Tampere University of Technology

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Modeling and Preliminary Design of Underwater Robot for Inspection

Research output: Chapter in Book/Report/Conference proceedingConference contributionProfessional

Details

Original languageEnglish
Title of host publicationProceedings of the 2nd Annual SMACC Research Seminar 2017
Place of PublicationTampere
PublisherTampere University of Technology
Pages81-84
Number of pages4
ISBN (Print)978-952-15-3832-2
Publication statusPublished - 2016
Publication typeD3 Professional conference proceedings
EventSMACC Research seminar - Tampere
Duration: 10 Oct 2016 → …

Conference

ConferenceSMACC Research seminar
CityTampere
Period10/10/16 → …

Abstract

By advancing robotic perception technology, the development of Autonomous Underwater Vehicles caught attention in certain application such as oceanology and surveying. This paper proposes an innovative approach for the design of a highly maneuverable underwater robot with 4 degrees of freedom. The mission of the aforementioned AUV is to inspect the inaccessible flooded mines and collect geological data during 5 hours of operation. Following, the configuration and mechanical design of the thrusters and pendulum mechanism are outlined. Further, low-level control architecture for real-time operating of eight thrusters is presented. Besides, dynamic modelling of the system, hydrodynamic terms and transformation matrix based on Euler angle are identified.

Keywords

  • Underwater robot, Motion control, ROV design

Publication forum classification

Field of science, Statistics Finland

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