Early stage design of a spherical underwater robotic vehicle
Zavari, Soheil; Heininen, Arttu; Aaltonen, Jussi; Koskinen, Kari T. (2016-12-19)
Zavari, Soheil
Heininen, Arttu
Aaltonen, Jussi
Koskinen, Kari T.
IEEE
19.12.2016
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:tty-201701201064
https://urn.fi/URN:NBN:fi:tty-201701201064
Kuvaus
Peer reviewed
Tiivistelmä
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 structure design of subsystems and their functions are demonstrated here briefly. In addition, Hydrodynamic coefficients that contribute to robot equation of motion are addressed. The advantage of utilizing spherical design is verified by applying simplification to determine the main coefficient of motion theoretically.
Kokoelmat
- TUNICRIS-julkaisut [15354]