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.
Skip Nav Destination
ASME 2010 International Mechanical Engineering Congress and Exposition
November 12–18, 2010
Vancouver, British Columbia, Canada
Conference Sponsors:
- ASME
ISBN:
978-0-7918-4448-9
PROCEEDINGS PAPER
Development of an Underwater Remotely Operated Vehicle (ROV) for Surveillance and Inspection of Port Facilities Available to Purchase
Luis B. Gutierrez,
Luis B. Gutierrez
Universidad Pontificia Bolivariana, Medelli´n, Colombia
Search for other works by this author on:
Carlos A. Zuluaga,
Carlos A. Zuluaga
Universidad Pontificia Bolivariana, Medelli´n, Colombia
Search for other works by this author on:
Juan A. Ramirez,
Juan A. Ramirez
Universidad Pontificia Bolivariana, Medelli´n, Colombia
Search for other works by this author on:
Rafael E. Vasquez,
Rafael E. Vasquez
Universidad Pontificia Bolivariana, Medelli´n, Colombia
Search for other works by this author on:
Diego A. Florez,
Diego A. Florez
Universidad Pontificia Bolivariana, Medelli´n, Colombia
Search for other works by this author on:
Elkin A. Taborda,
Elkin A. Taborda
Universidad Pontificia Bolivariana, Medelli´n, Colombia
Search for other works by this author on:
Raul A. Valencia
Raul A. Valencia
Universidad Pontificia Bolivariana, Medelli´n, Colombia
Search for other works by this author on:
Luis B. Gutierrez
Universidad Pontificia Bolivariana, Medelli´n, Colombia
Carlos A. Zuluaga
Universidad Pontificia Bolivariana, Medelli´n, Colombia
Juan A. Ramirez
Universidad Pontificia Bolivariana, Medelli´n, Colombia
Rafael E. Vasquez
Universidad Pontificia Bolivariana, Medelli´n, Colombia
Diego A. Florez
Universidad Pontificia Bolivariana, Medelli´n, Colombia
Elkin A. Taborda
Universidad Pontificia Bolivariana, Medelli´n, Colombia
Raul A. Valencia
Universidad Pontificia Bolivariana, Medelli´n, Colombia
Paper No:
IMECE2010-38217, pp. 631-640; 10 pages
Published Online:
April 30, 2012
Citation
Gutierrez, LB, Zuluaga, CA, Ramirez, JA, Vasquez, RE, Florez, DA, Taborda, EA, & Valencia, RA. "Development of an Underwater Remotely Operated Vehicle (ROV) for Surveillance and Inspection of Port Facilities." Proceedings of the ASME 2010 International Mechanical Engineering Congress and Exposition. Volume 11: New Developments in Simulation Methods and Software for Engineering Applications; Safety Engineering, Risk Analysis and Reliability Methods; Transportation Systems. Vancouver, British Columbia, Canada. November 12–18, 2010. pp. 631-640. ASME. https://doi.org/10.1115/IMECE2010-38217
Download citation file:
52
Views
Related Proceedings Papers
Related Articles
The Great Out of the Small
Mechanical Engineering (November,2000)
kalypso Autonomous Underwater Vehicle: A 3D-Printed Underwater Vehicle for Inspection at Fisheries
J. Mechanisms Robotics (April,2024)
Operational Characteristics of Electromechanical Cables
J. Energy Resour. Technol (September,1984)
Related Chapters
Managing Energy Resources from within the Corporate Information Technology System
Industrial Energy Systems
Fault Detection and Localization Based on Runtime State Model Generation
International Conference on Mechanical Engineering and Technology (ICMET-London 2011)
Use of PSA in Lisencing of EPR 1600 in Finland (PSAM-0160)
Proceedings of the Eighth International Conference on Probabilistic Safety Assessment & Management (PSAM)