Development of an underwater remotely operated vehicle (ROV) for surveillance and inspection of port facilities

Luis B. Gutierrez, Carlos A. Zuluaga, Juan A. Ramirez, Rafael E. Vasquez, Diego A. Florez, Elkin A. Taborda, Raul A. Valencia

    Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

    13 Citas (Scopus)

    Resumen

    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.

    Idioma originalInglés
    Título de la publicación alojadaASME 2010 International Mechanical Engineering Congress and Exposition, IMECE 2010
    Páginas631-640
    Número de páginas10
    DOI
    EstadoPublicada - 2010
    EventoASME 2010 International Mechanical Engineering Congress and Exposition, IMECE 2010 - Vancouver, BC, Canadá
    Duración: 12 nov. 201018 nov. 2010

    Serie de la publicación

    NombreASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
    Volumen11

    Conferencia

    ConferenciaASME 2010 International Mechanical Engineering Congress and Exposition, IMECE 2010
    País/TerritorioCanadá
    CiudadVancouver, BC
    Período12/11/1018/11/10

    Huella

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