On Modeling of Coupled Heave-Yaw Motion of a μ-ROV

Ahsan Tanveer; Sarvat Mushtaq Ahmad

doi:10.1109/ICCIT58132.2023.10273953

On Modeling of Coupled Heave-Yaw Motion of a μ-ROV

Ahsan Tanveer^*
, Sarvat Mushtaq Ahmad

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This study outlines data-driven modeling approach for identification of coupled heave-yaw motion of a compact micro remotely operated vehicle (μ-ROV). For modeling exercise, real-time tests are carried in a pool setting using on-board gyroscope and depth sensors. The data from the sensors is then pre-processed and analyzed. The experiment employs a straightforward manoeuvre that stimulates the vehicle in the vertical plane. The results indicate that yaw motion is caused by a coupling effect brought on by the reaction torque of the single vertical thruster. This enables the dynamic model to be determined in horizontal plane. A transfer function model structure is used to identify the coupled model, and it is found that the model synthesised using the suggested methodology agrees with the experimental findings.

Original language	English
Title of host publication	2023 3rd International Conference on Computing and Information Technology, ICCIT 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	546-549
Number of pages	4
ISBN (Electronic)	9798350321487
DOIs	https://doi.org/10.1109/ICCIT58132.2023.10273953
State	Published - 2023
Event	3rd International Conference on Computing and Information Technology, ICCIT 2023 - Tabuk, Saudi Arabia Duration: 13 Sep 2023 → 14 Sep 2023

Publication series

Name	2023 3rd International Conference on Computing and Information Technology, ICCIT 2023

Conference

Conference	3rd International Conference on Computing and Information Technology, ICCIT 2023
Country/Territory	Saudi Arabia
City	Tabuk
Period	13/09/23 → 14/09/23

Bibliographical note

Publisher Copyright:
© 2023 IEEE.

Keywords

coupled dynamics
dynamic modeling
remotely operated vehicles (ROVs)
system identification
underwater vehicles

ASJC Scopus subject areas

Electrical and Electronic Engineering
Mechanical Engineering
Energy Engineering and Power Technology

Access to Document

10.1109/ICCIT58132.2023.10273953

Cite this

Tanveer, A., & Ahmad, S. M. (2023). On Modeling of Coupled Heave-Yaw Motion of a μ-ROV. In 2023 3rd International Conference on Computing and Information Technology, ICCIT 2023 (pp. 546-549). (2023 3rd International Conference on Computing and Information Technology, ICCIT 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCIT58132.2023.10273953

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title = "On Modeling of Coupled Heave-Yaw Motion of a μ-ROV",

abstract = "This study outlines data-driven modeling approach for identification of coupled heave-yaw motion of a compact micro remotely operated vehicle (μ-ROV). For modeling exercise, real-time tests are carried in a pool setting using on-board gyroscope and depth sensors. The data from the sensors is then pre-processed and analyzed. The experiment employs a straightforward manoeuvre that stimulates the vehicle in the vertical plane. The results indicate that yaw motion is caused by a coupling effect brought on by the reaction torque of the single vertical thruster. This enables the dynamic model to be determined in horizontal plane. A transfer function model structure is used to identify the coupled model, and it is found that the model synthesised using the suggested methodology agrees with the experimental findings.",

keywords = "coupled dynamics, dynamic modeling, remotely operated vehicles (ROVs), system identification, underwater vehicles",

author = "Ahsan Tanveer and Ahmad, \{Sarvat Mushtaq\}",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 3rd International Conference on Computing and Information Technology, ICCIT 2023 ; Conference date: 13-09-2023 Through 14-09-2023",

year = "2023",

doi = "10.1109/ICCIT58132.2023.10273953",

language = "English",

series = "2023 3rd International Conference on Computing and Information Technology, ICCIT 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "546--549",

booktitle = "2023 3rd International Conference on Computing and Information Technology, ICCIT 2023",

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Tanveer, A & Ahmad, SM 2023, On Modeling of Coupled Heave-Yaw Motion of a μ-ROV. in 2023 3rd International Conference on Computing and Information Technology, ICCIT 2023. 2023 3rd International Conference on Computing and Information Technology, ICCIT 2023, Institute of Electrical and Electronics Engineers Inc., pp. 546-549, 3rd International Conference on Computing and Information Technology, ICCIT 2023, Tabuk, Saudi Arabia, 13/09/23. https://doi.org/10.1109/ICCIT58132.2023.10273953

On Modeling of Coupled Heave-Yaw Motion of a μ-ROV. / Tanveer, Ahsan; Ahmad, Sarvat Mushtaq.
2023 3rd International Conference on Computing and Information Technology, ICCIT 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 546-549 (2023 3rd International Conference on Computing and Information Technology, ICCIT 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Ahmad, Sarvat Mushtaq

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N2 - This study outlines data-driven modeling approach for identification of coupled heave-yaw motion of a compact micro remotely operated vehicle (μ-ROV). For modeling exercise, real-time tests are carried in a pool setting using on-board gyroscope and depth sensors. The data from the sensors is then pre-processed and analyzed. The experiment employs a straightforward manoeuvre that stimulates the vehicle in the vertical plane. The results indicate that yaw motion is caused by a coupling effect brought on by the reaction torque of the single vertical thruster. This enables the dynamic model to be determined in horizontal plane. A transfer function model structure is used to identify the coupled model, and it is found that the model synthesised using the suggested methodology agrees with the experimental findings.

AB - This study outlines data-driven modeling approach for identification of coupled heave-yaw motion of a compact micro remotely operated vehicle (μ-ROV). For modeling exercise, real-time tests are carried in a pool setting using on-board gyroscope and depth sensors. The data from the sensors is then pre-processed and analyzed. The experiment employs a straightforward manoeuvre that stimulates the vehicle in the vertical plane. The results indicate that yaw motion is caused by a coupling effect brought on by the reaction torque of the single vertical thruster. This enables the dynamic model to be determined in horizontal plane. A transfer function model structure is used to identify the coupled model, and it is found that the model synthesised using the suggested methodology agrees with the experimental findings.

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KW - remotely operated vehicles (ROVs)

KW - system identification

KW - underwater vehicles

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M3 - Conference contribution

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BT - 2023 3rd International Conference on Computing and Information Technology, ICCIT 2023

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 3rd International Conference on Computing and Information Technology, ICCIT 2023

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ER -

On Modeling of Coupled Heave-Yaw Motion of a μ-ROV

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this