A New Remotely Operated Underwater Vehicle for Dynamics and Control Research
نویسندگان
چکیده
This paper reports the development of a new remotely operated underwater vehicle (ROV) designed to serve as a platform for rapid development and deployment of novel underwater vehicle systems. The goal is to enhance our ability develop new underwater vehicle subsystems in the laboratory, and rapidly field-test these new systems. Although a significant fraction of ONR and NSF sponsored underwater vehicle research is now directed towards AUVs, we argue that ROVs continue to provide a highly efficient platform for the research and development of advanced underwater technology. Once developed and validated on ROVs, numerous technologies have been readily transitioned for use in autonomous underwater vehicles (AUVs). Section 1.1 examines several contexts in which ROVs have served as development platforms for critical AUV technology. Section 1.2 reviews the desired performance specifications for the new vehicle.
منابع مشابه
Surge-yaw Control of a Hybrid Underwater Robotic Vehicle
An underwater robotic vehicle is being developed at the UFABC (Universidade Federal do ABC) which has as main mission the inspection of ship hull thickness using ultrasonic transducers. This is a hybrid ROV (Remotely Operated Vehicle) due to its extreme locomotion capabilities adapted of the terrain tracked vehicles. This paper presents the surgeyaw control system of a new hybrid underwater veh...
متن کاملDevelopment and Modeling of Unmanned Underwater Remotely Operated Vehicle Using System Identification for Depth Control
This paper presents the development and modeling of low cost underwater Remotely Operated Vehicle (ROV) for depth control using system identification technique. The ROV was developed by the Underwater Technology Research Group (UTeRG). For Unmanned Underwater Vehicle (UUV), the most crucial issue is the control system. It is needed for the ROV to perform several underwater applications and task...
متن کاملSingle Input Fuzzy Logic Controller for Unmanned Underwater Vehicle
In this paper the investigation of Adaptive Single Input Fuzzy Logic Controller (ASIFLC) as robust control of an Unmanned Underwater Vehicle (UUV). Robust control methods are designed to function properly with a present of uncertain parameters or disturbances. Robust control methods aim to achieve robust performance and stability in the presence of bounded modeling errors. The UUV applied in th...
متن کاملAn Adaptable Navigation System for an Underwater ROV
This paper presents a multi-sensor adaptable navigation system for an underwater remotely operated vehicle (ROV). A new multiple Kalman filter strategy is proposed, in which sensors can easily be added and removed from the navigation system without users having to modify the navigation algorithm. Sensors are assigned confidence levels, modifiable by the operator and the algorithm. The results o...
متن کاملThe NEROV Autonomous Underwater
The Norwegian Experimental Remotely Operated Vehicle (NEROV) is described. The vehicle is designed and built at the Department of Engineering Cybernetics , The Norwegian Institute of Technology (NTH). The NEROV vehicle is an unmanned autonomous underwater vehicle (AUV) especially designed for testing advanced intelligent and conventional control algorithms. The vehicle is autonomous with respec...
متن کامل