Automated buoyancy control system for a remotely operated underwater crawler

Buoyancy systems are used in submarines and various submersible equipment such as ARGO floats but are rarely incorporated in Remotely Operated Vehicles (ROVs). This paper presents a system for automated lifting and buoyancy control for a remotely operated sea crawler. This system, consisting of hydraulic, electric and control subsystems, allows the operator to navigate the vehicle to any desired depth. The Automated Buoyancy Control System (ABCS) controls the amount of air within each chamber supplied by compressed air cylinders. To control the ascent/descent, air valves are regulated by a control system consisting of sensors and microcontrollers.