ROV Design
YILDIZ TECHNICAL UNIVERSITY
FACULTY OF NAVAL ARCHITECTURE AND MARITIME
GIM4381 Fundamentals of Unmanned Marine Vehicles
Asst. Prof. Ahmet Gultekin AVCI
Introduction
What are ROVs?
Definition and Purpose
•Definition: A Remotely Operated Vehicle (ROV) is an uncrewed, underwater robot
connected by a series of cables or a tether to a control station on a ship or the shore.
•These vehicles are used for various applications in deep water, including
oceanographic research, underwater construction, and inspection or repair of
submerged structures.
•Capabilities: ROVs are capable of performing complex tasks in environments that are
inaccessible or too dangerous for humans. They are equipped with cameras, sensors,
and sometimes robotic arms to interact with the underwater environment.
Introduction
Design and Development Process of ROVs
1. Conceptualization
•Requirements Analysis: Determine the ROV's mission objectives. For instance, an
ROV designed for oil and gas inspection might require a depth capability of up to 3000
meters (pressure resistance of about 30 MPa), a payload capacity of up to 200 kg for
carrying tools and equipment, and an operational endurance of 12 to 24 hours.
•Environmental Considerations: The design must consider factors like water
temperature, which can range from near freezing in deep waters to about 35°C in
shallower areas, salinity, underwater currents (up to 2.5 m/s), and visibility conditions.
2. Hydrodynamic Design
•Buoyancy and Stability:
Use materials like syntactic foam for buoyancy, ensuring the ROV remains neutrally
buoyant at the desired operational depth. The foam is a composite of hollow glass
microspheres and a polymer matrix, providing strength and crush resistance under
high pressure.
•Shape Optimization:
The ROV's shape is crucial for minimizing hydrodynamic drag and enhancing
maneuverability. A streamlined shape, optimized using Computational Fluid Dynamics
(CFD) simulations, can significantly reduce the drag coefficient, typically aiming for a
value between 0.2 and 0.3.
3. Mechanical Design
• Structural Framework: The ROV’s frame is often made from materials
like titanium or marine-grade stainless steel for optimal strength-to-
weight ratio and corrosion resistance.
For example, Titanium Grade 5 (Ti-6Al-4V) could be chosen for its
high tensile strength of 1000 MPa and excellent resistance to seawater.
• Propulsion System:
Design a multi-thruster propulsion system for mobility. Each
thruster, possibly a brushless DC motor, might provide a thrust of 200 N
and operate at a power level of around 1.5 kW. The placement of
thrusters is carefully calculated for balance and agility.
4. Electronics and Control Systems
• Core Electronics:
Equip the ROV with high-definition cameras (e.g., 4K UHD resolution), sonar
systems (multibeam sonar with a 100 m range), and lighting systems (high-
intensity LEDs with around 20,000 lumens brightness).
• Control System:
Design a control system that includes manual operation via a surface
control unit and potential for automated control through onboard computer
systems.
Communication is typically maintained through a fiber-optic tether for high-
bandwidth data transmission and real-time control.
5. Embedded Software and Control
Algorithms
• Software Architecture:
The software structure is designed for modularity and reliability,
incorporating real-time operating systems for mission-critical operations.
It integrates various subsystems such as navigation, data
processing, and equipment control.
• Control Algorithms:
Implement advanced algorithms for navigation and operational
control. This includes PID (Proportional, Integral, Derivative)
algorithms for motion stability and precision. Sensor fusion techniques
are employed for combining data from IMUs, depth sensors, and other
onboard sensors for accurate operation.
6. Power Systems and Energy
Management
• Power Sources:
Lithium-ion batteries are commonly used for their high energy
density. A typical battery pack might be rated at 24V and 400Ah,
providing sufficient power for extended operations.
• Energy Management:
The design includes strategies for optimizing energy consumption.
Each component’s power requirement is calculated, and the system is
designed to minimize energy loss, maximizing the operational time
from the battery reserves.
7. Safety, Compliance, and Environmental
Considerations
• Safety Systems:
Safety features like emergency shut-off mechanisms, leak
detection, and redundancy in critical systems are integral to the design.
Compliance with international standards (e.g., ISO, IMO) ensures safety
and environmental protection.