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Power Source of ROVs

1. Surface-powered
.Tethered
2. Vehicle-powered
.Battery
.Fuel Cell
3. Hybrid system
.Mixture of surface and submersible supplied power
Degree of autonomy
National Institute of Standards and Technology (Huang, 2004)

*Fully autonomous
*Semi-autonomous
-Human-robot interaction
*Teleoperation
-Video feedback and/or other sensory feedback
-Directly controls the motors/actuators
or assigns incremental goals
*RC
-without benefit of video or other sensory feedback
-directly controls the actuators
-tethered or radio-linked (Radio Linked ?)
Communications linkage
• Hard-wire communication (either electrical or fiber optic)

• Acoustic communication (via underwater analog or digital modem)

• Optical communication (while on the surface)

• Radio frequency (RF) communication (while on or near the surface)


What is communicated between the vehicle
and the operator ?
• Telemetry
• Tele-presence
• Control
• Records
Telemetry
The measurement and transmission of data or video through the
vehicle via tether, RF, optical, acoustic, or other means.
• Tele-presence
to provide the human operator with some amount of sensory feedback
similar to that which the operator would receive if inside the vehicle
Control:
The upload/download of operational instructions (for autonomous
operations) or full teleoperation.
• Records:
The upload/download of mission records and files.
Classification of ROVs
Size classifications of ROVs
European operators and the US-based ADCI (Association of Diving Contractors International) naming convention

• Class I—observation ROVs (small vehicles fitted with camera/lights and sonar
only)

• Class II—observation ROVs with Payload Option (vehicles fitted with two
simultaneously viewable cameras/sonar as standard and capable of handling
additional sensors as well as a basic manipulative capability)

• Class III—work-class vehicles (vehicles large enough to carry additional sensors


and/or manipulators)

• Class IV—towed and bottom-crawling vehicles (vehicles pulled through the water
by a surface craft or winch, and bottom-crawling vehicles using a wheel or track
system to move across the seafloor)

• Class V—prototype or development vehicles (those still being developed and


those regarded as prototypes).
Categories based upon their vehicle weight

• 1. OCROV—from the smallest vehicles to submersible weights up to


(91 kg)

• 2. MSROV—submersible weights from (91 kg) to (907 kg)

• 3. WCROV—submersible weights in excess of (907 kg)


OCROV Categories
• Micro (or small) OCROVs—those vehicles with a basic weight of less
than (4.5 kg) (e.g., VideoRay, GNOM, and AC-ROV)

• Mini (or medium) OCROVs—vehicles with submersible weight


between (4.5 kg) and (32 kg), i.e., the limit of single-person hand
deployment (e.g., SeaBotix LBV, Outland 1000, JW Fisher SeaLion/SeaOtter, and Seamor)

• Large OCROV—vehicles with weights between (32 kg) and (90 kg) (e.g.,
Benthos StingRay, SeaEye Falcon, Sub-Atlantic Mohave, and Seatronics Predator).
MSROV Categories
• Shallow MSROV: These vehicles are typically low-power vehicles with copper (or
fiber) telemetry and (1000 m) depth capability
(e.g., Benthos SeaRover, Sub-Atlantic Mohawk, DOE S5N, and SeaEye Falcon DR).

• Deepwater MSROV: These vehicles are typically deepwater versions of the


shallow vehicles and may run single or dual light manipulator systems along with
high-voltage power, light-duty electric and hydraulic manipulator systems (Hydro-
Lek or similar), and fiber-optic telemetry
(e.g., SeaEye Tiger or Cougar, Sub-Atlantic Super Mohawk or Mohican, and Argus Rover).

• Heavy MSROV: These are often named “light work class” and typically have
electric thrusters, dual medium-duty hydraulic manipulator systems (Schilling
Orion or similar), and a hydraulic power unit for operation of medium-duty
hydraulic tooling
(e.g., Sub-Atlantic Comanche and Seaeye Jaguar).
WCROV categories
• Standard work class: These vehicles are in the 100-200 hp range
typically used in drill support or light construction
(e.g., Argus Worker, Perry XLR/XLS/XLX, Schilling HD, SMD Atom or Quasar, and
Oceaneering Magnum).

• Heavy work class: These vehicles are very large and heavy work
vehicles of 200 hp or greater for heavy construction work
(e.g., Perry XLX 200, Schilling UHD, Oceaneering Millennium Plus or Maxximum).
The Reynolds number
is a dynamic factor for fluid flow and comes into place for determining the flow
characteristics around the vehicle (which directly affects the drag equation). The
three modes of flow around a body are as follows:

• 1. laminar—smooth flow over the body


• 2. transient—approaching the critical Reynolds number where
laminar transitions to turbulent
• 3. turbulent—disorganized flow over the body
DRAG

The vehicle must power itself and overcome the fluid drag of the

vehicle/tether combination to travel to and remain at the work site.

This sounds simple, but the devil is in the details.


What is Drag ?

With the flow approaching at a speed V, drag is the force required to


hold the object in place.
• Skin friction drag: is created by the frictional forces acting between
the skin and the water.

• Form drag: A second effect of the viscous action of the vehicle’s hull is
to reduce the pressure recovery associated with nonviscous flow over
a body in motion
Total drag of the system is equal to the vehicle drag plus the tether drag

The Cd for cables ranges from 1.2 for unfaired cables, 0.5-0.6 for hair-faired cable, and 0.1 -0.2 for faired cables
(although ROV cables are not typically faired).
Power Requirements

Pe = Rt * V
Watt = kg * m/s

Pb = Pe /

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