<figure><img src="image_1.png" /></figure>

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# ROV-OPERATE: system engineering of an underwater ROV for early verification and automatic synthesis

Rodin Vincent, Vukšić Marko, Kovacevic Tonko, Đukić Predrag, Rogulj Roko, Šitić Slaven, Džaja Barbara, Turić Hrvoje, Zdroik Jakub, Tran Hai Nam, et al.

► To cite this version:

Rodin Vincent, Vukšić Marko, Kovacevic Tonko, Đukić Predrag, Rogulj Roko, et al. ROV-OPERATE: system engineering of an underwater ROV for early verification and automatic synthesis. Conference BEING SEA-EU, University of Malta, Jun 2024, Malta, Malta. 2024. [hal-04641877](https://hal-univ-brest.fr/hal-04641877v1)

HAL Id: hal-04641877

https://hal.univ-brest.fr/hal-04641877v1

Submitted on 9 Jul 2024

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Vincent Rodin*,⁴, Marko Vukšić¹, Tonko Kovacevic¹, Predrag Đukić¹, Roko Rogulj¹, Slaven Šitić¹, Barbara Džaja², Hrvoje Turić², Jakub Zdroik³, Hai Nam Tran⁴, Valérie-Anne Nicolas⁴, Alain Plantec⁴, Laurent Lemarchand⁴, Frank Singhoff⁴

1. Department of Professional Studies/University of Split, Croatia, [marko.vuksic@oss.unist.hr](mailto:marko.vuksic@oss.unist.hr)

2. Faculty of Sciences Split/University of Split, Croatia, [bdzaja@pmfst.hr](mailto:bdzaja@pmfst.hr)

3. Department of Physical Oceanography and Climate Research/Univ. of Gdańsk, Poland [jakub.zdroik@ug.edu.pl](mailto:jakub.zdroik@ug.edu.pl)

4. Lab-STICC UMR CNRS 6285/University of Brest, France, [frank.singhoff@univ-brest.fr](mailto:frank.singhoff@univ-brest.fr)

## 1 – Original ROV

- Very usable, lightweight, maneuverable underwater
  Remote Operated Vehicle (ROV)

- Diving down to 150 m depth

- Inspection of underwater electrical installation

- Umbilical cable is used to transfer data and electrical power

- Control by PS2 joystick console

- Developed by students and professors of the SOSS

<figure><img src="image_2.png" /></figure>

## 2 – ROV under development

- Completely autonomous system (without cable)

- Battery powered - 2 x 625 Wh 36VDC

- Central control unit - ARK-1551-S6A1

- Dive control autopilot - Pixhawk 6X

- Surface control system - computer, joystick, tether interface and screen

- Advanced communication to surface – Visible
  Light Communication (VLC) and ultrasound

<figure><img src="image_3.png" /></figure>

## 3 – Optimizing energy footprint

- Embed alternative hard/soft
  components for specific
  ROV mission achievement

<table><thead><tr><th>Name</th><th>Task Type</th><th>Processor Name</th><th>Address Space</th><th>Capacity</th><th>Deadline</th><th>Start time</th><th>Priority</th><th>Blocking Time</th></tr></thead><tbody><tr><td>GPS</td><td>Periodic</td><td>cpu1</td><td>ad1</td><td>2</td><td>10</td><td>0</td><td>1</td><td>0</td></tr><tr><td>data_encrypt</td><td>Periodic</td><td>cpu1</td><td>ad1</td><td>5</td><td>10</td><td>0</td><td>1</td><td>0</td></tr><tr><td>data_send</td><td>Periodic</td><td>cpu1</td><td>ad1</td><td>5</td><td>10</td><td>0</td><td>1</td><td>0</td></tr><tr><td>down1</td><td>Scheduling</td><td>cpu1</td><td>ad1</td><td>25</td><td>50</td><td>50</td><td>1</td><td>0</td></tr></tbody></table>

- Design Space Exploration :
  find trade-offs between
  schedulability (WCET) and
  energy for designs.
  **example of DSE options:** lights,
  object recognition, DVFS

- Use a multi objective
  optimization tool (PAES)
  coupled with an architecture
  simulator (Cheddar) for
  DSE of tasks scheduling

<figure><img src="image_4.png" /></figure>

<figure><img src="image_5.png" /></figure>

## 4 – Payload: image processing

- Underwater images are highly degraded

- Underwater vehicles need sight for auto positioning

- Five algorithms for underwater image restoration are
  compared and the best one is optimized

- Minimal execution time for real time applications

<figure><img src="image_6.png" /></figure>

<figure><img src="image_7.png" /><figcaption>The general procedure of objects visibility enhancement process</figcaption></figure>

- Implementation of 360° VR view in real time

<figure><img src="image_8.png" /></figure>

<footnote>*: Presenting author: [vincent.rodin@univ-brest.fr](mailto:vincent.rodin@univ-brest.fr)</footnote>