Modeling and performance analysis of open-loop remotely operated vehicles ORCA
ORCA is a low cost remotely operated vehicle which was indigenously developed for underwater inspection and survey. As the underwater environment is quite unpredictable, dynamic modeling and simulation of the remotely operated vehicle are essential to understand the behavior of the vehicle and accom...
Published in: | IAES International Journal of Robotics and Automation (IJRA) |
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Online Access: | https://doi.org/10.11591/ijra.v12i1.pp108-124 |
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ftzenodo:oai:zenodo.org:7680025 2024-09-15T18:28:45+00:00 Modeling and performance analysis of open-loop remotely operated vehicles ORCA Tejaswini Panati Sai Deepika Indraganti Sakthivel Murugan Santhanam 2023-03-01 https://doi.org/10.11591/ijra.v12i1.pp108-124 unknown Zenodo https://doi.org/10.11591/ijra.v12i1.pp108-124 oai:zenodo.org:7680025 info:eu-repo/semantics/openAccess Creative Commons Attribution 4.0 International https://creativecommons.org/licenses/by/4.0/legalcode IAES International Journal of Robotics and Automation (IJRA), 12(1), 108-124, (2023-03-01) Dynamic and kinematic equations Nonlinear open loop model Position and velocity response Remotely operated vehicle Simulation info:eu-repo/semantics/article 2023 ftzenodo https://doi.org/10.11591/ijra.v12i1.pp108-124 2024-07-27T00:43:47Z ORCA is a low cost remotely operated vehicle which was indigenously developed for underwater inspection and survey. As the underwater environment is quite unpredictable, dynamic modeling and simulation of the remotely operated vehicle are essential to understand the behavior of the vehicle and accomplish stabilized navigation. This paper discusses a detailed approach to the mathematical modeling of ORCA based on Newtonian dynamics and simulating the position and velocity responses in Simulink. The open loop nonlinear model of the remotely operated vehicle was used to study the navigation challenges due to the various perturbations present underwater namely Coriolis and centripetal force, added mass, hydrodynamic damping force, and restoring forces. The six-thruster open loop ORCA model was subjected to various thrust inputs (25%, 50%, and 75%) to achieve six degrees of freedom (DoF) respectively and it was observed that there was significant instability in the other DOFs along with the principal direction of motion. Further, the authors will incorporate the various control systems in ORCA and analyze the stability in navigation induced due to each of them. Article in Journal/Newspaper Orca Zenodo IAES International Journal of Robotics and Automation (IJRA) 12 1 108 |
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Dynamic and kinematic equations Nonlinear open loop model Position and velocity response Remotely operated vehicle Simulation |
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Dynamic and kinematic equations Nonlinear open loop model Position and velocity response Remotely operated vehicle Simulation Tejaswini Panati Sai Deepika Indraganti Sakthivel Murugan Santhanam Modeling and performance analysis of open-loop remotely operated vehicles ORCA |
topic_facet |
Dynamic and kinematic equations Nonlinear open loop model Position and velocity response Remotely operated vehicle Simulation |
description |
ORCA is a low cost remotely operated vehicle which was indigenously developed for underwater inspection and survey. As the underwater environment is quite unpredictable, dynamic modeling and simulation of the remotely operated vehicle are essential to understand the behavior of the vehicle and accomplish stabilized navigation. This paper discusses a detailed approach to the mathematical modeling of ORCA based on Newtonian dynamics and simulating the position and velocity responses in Simulink. The open loop nonlinear model of the remotely operated vehicle was used to study the navigation challenges due to the various perturbations present underwater namely Coriolis and centripetal force, added mass, hydrodynamic damping force, and restoring forces. The six-thruster open loop ORCA model was subjected to various thrust inputs (25%, 50%, and 75%) to achieve six degrees of freedom (DoF) respectively and it was observed that there was significant instability in the other DOFs along with the principal direction of motion. Further, the authors will incorporate the various control systems in ORCA and analyze the stability in navigation induced due to each of them. |
format |
Article in Journal/Newspaper |
author |
Tejaswini Panati Sai Deepika Indraganti Sakthivel Murugan Santhanam |
author_facet |
Tejaswini Panati Sai Deepika Indraganti Sakthivel Murugan Santhanam |
author_sort |
Tejaswini Panati |
title |
Modeling and performance analysis of open-loop remotely operated vehicles ORCA |
title_short |
Modeling and performance analysis of open-loop remotely operated vehicles ORCA |
title_full |
Modeling and performance analysis of open-loop remotely operated vehicles ORCA |
title_fullStr |
Modeling and performance analysis of open-loop remotely operated vehicles ORCA |
title_full_unstemmed |
Modeling and performance analysis of open-loop remotely operated vehicles ORCA |
title_sort |
modeling and performance analysis of open-loop remotely operated vehicles orca |
publisher |
Zenodo |
publishDate |
2023 |
url |
https://doi.org/10.11591/ijra.v12i1.pp108-124 |
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Orca |
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Orca |
op_source |
IAES International Journal of Robotics and Automation (IJRA), 12(1), 108-124, (2023-03-01) |
op_relation |
https://doi.org/10.11591/ijra.v12i1.pp108-124 oai:zenodo.org:7680025 |
op_rights |
info:eu-repo/semantics/openAccess Creative Commons Attribution 4.0 International https://creativecommons.org/licenses/by/4.0/legalcode |
op_doi |
https://doi.org/10.11591/ijra.v12i1.pp108-124 |
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IAES International Journal of Robotics and Automation (IJRA) |
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12 |
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1 |
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108 |
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1810470197424816128 |