PDA Depth Control of a FPSO Swimming Robot

Conference paper

Shang, J, Sattar, TP and Leon-Rodriguez, HE (2006). PDA Depth Control of a FPSO Swimming Robot. 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Brussels, Belgium 12 - 14 Sep 2006 pp. 541-544
AuthorsShang, J, Sattar, TP and Leon-Rodriguez, HE
TypeConference paper
Abstract

This paper introduces a Proportional, Derivative and
Adaptive (PDA) depth control method for a swimming and
walking robot designed for Floating Production Storage and
Offloading vessel (FPSO) inspections. The depth of the robot is
controlled by adjusting the mass of the buoyancy tank on the top of the robot while keeping the overall robot volume constant, so that the robot weight is adjusted around its neutral buoyancy point. The robot can swim to a given depth in short time without too much overshoot, and maintain that depth even with the disturbance from the thrusters that drive the robot moving horizontally. The control algorithm is adaptive to varying depth to let the robot have similar dynamic performance in any depth in the tank.

Year2006
JournalProceedings of the 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
Accepted author manuscript
License
Publication dates
Print12 Sep 2006
Publication process dates
Deposited04 Jan 2019
Accepted12 Sep 2006
Page range541-544
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https://openresearch.lsbu.ac.uk/item/87qx2

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Accepted author manuscript
60. CLAWAR 2006- PDA Depth Control.pdf
License: CC BY 4.0

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Sattar, TP, Hilton, P and Howlader, MOF (2016). Deployment of laser cutting head with wall climbing robot for nuclear decommissioning. 19th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2016). London 12 - 14 Sep 2016 World Scientific Publishing.
Safeguarding Safety Critical Infrastructure with Mobile Robot Inspectors , Opportunities and Challenges
Sattar, TP (2016). Safeguarding Safety Critical Infrastructure with Mobile Robot Inspectors , Opportunities and Challenges. International Conference on Sustainable Vital Technologies in Engineering and Informatics, BUE ACE1 2016. Cairo, Egypt 07 - 09 Nov 2016
Numerical fitting-based likelihood calculation to speed up the particle filter
Li, T, Sun, S, Corchado, JM, Sattar, TP and Si, S (2016). Numerical fitting-based likelihood calculation to speed up the particle filter. International Journal of Adaptive Control and Signal Processing. 30 (11), pp. 1583-1602. https://doi.org/10.1002/acs.2656
Non-destructive testing and condition monitoring with mobile wall climbing and swimming robots
Sattar, TP (2014). Non-destructive testing and condition monitoring with mobile wall climbing and swimming robots. 11th International Conference on Condition Monitoring and Machinery Failure Prevention Technologies (CM 2014/MFPT 2014). Manchester, UK 10 - 12 Jun 2014 British Institute of Non-Destructive Testing (BINDT).
Comparison of MUSIC and ESPRIT DOA Estimation algorithms for Wireless Communications
Oumar, O A, Siyau, M F and Sattar, T. (2012). Comparison of MUSIC and ESPRIT DOA Estimation algorithms for Wireless Communications. The First International Conference on Future Generation Communication Technologies. London 12 - 14 Dec 2012