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1.
A deep ROV "DOLPHIN 3K": Design and performance analysis 总被引：1，自引：0，他引：1
DOLPHIN 3K is a tethered remotely operated vehicle (ROV) system for ocean bottom surveys down to a depth of 3300 m. The system will be completed in fiscal year 1986. This paper describes the design of the system, and analyzes the maneuverability of the vehicle and the transmission performance of the optical fiber data communication system. 相似文献
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A new fault-tolerant redundancy resolution scheme is presented that allows a single six degree of freedom (DOF) command to be distributed over a small remotely operated underwater vehicle–manipulator (ROVM) system. ROVM systems are composed of a remotely operated underwater vehicle (ROV) and serial manipulator. The combined system is often kinematically redundant for the six-DOF end-effector command, and such a ROVM system admits an infinite number of joint-space solutions for a commanded end-effector state. In the current work, the primary objective is to follow the desired end-effector velocities commanded by a human pilot. The primary objective is realized using the right Moore–Penrose pseudoinverse solution that minimizes the two-norm of the collective joint velocities. Secondary objectives considered are: avoiding manipulator joint limits, avoiding singularities and high joint velocities, keeping the end-effector in sight of the on-board camera, minimizing the ROV motion, and minimizing the drag-forces on the ROV. Each criterion is defined within the framework of the gradient projection method (GPM). The hierarchy for the secondary tasks is established by a low-level artificial pilot that determines a weighting factor for each criterion based on if–then-type fuzzy rules that reflect an expert human pilot's knowledge. The resulting weight schedule yields a self-motion (null-space motion) that emulates how a skilled operator would utilize the redundancy of the ROVM to achieve the secondary objectives. In addition, the proposed method has a fault-tolerant property that enforces joint-velocity limits and also redistributes the end-effector velocity command in the case of faulty joints. To demonstrate the efficacy of the proposed scheme, a numerical simulation case study is performed. The results illustrate that complex spatial end-effector manoeuvres that are otherwise not possible with a stationary ROV can be accomplished in real-time via the coordination of the ROV and the manipulator. The on-line nature of the proposed scheme makes it suitable for remote systems where the desired end-effector state is not known a priori. 相似文献
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Parameter identification of a remotely operated vehicle (ROV) is often based on the dynamic responses collected by its onboard sensors. However, for commercial ROVs, the required data for identification may not be available due to the absence of suitable sensors or limitations in accessing onboard sensor data. Therefore, this study proposes a vision-based tracking system to measure the dynamic response of an ROV. The tracking system is independent of the ROV, and is able to localize an ROV to a high degree of precision by means of projective mapping. The validity of the proposed tracking system is demonstrated through identification of a commercial ROV. A simplified nonlinear ROV dynamic model with six degrees of freedom (DOF) is used for identification. Uncoupled motions, including surge, sway, and yaw, are obtained from the ROV dynamic model, and the corresponding experiments are carried out for each DOF. Hydrodynamic parameters are then estimated with numerical optimizations by comparing the measured ROV responses with the output of the mathematical model. The experimental results show that the vision-based tracking system can accurately measure the transient and steady-state responses of an ROV. Additionally, the simulations of the ROV dynamic model, with the optimal parameter estimates, give results in agreement with the measured data. 相似文献
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On the motions of the underwater remotely operated vehicle with the umbilical cable effect 总被引：1，自引：0，他引：1
In this paper, a hydrodynamic model is developed to simulate the six degrees of freedom motions of the underwater remotely operated vehicle (ROV) including the umbilical cable effect. The corresponding hydrodynamic forces on the underwater vehicle are obtained by the planar motion mechanism test technique. With the relevant hydrodynamic coefficients, the 4th-order Runge–Kutta numerical method is then adopted to solve the equations of motions of the ROV and the configuration of the umbilical cable. The multi-step shooting method is also suggested to solve the two-end boundary-value problem on the umbilical cable with respect to a set of first-order ordinary differential equation system. All operation simulations for the ROV including forward moving, ascending, descending, sideward moving and turning motions can be analyzed, either with or without umbilical cable effect. The current effect is also taken into consideration. The present results reveal that the umbilical cable indeed significantly affects the motion of the ROV and should not be neglected in the simulation. 相似文献
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This paper presents the features of newly designed hydrodynamics test for the scaled model of 4500 m deepsea open-framed remotely operated vehicle(ROV),which is being researched and developed by Shanghai Jiao Tong University.Accurate hydrodynamics coefficients measurement and spatial modeling of ROV are significant for the maneuverability and control algorithm.The scaled model of ROV was constructed by 1:1.6.Hydrodynamics coefficients were measured through VPMM and LAHPMM towing test.And dynamics model was derived as a set of equations, describing nonlinear and coupled 5-DOF spatial motions.Rotation control motion was simulated to verify spatial model proposed.Research and application of hydrodynamics coefficients are expected to enable ROV to overcome uncertainty and disturbances of deepsea environment,and accomplish some more challengeable and practical missions. 相似文献
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深海遥控潜水器多体系统非线性耦合动力特性模拟 总被引：1，自引：0，他引：1
建立带缆遥控潜水器(TROV)系统空间运动模型,探讨支持船-吊缆-中际站-脐带缆-潜水器多体之间的强非线性耦合运动机理。潜器的运动考虑为六自由度,缆索分段的三维动态方程中采用了"凝集参数"模型与平均切向量非线性流体动力载荷处理技术,通过计算非均匀缆索的动张力和瞬态构型,预报导致脐带缆保护层及其内部光电传输芯线结构破坏的巨大瞬间突变载荷,对避免谐振,延长缆索寿命和最大限度地扩大ROV系统安全操作的范围,确保潜水器安全入坞和回收,节约试验费,避免作业事故都具有重要意义。 相似文献
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Following success in remotely operated vehicle (ROV) designs such as MMIM, IZE, SOLO, ORVIL, CIRRUS, PIC, and OBSERVER, Slingsby Engineering Limited (SEL) has now developed its technology to build and prove a new ROV, TROJAN. TROJAN is a dedicated subsea support vehicle, which results from extensive market research being applied to a base of 15 years in the underwater technology market. SEL has been at the forefront of the evolution of this market from early manned submersible days, followed by atmospheric diving systems to ROV's. The TROJAN ROV is conceived as a subsea workhorse offering a new dimension to subsea support operations. TROJAN benefits by incorporation of proven technology developed by SEL in recent years on SOLO, PIC, and CIRRUS projects. Using standard components, TROJAN's high reliability and efficient performance offer a versatile and cost-effective work system. 相似文献
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Hyungwon Shim Bong-Huan Jun Pan-Mook Lee Hyuk Baek Jihong Lee 《Ocean Engineering》2010,37(11-12):1036-1047
This paper presents a control technique for structured undersea tasks that require a high degree of precision. The overall efficiency of tele-operated underwater manipulation is improved by reducing the burden on the human operator. A new workspace-control system composed of a computer and input devices in workspace was developed to support the operator. The computer transforms the desired velocity of end-effector in workspaces to desired joint angles by solving the inverse kinematics of the slave manipulators. The desired joint angles are transferred to the slave controller through RS-485 serial communication, and be followed by the slave manipulator. The developed master system provides advantages in conducting structured tasks(coring, drilling, underwater connector mating, etc.) that require precise control of the end-effector’s motion and attitude. The existing master system, however, is more useful for unstructured tasks than newly developed master system. By combining the two master systems, the work efficiency of the underwater tele-operated manipulator system was improved. This paper presents the development of the workspace-control system and a working strategy to alleviate operator’s burden in underwater works. Experimental results are presented to evaluate the effectiveness of the proposed method using underwater manipulators mounted on the KORDI deep-sea ROV Hemire. 相似文献
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介绍一种新研制的用于近海海洋环境检测的轻型机器人,该机器人由智能检测控制台、水下检测器和控制电缆三部分构成;水下检测器由6个独立密封舱室和尾翼组成,具有一个主推进器和两个侧向推进器。特点是采用了潜艇式ROV结构,大幅降低了成本,适度增大了负载,可以满足一般工程检测的需要。通过在控制台上发出指令,可控制ROV完成前进、后退,上浮、下沉、左右转弯等动作;可以实现一定流速下的动力悬停,可以使ROV保持一定的倾角,以配合实现检测作业。该水下机器人可以检测腐蚀电位、温度、深度等最多16个参数,设计深度为40m。 相似文献
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Savaresi S.M. Previdi F. Dester A. Bittanti S. Ruggeri A. 《Oceanic Engineering, IEEE Journal of》2004,29(2):407-417
The topic of this paper is the modeling, parameter identification, and analysis of the heave and pitch dynamics in a remote operated vehicle (ROV). The work presented here is motivated by an unusual dynamic behavior experienced on the Gaymarine Pluto-Gigas ROV: if the depth is regulated using a proportional controller, the ROV exhibits permanent oscillations at high forward speed. The purpose of this paper is to gain insight into ROV dynamics, so as to explain the reason for the oscillations. To this end, a dynamic gray-box model is developed and its uncertain parameters are identified from real data. The analysis of such a model shows that the nonlinear dynamics of the ROV contains a limit cycle. This discovery explains the observed oscillatory behavior. An interesting aspect of this limit-cycling behavior is that it is not due (as usual) to saturation effects of the actuators, but is intrinsic in the ROV dynamics. 相似文献
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This paper proposes a geometrically exact formulation for three-dimensional static and dynamic analyses of the umbilical cable in a deep-sea remotely operated vehicle(ROV) system. The presented formulation takes account of the geometric nonlinearities of large displacement, effects of axial load and bending stiffness for modeling of slack cables. The resulting nonlinear second-order governing equations are discretized spatially by the finite element method and solved temporally by the generalized-a implicit time integration algorithm, which is adapted to the case of varying coefficient matrices. The ability to consider three-dimensional union action of ocean current and ship heave motion upon the umbilical cable is the key feature of this analysis. The presented formulation is firstly validated, and then three numerical examples for the umbilical cable in a deep-sea ROV system are demonstrated and discussed, including the steady configurations only under the action of depth-dependent ocean current, the dynamic responses in the case of the only ship heave motion, and in the case of the combined action of the ship heave motion and ocean current. 相似文献
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This paper proposes a geometrically exact formulation for three-dimensional static and dynamic analyses of the umbilical cable in a deep-sea remotely operated vehicle (ROV) system. The presented formulation takes account of the geometric nonlinearities of large displacement, effects of axial load and bending stiffness for modeling of slack cables. The resulting nonlinear second-order governing equations are discretized spatially by the finite element method and solved temporally by the generalized- implicit time integration algorithm, which is adapted to the case of varying coefficient matrices. The ability to consider three-dimensional union action of ocean current and ship heave motion upon the umbilical cable is the key feature of this analysis. The presented formulation is firstly validated, and then three numerical examples for the umbilical cable in a deep-sea ROV system are demonstrated and discussed, including the steady configurations only under the action of depth-dependent ocean current, the dynamic responses in the case of the only ship heave motion, and in the case of the combined action of the ship heave motion and ocean current. 相似文献
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GDROV是用于堤坝探测的水下机器人,设计上属于开架式机器人,其精确的数学模型很难获得.采用基于模糊逻辑的直接自适应控制方法,利用模糊基函数网络逼近理想控制输出,通过模糊逻辑动态调整控制器的参数自适应律,可有效解决水下机器人控制问题.建立GDROV的水动力模型,给出基于模糊逻辑的直接自适应控制算法,最后通过仿真试验和外场试验验证了该控制器对模型的不确定性具有较强的鲁棒性,且具有良好的跟踪性能. 相似文献
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This work presents techniques for addressing the various issues relevant to the implementation of an indirect adaptive control system. The sufficiency of these techniques is demonstrated by implementation onboard a small autonomous underwater vehicle. The control system is organized into two layers: the standard adaptive control algorithms and the supervisory logic. Modeling and implementation issues involved in the design of the basic adaptive control loop are described. The design of supervisory logic to address insufficiency of excitation, identification under low signal-to-noise ratio conditions, and guaranteeing appropriate control actions during periods when the parameter estimates are inaccurate is discussed. Results from in-water demonstrations are presented 相似文献
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Sayers C.P. Paul R.P. Whitcomb L.L. Yoerger D.R. 《Oceanic Engineering, IEEE Journal of》1998,23(1):60-71
This paper considers the performance of subsea intervention tasks from an unmanned untethered submersible while using acoustic communications. It is argued that the low bandwidth and high delay imposed by acoustic modems makes it unwise to adopt conventional teleoperation techniques and a system is presented which permits subsea teleoperative tasks to be carried out using such limited communication resources. The described implementation employs active techniques to assist the operator both in performing actions and in recovering from those problems which will inevitably occur during real-world interaction. It provides the operator with both simulated and real visual imagery and is designed to adapt dynamically to changing bandwidth and computational resources. Experiments are described in which an operator in Philadelphia, PA, controlled a robot manipulator mounted on the JASON underwater vehicle submerged off the Massachusetts coast. All communication over this 500-km distance was via a combination of Internet and a simulated acoustic link. Analysis of the bandwidth requirements showed them to be consistent with those from acoustic subsea networks 相似文献