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Development and modelling of a three-thurster remotely operated vehicle using open source hardware

Citation

Le, KD and Nguyen, HD and Ranmuthugala, SD, Development and modelling of a three-thurster remotely operated vehicle using open source hardware, Proceedings of The 17th International Conference On Mechatronics Technology, 15-18 October 2013, Jeju Island, Korea, pp. 1-6. (2013) [Refereed Conference Paper]


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Copyright Statement

Copyright 2013 the Authors

Abstract

This paper presents the development and modelling of a Remotely Operated Vehicle (ROV) which consists of three thrusters using open source hardware. First, the hardware of the vehicle, including the actuators, sensors and control system, is described. Second, to study the relationship between thrust forces and performance of the ROV, a mathematical model of the vehicle in form of a dynamic model with hydrodynamic coefficients is established. Computational Fluid Dynamics (CFD) analysis is conducted to identify the hydrodynamic coefficients of the ROV dynamic model, including the linear damping coefficients and quadratic damping coefficients. Based on the CFD results and mathematical equations, a ROV simulation model is developed to evaluate the performance and manoeuvrability of the ROV system. Finally, closed loop control is applied for ROV speed and depth control and the stability of the vehicle in pitch motion is analysed in this paper.

Item Details

Item Type:Refereed Conference Paper
Keywords:Remotely Operated Vehicle (ROV), Computational Fluid Dynamics (CFD), open source hardware
Research Division:Information and Computing Sciences
Research Group:Artificial Intelligence and Image Processing
Research Field:Adaptive Agents and Intelligent Robotics
Objective Division:Defence
Objective Group:Defence
Objective Field:Navy
Author:Le, KD (Mr Khoa Le)
Author:Nguyen, HD (Dr Hung Nguyen)
Author:Ranmuthugala, SD (Professor Dev Ranmuthugala)
ID Code:88186
Year Published:2013
Deposited By:NC Ports and Shipping
Deposited On:2014-01-16
Last Modified:2014-12-23
Downloads:3 View Download Statistics

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