Skip to main content
SpringerLink
Log in

Development of an Information Control System for a Remotely Operated Vehicle with Hybrid Propulsion System

  • Chapter
  • First Online:
Robotics: Industry 4.0 Issues & New Intelligent Control Paradigms

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 272))

Abstract

The need for periodic monitoring of the technical conditions of various underwater metal structures with limited access for humans stimulates the development of new specialized underwater robotic vehicles. One of the most important requirements for such types of works is to ensure high accuracy of motion and positioning of the vehicle. It can be reached the means of remotely operated vehicles (ROVs) with hybrid propulsion systems (including both propellers and wheels). Complex processing of linear and angular movement sensors is used to solve the navigation problem. A comparative analysis of various combinations of these sensors to determine the coordinates of the ROV relative to the inspected object was carried out. Three algorithms of the trajectory movement were tested in trials. Experimental data led to the conclusions about the practical applicability of the proposed approach to the organization of survey work and the attainability of the positioning accuracy of the ROV. The correctness of the implemented algorithms was verified and the ways of system improvement were specified.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 149.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 199.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 199.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Veltishchev, V.V., Egorov, S.A., Grigoriev, M.V., et al.: Robotic technology for survey the underwater part of the vessel. Underw. Res. Robot. 1, 15–24 (2016)

    Google Scholar 

  2. Roving Bat: Hybrid ROV for survey and cleaning. http://www.ashtead-technology.com/rental-equipment/eca-hytec-roving-bat/ (2010). Accessed 20 Feb 2018

  3. Rules for Classification Surveys of Vessels in Operation: Statute Number 2-020101-012. Russian Maritime Register of Shipping (2017)

    Google Scholar 

  4. Rules of Survey of Vessels in the Course of Their Operation (CSE). Russian River Register (2017)

    Google Scholar 

  5. Offshore Standard. Submarine Pipeline Systems DNV-OS-F101 (2013)

    Google Scholar 

  6. Petroleum and Natural Gas Industries. Pipeline Transportation Systems ISO 13623 (2017)

    Google Scholar 

  7. Main Pipeline Transportation of Oil and Petroleum Products. Operation and Maintenance. The Main Provisions. ISO 13263: 2009 (2013)

    Google Scholar 

  8. Equipment and Pipelines of Nuclear Power Plants. Welded Joints and Cladding. Rules of Control (2000)

    Google Scholar 

  9. Rules for the Construction and Safe Operation of Equipment and Piping for Nuclear Power Plants (1990)

    Google Scholar 

  10. Hire Sheet. Ultrasound Testing Methods: GOST 22727-88 (1988)

    Google Scholar 

  11. Ultrasonic Inspection of Rolled Steel with a Thickness Greater Than or Equal to 6 mm (Echo Method): DIN EN 10160 (1999)

    Google Scholar 

  12. Standard Specification for Straight-Beam Ultrasonic Examination of Rolled Steel Plates for Special Applications: ASTM A578/A578M (2007)

    Google Scholar 

  13. Non-destructive Control. Welded Joints. Ultrasound Methods: GOST R 55724-2013 (2015)

    Google Scholar 

  14. Comparison of piezo- and EMA technologies of excitation/reception of ultrasound. http://ultrakraft.ru/ru/technology/emat-vs-piezo. Accessed 10 Feb 2018

  15. Aleshin, N.P., Grigoriev, M.V., Veltishchev, V.V., et al.: Monitoring of the technical condition of ship hulls using a remotely operated vehicle. World Non-destr. Test. 18, 11–14 (2015)

    Google Scholar 

  16. Standard Practice for Mechanized Ultrasonic Examination of Girth Welds Using Zonal Discrimination with Focused Search Units. American Society for Testing and Materials (1998)

    Google Scholar 

  17. Inzartsev, A.V., Kiselev, L.V., Kostenko, V.V., et al.: Integrated navigation systems for underwater robots. In: Kiselev, L.V. (ed.) Underwater Robotic Systems: Systems, Technologies, Applications, pp. 138–188. Institute of Marine Technology Problems of the Far East Branch of the Russian Academy of Sciences, Vladivostok (2018)

    Google Scholar 

  18. Vickery, K.: Acoustic positioning systems ‘a practical overview of current systems’. Dyn. Position. Conf. 16 (1998)

    Google Scholar 

  19. Kebkal, K.G., Mashoshin, A.I.: Hydroacoustic positioning methods for autonomous unmanned underwater vehicles. Gyroscopes Navig. 3(94), 115–130 (2016)

    Google Scholar 

  20. Whitcomb, L., Yoerger, D., Singh, H., Mindell D.: Towards precision robotic maneuvering, survey, and manipulation in unstructured undersea environments. In: Robotics Research, pp. 45–54. Springer, London (1998)

    Chapter  Google Scholar 

  21. NASDrill RS925 ingenious simplicity. www.proserv.com. Accessed 20 Mar 2019

  22. Acoustic positioning systems—Kongsberg Maritime. https://www.km.kongsberg.com/ks/web/nokbg0240.nsf/AllWeb/25018037CECB16D9C125738D004D0BAA?OpenDocument. Accessed 21 Mar 2019

  23. Lee, M.H., Lee, K.S., Park, W.C., et al.: On the synthesis of an underwater ship hull cleaning robot system. Int. J. Precis. Eng. Manuf. 13, 1965–1973 (2012). https://doi.org/10.1007/s12541-012-0259-0

    Article  Google Scholar 

  24. Koryanov, V.V., Kokuytseva, T.V., Toporkov, A.G., et al.: Concept development of control system for perspective unmanned aerial vehicles. MATEC Web Conf. 151, 04010 (2018). https://doi.org/10.1051/matecconf/201815104010

    Article  Google Scholar 

  25. Geng, K., Chulin, N.A.: Applications of multi-height sensors data fusion and fault-tolerant Kalman filter in integrated navigation system of UAV. Procedia Comput. Sci. 103, 231–238 (2017). https://doi.org/10.1016/j.procs.2017.01.090

    Article  Google Scholar 

  26. Shen, K., Proletarsky, A.V., Neusypin, K.A.: Algorithms of constructing models for compensating navigation systems of unmanned aerial vehicles. In: 2016 International Conference on Robotics and Automation Engineering (ICRAE), pp. 104–108. IEEE (2016)

    Google Scholar 

  27. Negahdaripour, S., Firoozfam, P.: An ROV stereovision system for ship-hull survey. Ocean Eng. IEEE 31, 551–564 (2006)

    Google Scholar 

  28. Vaganay, J., Gurfinkel, L., Elkins, M.: Hovering autonomous underwater vehicle-system design improvements and performance evaluation results. Proc … 1–14 (2009)

    Google Scholar 

  29. Chaves, S.M., Galceran, E., Ozog, P., et al.: Pose-Graph SLAM for Underwater Navigation, pp. 143–160. Springer, Cham (2017)

    Chapter  Google Scholar 

  30. Kim, A., Eustice, R.M.: Real-time visual SLAM for autonomous underwater hull survey using visual saliency. IEEE Trans. Robot. 29, 719–733 (2013). https://doi.org/10.1109/TRO.2012.2235699

    Article  Google Scholar 

  31. Shen, K., Selezneva, M.S., Neusypin, K.A., Proletarsky, A.V.: Novel Variable Structure Measurement System with Intelligent Components for Flight Vehicles (2017)

    Google Scholar 

  32. AquaMapTM ShipHull. Precision Positioning System for the ShipHull Survey and Any Other Vertical Structure (2008)

    Google Scholar 

  33. TRAX AHRS Modules | PNI Sensor. https://www.pnicorp.com/trax-ahrs/. Accessed 5 Apr 2019

  34. VG035PD fiber rotation sensor. Specifications. https://www.fizoptika.ru/docs/fizoptika_doc43.pdf. Accessed 7 Apr 2019

  35. VG910D fiber rotation sensor. Specifications. https://www.fizoptika.ru/docs/fizoptika_doc37.pdf. Accessed 7 Apr 2019

  36. Pressure transducers D-10, D-11 JSC “VIKA MERA” (2004)

    Google Scholar 

  37. LIR-DA235T absolute angular encoder | SKB IS. https://skbis.ru/product/lir-da235t. Accessed 5 Apr 2019

  38. Gutkin, L.S. Principles of radio control of unmanned objects. Soviet Radio, Moscow (1959)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Bauman Moscow State Technical University, Moscow, Russia

    Olga I. Gladkova, Vadim V. Veltishev & Sergey A. Egorov

Authors
  1. Olga I. Gladkova
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Vadim V. Veltishev
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Sergey A. Egorov
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Olga I. Gladkova .

Editor information

Editors and Affiliations

  1. Volgograd State Technical University, Volgograd, Russia

    Alla G. Kravets

Rights and permissions

Reprints and permissions

Copyright information

© 2020 Springer Nature Switzerland AG

About this chapter

Check for updates. Verify currency and authenticity via CrossMark

Cite this chapter

Gladkova, O.I., Veltishev, V.V., Egorov, S.A. (2020). Development of an Information Control System for a Remotely Operated Vehicle with Hybrid Propulsion System. In: Kravets, A. (eds) Robotics: Industry 4.0 Issues & New Intelligent Control Paradigms. Studies in Systems, Decision and Control, vol 272. Springer, Cham. https://doi.org/10.1007/978-3-030-37841-7_17

Download citation

Publish with us

Policies and ethics

Search

Navigation