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1UPM-DISAM
REMO project: Design, modelling and REMO project: Design, modelling and hydrodynamic simulation of ahydrodynamic simulation of a robot of variable robot of variable geometry for actuations on maritime disasters.geometry for actuations on maritime disasters.
Research directorD. Rafael Aracil Santonja
Roque Saltarén
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2UPM-DISAM
Two concepts of underwater robots
1.1. A brief introduction about of the REMO project and A brief introduction about of the REMO project and its advances its advances
• Robots based on S-G parallel platformsRobots based on S-G parallel platforms
REMO I (ROV)REMO I (ROV)
REMO II (AUV/ROV)REMO II (AUV/ROV)
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3UPM-DISAM
Two concepts of underwater robots
Main objectiveMain objective
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4UPM-DISAM
Two concepts about of underwater robots
Anillo-1
Anillo-2
Motoreslineales
Brazomanipulador
motorimpulsor-1
camara estanca deINSTRUMENTACIÓNy control
Ring-2
Linear actuators
Arms
Thruster-2
Ring-1
Thruster-1
REMO II: Robot for vectorial precision tasksREMO II: Robot for vectorial precision tasks
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5UPM-DISAM
Two concepts about of underwater robots
REMO I: Robot for payloads and exploration
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6UPM-DISAM
Advances on the develop of the robot REMO I
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7UPM-DISAM
Advances on the develop of the robot REMO I
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8UPM-DISAM
2. A brief description of the REMO hydrodynamics computational model
GOAL: Allows a dynamics model for robots with variable geometry
• TELEOPERATION
• CONTROL
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9UPM-DISAM
Dynamics model for underwater vehicles
where:where:V = Velocity in the local frame system (robot).V = Velocity in the local frame system (robot).M = Mass matrix (rigid body mass + added mass)M = Mass matrix (rigid body mass + added mass)C(V) = Coriolis matrix (to account the effects of the non-centroidal C(V) = Coriolis matrix (to account the effects of the non-centroidal frame frame systems of the submarine vehicle).systems of the submarine vehicle).D(V) = Nonlinear hydrodynamics damping viscous matrixD(V) = Nonlinear hydrodynamics damping viscous matrixg(n) = Restoring forces and moments g(n) = Restoring forces and moments w = External forces and moments caused by the waves.w = External forces and moments caused by the waves.t = Thruster forces and moments.t = Thruster forces and moments.n = Absolute position and orientation vector.n = Absolute position and orientation vector.
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10UPM-DISAM
Hydrodynamics damping
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11UPM-DISAM
Hydrodynamics modeling and simulation
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12UPM-DISAM
Dimensionless hydrodynamics coefficients.
Cx Cy Cz
Cmx Cmy Cmz
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13UPM-DISAM
Migration to submarine multibody dynamics
0( ) ( ) ( ) ( )
( )
( )
T
*V
*V
MV C V V D V V Φ q λ g g q w τ
Φ q V 0
Φ q 0
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14UPM-DISAM
Simulations results
Robot with changes in the orientation of the helm (Ring-2)
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15UPM-DISAM
Develop of new hydrodynamics models for underwater robots of variable geometry
Develop of two underwater parallel robots prototypes
Industrial agreements
Agreement with a Spanish company (SAES Electrónica) to develop experimental test for inspections applications
Patents:
AUTORES: Rafael Aracil , Roque Saltarén TÍTULO: “Robot paralelo trepador y deslizante para trabajos en
estructuras y superficies”REGISTRO: Solicitud P200201666
AUTORES: Rafael Aracil, Roque Saltarén, Juan López CoronadoTÍTULO: Mejoras en la patente principal P200201666REGISTRO: Solicitud P200302920
Practical results
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16UPM-DISAM
1. “Control of Teleoperators with Communication Time Delay trough State Convergence”. Journal of Robotic Systems. Vol 21(4), 167-182 (2004). J.M. Azorín, O. Reinoso, R. Aracil, M. Ferre
2. “Design, Modelling And Implementation of a 6-URS Parallel Haptic Device”. Robotics and Autonomous Systems. Vol 47, pp1-10 (2004) J.M. Sabater, R. Saltarén, R. Aracil
3. “Generalized control method by state convergence of teleoperation systems with time delay”. Automatica. Vol. 40/9, pp. 1575-1582, September (2004). J.M. Azorín, O. Reinoso, R. Aracil, M. Ferre.
4. “Analysis of a Climbing Parallel Robot for Construction Applications”. Computer-Aided Civil and Infrastructure Engineering. Vol. 19 pp. 436 – 445. 2004. R. J. Saltarén, R. Aracil y O. Reinoso.
5. “Stereoscopic Video Images for Telerobotic Applications”. Journal of Robotic Systems 22(3), 131 –146
(2005). M. Ferre, R. Aracil, M. Navas.
6. “ A 6-URS parallel haptic device with open control architecture” J.M. Sabater, R. Saltarén, R. Aracil. ROBOTICA, Cambridge Press, pp1-11, 2004
7. “Climbing Parallel Robot: A Computational and Experimental Study of its Performance Around Structural Nodes". IEEE Transactions on Robotics. R. Saltaren, R. Aracil, O. Reinoso, and M. A. Scarano. (Aceptado W05-041/W2003-018/2005)
8. “Climbing parallel robot CPR: A robot to climb along tubular and metallic structures” IEEE Robotics and Automation Magazine. R. Aracil, R.J. Saltaren, O. Reinoso (Aceptado-2005)
Recent journal publications on service parallel robots
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17UPM-DISAM
1. EXA Corporation. “PowerFlow user’s guide. Release 3.4”. 2002. Fossen, Thor I., Sagatun Svein I., “Lagrangian Formulation Of Underwater Vehicles’ Dynamics”. ISSN # 0-7803-0233-8/91 1991 IEEE.
2. Fossen, Thor I., “Guidance and Control of Ocean Vehicles”, John Wiley & Sons, Chichester England, 1994.
3. Fossen,Thor I., “Marine Control Systems”, John Wiley & Sons. ISBN 82-92356-00-24. Healey, A.J., McGhee, R.B., Cristi, F., Papoulias, F.A., Kwak, S.H., Kanayama, Y., Lee,
Y., Shukla, S. and Zaky, A., "Research on Autonomous Underwater Vehicles at the Naval Postgraduate School," Naval Research Reviews, Office of Naval Research, Washington DC, vol. XLIV no. 1, Spring 1992.
5. J.N. Newman. “Marine Hydrodynamics”. The MIT Press. ISBN 0-262-14026-8.6. R.Aracil, R. Saltaren, O. Reinoso Parallel robots for autonomous climbing along tubular
structures Robotics and Autonomous Systems. Vol. 42/2 pp. 125-134. January 20037. D. Stewart, “A platform with six degrees of freedom,” Proc. Instr. Mech.Engs., vol. 180-1,
no. 15, pp. 371–386, 1965.8. Dean Steinke “Numerical Modeling of an Underwater Vehicle Mech 499 Final Report”.
April 26, 2003.D. Wettergreen, C. Gaskett, A. Zelinsky “Autonomous Guidance and Control for an Underwater Robotic Vehicle”.
9. D. Wettergreen, C. Silpa-Anan, S. Abdallah. “Autonomous Guidance and Control for an Underwater Robotic Vehicle”.
Bibliography