Enter your email address
Submit
Write your message
Volume 12, Issue 24 (1-2017)
Marine Engineering 2017, 12(24): 127-133 |
Back to browse issues page
Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:
Kadkhodaei A, Hasanzadeh Ghasemi R. Inspection of Undersea Oil and Gas Pipelines by New Variable Thrust Vector Underwater Robotic Platform. Marine Engineering 2017; 12 (24) :127-133
URL: http://marine-eng.ir/article-1-505-en.html
URL: http://marine-eng.ir/article-1-505-en.html
1- Hakim Sabzevari University
Abstract: (4391 Views)
This paper presents a special underwater robot for subsea pipelines inspection which is used to transport extracted oil and gas from oil platforms to onshore facilities. Due to the high pressure in the deep sea and the long pipelines, it is impossible to inspection by divers. Therefore underwater robot can be used to solve this problem. This paper investigate a hovering type of underwater vehicle including four thruster with variable thrust vector, which it is able to simultaneous control of six degrees of freedom. Therefore, high flexibility is an advantage of this underwater robot. Using two perpendicular servomotors for each thruster, we prepare independent and time variable orientation for each thruster. This paper investigates a trajectory controller for this hovering type autonomous underwater vehicle to meet the demands of in-water pipeline inspection.
Type of Study: Research Paper |
Subject:
Submarine Hydrodynamic & Design
Received: 2016/06/14 | Accepted: 2016/11/27
Received: 2016/06/14 | Accepted: 2016/11/27
References
1. Eskesen, J., Owens, D., Soroka, M., Morash, J., Hover, F.S. and Chrysosstomidis, C., (2009), Design and performance of ODYSSEY IV: A deep ocean hover-capable AUV, MIT Sea Grant College Program Report, Department of Mechanical Engineering, MIT.
2. Jakuba, M. V., Yoerger, D. R. and Whitcomb, L.L., (2007), Longitudinal control design and performance evaluation for the Nereus 11000 m underwater vehicle, Proceedings of OCEANS Conference, Vancouver, Canada.
3. Kopman, V., Cavaliere, N. and Porfiri, M., (2012), MASUV-1: A Miniature underwater vehicle with multidirectional thrust vectoring for safe animal interactions, IEEE/ASME Transaction on Mechatronics, Vol.17, No.3, p.563–571.
4. Lopez, R., Torres, I., Escareno, J., Salazar, S. and Palomino, A., (2010), Quad-tilting thrusters micro submarine: Modeling and control of the attitude, 20th International Conference on Electronics, Communications and Computer, Cholula, Mexico.
5. Jin, S., Kim, J., Kim, J. and Seo, T., (2014), Six degree of freedom hovering control of an underwater robotic platform with four tilting thrusters via selective switching control, IEEE/ASME Transactions on Mechatronics, Vol.20, No.5, p.2370-2378.
6. Nahon, M., (1996), A simplified dynamics model for autonomous underwater vehicles, Proceedings of the Symposium on Autonomous Underwater Vehicle Technology, Monterey, CA, USA, p.373-379.
7. Yang, C., (2007), Modular modeling and control for autonomous underwater vehicle, Master Thesis, Department Of Mechanical Engineering, National University Of Singapore.
8. Fossen, T. I. and Fjellstad, O. E., (1995), Robust adaptive control of underwater vehicles: A comparative study, Proceedings of 3rd IFAC Workshop on Control Applications in Marine System, p.66 -76.
9. Antonelli, G., Chiaverini, S., Sarkar, N. and West, M., (2001), Adaptive control of an autonomous underwater vehicle: Experimental results on ODIN, IEEE Transactions On Control Systems Technology, Vol.9, No.5, p.756-765.
10. Shamshiri Amirkolai, F. and Hasanzadeh Ghasemi, R., (2015), Representation of an autonomous underwater vehicle and trajectory controller design for in-water ship hull inspection, Modares Mechanical Engineering, Vol.15, No.10, p.12-22. (In Persian)
11. Ribas, D., Palomeras, N., Ridao, P., Carreras, M. and Mallios, A., (2012), Girona 500 AUV: From survey to intervention, IEEE/ASME Transaction on Mechatronics, Vol.17, No.1, p.46-53
12. Zhao, S. and Yuh, J., (2005), Experimental study on advanced underwater robot control, IEEE Transaction on Robotics, Vol.21, No.4, p.695-703.
13. Kopman, V., Cavaliere, N. and Porfiri, M., (2012), MASUV-1: A miniature underwater vehicle with multidirectional thrust vectoring for safe animal interactions, IEEE/ASME Transactions on Mechatronics, Vol.17 , No.3, p.563-571.
Send email to the article author
| Rights and permissions | |
 |
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License. |
International Journal of Maritime Technology is licensed under a
Creative Commons Attribution-NonCommercial 4.0 International License.