Hardware and software development for the navigation, guidance, and control system of a remotely operated vehicle

Luis M. Aristizabal, Santiago Rua, Carlos A. Zuluaga, Norha L. Posada, Rafael E. Vasquez

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    4 Scopus citations

    Abstract

    This paper addresses the development of hardware and software systems needed for the operation of a Class-II remotely operated vehicle, by using a systems engineering approach. The concept design included using Quality Function Deployment in order to translate stakeholders' needs into engineering characteristics. Then, the functional division of the ROV system was performed, allowing the designers to develop the electronics functional architecture. Solutions for all functions in the electronics system were integrated into a comprehensive hardware architecture that fulfills the user's requirements. Finally, a software application for the navigation, guidance, and control of the ROV was designed based on the actor model. Verification of some components was performed and showed the functionality of the developed systems. High modularity and low coupling of the resulting solutions enables a multidisciplinary teamwork to integrate efforts seamlessly and efficiently during the development of the ROV.

    Original languageEnglish
    Title of host publication2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings
    EditorsDiego Patino, Eugenio Yime
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages1-6
    Number of pages6
    ISBN (Electronic)9781538603987
    DOIs
    StatePublished - 2 Jul 2017
    Event3rd IEEE Colombian Conference on Automatic Control, CCAC 2017 - Cartagena, Colombia
    Duration: 18 Oct 201720 Oct 2017

    Publication series

    Name2017 IEEE 3rd Colombian Conference on Automatic Control, CCAC 2017 - Conference Proceedings
    Volume2018-January

    Conference

    Conference3rd IEEE Colombian Conference on Automatic Control, CCAC 2017
    Country/TerritoryColombia
    CityCartagena
    Period18/10/1720/10/17

    Bibliographical note

    Funding Information:
    This work was developed within the Strategic Program for the Development of Robotic Technology for Offshore Exploration of the Colombian Seabed, project 1210-531-30550, contract 0265-2013, and is funded by the Fondo Nacional de Financiamiento para la Ciencia, la Tecnologia y la Innovacion, Francisco Jose de Caldas; the Colombian petroleum company, ECOPETROL; the Universidad Pontificia Bolivariana - Sede Medellin, UPB; and the Universidad Nacional de Colombia - Sede Medellin, UNALMED

    Funding Information:
    ACKNOWLEDGMENT This work was developed within the Strategic Program for the Development of Robotic Technology for Offshore Exploration of the Colombian Seabed, project 1210-531-30550, contract 0265-2013, and is funded by the Fondo Nacional de Financiamiento para la Ciencia, la Tecnología y la Innovación, Francisco José de Caldas; the Colombian petroleum company, ECOPETROL; the Universidad Pontificia Bolivariana - Sede Medellín, UPB; and the Universidad Nacional de Colombia - Sede Medellín, UNALMED.

    Funding Information:
    Remotely Operated Vehicles (ROVs) are essential tools for executing dangerous tasks in underwater environments [1]. However, the use and development of these technologies in the Latin American context is reduced in comparison with several regions worldwide. Just a few universities in Mexico, Brazil and Colombia have reported advances on the development of underwater robotic technology [2]. Therefore, infrastructure for subsea exploration has to be strengthened in the region. The Universidad Pontificia Bolivariana - Medellín, UPB, and the Universidad Nacional de Colombia - Medellín, UNALMED, started the Strategic Program for the Development of Robotic Technology for Offshore Exploration of the Colombian Seabed (Underwater Robotics Program, URP), which is being funded by the Fondo Nacional de Financiamiento para la Ciencia, la Tecnología y la Innovación, Francisco José de Caldas. The flagship element of the Program is the development of an observation-class ROV with payload option (class-II according to NORSOK U-102 standard [3]), with a rated depth of 500 m, capable of retrieving solid, liquid and visual samples, designed to explore the Colombian subsea environments.

    Publisher Copyright:
    © 2017 IEEE.

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