Research on Hydrodynamics Model Test for Deepsea Open-Framed Remotely Operated Vehicle

This paper presents the features of newly designed hydrodynamics test for the scaled model of 4500 m deepsea open-framed remotely operated vehicle （ROV）, which is being researched and developed by Shanghai Jiao Tong University. Accurate hydrodynamics coefficients measurement and spatial modeling of ROV are significant for the maneuverability and control algorithm. The scaled model of ROV was constructed by 1：1.6. Hydrodynamics coefficients were measured through VPMM and LAHPMM towing test. And dynamics model was derived as a set of equations, describing nonlinear and coupled 5-DOF spatial motions. Rotation control motion was simulated to verify spatial model proposed. Research and application of hydrodynamics coefficients are expected to enable ROV to overcome uncertainty and disturbances of deepsea environment, and accomplish some more challengeable and practical missions.

Study on Simulation of Remotely Operated Underwater Vehicle Spatial Motion

In order to analyze the spatial maneuverability of the remotely operated underwater vehicle(ROV),the 6-DOF motion mathematic model of the ROV was founded.Hydrodynamics were analyzed by using the Taylor series.The thrusters on the ROV were discussed.This paper considers three cases of motion simulation:vertical motion,rotational motion and Z-shape motion.A series of simulation experiments showed that the 6-DOF motion mathematic model was correct and reliable,and also fit with the scene simulation.

Remote Operation SW for USV: Part II. Simulation Development

For contingencies occurring in a complex marine environment, Unmanned Surface Vehicle (USV) has to recognize the situation and decide behaviors,?and?plan the following actions through the Integrated Mission Planning Process. Therefore, researches are actively being carried out about it. However, since it is difficult to test the actual USV with the mission planning process, it is necessary to develop a virtual experimental environment based on Modeling?&?Simulation (M&S). In this study, we developed an integrated simulation environment capable of simulating and analyzing the overall mission of USV. In Part?I, we modelled the USV Integrated Mission Planning Process and in Part?II, we developed an experimental framework and interface for loading them. In addition, we verified the suitability of this model through scenarios and defined the Mission of Effectiveness (MOE) concept for USV mission analysis.

Remote Operation SW for USV: Part I. Integrated Mission Planning System

The integrated Mission Planning System?(MPS) of Unmanned Surface Vehicle?(USV) refers to the process which can recognize, decide, plan situations and carry out missions, such as human beings, for all incidental or complex events occurring at sea. In the actual operating environment, it is necessary to develop a simulation software environment and analyze, verify it in advance so as to make an appropriate mission plan considering equipment, sensor, fuel, and other available resources. The existing USV mission planning process methodology has several limitations in the analysis of USV missions because the scenario to be tested is limited and autonomy of USV is not considered sufficiently. To overcome these problems, we constructed a process that considers various missions and is more autonomous, and an integrated environment in which to experiment. In this study, we designed a multi-agent based USV Integrated Mission Planning System and modeled each component. In addition, we constructed the USV remote operation S/W based on M&S that user can experiment with the modeled process and verified the usefulness of the developed system through simulations.

故障检测与重构下基于AFTSMO的ROV三维航迹跟踪控制

针对传统的滑模观测器在缆控水下机器人(ROV)系统状态估计与故障重构过程中存在渐近收敛、无法及时准确重构故障信号的问题,提出一种基于自适应快速终端滑模观测器(adaptive fast terminal sliding mode observer)的故障检测和控制优化方法。建立带有推进器故障、未知外界干扰和模型参数不确定性等复合干扰的ROV系统故障模型;设计具有自适应特性的快速终端滑模控制器,保证所有的状态估计误差在有限时间内收敛;通过等效输出误差注入法对推进器引起的故障进行估计重构。采用Lyapunov稳定性理论验证控制系统的稳定性,仿真结果表明,所设计的故障检测方法能够快速检测和重构故障,保证ROV系统较高的跟踪精度,并通过实验验证了所提算法的有效性。

OBLIQUE TOWING TEST AND MANEUVER SIMULATION AT LOW SPEED AND LARGE DRIFT ANGLE FOR DEEP SEA OPEN-FRAMED REMOTELY OPERATED VEHICLE

This article presents the newly designed oblique towing test in the horizontal plane for the scaled model of 4 500 m deep sea open-framed Remotely Operated Vehicle （ROV）,which is being researched and developed by Shanghai Jiao Tong University.Accurate hydrodynamics coefficients measurement is significant for the maneuverability and control system design.The scaled model of ROV was constructed by 1：1.6.Hydrodynamics tests of large drift angle were conducted through Large Amplitude Horizontal Planar Motion Mechanism （LAHPMM） under low speed.Multiple regression method is adopted to process the test data and obtain the related hydrodynamic coefficients.Simulations were designed for the horizontal plane motion of large drift angle to verify the coefficients calculated.And the results show that the data can satisfy with the design requirements of the ROV developed.

Automatic analysis of deep-water remotely operated vehicle footage for estimation of Norway lobster abundance

Underwater imaging is being used increasingly by marine biologists as a means to assess the abundance of marine resources and their biodiversity. Previously, we developed the first automatic approach for estimating the abundance of Norway lobsters and counting their burrows in video sequences captured using a monochrome camera mounted on trawling gear. In this paper, an alternative framework is proposed and tested using deep-water video sequences acquired via a remotely operated vehicle. The proposed framework consists of four modules:(1) preprocessing,(2) object detection and classification,(3) object-tracking, and(4) quantification. Encouraging results were obtained from available test videos for the automatic video-based abundance estimation in comparison with manual counts by human experts(ground truth). For the available test set, the proposed system achieved 100%precision and recall for lobster counting, and around 83% precision and recall for burrow detection.

Robust Modeling, Sliding-Mode Controller, and Simulation of an Underactuated ROV Under Parametric Uncertainties and Disturbances

A dynamic model of a remotely operated vehicle(ROV)is developed.The hydrodynamic damping coefficients are estimated using a semi-predictive approach and computational fluid dynamic software ANSYS-CFX?and WAMIT?.A sliding-mode controller(SMC)is then designed for the ROV model.The controller is subsequently robustified against modeling uncertainties,disturbances,and measurement errors.It is shown that when the system is subjected to bounded uncertainties,the SMC will preserve stability and tracking response.The paper ends with simulation results for a variety of conditions such as disturbances and parametric uncertainties.

Bi-criteria Optimal Fault-Tolerable Control for SY-II Remote Operated Vehicle

This paper proposed a bi-criteria weighting approach for fault tolerant control(FTC)of SY-II remote operated vehicle(ROV).This approach integrates the minimum kinetic energy(2-norm optimal)approach with the infinity-norm approach through a weighting coefcient,on the basis of SY-II ROV force allocation model.For the realization of fault tolerable control,this approach converts a quadratic programming problem into primaldual neural network.From the motion control simulations and experiments,bi-criteria optimization approach outperforms minimum kinetic energy optimization in FTC,SY-II ROV can realize 2-degree of freedom(DOF)horizontal fault tolerant control with one main thruster and any of horizontal ones.Therefore,this scheme is proved to be of superiority and computational efciency,both the reliability and safety for ROV have been improved.

Using Unmanned Underwater Vehicles as Research Platforms in Coastal Ocean Studies

The advantages of using unmanned underwater vehicles in coastal ocean studies are emphasized. Two types of representative vehicles, remotely operated vehicle (ROV) and autonomous underwater vehicle (AUV) from University of South Florida, are discussed. Two individual modular sensor packages designed and tested for these platforms and field measurement results are also presented. The bottom classification and albedo package, BCAP, provides fast and accurate estimates of bottom albedos, along with other parameters such as in-water remote sensing reflectance. The real-time ocean bottom optical topographer, ROBOT, reveals high-resolution 3-dimentional bottom topography for target identification. Field data and results from recent Coastal Benthic Optical Properties field campaign, 1999 and 2000, are presented. Advantages and limitations of these vehicles and applications of modular sensor packages are compared and discussed.

基于自适应S面算法的小型ROV艏向和深度运动控制研究

带缆遥控水下机器人(ROV)系统艏向与深度运动具有强非线性和运行环境不确定性等特点。针对ROV的运动特点,构建运动控制模型并进行化简,通过构建自适应S面控制法对艏向与深度进行控制,并利用Lyapunov的稳定性判据证明该控制法的稳定性,通过仿真验证了该控制法具有良好的稳定性和控制品质。同时,与S面控制法相比,自适应S面控制具有更好的动态性能与静态性能,调节速度快、稳定性强,能够准确控制ROV运动。

深水ROV工具篮子结构设计载荷与屈服强度分析

水下机器人ROV(remote operated vehicle)工具篮子用于在陆地和深海中储存ROV安装工具,除方便ROV进行操作外,同时给ROV工具提供保护,能够很好地适应深远海环境,是水下生产系统的重要组成部件。其深海安装作业风险高、要求严,研究其安装全过程工况的强度性能对确保整个水下生产系统平稳运行具有重要作用。针对南海陵水气田使用的ROV工具篮子深海多种典型工况,计算得到设计载荷,然后对其进行有限元建模分析,计算不同载荷工况下的应力响应,对结构的屈服强度进行校核,以确保整体结构强度满足安全规范要求。计算结果表明:ROV工具篮子在多种提升工况、冲击工况以及运输工况下结构屈服强度均满足规范要求,在此基础上,指导现场使用的ROV工具篮子设计,整个海上安装及水下运行安全可靠。研究成果可为ROV工具篮子以及类似水下结构物的结构设计和深海安装提供理论基础和技术参考。

ROV仿真平台技术研究

遥控有缆机器人(ROV)在海洋资源开发、管道/线缆铺设中发挥着重要作用,但其海洋实验成本高昂,且要求操作员具有丰富的操作经验。为辅助培训ROV操作员并提高ROV实验效率,文章设计了一种硬件在环、具有三维可视化功能的仿真平台,其既可直接与现场应用的ROV控制系统连接进行软件测试与功能验证,又可以直接用于操作员培训。该平台通过ROV物理模型和ROV数学模型等模拟实物ROV,并在虚拟视景中构建ROV运动场景、在虚拟环境中模拟ROV作业。基于ROV数学模型,其计算ROV运动数据并将运动数据信息传递到ROV三维模型进行动态显示,同时将实时运动信息反馈给ROV控制系统。结合水池实验中ROV速度随推进器转速变化的实验数据,文章对比分析了实验数据与仿真平台计算数据。结果表明,该仿真平台能有效代替实物实验并辅助ROV操作员培训,可大大节省培训与实验成本,提升ROV操作员培训效率。

基于迁移学习的ROV水下建筑物缺陷识别方法

水下建筑物缺陷检测是保障电厂长期安全稳定运行的关键。为解决检测任务繁重危险,提高检测效率,降低人工检测成本,提出一种基于水下机器人(ROV)的水下建筑物缺陷识别方法。针对水下成像环境复杂、噪声大、检测流程冗长等问题,设计了一种基于迁移学习的图像识别模型。首先,通过图像数据处理算法,提高水下缺陷图像质量,并对图像进行二值化处理,突出缺陷特征;然后通过卷积核提取图像中的突出特征,引入注意力机制对特征重要程度进行计算分配,提高模型特征提取效率;最后在训练过程中引入迁移学习,解决实际缺陷数据不足的问题,提高模型训练效率。结果表明,设计的迁移学习图像识别模型在标准数据集和实测缺陷数据集上准确率达到90%~95%,且迭代次数在30代以内,能够精确高效识别水下建筑物缺陷特征。

“海马”号ROV在天然气水合物勘查中的应用

天然气水合物作为未来的战略性新型能源矿产,在我国南海成功实现了试开采,对推动新的清洁能源生产具有重要而深远的影响。文中介绍了由我国自主研制的首套大深度作业型ROV系统("海马"号)的组成和结构特点,详细阐述了充分利用"海马"号ROV的灵活、全面、立体的作业性能,有针对性的配置了三视角高清摄像、机械手专用工具、海水温度、甲烷含量测量、声呐、定位信标等设备工具,进行了搜索、详查、观测、触探、取样、实验等水合物勘查作业,发现了海底"冷泉"活动以及与天然气水合物赋存相关的微地貌特征等,"海马"号的应用极大地推进了我国天然气水合物的研究和开发进展,未来将在天然气水合物勘查和科学研究中发挥重要作用。

ROV中继器的应用研究及发展趋势

缆控潜水器(ROV)是水下机器人的一种,是能够在水下环境中长时间作业的高科技装备。中继器是用于储存和收放中性缆的装置,用来消除或减小来自水面母船运动对ROV的影响,并增大ROV的作业半径。它对于保证ROV的安全及作业具有重要的作用。论文简要地介绍中继器的分类和系统组成,阐述中继器的作用和主要功能,分析了国内外中继器的应用现状,提出了中继器设计中应解决的关键技术,最后,对中继器技术的未来发展趋势做出展望。期望通过这些介绍能对从事这一领域研究的科研技术人员起到一定的指导作用,为我国深海水下载人/无人潜水器的设计提供依据和参考。

“海龙Ⅲ”号ROV系统深海试验与应用研究

深海水下机器人主要用于深远海地质、矿物资源和生物调查研究,以及海洋石油工程服务等水下综合作业,能够实现深海近底高精度、长时间的定点取样作业及其他精细化调查。结合国内外深海ROV装备和技术发展现状,以新研发的6 000 m级"海龙Ⅲ"号ROV搭载"大洋一号"船执行的2018年南海综合海试和48航次为例,从深海试验流程和方法、浅水区功能测试、深水区功能测试、深海观测及取样功能测试等方面,详细阐述了ROV海上试验和应用作业过程,对作业水深、功率配置、水下运动能力、搭载能力等关键性能指标进行了试验验证。海上功能测试和试验性应用结果表明,"海龙Ⅲ"ROV各项性能指标满足设计要求,验证了系统在不同深度、不同地形条件下的观测取样作业能力,创新了深水ROV作业方法手段,分析得出此类装备目前在国内发展存在的不足之处,并结合实际应用提出后期改进计划,以期为深海ROV的海试应用提供技术参考。

ROV在我国海洋区域地质调查中的应用

远程遥控水下机器人系统是一种先进的海洋综合调查设备,能够实现海底长时间、高精度的定点取样作业及其他精细调查,在海洋区域地质调查中利用ROV开展高精度海底取样及其环境调查方面具有其他调查设备无法比拟的优越性。ROV具有功能多、综合作业能力强、安全可靠和实时遥控等优点。目前国内利用ROV进行海洋区域地质调查还处于起步阶段,随着ROV在海洋调查中的应用技术不断成熟和完善,利用ROV进行海洋区域地质调查将大大提高海洋区域地质调查的装备水平和调查精度,具有广阔的应用前景。以"海狮号"ROV系统为例,介绍其在我国海洋区域地质调查中的典型应用。

一种自带能源的观察型ROV控制体系结构

介绍一种自带能源的观察型微细光缆遥控潜水器控制系统的结构和组成.FROV自身携带锂离子电池用于水下系统的供电,同时采用细光缆进行水下、水面系统的通讯.FROV具有水下机动性较好,活动范围较大等特点.

无模型自适应控制算法在ROV定深控制中的仿真

将无模型自适应控制方法应用于遥控潜水器(ROV)定深控制当中。该控制方案的设计仅利用ROV的垂向推力输入数据和深度输出数据,用动态线性化时变模型替代ROV非线性系统模型,算法中不包含ROV模型及水动力参数信息。因此,解决了ROV因系统复杂、水动力参数难以确定,所导致的控制器设计复杂度高、控制效果不理想的问题。为了便于仿真,文章建立含有补偿参数的ROV简化模型,模型仅用于产生系统的I/O数据,不参与控制器的设计。仿真结果表明,在ROV定深控制当中,无模型自适应控制(MFAC)比PID控制具有更强的抗扰能力。此外,在欠阻尼ROV系统中,基于偏格式动态线性化的无模型自适应控制(PFDL-MFAC)方案相比于基于紧格式动态线性化的无模型自适应控制(CFDL-MFAC)方案具有更好的控制效果。