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

Producción científica: Capítulo del libro/informe/acta de congreso › Ponencia publicada en las memorias del evento con ISBN › revisión exhaustiva

3 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	OCEANS 2016 MTS/IEEE Monterey, OCE 2016
Editorial	Institute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)	9781509015375
DOI	https://doi.org/10.1109/OCEANS.2016.7761195
Estado	Publicada - 28 nov. 2016
Evento	2016 OCEANS MTS/IEEE Monterey, OCE 2016 - Monterey, Estados Unidos Duración: 19 sep. 2016 → 23 sep. 2016

Serie de la publicación

Nombre	OCEANS 2016 MTS/IEEE Monterey, OCE 2016

Conferencia

Conferencia	2016 OCEANS MTS/IEEE Monterey, OCE 2016
País/Territorio	Estados Unidos
Ciudad	Monterey
Período	19/09/16 → 23/09/16

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© 2016 IEEE.

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10.1109/OCEANS.2016.7761195

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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. En OCEANS 2016 MTS/IEEE Monterey, OCE 2016 Artículo 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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doi = "10.1109/OCEANS.2016.7761195",

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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. En 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, Estados Unidos, 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).

Producción científica: Capítulo del libro/informe/acta de congreso › Ponencia publicada en las memorias del evento con ISBN › revisión exhaustiva

TY - GEN

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AU - Zuluaga, Santiago A.

AU - Rúa, Santiago

AU - Vásquez, Rafael E.

AU - Zuluaga, Carlos A.

AU - Correa, Julio C.

PY - 2016/11/28

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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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