Article | Proceedings of The American Modelica Conference 2018, October 9-10, Somberg Conference Center, Cambridge MA, USA | Developing a Framework for Modeling Underwater Vehicles in Modelica Linköping University Electronic Press Conference Proceedings
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Title:
Developing a Framework for Modeling Underwater Vehicles in Modelica
Author:
Shashank Swaminathan: Texas A&M University, College Station, TX, USA Srikanth Saripalli: Texas A&M University, College Station, TX, USA
DOI:
10.3384/ecp18154157
Download:
Full text (pdf)
Year:
2018
Conference:
Proceedings of The American Modelica Conference 2018, October 9-10, Somberg Conference Center, Cambridge MA, USA
Issue:
154
Article no.:
017
Pages:
157-164
No. of pages:
8
Publication type:
Abstract and Fulltext
Published:
2019-02-26
ISBN:
978-91-7685-148-7
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press, Linköpings universitet


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When developing Remotely Operated Vehicles (ROVs), models prove extremely useful in determining design parameters and control strategies. This paper’s goal is to develop a modeling framework for underwater ROVs in Modelica, with integration with the Robotic Operating System (ROS), allowing for quicker prototyping and testing of ROV design and control.

Named the Underwater Rigid Body Library (URBL), the modeling framework treats the effect of water on submerged bodies as interactions with a “field” of water to capture the effects of buoyancy and drag. Its usage is demonstrated by applying it to the BlueROV2, a commercially available ROV from Blue Robotics. Using controller signals to the propellers as system inputs, the model was tested with various motor command profiles to achieve different composite motions. Constant motor commands were provided both from within Modelica and from ROS; the simulation results indicated that the model responded appropriately.



Keywords: Underwater, ROV, Modelica, ROS, Framework

Proceedings of The American Modelica Conference 2018, October 9-10, Somberg Conference Center, Cambridge MA, USA

Author:
Shashank Swaminathan, Srikanth Saripalli
Title:
Developing a Framework for Modeling Underwater Vehicles in Modelica
DOI:
http://dx.doi.org/10.3384/ecp18154157
References:

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Proceedings of The American Modelica Conference 2018, October 9-10, Somberg Conference Center, Cambridge MA, USA

Author:
Shashank Swaminathan, Srikanth Saripalli
Title:
Developing a Framework for Modeling Underwater Vehicles in Modelica
DOI:
https://doi.org10.3384/ecp18154157
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