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Early stage design of a spherical underwater robotic vehicle

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

Details

Original languageEnglish
Title of host publication2016 20th International Conference on System Theory, Control and Computing (ICSTCC)
PublisherIEEE
Pages240-244
Number of pages5
ISBN (Electronic)978-1-5090-2720-0
DOIs
Publication statusPublished - 19 Dec 2016
Publication typeA4 Article in a conference publication
EventINTERNATIONAL CONFERENCE ON SYSTEM THEORY, CONTROL AND COMPUTING -
Duration: 1 Jan 1900 → …

Conference

ConferenceINTERNATIONAL CONFERENCE ON SYSTEM THEORY, CONTROL AND COMPUTING
Period1/01/00 → …

Abstract

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.

Keywords

  • 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

Publication forum classification

Field of science, Statistics Finland

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