Simplified Modelling and Identification of an Inspection ROV

Thomas Thuesen Enevoldsen; Emil Már Einarsson; Simon Pedersen; Zhenyu Yang

doi:10.1016/j.ifacol.2018.06.386

Simplified Modelling and Identification of an Inspection ROV

Thomas Thuesen Enevoldsen, Emil Már Einarsson, Simon Pedersen, Zhenyu Yang

Publikation: Bidrag til tidsskrift › Konferenceartikel i tidsskrift › Forskning › peer review

7 Citationer (Scopus)

223 Downloads (Pure)

Abstract

The expansion of subsea applications demands extended use of autonomous capabilities within Remotely Operated Vehicles (ROVs), which can reduce the overall operation time and cost. Obtaining a simple but also reasonably precise model is important for an autonomized control strategy. This study outlines a low-dimensional model structure for a commercial underwater inspection ROV, based on simplifying physical assumptions. The respective model parameters are obtained from experimental data. Tuning parameters are then introduced in order to further improve the accuracy of the identified model. Based on a model validation it is concluded that the obtained model contains the main properties of the ROV.

Originalsprog	Engelsk
Bogserie	IFAC-PapersOnLine
Vol/bind	51
Udgave nummer	8
Sider (fra-til)	257-262
Antal sider	6
ISSN	1474-6670
DOI	https://doi.org/10.1016/j.ifacol.2018.06.386
Status	Udgivet - jul. 2018
Begivenhed	3rd IFAC Workshop on Automatic Control in Offshore Oil and Gas Production OOGP 2018 - Esbjerg, Danmark Varighed: 30 maj 2018 → 1 jun. 2018 Konferencens nummer: 3

Konference

Konference	3rd IFAC Workshop on Automatic Control in Offshore Oil and Gas Production OOGP 2018
Nummer	3
Land/Område	Danmark
By	Esbjerg
Periode	30/05/2018 → 01/06/2018

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10.1016/j.ifacol.2018.06.386

1-s2.0-S240589631830716X-mainForlagets udgivne version, 1 MB

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http://www.scopus.com/inward/record.url?scp=85050080214&partnerID=8YFLogxK

Underwater Robot - VideoRay ROV
Yang, Z., Mai, C. & Pedersen, S.
22/05/2015 → 01/06/2018
Projekter: Projekt › Forskning

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Citationsformater

@inproceedings{9d89d95ed5394e238981dc69cb468463,

title = "Simplified Modelling and Identification of an Inspection ROV",

abstract = "The expansion of subsea applications demands extended use of autonomous capabilities within Remotely Operated Vehicles (ROVs), which can reduce the overall operation time and cost. Obtaining a simple but also reasonably precise model is important for an autonomized control strategy. This study outlines a low-dimensional model structure for a commercial underwater inspection ROV, based on simplifying physical assumptions. The respective model parameters are obtained from experimental data. Tuning parameters are then introduced in order to further improve the accuracy of the identified model. Based on a model validation it is concluded that the obtained model contains the main properties of the ROV.",

keywords = "Parameter estimation, mathematical modelling, model validation, ROV, oﬀshore robotics, offshore robotics",

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

year = "2018",

month = jul,

doi = "10.1016/j.ifacol.2018.06.386",

language = "English",

volume = "51",

pages = "257--262",

journal = "IFAC-PapersOnLine",

issn = "1474-6670",

publisher = "Elsevier",

number = "8",

note = "3rd IFAC Workshop on Automatic Control in Offshore Oil and Gas Production OOGP 2018, OOGP ; Conference date: 30-05-2018 Through 01-06-2018",

}

TY - GEN

T1 - Simplified Modelling and Identification of an Inspection ROV

AU - Enevoldsen, Thomas Thuesen

AU - Einarsson, Emil Már

AU - Pedersen, Simon

AU - Yang, Zhenyu

N1 - Conference code: 3

PY - 2018/7

Y1 - 2018/7

N2 - The expansion of subsea applications demands extended use of autonomous capabilities within Remotely Operated Vehicles (ROVs), which can reduce the overall operation time and cost. Obtaining a simple but also reasonably precise model is important for an autonomized control strategy. This study outlines a low-dimensional model structure for a commercial underwater inspection ROV, based on simplifying physical assumptions. The respective model parameters are obtained from experimental data. Tuning parameters are then introduced in order to further improve the accuracy of the identified model. Based on a model validation it is concluded that the obtained model contains the main properties of the ROV.

AB - The expansion of subsea applications demands extended use of autonomous capabilities within Remotely Operated Vehicles (ROVs), which can reduce the overall operation time and cost. Obtaining a simple but also reasonably precise model is important for an autonomized control strategy. This study outlines a low-dimensional model structure for a commercial underwater inspection ROV, based on simplifying physical assumptions. The respective model parameters are obtained from experimental data. Tuning parameters are then introduced in order to further improve the accuracy of the identified model. Based on a model validation it is concluded that the obtained model contains the main properties of the ROV.

KW - Parameter estimation

KW - mathematical modelling

KW - model validation

KW - ROV

KW - oﬀshore robotics

KW - offshore robotics

UR - http://www.scopus.com/inward/record.url?scp=85050080214&partnerID=8YFLogxK

U2 - 10.1016/j.ifacol.2018.06.386

DO - 10.1016/j.ifacol.2018.06.386

M3 - Conference article in Journal

SN - 1474-6670

VL - 51

SP - 257

EP - 262

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

IS - 8

T2 - 3rd IFAC Workshop on Automatic Control in Offshore Oil and Gas Production OOGP 2018

Y2 - 30 May 2018 through 1 June 2018

ER -

Simplified Modelling and Identification of an Inspection ROV

Abstract

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Fingeraftryk

Projekter

Underwater Robot - VideoRay ROV

Citationsformater