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SOFTWARE TOOLS FOR CONTROL OF
UNDERWATER VEHICLES
Aleksandr Konoplin
1FEB of Russia
Vladivostok
Today research and technological works are already performing in depths of oceans by means of remotely operated underwater vehicles (UV) and manned UV:
search and development of new oil and gas deposits
work to ensure the oil and gas complex
rescue operations and clearance operations
support for diving operations
search of objects
Field of using2
Team: Aleksandr Konoplin
Nikita Konoplin
3
5 years experience of practical work with UV in organizations:Institute of Marine Biology, Far Eastern Branch of RAS, Scientific and Educational Complex «PrimorskyAquarium», Far Eastern Federal University.
Work in expeditions to the Japan and Okhotsk seas with UV:Сomanche, Falcon DR, SubFighter 3000, Survey.
The results of scientific research in the IACP and FEFU:8 papers in Russian and international journals recommended by HAC list, 4 patents for inventions and 11 reports at Russian and International conferences
Problem of disruption of UV orientation
In process of UV operations a lot of negative external factors affect on UV. It leads to UV angular displacements and shifts from desired trajectory of moving.
Known approaches correct UV orientation with help of its thrusters, but in some cases this is impossible, in other cases it leads to additional expenditure of energy
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Correction of UV displacements
Filaretov V.F., Konoplin A.Yu., Konoplin N.Yu. Method of Synthesis of Automatic Correction Systems
of Underwater Vehicles Linear Displacements // Procedia Engineering. 2015. pp. 1434-1440.
Application for a patent of Russian Federation «Method of Automatic Correction of Underwater
Vehicle Linear Displacements» № 2014104342 from 07.02.2014.
Proposed system
automatically changes
UV thrusters thrusts. It
provides high-accuracy
UV motion along given
directions without
correction of UV
orientation.
5
Problem of UV stabilization in hang mode
6
Moving in viscous environment multilink manipulator acts on UV significant force and torque effects. UV shifts from desirable position and manipulative operations performing become difficult
Developed UV stabilization system
• Рисунки эксперимента, ссылки на публикации
Patent № 2547039. Method of UV stabilization in hovering mode // V.F.Filaretov, A.Yu. Konoplin. № 10
from 10.04.2015.
V.F. Filaretov, A.Yu. Konoplin, Automatic stabilization system of underwater vehicle in hang mode when
multilink manipulator working. Part 1// Mehatronika, avtomatizacija, upravlenie. 2014. №6. p. 53-56.
V.F. Filaretov, A.Yu. Konoplin, Automatic stabilization system of underwater vehicle in hang mode when
multilink manipulator working. Part 2// Mehatronika, avtomatizacija, upravlenie. 2014. №7. p. 29-34.
7
Proposed high-precision system of automatic stabilization of UV in hang mode. Experiments and sea trials have been performed.
Correction of manipulator trajectory
Developed system, which allows to precisely work by manipulator even if UV has uncontrollable shifts.
Patents for inventions:
1. V.F. Filaretov, A.Yu. Konoplin
Correction system of manipulator
moving trajectory// Patent of Russian
Federation № 2462745, Art. № 27 from
27.09.2012.
2. V.F. Filaretov, A.Yu. Konoplin
Method of control of manipulator in
hovering mode// Patent of Russian
Federation № 2475799 Art. № 5 from
20.02.2013.
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Schedule chart & market analysis
2015
The theoretical and experimental
researches, mathematical modeling
Implementation of developments as
software and hardware
(investment $20000)
2016
Introduction in real UV
Carrying out sea trials and testing
(investment $50000, profit $10000)
2017
Cooperation with UV producers
(profit $40000)
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The global market for underwater robots exceeds $3.4 billion, and the market of their services over $130 billion.
World ROV Operations Market Forecast byDouglas-Westwood: Results forecast total ROV operations expenditure of $9.7 billion, an increase of nearly 80% over the previous five-year period
Competitive advantages and commercialization of the project
10
Using of hardware and software complex will allow:
4 times to improve the accuracy of motion UV having a trim and (or) roll
10 times to improve the accuracy of work of underwater manipulator
3 times to increase the accuracy of UV stabilization in hang mode
At 1.5 times to lower cost of performing of underwater operations
Use UV in presence of flows
Perform new kinds of technological works
Prospective directions of commercialization:
Cooperation with UV producers on basis of which proposed technology will be introduced into vehicles as software and hardware (Schilling Robotics, SubAtlantic, SeaEye, Sperre and etc.)
Production of software and hardware, and selling them to companies performing the work using UV
Thank you!
Aleksandr Konoplin
E-mail: [email protected]
Tel.: +79244298396
Nikita Konoplin
E-mail: [email protected]
Tel.: +79639412324
FEB of Russia
Vladivostok
