A Guide for Class Remotely

Operated Vehicles
What is underwater robot?

*Underwater robotics is a branch of robotics. Underwater

robots can be autonomous, or they can be remotely
operated. This is an emerging science, which has become
more popular with evolving technology.

*underwater craft come in wide variety of type and size are

used in many different purposes , its useful to get a sense of
what some of the major types of underwater craft are and
how they are related
Autonomy
Robot has many built-in systems that allow it to perform its
mission independently (autonomously). These systems are
called autonomy systems.

Direct Remote Control

where a human operator is in direct telerobotic control, a
robot conveys information about a remote environment to
a human operator who then acts upon what they observe.
 types of underwater robots
Autonomous underwater Vehicles (no cables)
Seagliders Drifters

Wave gliders Buoys

 Under water
vehicle

Manned Unmanned
vehicle vehicle

AUVs ROVs
untethered Tethered

Working Observation
Special use
class class
 What is an ROV

A remotely operated underwater vehicle (ROV) is a tethered underwater mobile

device. ROVs are unoccupied, highly maneuverable and performs tasks.

Remote: the pilot is not in the vehicle

Operated: the vehicle is controlled by a person
Vehicle: it is a self-contained, integrated system

Simplistically

an ROV is a camera mounted in a waterproof enclosure, with

thrusters for maneuvering, attached to a cable to the surface over which a video signal is
transmitted.
 ROV
Construction

Design
methodology manipulator Thruster Seal

Bouncy & Archimedes Pressure

Stability frame
principal canisters Dy_Seal
Actuators

The best shape

of frame
Propeller
St_Seal
Martial
Nozzle
 Bouncy Archimedes principal
Definition: Buoyancy is the upward force exerted by the fluid on a body that is
immersed.
We are all aware of the fact that some objects floats float in water while others sink
lets look.
Density
How compact the
mass in substance or
object is
Archimedes Principle (law of bouncy)
A submerged object like a ROV will float or sink depending upon the net effect of
the weight of the object and the buoyant force generated by the object.

Three possible conditions for the object

◘ Positive buoyancy: buoyant force > weight, the object floats
◘ Neutral buoyancy: buoyant force = weight, the object
neither floats or sinks
◘ Negative buoyancy: buoyant force < weight, the object sinks
Stability
*ROV in Static Equilibrium – Weight and Buoyant Forces are Equal and Collinear

*Righting Torque Acting on a ROV which Is Out of Equilibrium

 Structure &martial over view
Frame (framework):

You cant design your structure until you know what's going to be supporting and
protecting .

Example: you cant design your thrusters until you know the size ,shape and job of
your structure.
Frame criteria of ROV
Primary skeleton of the vehicle . That we can define as the vehicle
over all shape and Major part which hold all it’s component
together.
 frame easily made by joining a brunch of
straight beams or rods .

 It must able to position and securely

attached camera ,sensors, thrusters ,and
other ROV component.

 Access for adjustments and maintenance.

 Must support any force associated not only the

weight of payload itself but also any force
transfer to the frame by tools (lift, pull , push,
twist or cut )while working .

 Need to protect the vehicle from collision with

hard objects.
Frame martial

PVC (polyvinyl chloride)

Why pvc?‼
• Availability
• Suitable density (1360 Kg/ m³)
• low cost
• wide available in hard ware stores
• easy fabrication by hand
• elegant shapes comes in several stander
colors
• easy of assembly
• Reliability
• high corrosion resistance
•
 PVC ROV

Our frame dimension (46 * 37 * 33.5 cm) with the main diameter of (58 cm).
20 mm OD
160
15 mm ID
130
120
100
80
70
50
30
20
5

We want to add holes so that the water

can enter inside the pipes that make up
the structure of the submarine, as well
as get out of it when it is lifted from the
water.
 artelon (polyethylene )

Why artelon ?‼

• low cost

• Reliability

• Positive bouncy

• easy fabrication

• easy of assembly

• high corrosion resistance

• Non-conductive of electricity
 Propulsion system
Thrusters
Brushless

Bilge pump T100 thruster

Seabotix BTD150

Johnson pump
An electrical thrust is simply propeller attached to waterproof electric motor

Frist type actuators T100 thruster

Key Features

• Simple Design
• Efficient brushless electric motor
• Compact design that fits in any project
• Strong and UV resistant polycarbonate
plastic
• No enclosed pressure cavities to handle
extreme pressures
• High-performance plastic bearings that
don't corrode
• Comes with clockwise and counter-clockwise propellers to
counter torque
• Versatile mounting options for use on almost anything
• easy Maintenance and long usage
• Rugged cable with polyurethane pressure-extruded jacket
 Converting a Bilge Pump to Run a Propeller

►►► ►►► ►►►

►►►
◄◄◄ ◄◄◄ ◄◄◄
1100 and 1250 GPH thruster in its two directions
upward and backward, this is the result:

Dc motor

 low efficiency
 low price
 difficult seal
 available in any time
 Kort nozzle

NACA 4415
pressure canister
 Mechanical
Sealing

Static dynamic

Wire  Rotating shaft

Pressure canisters  Arm motors
camera  Propulsion motor
O-ring Gasket
Gland Lacor
 Chemical seal

 ‫السليكون‬
 Epoxy
Design methodology
 manipulator

Elbow End effector

Wrist
Clamp

End effect Roll

pitch
 Gripper

Screw Worm gear

Motor Calculation

µN µN
L
N

N N

mg
N : gripping force N
𝑻𝒈 : gear torque
𝒎𝒕 𝒈 = 2µN → N= 9.95 N
𝑻𝟏 : 𝐫𝐞𝐪𝐮𝐢𝐫𝐞𝐝 torque
𝒁𝒈 : 𝐠𝐞𝐚𝐫 𝐧𝐨 𝐨𝐟 𝐭𝐞𝐞𝐭𝐡=50
𝑻𝒈 =2NL*𝑭𝒔 → 𝑻𝒈 = 597.42 N.cm
𝒁𝟏 : worm gear=1
L : clamp length = 10 cm 𝑻𝟏 𝒁
µ : friction factor = 0.2 = 𝒁𝟏 → 𝑻𝟏 = 11.9 N.cm * 𝑭𝒔
𝑻𝒈 𝒈
𝒎𝒕 = 𝒎𝒐𝒃𝒋𝒆𝒄𝒕 + 𝒎𝒍𝒊𝒏𝒌𝒔+𝒈𝒆𝒂𝒓𝒔 = 150 = 47.6 N.cm
+ 256 = 406 g
 L=22.9 cm

m = 0.718 Kg
 ROVs are used in a variety of fields…

• Areas of marine exploration and exploration that have a scientific or

research purpose
• Fields of rescue, emergency and maritime security
• Petroleum services field
• Special military fields
• Follow-up of commercial divers and underwater works
• In the field of civil engineering to discuss the foundations of bridges
and works on water bodies
• Geographic survey of the ocean floor
• Marine exploration of the creatures and its use in marine
researchable to harbor multiple system at the same time
• Deployed in missions that pose a risk to human life
Thanks a lot