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Modeling and Preliminary Design of Underwater Robot for Inspection

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


Original languageEnglish
Title of host publicationProceedings of the 2nd Annual SMACC Research Seminar 2017
Place of PublicationTampere
PublisherTampere University of Technology
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 → …


ConferenceSMACC Research seminar
Period10/10/16 → …


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.


  • Underwater robot, Motion control, ROV design

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Field of science, Statistics Finland

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