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An adaptable walking-skid for seabed ROV under strong current disturbance

Lookup NU author(s): Professor Cheng Chin


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This paper proposed a new concept of an adaptable multi-legged skid design for retro-fitting to a remotely-operated vehicle (ROV) during high tidal current underwater pipeline inspection. The sole reliance on propeller-driven propulsion for ROV is replaced with a proposed low cost biomimetic solution in the form of an attachable hexapod walking skid. The advantage of this adaptable walking skid is the high stability in positioning and endurances to strong current on the seabed environment. The computer simulation flow studies using Solidworks Flow Simulation shown that the skid attachment in different compensation postures caused at least four times increase in overall drag, and negative lift forces on the seabed ROV to achieve a better maneuvering and station keeping under the high current condition (from 0.5 m/s to 5.0 m/s). A graphical user interface is designed to interact with the user during robot-in-the-loop testing and kinematics simulation in the pool.

Publication metadata

Author(s): Si JT, Chin CS

Publication type: Article

Publication status: Published

Journal: Journal of Marine Science and Application

Year: 2014

Volume: 13

Issue: 3

Pages: 305-314

Print publication date: 01/09/2014

Online publication date: 27/08/2014

Acceptance date: 05/06/2014

ISSN (print): 1671-9433

ISSN (electronic): 1993-5048

Publisher: Harbin Engineering University


DOI: 10.1007/s11804-014-1261-y


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