TY - GEN
T1 - Lagrangian waverider and wave filtering system for use in ROV control
AU - Hegarty, Aoife
AU - Omerdic, Edin
AU - Westbrook, Guy
AU - Toal, Daniel
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/10/25
Y1 - 2017/10/25
N2 - This paper describes the adaptation of an existing wave filtering method for vessel Dynamic Positioning (DP) Systems for use in a Remotely Operated Vehicle (ROV) control system. The novelty is that the proposed control system will work in tandem with a Lagrangian waverider buoy deployed on a Marine Renewable Energy (MRE) site. The waverider will be tethered to a moored buoy on site, and will have remote release/recovery capability. Once released, the waverider will feed real-time spectral wave data from the microcontroller to a wave filter within the ROV control system. This will enable active filtering of raw heading measurements in real time, during mission execution. Real-time sampling of wave data during the course of the ROV flight will enable adjustment of the estimated peak frequency and direction of the wave spectrum in accordance with the changing dynamics of the ocean. The Lagrangian nature of the device will allow for free flowing, un-damped motion: The buoy will follow the orbital path of the water particles. This will ensure that the device is free from mooring pull forces, which can distort sensor readings, introducing course error.
AB - This paper describes the adaptation of an existing wave filtering method for vessel Dynamic Positioning (DP) Systems for use in a Remotely Operated Vehicle (ROV) control system. The novelty is that the proposed control system will work in tandem with a Lagrangian waverider buoy deployed on a Marine Renewable Energy (MRE) site. The waverider will be tethered to a moored buoy on site, and will have remote release/recovery capability. Once released, the waverider will feed real-time spectral wave data from the microcontroller to a wave filter within the ROV control system. This will enable active filtering of raw heading measurements in real time, during mission execution. Real-time sampling of wave data during the course of the ROV flight will enable adjustment of the estimated peak frequency and direction of the wave spectrum in accordance with the changing dynamics of the ocean. The Lagrangian nature of the device will allow for free flowing, un-damped motion: The buoy will follow the orbital path of the water particles. This will ensure that the device is free from mooring pull forces, which can distort sensor readings, introducing course error.
KW - Lagrangian motion
KW - ROV control
KW - marine renewable energy
KW - wave filtering
KW - waverider buoy
UR - http://www.scopus.com/inward/record.url?scp=85044725079&partnerID=8YFLogxK
U2 - 10.1109/OCEANSE.2017.8084650
DO - 10.1109/OCEANSE.2017.8084650
M3 - Conference contribution
AN - SCOPUS:85044725079
T3 - OCEANS 2017 - Aberdeen
SP - 1
EP - 8
BT - OCEANS 2017 - Aberdeen
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - OCEANS 2017 - Aberdeen
Y2 - 19 June 2017 through 22 June 2017
ER -