NDLI: Experimental research on movability characteristic of crawler driven ROV

Content Provider	IEEE Xplore Digital Library
Author	Inoue, T. Katsui, T. Tahara, J. Itoh, K. Yoshida, H. Ishibashi, S. Takagi, K.
Copyright Year	2008
Description	Author affiliation: JAMSTEC (Japan Agency for Marine-Earth Sci. & Technol.), Yokosuka, Japan (Inoue, T.; Tahara, J.; Itoh, K.; Yoshida, H.; Ishibashi, S.; Takagi, K.)
Abstract	In order to reduce a tension on a cable, a deep sea ROV is designed to minimize the weight. However, such a light weight will influence on the movability of crawlers. As an initial investigation experiments were conducted in a water tank using a vehicle of ROV "ABISMO" changing the weight, the buoyancy, the center of gravity and the center of buoyancy. It was observed that the ROV ran unstably in some cases in spite of the fact that the ROV could run stably on land. Especially when the weight in water of was less, the stability of the ROV got worse. It seemed that the ROV could not run on the sea floor in such cases. On the other hand, the ROV ran stably when the ROV had an adequate weight in water and adequate center of gravity as well as center of buoyancy. This paper describes the experiment results of motion of the ROV running in water by means of crawler system. This paper also describes a fundamental theoretical investigation for ROV running in water. A discrimination chart of stable running is presented for the center of gravity and the center of buoyancy. The discrimination line is obtained with the weight and the buoyancy of ROV, the water residence, the point of its application and the dimension of crawlers.
Starting Page	1
Ending Page	6
File Size	1409975
Page Count	6
File Format	PDF
ISBN	9781424426195
DOI	10.1109/OCEANS.2008.5151802
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-15
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Crawlers Remotely operated vehicles Gravity Sea floor Marine technology Marine vehicles Radio access networks Stability Water Land vehicles
Content Type	Text
Resource Type	Article

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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
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