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

Research output: Contribution to journal › Conference article in Journal › Research › peer-review

7 Citations (Scopus)

218 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.

Original language	English
Book series	IFAC-PapersOnLine
Volume	51
Issue number	8
Pages (from-to)	257-262
Number of pages	6
ISSN	1474-6670
DOIs	https://doi.org/10.1016/j.ifacol.2018.06.386
Publication status	Published - Jul 2018
Event	3rd IFAC Workshop on Automatic Control in Offshore Oil and Gas Production OOGP 2018 - Esbjerg, Denmark Duration: 30 May 2018 → 1 Jun 2018 Conference number: 3

Conference

Conference	3rd IFAC Workshop on Automatic Control in Offshore Oil and Gas Production OOGP 2018
Number	3
Country/Territory	Denmark
City	Esbjerg
Period	30/05/2018 → 01/06/2018

Keywords

Parameter estimation
mathematical modelling
model validation
ROV
oﬀshore robotics
offshore robotics

Access to Document

10.1016/j.ifacol.2018.06.386

1-s2.0-S240589631830716X-mainFinal published version, 1 MB

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Cite this

@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",

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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

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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

Conference

Keywords

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AUB Link

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Underwater Robot - VideoRay ROV

Cite this

Simplified Modelling and Identification of an Inspection ROV

Abstract

Conference

Keywords

Access to Document

AUB Link

Other files and links

Fingerprint

Projects

Underwater Robot - VideoRay ROV

Cite this