Cellula Control Systems Engineer, Serdar Soylu, will be presenting at BCIT on “Coordinated control of small, remotely operated and submerged vehicle-manipulator systems.”
Current submerged science projects such as VENUS and NEPTUNE have revealed the need for small, low-cost and easily deployed underwater remotely operated vehicle-manipulator (ROVM) systems. Unfortunately, existing small remotely operated underwater vehicles (ROV) are not equipped to complete the complex and interactive submerged tasks required for these projects. Adapting a popular small ROV into a ROVM that is capable of low-cost and time-efficient underwater manipulation will help to realize this objective.
The primary focus of this talk it to visit various technical building blocks that ultimately lead to such a coordinated control system for small ROVMs. Several model-based control methodologies are proposed to realize the desired motion produced by the redundancy resolution. For a unifies system (redundancy resolution and controller), a new human-machine interface (HMI) is designed that can facilitate the coordinated control of ROVM systems.
In the first phase of implementation, a small inspection-class ROV is adopted. To improve navigation, a navigation skid is designed that contains a Doppler Velocity Log, a compass, an intertial measurement unit, and acoustic position data. The theoretical and practical results illustrate that the proposed tools can transform. a small, low-cost ROVM system into a highly capable, time-efficient system that can complete complex subsea tasks.
Dr. Serdar Soylu received his B.E degree (with honors) in mechanical engineering from the Dokuz Eylul University in Turkey in 2002, and his M.A.Sc and Ph.D. degrees in mechanical engineering from the University of Victoria, Canada, in 2005 and 2011 respectively. He has been working for Cellula Robotics as a Control Systems Engineer since 2011 where he also held his NSERC Industrial Research and Development Fellowship (IRDF) from 2012 to 2014 on the automation of seafloor drills.
Date & Time: Thursday 20 August 6:30 PM
Location: BCIT Burnaby Campus, SW1-2019
For more information, contact Jacqueline Nichols at [email protected].