NDLI: Design of an ROV to Compete in the 5th Annual MATE ROV Competition and Beyond

Content Provider	IEEE Xplore Digital Library
Author	Brundage, H.M. Cooney, L. Huo, E. Lichter, H. Oyebode, O. Sinha, P. Stanway, M.J. Stefanov-Wagner, T. Stiehl, K. Walker, D.
Copyright Year	2006
Description	Author affiliation: Massachusetts Inst. of Technol., Cambridge, MA (Brundage, H.M.; Cooney, L.; Huo, E.; Lichter, H.; Oyebode, O.; Sinha, P.; Stanway, M.J.; Stefanov-Wagner, T.; Stiehl, K.; Walker, D.)
Abstract	Since 2002, the Marine Advanced Technology Center (MATE) has sponsored a nation-wide remotely operated vehicle (ROV) competition. This year's competition consisted of two mission tasks based on ocean observing systems, to be completed in less than 30 minutes at a depth of 12.2 meters. Taking a different approach from previous years, the MIT ROV team designed our main ROV, MTHR, not only to compete in the MATE competition, but also to be used afterwards for both didactic and practical purposes. To this end, the team did not design MTHR specifically for the competition, but instead set out to design a robust ROV that was capable of competing in the MATE competition. The team set priorities on keeping MTHR easy to operate and the sub-systems modular so that they could be improved or expanded upon, allowing MTHR to act as a test bed for new technology in the future. On top of this, the team also placed size constraints, in order to keep it maneuverable and easy to transport, and monetary constraints, in order to keep it affordable. These design considerations led our team to build a small, battery-powered ROV that operates off a single strand of passively spooling fiber optic cable. MTHR is equipped with team-designed countrarotating propellers and a flexible control system. Though a spatially controlled, 5 degree-of-freedom manipulator was designed and built for the ROV, it was not ready to integrate in time for the competition so a simpler gripper was installed. In addition to MTHR, a second ROV, JR, was built to act as a flying-eye to aid in navigation during the competition. Working together, these two ROVs create a powerful system capable of completing complex tasks and providing a valuable research and teaching platform
Starting Page	1
Ending Page	5
File Size	5377026
Page Count	5
File Format	PDF
ISBN	1424401143
DOI	10.1109/OCEANS.2006.306900
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-09-18
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Remotely operated vehicles Marine technology Oceans Robustness Testing Optical design Optical fibers Optical fiber cables Propellers Control systems
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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