Research director D. Rafael Aracil Santonja

1. REMO project: Design, modelling and hydrodynamic simulation of a robot of variable geometry for actuations on maritime disasters. Research directorD. Rafael Aracil Santonja Roque Saltarén rsaltaren@etsii.upm.es

2. Two concepts of underwater robots • 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)

3. Two concepts of underwater robots Main objective

4. Thruster-2 motor impulsor - 1 Ring-2 Anillo - 1 Motores Linear actuators lineales Ring-1 camara estanca de INSTRUMENTACIÓN y control Thruster-1 Anillo - 2 Brazo Arms manipulador Two concepts about of underwater robots REMO II: Robot for vectorial precision tasks

5. Two concepts about of underwater robots REMO I: Robot for payloads and exploration

6. Advances on the develop of the robot REMO I

7. Advances on the develop of the robot REMO I

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

9. 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.

10. Hydrodynamics damping

11. Hydrodynamics modeling and simulation

12. Cx Cy Cz Cmx Cmy Cmz Dimensionless hydrodynamics coefficients.

13. Migration to submarine multibody dynamics

14. Simulations results • Robot with changes in the orientation of the helm (Ring-2)

15. 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

16. 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)

17. 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”.