Development and implementation of a low-level control system for the underwater remotely operated vehicle Visor3

Santiago A. Zuluaga; Santiago Rúa; Rafael E. Vásquez; Carlos A. Zuluaga; Julio C. Correa

doi:10.1109/OCEANS.2016.7761195

Development and implementation of a low-level control system for the underwater remotely operated vehicle Visor3

Santiago A. Zuluaga, Santiago Rúa, Rafael E. Vásquez, Carlos A. Zuluaga, Julio C. Correa

Research output: Chapter in Book/Report/Conference proceeding › Conference and proceedings › peer-review

3 Scopus citations

Abstract

This paper addresses the development and implementation of a low level control system for the underwater vehicle Visor3, developed by the Universidad Pontificia Bolivariana, located at Medellín, Colombia. Visor3 is an observation class ROV that was developed for surveillance and inspection of port facilities and underwater structures and has been used as a test platform for the development of robotic technology for underwater exploration of Colombian seas. Both, the control and navigation algorithms were implemented in the on-board processor (BeagleBone embedded computer). This processor is running an Ångström operating system which is a Linux distribution used in embedded devices with built-in components. The control and navigation algorithms were tested in a hardware in the loop (HIL) environment using a 6-DOF mathematical model of Visor3 before the real test. Results from the HIL simulation and experimental test are compared. Results show that the HIL is powerful tool for the NGC development of the ROV.

Original language	English
Title of host publication	OCEANS 2016 MTS/IEEE Monterey, OCE 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781509015375
DOIs	https://doi.org/10.1109/OCEANS.2016.7761195
State	Published - 28 Nov 2016
Event	2016 OCEANS MTS/IEEE Monterey, OCE 2016 - Monterey, United States Duration: 19 Sep 2016 → 23 Sep 2016

Publication series

Name	OCEANS 2016 MTS/IEEE Monterey, OCE 2016

Conference

Conference	2016 OCEANS MTS/IEEE Monterey, OCE 2016
Country/Territory	United States
City	Monterey
Period	19/09/16 → 23/09/16

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

Access to Document

10.1109/OCEANS.2016.7761195

Cite this

Zuluaga, S. A., Rúa, S., Vásquez, R. E., Zuluaga, C. A., & Correa, J. C. (2016). Development and implementation of a low-level control system for the underwater remotely operated vehicle Visor3. In OCEANS 2016 MTS/IEEE Monterey, OCE 2016 Article 7761195 (OCEANS 2016 MTS/IEEE Monterey, OCE 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/OCEANS.2016.7761195

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title = "Development and implementation of a low-level control system for the underwater remotely operated vehicle Visor3",

abstract = "This paper addresses the development and implementation of a low level control system for the underwater vehicle Visor3, developed by the Universidad Pontificia Bolivariana, located at Medell{\'i}n, Colombia. Visor3 is an observation class ROV that was developed for surveillance and inspection of port facilities and underwater structures and has been used as a test platform for the development of robotic technology for underwater exploration of Colombian seas. Both, the control and navigation algorithms were implemented in the on-board processor (BeagleBone embedded computer). This processor is running an {\AA}ngstr{\"o}m operating system which is a Linux distribution used in embedded devices with built-in components. The control and navigation algorithms were tested in a hardware in the loop (HIL) environment using a 6-DOF mathematical model of Visor3 before the real test. Results from the HIL simulation and experimental test are compared. Results show that the HIL is powerful tool for the NGC development of the ROV.",

author = "Zuluaga, {Santiago A.} and Santiago R{\'u}a and V{\'a}squez, {Rafael E.} and Zuluaga, {Carlos A.} and Correa, {Julio C.}",

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year = "2016",

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Zuluaga, SA, Rúa, S, Vásquez, RE , Zuluaga, CA & Correa, JC 2016, Development and implementation of a low-level control system for the underwater remotely operated vehicle Visor3. in OCEANS 2016 MTS/IEEE Monterey, OCE 2016., 7761195, OCEANS 2016 MTS/IEEE Monterey, OCE 2016, Institute of Electrical and Electronics Engineers Inc., 2016 OCEANS MTS/IEEE Monterey, OCE 2016, Monterey, United States, 19/09/16. https://doi.org/10.1109/OCEANS.2016.7761195

Development and implementation of a low-level control system for the underwater remotely operated vehicle Visor3. / Zuluaga, Santiago A.; Rúa, Santiago; Vásquez, Rafael E. et al.
OCEANS 2016 MTS/IEEE Monterey, OCE 2016. Institute of Electrical and Electronics Engineers Inc., 2016. 7761195 (OCEANS 2016 MTS/IEEE Monterey, OCE 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference and proceedings › peer-review

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AU - Vásquez, Rafael E.

AU - Zuluaga, Carlos A.

AU - Correa, Julio C.

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N2 - This paper addresses the development and implementation of a low level control system for the underwater vehicle Visor3, developed by the Universidad Pontificia Bolivariana, located at Medellín, Colombia. Visor3 is an observation class ROV that was developed for surveillance and inspection of port facilities and underwater structures and has been used as a test platform for the development of robotic technology for underwater exploration of Colombian seas. Both, the control and navigation algorithms were implemented in the on-board processor (BeagleBone embedded computer). This processor is running an Ångström operating system which is a Linux distribution used in embedded devices with built-in components. The control and navigation algorithms were tested in a hardware in the loop (HIL) environment using a 6-DOF mathematical model of Visor3 before the real test. Results from the HIL simulation and experimental test are compared. Results show that the HIL is powerful tool for the NGC development of the ROV.

AB - This paper addresses the development and implementation of a low level control system for the underwater vehicle Visor3, developed by the Universidad Pontificia Bolivariana, located at Medellín, Colombia. Visor3 is an observation class ROV that was developed for surveillance and inspection of port facilities and underwater structures and has been used as a test platform for the development of robotic technology for underwater exploration of Colombian seas. Both, the control and navigation algorithms were implemented in the on-board processor (BeagleBone embedded computer). This processor is running an Ångström operating system which is a Linux distribution used in embedded devices with built-in components. The control and navigation algorithms were tested in a hardware in the loop (HIL) environment using a 6-DOF mathematical model of Visor3 before the real test. Results from the HIL simulation and experimental test are compared. Results show that the HIL is powerful tool for the NGC development of the ROV.

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Y2 - 19 September 2016 through 23 September 2016

ER -

Development and implementation of a low-level control system for the underwater remotely operated vehicle Visor3

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