Branding/Logomark minus arrow-point-to-down Citation Combined Shape Icon/Bookmark-empty Icon/Copy Icon/Collection Icon/Close Copy 7 Icon/List no author result Created with Sketch.
Loading Scinapse...
Zhenzhong Chu1
Estimated H-index: 1
(Shanghai Maritime University),
Daqi Zhu11
Estimated H-index: 11
(Shanghai Maritime University),
Simon X. Yang35
Estimated H-index: 35
(University of Guelph)
This paper focuses on the adaptive trajectory tracking control for a remotely operated vehicle (ROV) with an unknown dynamic model and the unmeasured states. Unlike most previous trajectory tracking control approaches, in this paper, the velocity states and the angular velocity states in the body-fixed frame are unmeasured, and the thrust model is inaccurate. Obviously, it is more in line with the actual ROV systems. Since the dynamic model is unknown, a new local recurrent ...
44 Citations Source Cite
Weipeng Lin1
Estimated H-index: 1
,
Cheng Siong Chin11
Estimated H-index: 11
Model predictive control on a highly coupled open-frame remotely operated vehicle system subjected to uncertain disturbances has always been a challenge. A decentralized model predictive control uses a design scaling to balance the interactions between the loops to achieve a block diagonal dominant remotely operated vehicle model is used. The numerical stability of the model predictive control algorithm improves despite the sensitivity of the control par...
3 Citations Source Cite
2016 in Dyna [IF: 0.52]
Luis M. Aristizabal1
Estimated H-index: 1
(Pontifical Bolivarian University),
Santiago Rúa2
Estimated H-index: 2
(Pontifical Bolivarian University),
Carlos Gaviria1
Estimated H-index: 1
(Pontifical Bolivarian University)
... more
This paper reports on the design of an open source-based control platform for the underwater remotely operated vehicle (ROV) Visor3. The vehicle’s original closed source-based control platform is first described. Due to the limitations of the previous infrastructure, modularity and flexibility are identified as the main guidelines for the proposed design. This new design includes hardware, firmware, software, and control architectures. Open-source hardware and softwar...
7 Citations Download PDF Cite
You-Hong Eng1
Estimated H-index: 1
,
Cheng-Siong Chin1
Estimated H-index: 1
,
Michael Wai Shing Lau12
Estimated H-index: 12
In this paper, numerical modeling and testing of a complex-shaped remotely-operated vehicle (ROV) are shown. The paper emphasizes on systematic modeling of hydrodynamic added mass using computational fluid dynamic software WAMIT^(TM) on the open frame ROV that is not commonly applied in practice. From initial design and prototype testing, a small-scale test using a free-decaying experiment is used to verify the theoretical models obtained from WAMIT^(TM). Simulation results ...
14 Citations Source Cite
Luis G. Garcia-Valdovinos2
Estimated H-index: 2
,
Tomás Salgado-Jiménez2
Estimated H-index: 2
,
Manuel Bandala-Sanchez2
Estimated H-index: 2
... more
Underwater remotely operated vehicles (ROVs) play an important role in a number of shallow and deep-water missions for marine science, oil and gas extraction, exploration and salvage. In these applications, the motions of the ROV are guided either by a human pilot on a surface support vessel through an umbilical cord providing power and telemetry, or by an automatic pilot. In the case of automatic control, ROV state feedback is provided by acoustic and inertial sensors and t...
173 Citations Source Cite
S.J. Xu1
Estimated H-index: 1
(Harbin Engineering University),
Qingwei Ma16
Estimated H-index: 16
(Harbin Engineering University),
D.F. Han1
Estimated H-index: 1
(Harbin Engineering University)
This paper presents an experimental study on inertial hydrodynamic behaviors of an open-frame remotely operated vehicle (ROV) that has a complex open-frame hull but a large capacity to hold more instruments on board than those of other ROVs. A 1:4 scaled model was tested by a vertical planar motion mechanism in a circulating water channel of Harbin Engineering University. The inertial coefficients, which can be used for the simulation of motions and therefore for the maneuve...
Source Cite
2016 in Fisheries Research [IF: 1.87]
Dana R. Haggarty5
Estimated H-index: 5
(University of British Columbia),
Jonathan B. Shurin37
Estimated H-index: 37
(University of California, San Diego),
K. Lynne Yamanaka3
Estimated H-index: 3
(Fisheries and Oceans Canada)
Abstract Between 2004 and 2007, Fisheries and Oceans Canada undertook a management action to conserve overfished populations of Inshore Rockfishes by designating 164 Rockfish Conservation Areas (RCAs) closed to most recreational and commercial fishing. However, no research has yet assessed the effectiveness of the RCA network at promoting groundfish population recoveries. We surveyed the fish communities of 35 RCAs and adjacent unprotected areas in southern British Columbia using a remotely
7 Citations Source Cite
Juan A. Ramírez-Macías2
Estimated H-index: 2
(Pontifical Bolivarian University),
Persijn Brongers1
Estimated H-index: 1
(Maritime Research Institute Netherlands),
Santiago Rúa2
Estimated H-index: 2
(Pontifical Bolivarian University)
... more
Abstract: This paper addresses the hydrodynamic modelling of an inspection-class remotely operated vehicle using a viscous-flow solver for the accurate prediction of manoeuvring coefficients needed for control purposes. The 6-DOF differential nonlinear equation of motion for the ROV visor3 is first described with emphasis on hydrodynamic terms. Then, the hydrodynamic model of the ROV is assembled from data obtained using the Virtual Captive Test (VCT) approach, where experim...
2 Citations Source Cite
Mingjie Dong1
Estimated H-index: 1
(Beihang University),
Wusheng Chou1
Estimated H-index: 1
(Beihang University),
Bin Fang1
Estimated H-index: 1
(Beihang University)
... more
To reduce the irradiation exposure time of inspection personnel inspecting the reactor pressure vessel and other water-filled infrastructure during overhaul period, a remotely operated vehicle (ROV) is developed to help monitor the underwater environment and salvage small parts like bolts and nuts in the reactor pool and other water-filled infrastructure of the nuclear power plants. It is designed to be compact, light and radiation resistant. The depth control strategy based...
4 Citations Source Cite
A.A. Dyda1
Estimated H-index: 1
(Maritime State University),
Dmitry A. Oskin1
Estimated H-index: 1
(Far Eastern Federal University),
Sauro Longhi27
Estimated H-index: 27
(Marche Polytechnic University)
... more
Abstract: The paper is devoted to a new nonlinear discontinuous control algorithm and its applications in underwater robotics. The proposed approach is based on the usage of a relay control signals and coupled switching surfaces in order to improve the characteristics of a system. The choice of nonlinear switching functions to approximate own phase trajectories of a system in a case of relay control inputs, makes possible to get fast transient processes and high energy effectiveness. The derived...
1 Citations Source Cite