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Early stage design of a spherical underwater robotic vehicle

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review


Original languageEnglish
Title of host publication2016 20th International Conference on System Theory, Control and Computing (ICSTCC)
Number of pages5
ISBN (Electronic)978-1-5090-2720-0
Publication statusPublished - 19 Dec 2016
Publication typeA4 Article in a conference publication
EventInternational Conference on System Theory, Control and Computing -
Duration: 1 Jan 1900 → …


ConferenceInternational Conference on System Theory, Control and Computing
Abbreviated titleICSTCC
Period1/01/00 → …


This paper presents a high performance autonomous underwater robot under development for inspection of flooded mines up to 500 meters depth. Underwater robots have multiple advanced subsystems and mechanisms. Initial structure design of subsystems and their functions are demonstrated here briefly. In addition, Hydrodynamic coefficients that contribute to robot equation of motion are addressed. The advantage of utilizing spherical design is verified by applying simplification to determine the main coefficient of motion theoretically.


  • autonomous underwater vehicles, hydrodynamics, mechatronics, vehicle dynamics, flooded mines, hydrodynamic coefficients, mechatronic development, robot motion equation, spherical underwater robotic vehicle, subsystem structure design, vehicle dynamic, Gravity, Robot kinematics, Robot sensing systems, Control, Mechatronic, ROV design, Underwater robot

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Field of science, Statistics Finland

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