Underwater robotics was developed in 1970 at the University of Washington for defense and oceanography applications. The first underwater robot was called SPURV. Underwater robotics includes remotely operated vehicles (ROVs), autonomous underwater vehicles (AUVs), and unmanned surface vehicles used for applications in oil and gas, renewables, environmental monitoring, oceanography, defense, and more. ROVs are remotely controlled and can be used for tasks like inspections, while AUVs are autonomous. Underwater robotics continues to advance with developments in intelligent systems, fault tolerance, dual ROV/AUV systems, and acoustic positioning technologies.

1. UNDERWATER ROBOTICS
Born in 1970
Father and Mother : University of Washington for the Application of Defense
Named as SPURV - Special Purpose Underwater Vehicle
This is the first idea of emerging system to be used in underwater for defense,oceanography
and many more traditional applications
What is Underwater Robotics and why it is necessary for the
development (As an Definition)
The Kind of Robotics involved in studying anything related to Seabed,Sub - Surface or Surface
Characteristics of the Water
The requirement to build or develop these kind of robotics is to study the most complex nature
of the water and how these complex affects the applications related to them
Classification Of Underwater Robotics
A. ROV - Remotely Operated Vehicle
B. Autonomous Underwater Vehicle
C. Unmanned Surface Vehicle
D. Seaglider
E. Remotely Operated Underwater Trencher/Crawlers

2. Applications
A. Oil and Gas
B. Renewables
C. Environmental
D. Oceanography
E. Defense
F. Port Surveillance
G. Education and Research
Basic of ROV System

3. The above shows the whole setup of how ROV is to be installed on the Vessel/Ship and How it
drops down on the side to perform the job requirement
What Makes an ROV to Work and Perform the functions Properly Safely at the end of the
Day its all MONEY COUNTS!!!!!!!!!!!!!!!!
Is ROV ONLY WORKING AS MODEL OR WHAT INTELLIGENCE IT Got or SENSORS TO
Make it Work
Different Types of Underwater Robotics
Education and Research Type ROV
Control System : Open Source Control System Based On Arduino and Beaglebone
Thrusters : Brushless DC Motors with Electronic Speed Control
Communication : Network RJ45
Applications : Education and Research

4. EYE BALL CLASS ROV
Control System : Node Based System (RS485 Half Duplex System)
Thrusters : MCT - Magnetic Coupled Transistor Thruster with Inbuilt Intelligence
Communications : RS485 Half Duplex , Single Mode Fiber Optics
Applications : Depth Limited up to 1000M No Restrictions
Most Commonly Used Commercial ROV

5. MEDIUM WORK CLASS ROV
Control System : Electro - Hydraulics System
Thrusters : Hydraulic Thrusters
Communication : Fiber Optics - Single Mode
Applications : Depth Upto 2000m any Kind of Application
Restrictions : The System Setup Spread is big good deck space required
WORK CLASS ROV

6. Control System : Electro - Hydraulics System
Thruster : Hydraulic Thrusters
Communication : Single Mode - Fiber Optics
Application : 3000m Depth and Same Restrictions as Medium Work Class
Advanced System Options Available such as Auto Position,Station Keeping
HEAVY DUTY ROV
Control System : Electro - Hydraulics System
Thruster : Hydraulic Thrusters
Communication: Single Mode FIber Optics
Application : 3000 to 5000m Depth Rated and All Advanced Options Available
ULTRA HEAVY DUTY ROV

7. Worlds Power ROV - As per 2015 and Used in Gulf of Mexico,USA and Offshore Brazil
Rated for 6000m Deep and Sophisticated Control System
Dual Control System
Patented System called Seanet USED
Applications : Deep Waters But Massive Spread
TRENCHER
Control System : Advanced System - Electro Mechanical and Hydraulic System
No thrusters only Crawlers Used
Communication : FIber Optics - Single Mode
Application : Burial Of Pipeline , Underwater Construction
AUV - Autonomous Underwater Vehicle

8. Control System : Autonomous
Internally Fiber Optics Connected
Electrically controlled Propellers
Application : Seabed Topography , Mapping, Surveillance,Debris and Wreckage
TYPES OF Control System
Electrical Control System
This is an Example of Subsea Control System Based on Electronics , No HYDRAULICS
INVOLVED
Thrusters : Electrical Thruster
Communication : Single Mode - Fiber Optics
System Intelligent and Autonomous in Nature
can be easily upgraded to the next level
No Fine tuning required system will self heal

9. Electro - Hydraulics Control System
Thrusters : Hydraulic Thrusters
Control System : Intelligent Valve Pack
Communication With System Control System and Valve Pack is Single Mode
Got Good Capability to be in Station Keeping Mode under difficult circumstances
System Fine Tuning Required

10. INTELLIGENT VALVE PACK
3rd Party Valve Pack to Make the System Achieve its full capability and Perform all kind of
challenges in the underwater
MANIPULATORS
7 FUNCTION MANIPULATOR

11. Electro Hydraulically Controlled Manipulator
7 Degrees of Freedom
Joystick Electrical
Servo Control Pod to control the Manipulation
PID Control System
5 FUNCTION MANIPULATOR
Electrical Manipulator
24VDC Heavy Duty Brushless Motor Control
PID Control System
Controlled From PC
Manipulators can be either hydraulics or Electronics subjected to the interface with ROV
SENSORS - ROV
Imaging Sonar

12. Blue View Sonar Output Used for Vehicle Navigation and Obstacle Avoidance
Can also be used to bring an image of the structures for structure capabilities and studies
Communication : 2 Wire Half Duplex RS 485 or RJ45
Output : Images
CAMERA
For Vision requirements will be connected to the Vehicle
Depends on the application the resolution changes
Analogue Output or HD Output
Zoom Options Available Through RS232/RS485
Thrusters
Electrical Thruster

13. Electronically Controlled 250/500 VDC Thrusters
PWM Speed Control
Control System PID Based
Most popularly Used in Electrical ROV
Hydraulic Thruster
Hydraulically Controlled Thruster
Independent of Control system
Used in Electro Hydraulic Systems
There are many more support sensors should be available to make them function Properly
such as
A. Depth Sensor
B. Altimeter
C. Lights
D. Doppler Velocity Log - Calculate the speed of the vehicle for the Navigation
E. Underwater Acoustics
and many more sensors depends on applications between above are critical for less downtime

14. FUTURE AND DEVELOPMENTS
Many universities are in trials of developing Dual System (ROV AND AUV) which is productive
of combining two systems to complete all kind of scope in single Deployment
ROV IN ROV - Two ROVS in Same System
Tidal Energy Based ROV System - Powering the System with help of Subsea Tidal Power and
Powering up Subsea Control System (Horizon 2020)
Fault Tolerant Intelligent Singular System : System Analyse the environment and study users
control and Create an decision making to keep the system in running mode even in any event of
failure the system still manage to run the scope successfully
UNDERWATER ACOUSTICS
Propogation of Sound in Water through the subsea wireless communication (Acoustics)
This is very helpful for the development of subsea robotics or underwater robotics
Underwater Acoustics not only determined the localization of an unknown systems in subsea
but also solved the mystery of vehicles behaving erratically in subsea due to its oceanographic
elements such as Wind,Current,Tide
Underwater Acoustics works from 10Khz to 1 Mhz and there are losses happen when sound
travel through medium of water such as refraction,cavitation,absorption and the received pulse
calculates the RANGE And Bearing
Typical Example of Underwater Acoustics

15. The Underwater acoustics and the complex algorithm made the vehicles to look intelligent and
not limiting to make the marine vessels ,rigs to be in safer place even any unexpected weather
changes
Classification of Underwater Acoustics
USBL
LBL
USBL Aided INS
LBL Aided INS
Pictorial Representation
USBL

16. LBL - Long Base Line
Array of Transponders to find the Mean Position of the Transducer

17. Position Prediction Model Used in Autonomous and Marine Systems
Marine Vessel with full Option to Work on Subsea Project - Dynamic Positioning
Underwater Acoustics is an ever ending market with plenty of options and solving all the
challenges across the wide area of industries
LAST BUT NOT LEAST

18. THANKS FOR LISTENING
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