This paper reports on the design of an open source-based control platform for the underwater remotely operated vehicle (ROV) Visor3. The vehicle’s original closed source-based control platform is first described. Due to the limitations of the previous infrastructure, modularity and flexibility are identified as the main guidelines for the proposed design. This new design includes hardware, firmware, software, and control architectures. Open-source hardware and software platforms are used for the development of the new system’s architecture, with support from the literature and the extensive experience acquired with the development of robotic exploration systems. This modular approach results in several frameworks that facilitate the functional expansion of the whole solution, the simplification of fault diagnosis and repair processes, and the reduction of development time, to mention a few.

Smart Grid (SG) is the current trend of the power grids in all the world, it will provide more robustness, efficiency, security, reliability, flexibility and quality of service than the current grids that have a lot of time without significant changes in their infrastructure. SG lets self-healing, modern bidirectional communications, more interaction of the users who can decide and know about their energy consume, remote monitoring of electrical variables, it facilitates the distributed energy generation, the use of renewable energy resources, modern control technologies and it will foster the development of new storage systems of energy and information, for these reasons it needs more risk assessment systems. This paper reviews the state of the art related with SG and it describes some developed standards, the wired and wireless communication systems used in the grid and the characteristics of different technologies in the Home Area Network (HAN), Neighborhood Area Network (NAN) and Wide Area Network (WAN) like ZigBee, WiFi and Broadband over Power Line (BPL). Also, it describes the challenges and initiatives in SG in the world, the concept of advanced metering infrastructure, the impacts in the components in the power systems, some software models for SGs, the potential advantages and the barriers to implement a SG, and it makes a comparison with the traditional power grid.

The Caribbean is one of the world’s most vulnerable regions to the projected impacts of climate change, and changes in coral reef ecosystems have been studied over the last two decades. Lately, new technology-based methods using satellites and unmanned vehicles, among others have emerged as tools to aid the governance of these ecosystems by providing managers with high-quality data for decision-making processes. This paper addresses the development of a Google Earth Engine (GEE)-based application for use in the management processes of shallow coral reef ecosystems, using images acquired with Remotely Piloted Aircraft Systems (RPAS) known as drones, at the Old Providence McBean Lagoon National Natural Park; a Marine Protected Area (MPA) located northwest of Old Providence Island, Colombia. Image acquisition and processing, known as drone imagery, is first described for flights performed using an RTK multispectral drone at five different monitoring stations within the MPA. Then, the use of the GEE app is described and illustrated. The user executes four simple steps starting with the selection of the orthomosaics uploaded to GEE and obtaining the reef habitat classification for four categories: coral, macroalgae, sand, and rubble, at any of the five monitoring stations. Results show that these classes can be effectively mapped using different machine-learning (ML) algorithms available inside GEE, helping the manager obtain high-quality information about the reef. This remote-sensing application represents an easy-to-use tool for managers that can be integrated into modern ecosystem monitoring protocols, supporting effective reef governance within a digitized society with more demanding stakeholders.

This work addresses the development of an underwater remotely operated vehicle (ROV), required to obtain reliable visual information, used for surveillance and maintenance of ship shells and underwater structures of Colombian port facilities and oceanographic research. The most relevant design constraints were evaluated considering environmental conditions, dimensional restrictions, hydrostatics, hydrodynamics, degrees of freedom and the availability of instrumentation and control hardware. The mechanical/naval design was performed through an iterative process by using computational tools CAD/CAE/CFD. The hardware architecture was divided in three layers: instrumentation, communications and control. The software was developed using ANSI C with Embedded Linux operating system. The guidance and navigation system used the Kalman filter to estimate the state of the vehicle. The vehicle can operate in manual and semi-automatic modes. In the semi-automatic, the position of a joystick is converted into the velocity set-points that are integrated to get the yaw and depth commands for the PID controllers. The rigorous design and a consistent construction processes allowed the development of a robust and reliable robotic system that constitutes an innovative product in Colombia.

This paper addresses the development of a modular software architecture for the design/construction/operation of a remotely operated vehicle (ROV), based on systems engineering. First, systems engineering and the Vee model are presented with the objective of defining the interactions of the stakeholders with the software architecture development team and establishing the baselines that must be met in each development phase. In the development stage, the definition of the architecture and its connection with the hardware is presented, taking into account the use of the actor model, which represents the high-level software architecture used to solve concurrency problems. Subsequently, the structure of the classes is defined both at high and low levels in the instruments using the object-oriented programming paradigm. Finally, unit tests are developed for each component in the software architecture, quality assessment tests are implemented for system functions fulfillment, and a field sea trial for testing different modules of the vehicle is described. This approach is well suited for the development of complex systems such as marine vehicles and those systems which require scalability and modularity to add functionalities.

This paper addresses the development of a modular hardware architecture for the design/construction/operation of a remotely operated vehicle (ROV), based on systems engineering. The Vee model is first presented as a sequential process that emphasizes the validation processes with stakeholders and verification plans in the development and production stages of the ROV’s life cycle. The conceptual design process starts with the mapping of user requirements to engineering specifications, using the House of Quality (HoQ), a quality function deployment tool that allows executing a functional-division-based hardware design process that facilitates the integration of components and subsystems, as desired for modular architectures. Then, the functional division and hardware architectures are described, and their connection is made through the proposed system architecture that sets the foundation for the definition of a physical architecture, as it involves flows that connect abstract functions with a real context. Development and production stages are exemplified through the design, construction, and integration of some hardware components needed for the remotely operated vehicle Pionero500, and the operational stage briefly describes the first sea trials conducted for the ROV. Systems engineering has shown to be a very useful tool for the development of marine vehicles and marine engineering projects that require modular architectures.