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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.
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
URL: http://dx.doi.org/10.1007/s11804-014-1261-y
DOI: 10.1007/s11804-014-1261-y
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