A new tuning approach of Single Input Fuzzy Logic Controller (SIFLC) for Remotely Operated Vehicle (ROV) Depth Control
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on ROV controller for holding position had been conducted. Proportional, Integral and Derivative (PID), Fuzzy Logic Controller (FLC) and Single Input Fuzzy Logic Controller (SIFLC) was designed and compared. This paper discusses the modelling of developed ROV and tuning the SIFLC to get the best transient response. Steady state error (SSE), percent overshoot (%OS), time rise (Tr) and settling time (Ts) were analyzed to select the best controller. The result shows ROV depth can be controlled more precisely using SIFLC with 1.5 %OS, 11.5s Ts and 7.06s Tr.Keywords:
Remotely operated vehicle
본 논문에서는 다중 수중 센서가 있는 ROV(Remotely Operated Vehicle)를 위한 햅틱 원격 제어 방안을 제안한다. ROV의 원격 제어를 위해 새로운 유형의 4-DOF의 햅틱 마스터 장치가 제안되고 ROV 원격 제어의 직관성을 높이기 위한 몇 가지 햅틱 원격 제어 알고리즘을 제안한다. discrete 햅틱 패턴 생성 방안은 ROV의 깊이를 제어할 때 운용자에게 클릭감을 제공하기 위해 도입해 실험하였다. 적응형 햅틱 피드백 방안은 장애물에 대한 접근 속도에 따라 도입되고 또한 실험적으로 테스트한다. 또한, 원하는 속도 명령과 ROV의 실제 속도 사이의 속도 차이를 직관적으로 제공하기 위한 햅틱 피드백 방안을 실제 ROV를 이용해 과거에 이용한 시각적 피드백 방안 보다 직관적으로 운용자에게 정보를 전달하는 방안을 소개한다. 제안된 방안은 햅틱을 이용해 운용자에게 직관적으로 정보를 전달하여 원격 제어 성능을 향상하기 위한 햅틱 피드백 방식의 원격 제어의 실현 가능성을 보여준다.
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This paper describes ROV (Remotely Operated Vehicle) that can take sample of contaminated water and soil while the operator operates it on the shore or ship. User can operate ROV wirelessly. ROV is equipped with camera, robot hand, GPS, accelerometer, compass, and other devices. The ROV is aimed to help researchers to research contaminated water and soil that can be applied in and on the lake, river, and sea. The way it operates are syphoning water with mini pump and taking soil sample with robot hand. The result shows that all hardware and software can run well underwater. So that, ROV in this experiment can be used to take sample of contaminated water and soil in the place with maximum a depth of 1m. For the next experiment, this ROV will be tested in other place with a depth more than 1m. however, this ROV will continue to be refined to be maximally utilized.
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An eyeball-class remotely operated vehicle (ROV) is currently being developed by the Robotic Research Centre (RRC), in the Nanyang Technological University (NTU). From the experience of the first generation single-cylinder vehicle, RRC ROV I, modified from the Super Safir, originally manufactured in France, a "Twin Barrel" ROV is being developed-RRC ROV II. This paper discusses the modelling and control of ROV II in comparison to ROV I. Both vehicles are underactuated, utilising identical thrusters and with similar thruster configurations. ROV II is larger in size, as compared to ROV I, so as to facilitate its need to mount additional sensors and equipment. The additional sensors and improved intelligent control significantly improved the performances of ROV II. This paper briefly describes and demonstrates the PD station-keeping controllers designed for both ROV I and II. A comparison of simulation results, for vehicle yawing at 60/spl deg/ and 90/spl deg/, are also shown.
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The remotely operated vehicle ROV PHOCA is a deep diving platform rated for water depths of 3000 meters. The ROV is linked to a surface vessel via an umbilical cable transmitting power (copper wires) and data (3 single-mode glass bers). As standard it comes equipped with still and video cameras and two dierent manipulators providing eyes and hands in the deep. Special emphasis was put on the compatibility of numerous systems with the existing ROV KIEL 6000 to facilitate the use of both systems on various research vessels with a given team of ROV pilots.Besides this, a set of other tools may be added depending on the mission tasks, ranging from simple manipulative tools as chisels and shovels to electrically connected instruments which can send insitu data to the ship through the ROVs network, allowing immediate decisions upon manipulation or sampling strategies.
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Remotely Operated Vehicles (ROV) Building and Design. Are you interested in learning about Remotely Operated Vehicle (ROV) technology and its use in ocean exploration and research? Would you like to be able to teach your students how to build an ROV? ROV in a Bag teaches how to build an ROV from simple materials, including PVC pipe and how to test and use the kit by flying it in a pool.
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For decades remotely-operated vehicles (ROVs) have been designed and implemented in various size and shape. Among them, very small-sized ROV which is called micro ROV has the working range with tens of meters and takes the place of divers. In this paper, we develop a micro ROV operating not by umbilical cable which is troublesome for movements but by wireless acoustic communication. The micro wireless ROV is designed to conduct the commands of movement and measurement from a remote user and to report the result. Experiments in water tanks have verified functional operations of the vehicle and shown the feasibility for applications.
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Abstract In underwater search and rescue operations, the timely and accurate location of a missing remotely operated vehicle (ROV) is crucial for successful rescue efforts. This article presents an improved methodology for enhancing the detection and recovery of a recently missing ROV near the Titanic site. The proposed approach involves the deployment of a sonar-based bomb to analyze the acoustic signals and their interactions with the ROV's echoes and the Titanic wreckage. By employing advanced signal processing techniques and collaborating with the Deep-Sea Exploration Laboratory, the aim is to expedite the search and rescue process. In this article, we present a calculation methodology to estimate the remaining oxygen supply for a submerged Remotely Operated Vehicle (ROV) after 4 days. Considering an initial oxygen supply of 1000 liters and an oxygen consumption rate of 10 liters per hour per person, we analyze the available oxygen and determine the feasibility of the ROV rescue operation. The calculations are based on the assumption of 5 individuals onboard the ROV. The results highlight the importance of timely oxygen replenishment or immediate rescue measures in such situations.
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Remotely Operated Vehicles (ROVs) are expensive and complicated systems for ocean exploration. ROVs are playing more and more important roles in the exploration of the ocean and fishery industry. If we could build a low-cost ROV so that people could afford it, then more and more people will have the opportunities to explore the ocean. In 2014, the Science and Technology on Underwater Vehicle Laboratory at Harbin Engineering University started a low-cost ROV project. The goal of this project is to develop a small inspection-class ROV that carries a video camera for underwater inspection. The ROV's total weight in the air is less than 10kg. The depth rating of the ROV is 150m and the maximum speed is 4 knots. The total cost is controlled under $4000. This paper presents the details of this ROV design and test results.
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Intervention AUV
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This paper proposes an extensive model for unmanned underwater vehicle operations in aquaculture and includes a dynamic 6 degrees of freedom (DOF) quaternion-based model of a remotely operated vehicle (ROV) and a model of a net cage structure. The proposed vehicle and net cage models are subjected to waves and a dynamic current flow, which itself is affected by the wake effects from the net cage. Furthermore, two ROV platforms with complete sets of dynamic parameters are presented, the Argus Mini ROV and the BlueROV2 underwater vehicle. The suggested models are tested for aquaculture operations in simulations using the Argus Mini ROV as the test case in the vehicle model. The simulations demonstrate a net following procedure where the vehicle is exposed to various degrees of environmental effects from waves and currents.
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