Modeling and Preliminary Design of Underwater Robot for Inspection
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Professional
Details
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 2nd Annual SMACC Research Seminar 2017 |
| Place of Publication | Tampere |
| Publisher | Tampere University of Technology |
| Pages | 81-84 |
| Number of pages | 4 |
| ISBN (Print) | 978-952-15-3832-2 |
| Publication status | Published - 2016 |
| Publication type | D3 Professional conference proceedings |
| Event | SMACC Research seminar - Tampere Duration: 10 Oct 2016 → … |
Conference
| Conference | SMACC Research seminar |
|---|---|
| City | Tampere |
| Period | 10/10/16 → … |
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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