Development of A Novel Autonomous Underwater Vehicle for ‎Offshore Inspection and Maintenance

Abstract

Because they make underwater inspections, data collecting, and better maintenance practices possible, underwater vehicles have helped ‎aquaculture grow. Underwater vehicles also make it easier to collect subsea data, which allows researchers to improve aquaculture practices ‎and take part in projects that aim to achieve food security. Designing, creating, and testing underwater devices for net cage maintenance and ‎inspection in aquaculture plants is the goal of this project. Second-order wave theory (Second-order wave theory is a mathematical model capturing nonlinear wave interactions, improving accuracy in predicting complex ocean wave patterns critical for offshore operations.) adds the theory of "bound waves," or secondary ‎waves caused by nonlinear interactions in the original wave field. This further makes wave prediction complex, as it allows more realistic ‎wave profiles, like ocean waves with more gradual troughs and steeper crests, to be simulated. The accuracy given by second-order wave ‎theory renders it most helpful in crucial circumstances, as it is able to model nonlinear effects. It is routinely used to predict extreme waves, ‎such as rogue waves, that are dangerous to ships and offshore platforms. Further, this theory is critical in detailed structural analysis since ‎knowing the exact wave forces exerted on a structure can be the difference between failure and survivability. As a result, a tool manipulator ‎is shown, and its electrical integration, manipulator capabilities, and fundamental design ideas are examined. Successful missions from ‎experimental evaluations conducted in Greek fish farms in Kefalonia attest to the underwater vehicle models' efficacy and operating ‎capabilities. The concluding remarks summarize the main conclusions drawn from this investigation, discuss their ramifications, and provide ‎insights into potential future directions for subaquatic robotics.