Enhanced navigation and tether management of inspection class remotely operated vehicles

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dc.contributor.authorZand, Jonathan
dc.contributor.supervisorBuckham, Bradley Jason
dc.contributor.supervisorConstantinescu, Daniela
dc.date.accessioned2009-12-09T16:06:37Z
dc.date.available2009-12-09T16:06:37Z
dc.date.copyright2009en
dc.date.issued2009-12-09T16:06:37Z
dc.degree.departmentDepartment of Mechanical Engineering
dc.degree.levelMaster of Applied Science M.A.Sc.en
dc.description.abstractRemotely Operated Vehicles (ROVs) provide access to underwater environments too deep and dangerous for commercial divers. A tether connects the ROV to a vessel on the surface, providing power and communication channels. During extended manoeuvres, hydrodynamic forces on the tether produce large tensions which hinder ROV manoeuvrability. The research presented in this thesis focuses on the design of new tether management strategies that alleviate the tether disturbance problem, and the implementation of a navigation suite for tracking the ROV position and velocity which are needed to close the loop on the tether management method. To improve the estimation of the ROV state, an Extended Kalman Filter (EKF) is developed.en
dc.identifier.urihttp://hdl.handle.net/1828/1964
dc.languageEnglisheng
dc.language.isoenen
dc.rightsAvailable to the World Wide Weben
dc.subjectUnderwateren
dc.subjectRoboticsen
dc.subjectROVen
dc.subjectTetheren
dc.subjectKalman Filteren
dc.subjectNavigationen
dc.subject.lcshUVic Subject Index::Sciences and Engineering::Applied Sciences::Mechanics, Applieden
dc.subject.lcshUVic Subject Index::Sciences and Engineering::Applied Sciencesen
dc.titleEnhanced navigation and tether management of inspection class remotely operated vehiclesen
dc.typeThesisen

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