"Zavari, Soheil" - Selaus tekijän mukaan TUNICRIS-julkaisut

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    • Early stage design of a spherical underwater robotic vehicle 

      Zavari, Soheil; Heininen, Arttu; Aaltonen, Jussi; Koskinen, Kari T. (19.12.2016)
      conference
      This paper presents a high performance autonomous underwater robot under development for inspection of flooded mines up to 500 meters depth. Underwater robots have multiple advanced subsystems and mechanisms. Initial ...

    • Functional Hierarchy in Autonomous Robot 

      Zavari, Soheil; Salomaa, Tuomas; Villa Escusol, Jose; Aaltonen, Jussi; Koskinen, Kari (2017)
      conference
      The process of design and manufacturing of the UX-1 concern with considering a variety of design requirements for the purpose of creating an autonomous explorer robot. However, due to restricted and harsh operating ...

    • Mechanical subsystems integration and structural analysis for the autonomous underwater explorer 

      Villa, Jose; Heininen, Arttu; Zavari, Soheil; Salomaa, Tuomas; Usenius, Olli; Laitinen, Jouko; Aaltonen, Jussi; Koskinen, Kari T. (2018)
      conference
      The aim of this study is to analyse the modular mechanical design and integration of all three low-level modules in UX-1 (pendulum, ballast system and propulsion unit). The components of the perception and navigation systems ...

    • Mechatronic Architecture Development of UX-1 

      Zavari, Soheil; Usenius, Olli; Salomaa, Tuomas; Villa Escusol, Jose; Heininen, Arttu; Aaltonen, Jussi; Koskinen, Kari (2017)
      conference
      This paper presents novel design of underwater robot for exploring abandoned mines. The hazardous environment of such mines due to unknown hydrodynamic forces and faulty navigations, brings the need of developing a reliable ...

    • Modeling and Preliminary Design of Underwater Robot for Inspection 

      Zavari, Soheil; Salomaa, Tuomas; Koskinen, Kari; Villa Escusol, Jose; Aaltonen, Jussi (2016)
      conference
      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 ...