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Development of an Underwater Remotely Operated Vehicle (ROV) for Surveillance and Inspection of Port Facilities

[+] Author Affiliations
Luis B. Gutierrez, Carlos A. Zuluaga, Juan A. Ramirez, Rafael E. Vasquez, Diego A. Florez, Elkin A. Taborda, Raul A. Valencia

Universidad Pontificia Bolivariana, Medellín, Colombia

Paper No. IMECE2010-38217, pp. 631-640; 10 pages
  • 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
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4448-9
  • Copyright © 2010 by ASME


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.

Copyright © 2010 by ASME



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