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dc.contributor.authorBhattacharyya, Sampriti
dc.contributor.authorAsada, Haruhiko
dc.date.accessioned2014-10-01T15:44:09Z
dc.date.available2014-10-01T15:44:09Z
dc.date.issued2014-09
dc.identifier.urihttp://hdl.handle.net/1721.1/90507
dc.description.abstractIn this paper we present the dynamic modeling and control of EVIE (Ellipsoidal Vehicle for Inspection and Exploration), an underwater surface contact ROV (Remotely Operated Vehicle) for inspection and exploration. Underwater surface inspection is a challenging and hazardous task that demands sophisticated automation – as in boiling water nuclear reactors, water pipeline, submarine hull and oil pipelines inspection. EVIE is inspired by its predecessor, the Omni Submersible, in its ellipsoidal, streamlined, and appendage free shape. The objective for the robot is to carry inspection sensors – magnetic, acoustics or visual – to determine cracks on submerged surfaces. Unlike a robot moving in a practically boundless fluid, contact forces complicate the dynamics by bringing in normal and frictional forces, both of which are highly non linear in nature. This makes the modeling much more challenging and the development of an integrated controller more difficult. In this paper we will discuss the preliminary design and hydrodynamic modeling of such a robot. We analyze in detail the controls for one of the many transitional states of this robot. Eventually all transitional states need to be integrated to develop a hybrid dynamical system which shall use a controller that can adapt to its different states.en_US
dc.description.sponsorshipElectric Power Research Instituteen_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttps://ras.papercept.net/conferences/conferences/IROS14/program/IROS14_ContentListWeb_3.htmlen_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceBhattacharyyaen_US
dc.titleControl of a compact, tetherless ROV for in-contact inspection of complex underwater structuresen_US
dc.typeArticleen_US
dc.identifier.citationBhattacharyya, S., and H. H. Asada. "Control of a compact, tetherless ROV for in-contact inspection of complex underwater structures." The 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, September 14-18, 2014.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.contributor.departmentd'Arbeloff Lab for Information Sytems and Technology (Massachusetts Institute of Technology)en_US
dc.contributor.mitauthorBhattacharyya, Sampritien_US
dc.contributor.mitauthorAsada, Harryen_US
dc.relation.journalProceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systemsen_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dspace.orderedauthorsBhattacharyya, S.; Asada, H. H.en_US
dc.identifier.orcidhttps://orcid.org/0000-0003-0483-1701
dc.identifier.orcidhttps://orcid.org/0000-0003-3155-6223
mit.licenseOPEN_ACCESS_POLICYen_US


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