

et al. 2024

J. Phys.: Conf. Ser.

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“…Currently, the vast majority of underwater technological and research manipulative operations are performed only in a manual mode by specially trained UUV operators. Experienced operators successfully set trajectories for MM working tools [15][16][17]; nevertheless, it is very difficult for them to quickly and accurately solve a multitude of complex problems while having no direct contact with a work object and using only video images. This reduces the efficiency of their operation and increases the probability of errors.…”

Section: Introductionmentioning

confidence: 99%

A Method for Supervisory Control of Manipulator of Underwater Vehicle

Konoplin

Filaretov

Yurmanov

2021

JMSE

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A novel method for supervisory control of multilink manipulators mounted on underwater vehicles is considered. This method is designed to significantly increase the level of automation of manipulative operations, by the building of motion trajectories for a manipulator working tool along the surfaces of work objects on the basis of target indications given by the operator. This is achieved as follows: The operator targets the camera (with changeable spatial orientation of optical axis) mounted on the vehicle at the work object, and uses it to set one or more working point on the selected object. The geometric shape of the object in the work area is determined using clouds of points obtained from the technical vision system. Depending on the manipulative task set, the spatial motion trajectories and the orientation of the manipulator working tool are automatically set using the spatial coordinates of these points lying on the work object surfaces. The designed method was implemented in the C++ programming language. A graphical interface has also been created that provides rapid testing of the accuracy of overlaying the planned trajectories on the mathematically described surface of a work object. Supervisory control of an underwater manipulator was successfully simulated in the V-REP environment.

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“…Currently, the main means to predict the resistance performance of ROV are constraint model test and computational fluid dynamics (CFD) prediction method, but the test requires a lot of labor and financial resources and takes a long period, so it is difficult to adapt to the urgent demand for products in the fierce market competition. 1,2 In recent years, the rapid growth of computer storage capacity and the constant maturity of mathematical knowledge have made it possible to predict the resistance performance of ROV using CFD method. In particular, some large servers, workstations and even supercomputing centers have been adopted into universities and research institutes.…”

Section: Introductionmentioning

confidence: 99%

Resistance performance simulation of remotely operated vehicle in deep sea considering propeller rotation

Zhang

Xin-Di

She

2019

Proceedings of the Institution of Mechanical Engineers, Part M:

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In order to predict the resistance performance and movement stability of deep-sea remotely operated vehicle quickly and accurately, the steady-state Reynolds-averaged Navier–Stokes method is used to simulate the force of open-frame remotely operated vehicle with propeller in motion. Volume force model is adopted to simulate the interaction between the propeller and the remotely operated vehicle, solving the force of remotely operated vehicle under the continuous work of two or four screw propellers in the horizontal and vertical motion, as well as the propeller thrust and shaft torque. In addition, according to the simulation result, the shaft torque of the symmetrical distributed propeller is almost equal, so it will not affect the movement stability of remotely operated vehicle. Since no experimental results of these drags and torques have not been performed in this study, it is important to validate the computational fluid dynamics methodology with experimental data and associated motion phenomena by means of numerical simulation. This is the preliminary design stage where extensive hydrodynamic test facilities are not available.

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Study of manipulator operations maneuvered by a ROV in virtual environments

Cited by 18 publications

References 14 publications

Analysis of hydrodynamic performance of underwater accompanying robot based on CFD

Analysis of hydrodynamic performance of underwater accompanying robot based on CFD

A Method for Supervisory Control of Manipulator of Underwater Vehicle

Resistance performance simulation of remotely operated vehicle in deep sea considering propeller rotation

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