An issue that ROVs experience during operations is disturbances from the tether, making navigation and control more difficult as real-time measurements are not currently available. This paper proposes the development of an innovative sensor that can measure tether forces in multiple degrees of freedom. These tether forces apply an external disturbance during operation, which is difficult to model and predict. The sensor provides real-time input on the effect the tether has on the ROV, which can be utilized in feed-forward in the control system in combination with a feedback loop. There are 2 proposed designs: a 4 DOF sensor design using a plastic bottle and a 6 DOF version utilizing an aluminum cross with hollowed sections. Both designs use strain gauges to measure and determine the direction and magnitude of the force from the tether.
The sensors are implemented to a modified BlueROV2 using ROS. Station-keeping tests in a harbor and test basin are done for the 4 DOF version to evaluate performance. The sensor shows potential, improving response in heave but worsening it in yaw. It removes and adds oscillations both in frequency and amplitude depending on the orientation of the waves relative to the sensor. Indicating alternative control strategies might be more suitable. The 6 DOF version is not tested on the BlueROV2. In future work, additional development is required to ensure the viability of the tether force sensor as a commercial product.
The maritime sector faces increasing pressure to reduce emissions, especially in ports, pushing governments and shipowners towards greener energy sources. Conventional diesel generator (DG) powered vessels experience increased fuel consumption and emissions during low-power demand due to fluctuating loads with changing sea conditions. Integrating battery energy storage can absorb excess power, optimize DG operation, reduce costs, and manage variable loads. Traditional shipboard power systems (SPS) rely on centralized control schemes, which pose the risk of single points of failure, scalability issues, and increased latency due to centralized decision-making. Decentralized control improves resilience and scalability by eliminating single points of failure and enabling local decision-making, which improves response times and system robustness. Although recent research has explored decentralized control strategies for AC or DC-based SPS, there is limited work on hybrid AC-DC SPS architectures. This paper proposes a decentralized control strategy for integrating multiple power sources within a hybrid AC-DC network to optimize their operation. This approach allows vessels to operate in various modes, including full diesel, hybrid, and zero emission, and seamlessly transition between these modes as needed. The effectiveness of the proposed control scheme is validated through simulation and high-fidelity software-in-the-loop (SIL) results in OPAL-RT 5700, demonstrating adaptive power sharing among different resources.
There has been a continued increase in the load on the current offshore oil and gas de-oiling systems that generally consist of three-phase gravity separators and de-oiling hydrocyclones. Current feedback control of the de-oiling systems is not done based on de-oiling efficiency, mainly due to lack of real-time monitoring of oil-in-water concentration, and instead relies on an indirect method using pressure drop ratio control. This study utilizes a direct method where a real-time fluorescence-based instrument was used to measure the transient efficiency of a hydrocyclone combined with an upstream gravity separator. Two control strategies, a conventional PID control structure and an H ∞ robust control structure, both using conventional feedback signals were implemented, and their efficiency was tested during severely fluctuating flow rates. The results show that the direct method can measure the system's efficiency in real time. It was found that the efficiency of the system can be misleading, as fluctuations in the feed flow affect the inlet concentration more than the outlet oil concentration, which can lead to a discharge of large oil quantities into the ocean.