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Modeling and Preliminary Design of Underwater Robot for Inspection

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Yksityiskohdat

AlkuperäiskieliEnglanti
OtsikkoProceedings of the 2nd Annual SMACC Research Seminar 2017
JulkaisupaikkaTampere
KustantajaTampere University of Technology
Sivut81-84
Sivumäärä4
ISBN (painettu)978-952-15-3832-2
TilaJulkaistu - 2016
OKM-julkaisutyyppiD3 Artikkeli ammatillisessa konferenssijulkaisussa
TapahtumaSMACC Research seminar - Tampere
Kesto: 10 lokakuuta 2016 → …

Conference

ConferenceSMACC Research seminar
KaupunkiTampere
Ajanjakso10/10/16 → …

Tiivistelmä

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.

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