{"title":"利用滑动元件对 ROV 脐带进行自我管理:通用三维模型","authors":"","doi":"10.1016/j.apor.2024.104164","DOIUrl":null,"url":null,"abstract":"<div><p>The umbilical of Remote Operated Vehicle (ROV) has two main problems: it is subject to entanglement with obstacles or itself, and its shape is difficult to predict for navigation. To address these issues, this article proposes a passive self-management of an ROV’s umbilical by adding one or two elements, like ballasts, buoys, or an oriented thruster, to stretch it and gives it a predictable shape. These elements can be fixed or move freely on the umbilical. In opposite with (Viel, 2022)[36,37], we propose a general model which can estimate the shape of the umbilical in three-dimensions regardless of the orientation of the force applied to the elements, allowing to consider the presence of underwater currents, passive or motorized elements on the tether, and the presence or absence of TMS. Several examples of umbilical configurations are proposed, each one adapted for ROV exploration in various environments, including near-surface, seafloor, near-wall, and dive between obstacles. The model is compared with results proposed in other works like (Viel, 2022)[36,37]. The limits of the method are discussed.</p></div>","PeriodicalId":8261,"journal":{"name":"Applied Ocean Research","volume":null,"pages":null},"PeriodicalIF":4.3000,"publicationDate":"2024-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Self-management of ROV umbilical using sliding element: A general 3D-model\",\"authors\":\"\",\"doi\":\"10.1016/j.apor.2024.104164\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>The umbilical of Remote Operated Vehicle (ROV) has two main problems: it is subject to entanglement with obstacles or itself, and its shape is difficult to predict for navigation. To address these issues, this article proposes a passive self-management of an ROV’s umbilical by adding one or two elements, like ballasts, buoys, or an oriented thruster, to stretch it and gives it a predictable shape. These elements can be fixed or move freely on the umbilical. In opposite with (Viel, 2022)[36,37], we propose a general model which can estimate the shape of the umbilical in three-dimensions regardless of the orientation of the force applied to the elements, allowing to consider the presence of underwater currents, passive or motorized elements on the tether, and the presence or absence of TMS. Several examples of umbilical configurations are proposed, each one adapted for ROV exploration in various environments, including near-surface, seafloor, near-wall, and dive between obstacles. The model is compared with results proposed in other works like (Viel, 2022)[36,37]. The limits of the method are discussed.</p></div>\",\"PeriodicalId\":8261,\"journal\":{\"name\":\"Applied Ocean Research\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":4.3000,\"publicationDate\":\"2024-08-11\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Applied Ocean Research\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0141118724002852\",\"RegionNum\":2,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ENGINEERING, OCEAN\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Applied Ocean Research","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0141118724002852","RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, OCEAN","Score":null,"Total":0}
Self-management of ROV umbilical using sliding element: A general 3D-model
The umbilical of Remote Operated Vehicle (ROV) has two main problems: it is subject to entanglement with obstacles or itself, and its shape is difficult to predict for navigation. To address these issues, this article proposes a passive self-management of an ROV’s umbilical by adding one or two elements, like ballasts, buoys, or an oriented thruster, to stretch it and gives it a predictable shape. These elements can be fixed or move freely on the umbilical. In opposite with (Viel, 2022)[36,37], we propose a general model which can estimate the shape of the umbilical in three-dimensions regardless of the orientation of the force applied to the elements, allowing to consider the presence of underwater currents, passive or motorized elements on the tether, and the presence or absence of TMS. Several examples of umbilical configurations are proposed, each one adapted for ROV exploration in various environments, including near-surface, seafloor, near-wall, and dive between obstacles. The model is compared with results proposed in other works like (Viel, 2022)[36,37]. The limits of the method are discussed.
期刊介绍:
The aim of Applied Ocean Research is to encourage the submission of papers that advance the state of knowledge in a range of topics relevant to ocean engineering.