Research

Computer Sciences and Information Technology

Title :

Design and development of underwater Remotely Operated Vehicle (ROV) for inspection and surveillance

Area of research :

Computer Sciences and Information Technology, Engineering Sciences

Focus area :

Inspection and surveillance of underwater remotely operated vehicle

Principal Investigator :

Dr Leena Vachhani, Assistant Professor, Indian Institute of Technology (IIT) Bombay

Timeline Start Year :

2020

Contact info :

Details

Executive Summary :

The underwater robotics is the most challenging among the robotics community as the environment (underwater) presents sensing and communication related issues. Disturbances under water present control challenges. The IITB-AUV team has been working on the design and development of small size (140cmX65cmX50cm) Autonomous Underwater Vehicle (AUV). The team has worked on various designs of AUV for augmenting various dynamics and application related capabilities. The team has worked on interdisciplinary aspects covering mechanical, electrical, material science, software, control, communication, power, image processing, aesthetic design and system integration. Main aspects in which the team has developed its own technology and expertise are as follows: Design of underwater vehicle, System integration, Controller design, Autonomous navigation, Simulation test-bed. The project aims to transfer above technologies for designing underwater Remotely Operated Vehicle (ROV). These technologies can be used to meet specific needs of the application in this vehicle category. The deliverables include design and control methodologies for the design of ROV and technology for real-time vision feedback for developing applications such as underwater pipeline inspection, mine detection and disposal etc. A prototype has been tested in pool at (international event venue, SSC Pacific TRANSDEC San Diego, CA) up to the depth of 4m, however it would be ruggedised with the help of industry partner and a new prototype would be developed for reaching up to the depth of 100m. The feedback received from field trials in controlled as well as real environments will be addressed. Various applications using this category of ROV will then be explored with the focus on vision based underwater pipeline inspection and surveillance. The design methodology and methods that will be developed to operate such a vehicle would call for new innovations both in terms of engineering methods as well as theoretical approach. The design and control methodology developed through this project will be transferred to the industry partner, L&T Ltd. for designing this category of ROV. Any novel work coming out of this project will have joint IITB and L&T patent. This way, a students-initiated project so far supported by IITB would be channelized for commercialisation. The long-term vision of AUV-IITB team is to become self-sustain and provide novel technology solutions for underwater robotic domain. The proposed technology with indigenous development will have the advantage of developing various underwater applications for defence, civilian and social sectors in future. The ruggedised vehicle model would not only be useful for commercial applications but for testing research outcomes. The algorithms, which are currently being tested under the controlled conditions in laboratory, can be tested under real environment. A better understanding of realistic problems would open up new research directions.

Co-PI:

Dr Hemendra Arya, Assistant Professor, Indian Institute of Technology (IIT) Bombay

Total Budget (INR):

63,22,796

Achievements :

Developed remotely operated spherical robot for surveillance Advised AUV team for controller design and sensor-based autonomous applications

Organizations involved