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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

rsaltaren@etsii.upm.es

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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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Two concepts of underwater robots

Main objectiveMain objective

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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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Two concepts about of underwater robots

REMO I: Robot for payloads and exploration

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Advances on the develop of the robot REMO I

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Advances on the develop of the robot REMO I

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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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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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Hydrodynamics damping

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Hydrodynamics modeling and simulation

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Dimensionless hydrodynamics coefficients.

Cx Cy Cz

Cmx Cmy Cmz

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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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Simulations results

Robot with changes in the orientation of the helm (Ring-2)

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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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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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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