The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass
Name
ND_2014_v10_n4_10_eng.pdf
Size
2.07 MB
Format
Adobe PDF
Checksum (MD5)
46de437a5cd08d3a471b263b2316f156
Author(s)
Rust, I.C.
Asada, Haruhiko
Date Issued
May 2014
Journal
Nelineinaya Dinamika
Publisher
Izhevsk Institute of Computer Science
Citation
Rust, I. C., and H. H. Asada. “The Eyeball ROV: Design and Control of a Spherical Underwater Vehicle Steered by an Internal Eccentric Mass.” Nelineinaya Dinamika, 2014, pp. 513–31. © 2011 IEEE
Version
Final published version
Abstract
A Remotely Operated Vehicle (ROV) is developed for use in the inspection of underwater structures in hazardous environments. The vehicle presented can change orientation like an eyeball using a novel gimbal mechanism for moving an internal eccentric mass. Combined with a pair of thrusters, the Eyeball ROV can move in any direction with non-holonomic constraints. In this paper the design concept is presented first, followed by dynamic and hydrodynamic analysis. Due to poor open loop stability characteristics, stability a ugmentation is implemented using onboard sensors and was de signed and tested in simulation. A physical proof-of-concept prototype is also presented.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-NoDerivs 3.0 Unported
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.20537/ND1404010
