REMO project: Design, modelling and

hydrodynamic simulation of a robot of variable

geometry for actuations on maritime disasters.

Research director
D. Rafael Aracil Santonja

Roque Saltarén
rsaltaren@etsii.upm.es
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Two concepts of underwater robots

1. A brief introduction about of the REMO project and

its advances
• Robots based on S-G parallel platforms
 REMO I (ROV)
 REMO II (AUV/ROV)

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Two concepts of underwater robots

Main objective

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Two concepts about of underwater robots

REMO II: Robot for vectorial precision tasks

Thruster-2
motor
impulsor-1

Anillo-1
Ring-2
Motores
Linear actuators
lineales

camara
Ring-1estanca de
INSTRUMENTACIÓN
Thruster-1 y control

Anillo-2

Brazo
Arms
manipulador

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Two concepts about of underwater robots

REMO I: Robot for payloads and exploration

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Advances on the develop of the robot REMO I

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Advances on the develop of the robot REMO I

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1. A brief description of the REMO
hydrodynamics computational model
GOAL: Allows a dynamics model for robots
with variable geometry
• TELEOPERATION
• CONTROL
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Dynamics model for underwater vehicles

where:
V = Velocity in the local frame system (robot).
M = Mass matrix (rigid body mass + added mass)
C(V) = Coriolis matrix (to account the effects of the non-centroidal
frame
systems of the submarine vehicle).
D(V) = Nonlinear hydrodynamics damping viscous matrix
g(n) = Restoring forces and moments
w = External forces and moments caused by the waves.
t = Thruster forces and moments.
n = Absolute position and orientation vector.

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Hydrodynamics damping

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Hydrodynamics modeling and simulation

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Dimensionless hydrodynamics coefficients.

Cx Cy Cz

Cmx Cmy Cmz

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Migration to submarine multibody dynamics

&+ C(V )V + D(V )V + Φ*T (q)λ = g − g (q) + w + τ

MV V 0

Φ*V (q)V = 0
Φ(q) = 0

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Simulations results

 Robot with changes in the orientation of the helm (Ring-2)

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Practical results

Develop of new hydrodynamics models for underwater robots of variable geometry

Develop of two underwater parallel robots prototypes

Industrial agreements

Agreement with a Spanish company (SAES Electrónica) to develop experimental test for
inspections applications

Patents:

AUTORES: Rafael Aracil , Roque Saltarén

TÍTULO: “Robot paralelo trepador y deslizante para trabajos en
estructuras y superficies”
REGISTRO: Solicitud P200201666

AUTORES: Rafael Aracil, Roque Saltarén, Juan López Coronado

TÍTULO: Mejoras en la patente principal P200201666
REGISTRO: Solicitud P200302920

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Recent journal publications on service parallel
robots
• “Control of Teleoperators with Communication Time Delay trough State Convergence”. Journal of
Robotic Systems. Vol 21(4), 167-182 (2004). J.M. Azorín, O. Reinoso, R. Aracil, M. Ferre

• “Design, Modelling And Implementation of a 6-URS Parallel Haptic Device”. Robotics and Autonomous
Systems. Vol 47, pp1-10 (2004) J.M. Sabater, R. Saltarén, R. Aracil

• “Generalized control method by state convergence of teleoperation systems with time delay”.
Automatica. Vol. 40/9, pp. 1575-1582, September (2004). J.M. Azorín, O. Reinoso, R. Aracil, M. Ferre.

• “Analysis of a Climbing Parallel Robot for Construction Applications”. Computer-Aided Civil and
Infrastructure Engineering. Vol. 19 pp. 436 – 445. 2004. R. J. Saltarén, R. Aracil y O. Reinoso.

5. “Stereoscopic Video Images for Telerobotic Applications”. Journal of Robotic Systems 22(3), 131 –146
(2005). M. Ferre, R. Aracil, M. Navas.

6. “ A 6-URS parallel haptic device with open control architecture” J.M. Sabater, R. Saltarén, R. Aracil.
ROBOTICA, Cambridge Press, pp1-11, 2004

7. “Climbing Parallel Robot: A Computational and Experimental Study of its Performance Around
Structural Nodes". IEEE Transactions on Robotics. R. Saltaren, R. Aracil, O. Reinoso, and M. A.
Scarano. (Aceptado W05-041/W2003-018/2005)

8. “Climbing parallel robot CPR: A robot to climb along tubular and metallic structures” IEEE Robotics and
Automation Magazine. R. Aracil, R.J. Saltaren, O. Reinoso (Aceptado-2005)
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Bibliography

• EXA Corporation. “PowerFlow user’s guide. Release 3.4”. 2002. Fossen, Thor I.,
Sagatun Svein I., “Lagrangian Formulation Of Underwater Vehicles’ Dynamics”. ISSN #
0-7803-0233-8/91 1991 IEEE.
• Fossen, Thor I., “Guidance and Control of Ocean Vehicles”, John Wiley & Sons,
Chichester England, 1994.
• Fossen,Thor I., “Marine Control Systems”, John Wiley & Sons. ISBN 82-92356-00-2
• Healey, A.J., McGhee, R.B., Cristi, F., Papoulias, F.A., Kwak, S.H., Kanayama, Y., Lee,
Y., Shukla, S. and Zaky, A., "Research on Autonomous Underwater Vehicles at the
Naval Postgraduate School," Naval Research Reviews, Office of Naval Research,
Washington DC, vol. XLIV no. 1, Spring 1992.
• J.N. Newman. “Marine Hydrodynamics”. The MIT Press. ISBN 0-262-14026-8.
• R.Aracil, R. Saltaren, O. Reinoso Parallel robots for autonomous climbing along tubular
structures Robotics and Autonomous Systems. Vol. 42/2 pp. 125-134. January 2003
• D. Stewart, “A platform with six degrees of freedom,” Proc. Instr. Mech.Engs., vol. 180-1,
no. 15, pp. 371–386, 1965.
• Dean Steinke “Numerical Modeling of an Underwater Vehicle Mech 499 Final Report”.
April 26, 2003.D. Wettergreen, C. Gaskett, A. Zelinsky “Autonomous Guidance and
Control for an Underwater Robotic Vehicle”.
• D. Wettergreen, C. Silpa-Anan, S. Abdallah. “Autonomous Guidance and Control for an
Underwater Robotic Vehicle”.

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