TY - GEN
T1 - Development of an underwater remotely operated vehicle (ROV) for surveillance and inspection of port facilities
AU - Gutierrez, Luis B.
AU - Zuluaga, Carlos A.
AU - Ramirez, Juan A.
AU - Vasquez, Rafael E.
AU - Florez, Diego A.
AU - Taborda, Elkin A.
AU - Valencia, Raul A.
PY - 2010
Y1 - 2010
N2 - This work addresses the development of an underwater remotely operated vehicle (ROV), required to obtain reliable visual information, used for surveillance and maintenance of ship shells and underwater structures of Colombian port facilities and oceanographic research. The most relevant design constraints were evaluated considering environmental conditions, dimensional restrictions, hydrostatics, hydrodynamics, degrees of freedom and the availability of instrumentation and control hardware. The mechanical/naval design was performed through an iterative process by using computational tools CAD/CAE/CFD. The hardware architecture was divided in three layers: instrumentation, communications and control. The software was developed using ANSI C with Embedded Linux operating system. The guidance and navigation system used the Kalman filter to estimate the state of the vehicle. The vehicle can operate in manual and semi-Automatic modes. In the semi-Automatic, the position of a joystick is converted into the velocity set-points that are integrated to get the yaw and depth commands for the PID controllers. The rigorous design and a consistent construction processes allowed the development of a robust and reliable robotic system that constitutes an innovative product in Colombia.
AB - This work addresses the development of an underwater remotely operated vehicle (ROV), required to obtain reliable visual information, used for surveillance and maintenance of ship shells and underwater structures of Colombian port facilities and oceanographic research. The most relevant design constraints were evaluated considering environmental conditions, dimensional restrictions, hydrostatics, hydrodynamics, degrees of freedom and the availability of instrumentation and control hardware. The mechanical/naval design was performed through an iterative process by using computational tools CAD/CAE/CFD. The hardware architecture was divided in three layers: instrumentation, communications and control. The software was developed using ANSI C with Embedded Linux operating system. The guidance and navigation system used the Kalman filter to estimate the state of the vehicle. The vehicle can operate in manual and semi-Automatic modes. In the semi-Automatic, the position of a joystick is converted into the velocity set-points that are integrated to get the yaw and depth commands for the PID controllers. The rigorous design and a consistent construction processes allowed the development of a robust and reliable robotic system that constitutes an innovative product in Colombia.
UR - http://www.scopus.com/inward/record.url?scp=84881444748&partnerID=8YFLogxK
U2 - 10.1115/IMECE2010-38217
DO - 10.1115/IMECE2010-38217
M3 - Ponencia publicada en las memorias del evento con ISBN
AN - SCOPUS:84881444748
SN - 9780791844489
T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
SP - 631
EP - 640
BT - ASME 2010 International Mechanical Engineering Congress and Exposition, IMECE 2010
T2 - ASME 2010 International Mechanical Engineering Congress and Exposition, IMECE 2010
Y2 - 12 November 2010 through 18 November 2010
ER -