Problem Identification for Underwater Remotely Operated Vehicle (ROV): A Case Study

• DOI: 10.1016/j.proeng.2012.07.211
• Publication Date: 2012-08-25T06:02:59Z
• Authors: F.A. Azis; M.S.M. Aras; M.Z.A. Rashid; M.N. Othman; S.S. Abdullah
• Keywords: Remotely operated vehicle; Underactuation; Identification

This paper investigates and describes problem identification of Unmanned Underwater Remotely Operated Vehicle (ROV). The following is the that found after research done on several literature reviews study cases. In this paper, major statements will be discussed in details such as control system, underactuated condition, pose recovery or station keeping, coupling issues communication technique. ROV one (UUV) tethered with umbilical cable remotely operated by a vehicle operator's. Control system bit complex because unknown non-linear hydrodynamics effects, parameters uncertainties lack precise model dynamics parameters. Conventional controller cannot dynamically compensate for unmodeled hydrodynamic forces disturbances. Underactuated condition defined having less inputs than degree freedom, so how want to maintain certain point depth mission when more thrusters malfunction also an issue highlighted. Pose keeping design. approach used position relation another moving tries remain stationary at desired present environmental disturbances wind, waves, current unexpected Coupling between tether body stabilizing itself it double load. underwater size, weight operating depth, well motors, subsystems, payload, all combine determine ROV's underwater, inability wireless fails work very transmit video stream even short distance covered. statement proved Technology Research Group student's project. experiment sets upthree types sensor using higher frequency stream, data transfer GPS.