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Modeling and Preliminary Design of Underwater Robot for Inspection

Tutkimustuotos

Standard

Modeling and Preliminary Design of Underwater Robot for Inspection. / Zavari, Soheil; Salomaa, Tuomas; Koskinen, Kari; Villa Escusol, Jose; Aaltonen, Jussi.

Proceedings of the 2nd Annual SMACC Research Seminar 2017. Tampere : Tampere University of Technology, 2016. s. 81-84.

Tutkimustuotos

Harvard

Zavari, S, Salomaa, T, Koskinen, K, Villa Escusol, J & Aaltonen, J 2016, Modeling and Preliminary Design of Underwater Robot for Inspection. julkaisussa Proceedings of the 2nd Annual SMACC Research Seminar 2017. Tampere University of Technology, Tampere, Sivut 81-84, Tampere, 10/10/16.

APA

Zavari, S., Salomaa, T., Koskinen, K., Villa Escusol, J., & Aaltonen, J. (2016). Modeling and Preliminary Design of Underwater Robot for Inspection. teoksessa Proceedings of the 2nd Annual SMACC Research Seminar 2017 (Sivut 81-84). Tampere: Tampere University of Technology.

Vancouver

Zavari S, Salomaa T, Koskinen K, Villa Escusol J, Aaltonen J. Modeling and Preliminary Design of Underwater Robot for Inspection. julkaisussa Proceedings of the 2nd Annual SMACC Research Seminar 2017. Tampere: Tampere University of Technology. 2016. s. 81-84

Author

Zavari, Soheil ; Salomaa, Tuomas ; Koskinen, Kari ; Villa Escusol, Jose ; Aaltonen, Jussi. / Modeling and Preliminary Design of Underwater Robot for Inspection. Proceedings of the 2nd Annual SMACC Research Seminar 2017. Tampere : Tampere University of Technology, 2016. Sivut 81-84

Bibtex - Lataa

@inproceedings{64fac2558782402db6f136c27642dfde,
title = "Modeling and Preliminary Design of Underwater Robot for Inspection",
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",
author = "Soheil Zavari and Tuomas Salomaa and Kari Koskinen and {Villa Escusol}, Jose and Jussi Aaltonen",
year = "2016",
language = "English",
isbn = "978-952-15-3832-2",
pages = "81--84",
booktitle = "Proceedings of the 2nd Annual SMACC Research Seminar 2017",
publisher = "Tampere University of Technology",

}

RIS (suitable for import to EndNote) - Lataa

TY - GEN

T1 - Modeling and Preliminary Design of Underwater Robot for Inspection

AU - Zavari, Soheil

AU - Salomaa, Tuomas

AU - Koskinen, Kari

AU - Villa Escusol, Jose

AU - Aaltonen, Jussi

PY - 2016

Y1 - 2016

N2 - 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.

AB - 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.

KW - Underwater robot, Motion control, ROV design

M3 - Conference contribution

SN - 978-952-15-3832-2

SP - 81

EP - 84

BT - Proceedings of the 2nd Annual SMACC Research Seminar 2017

PB - Tampere University of Technology

CY - Tampere

ER -