Model comparison of a VideoRay Pro 4 Underwater ROV

Simon Pedersen; Thomas Thuesen Enevoldsen; Emil Már Einarsson

doi:10.1109/AIM.2018.8452445

Model comparison of a VideoRay Pro 4 Underwater ROV

Simon Pedersen, Thomas Thuesen Enevoldsen, Emil Már Einarsson

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

3 Citationer (Scopus)

Abstract

This study outlines a grey-box control-oriented model comparison of a VideoRay Pro 4 Un-derwater Inspection ROV with autonomous features. The respective models are developed and identified in previous studies and are based on three different model principles. The models are evaluated based on open-loop experimental tests with and without multiple thruster actuation. The tests show significant dynamic coupling between several motions, which none of the models estimate with sufficient accuracy without model extensions. Overall, it is concluded that all the three models are accurate in cases where the primary motions are directly actuated but also inaccurate when dynamic couplings exist.

Originalsprog	Engelsk
Titel	Proceedings of the 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
Antal sider	6
Vol/bind	2018-July
Forlag	IEEE Press
Publikationsdato	jul. 2018
Sider	899-904
Artikelnummer	8452445
ISBN (Trykt)	978-1-5386-1855-4
ISBN (Elektronisk)	978-1-5386-1854-7
DOI	https://doi.org/10.1109/AIM.2018.8452445
Status	Udgivet - jul. 2018
Begivenhed	2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) - Auckland, New Zealand Varighed: 9 jul. 2018 → 12 jul. 2018 http://aim2018.org/

Konference

Konference	2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
Land/Område	New Zealand
By	Auckland
Periode	09/07/2018 → 12/07/2018
Internetadresse	http://aim2018.org/

Navn	IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
ISSN	2159-6255

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10.1109/AIM.2018.8452445

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Citationsformater

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title = "Model comparison of a VideoRay Pro 4 Underwater ROV",

abstract = "This study outlines a grey-box control-oriented model comparison of a VideoRay Pro 4 Un-derwater Inspection ROV with autonomous features. The respective models are developed and identified in previous studies and are based on three different model principles. The models are evaluated based on open-loop experimental tests with and without multiple thruster actuation. The tests show significant dynamic coupling between several motions, which none of the models estimate with sufficient accuracy without model extensions. Overall, it is concluded that all the three models are accurate in cases where the primary motions are directly actuated but also inaccurate when dynamic couplings exist.",

keywords = "Mathematical model, Solid modeling, Force, Drag, Buoyancy, Couplings, Dynamics",

author = "Simon Pedersen and Enevoldsen, {Thomas Thuesen} and Einarsson, {Emil M{\'a}r}",

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pages = "899--904",

booktitle = "Proceedings of the 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)",

note = "2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), AIM ; Conference date: 09-07-2018 Through 12-07-2018",

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Pedersen, S, Enevoldsen, TT & Einarsson, EM 2018, Model comparison of a VideoRay Pro 4 Underwater ROV. i Proceedings of the 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). bind 2018-July, 8452445, IEEE Press, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), s. 899-904, 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Auckland, New Zealand, 09/07/2018. https://doi.org/10.1109/AIM.2018.8452445

Model comparison of a VideoRay Pro 4 Underwater ROV. / Pedersen, Simon; Enevoldsen, Thomas Thuesen; Einarsson, Emil Már.
Proceedings of the 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). Bind 2018-July IEEE Press, 2018. s. 899-904 8452445 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)).

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

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AU - Enevoldsen, Thomas Thuesen

AU - Einarsson, Emil Már

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AB - This study outlines a grey-box control-oriented model comparison of a VideoRay Pro 4 Un-derwater Inspection ROV with autonomous features. The respective models are developed and identified in previous studies and are based on three different model principles. The models are evaluated based on open-loop experimental tests with and without multiple thruster actuation. The tests show significant dynamic coupling between several motions, which none of the models estimate with sufficient accuracy without model extensions. Overall, it is concluded that all the three models are accurate in cases where the primary motions are directly actuated but also inaccurate when dynamic couplings exist.

KW - Mathematical model

KW - Solid modeling

KW - Force

KW - Drag

KW - Buoyancy

KW - Couplings

KW - Dynamics

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M3 - Article in proceeding

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BT - Proceedings of the 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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ER -

Model comparison of a VideoRay Pro 4 Underwater ROV

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