Search Results (3)

Heave compensation systems are essential for operations’ safety, reliability, and efficiency in harsh offshore environments. This paper investigates the vibration suppression problem of a type of deep-sea robot with the length of time variation and harsh operating environments for active heave compensation systems, where hydraulic heave compensators implement actuators with input nonlinearity, model coupling, and unknown nonlinear disturbances. A robust adaptive output feedback control scheme based on the backstepping control method is designed to eliminate deep-ocean robot vibration, where the adaptive law handles the system parameter uncertainty. Meanwhile, a nonlinear disturbance observer (NDO) is introduced to overcome the effects of random disturbances and model coupling. In addition, the stability of the whole system is proved according to Lyapunov’s theory, and the scheme is shown to be feasible by theoretical analysis. Finally, a comparative simulation study was conducted to validate the effectiveness of the proposed controller. Full article

Tethered deep-sea robots and instrument platforms, such as Remotely Operated Vehicles (ROVs) and vertical-profiling or towed instrument arrays, commonly rely on fiber optics for real-time data transmission. Fiber optic tethers used for these applications are either heavily reinforced load-bearing cables used to support lifting and pulling, or bare optical fibers used in non-load bearing applications. Load-bearing tethers directly scale operations for deep-sea robots as the cable diameter, mass, and length typically require heavy winches and large surface support vessels to operate, and also guide the design of the deep-sea robot itself. In an effort to dramatically reduce the physical scale and operational overhead of tethered live-telemetry deep-sea robots and sensors, we have developed the Fiber Optic Reel System (FOReelS). FOReelS utilizes a customized electric fishing reel outfitted with a proprietary hollow-core braided fiber optic fishing line and mechanical termination assembly (FOFL), which offers an extremely small diameter (750 μm) load-bearing (90 lb/400 N breaking strength) tether to support live high-bandwidth data transmission as well as fiber optic sensing applications. The system incorporates a novel epoxy potted data payload system (DPS) that includes high-definition video, integrated lighting, rechargeable battery power, and gigabit ethernet fiber optic telemetry. In this paper we present the complete FOReelS design and field demonstrations to depths exceeding 780 m using small coastal support vessels of opportunity. FOReelS is likely the smallest form factor live-telemetry deep-sea exploration tool currently in existence, with a broad range of future applications envisioned for oceanographic sensing and communication. Full article

Due to the extremely high pressures in the deep sea, heavy ballast tanks and pressure compensating hydraulic tanks are typically required to support the operation of classic buoyancy controls. Buoyancy control systems driven by phase-change materials (PCM) have unique advantages over conventional hydraulically actuated buoyancy control systems, including high adaptability for deep-sea exploration and simple, lightweight, and compact structures. Inspired by this, a buoyancy control module (BCM) was designed with flexible material as the shell. Instead of a conventional mechanical system, the device uses an electric heating drive to control buoyancy by heating and cooling the PCM. Based on the principle of pressure compensation, this device can adjust the buoyancy of a small underwater vehicle in a deep-sea high-pressure environment. The BCM successfully adjusts the buoyancy to lift itself up and down in the South China Sea at a depth of 3223 m. The performance of the phase-change BCM to control buoyancy under high pressure is validated by systematic experiments and theoretical analysis. Our work proposes a flexible scheme for the design of a deep-sea phase-change-driven BCM and highlights its potential application in deep-sea micro-mechanical systems, especially soft robots. Full article