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dc.contributor.advisorH. Harry Asada.en_US
dc.contributor.authorRust, Ian Charlesen_US
dc.contributor.otherMassachusetts Institute of Technology. Dept. of Mechanical Engineering.en_US
dc.date.accessioned2012-01-30T17:05:38Z
dc.date.available2012-01-30T17:05:38Z
dc.date.copyright2011en_US
dc.date.issued2011en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/68953
dc.descriptionThesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.en_US
dc.descriptionCataloged from PDF version of thesis.en_US
dc.descriptionIncludes bibliographical references (p. 101-103).en_US
dc.description.abstractThe design for a spherical Remotely Operated Vehicle (ROV) with a camera, called the Eyeball ROV due to motions similar to the human eye, is presented in this thesis. The ROV features an actuation scheme that utilizes a two-axis gimbal for changing the location of the center of mass of the ROV. This creates continuous and unlimited rotations in place on the part of the ROV, allowing the camera to be panned and tilted. A model of the ROV is presented, and control was tested in both simulation and experiments. In addition, a dual-use system for both communication and localization of the ROV is presented. This novel dual-use system uses visible blue light (-470nm) to relay data in addition to providing a beacon with which the orientation and position in space of the ROV was estimated. This localization algorithm was implemented using an Extended Kalman Filter (EKF), and was tested in both simulations and experiments.en_US
dc.description.statementofresponsibilityby Ian Charles Rust.en_US
dc.format.extent108 p.en_US
dc.language.isoengen_US
dc.publisherMassachusetts Institute of Technologyen_US
dc.rightsM.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.en_US
dc.rights.urihttp://dspace.mit.edu/handle/1721.1/7582en_US
dc.subjectMechanical Engineering.en_US
dc.titleThe Eyeball ROV : an underwater Remotely Operated Vehicle featuring advances in rotational actuation, communication, and localizationen_US
dc.title.alternativeEyeball Remotely Operated Vehicleen_US
dc.title.alternativeUnderwater Remotely Operated Vehicle featuring advances in rotational actuation, communication, and localizationen_US
dc.typeThesisen_US
dc.description.degreeS.M.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Dept. of Mechanical Engineering.en_US
dc.identifier.oclc773896591en_US


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