dc.contributor.advisor | H. Harry Asada. | en_US |
dc.contributor.author | Rust, Ian Charles | en_US |
dc.contributor.other | Massachusetts Institute of Technology. Dept. of Mechanical Engineering. | en_US |
dc.date.accessioned | 2012-01-30T17:05:38Z | |
dc.date.available | 2012-01-30T17:05:38Z | |
dc.date.copyright | 2011 | en_US |
dc.date.issued | 2011 | en_US |
dc.identifier.uri | http://hdl.handle.net/1721.1/68953 | |
dc.description | Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011. | en_US |
dc.description | Cataloged from PDF version of thesis. | en_US |
dc.description | Includes bibliographical references (p. 101-103). | en_US |
dc.description.abstract | The 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.statementofresponsibility | by Ian Charles Rust. | en_US |
dc.format.extent | 108 p. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | Massachusetts Institute of Technology | en_US |
dc.rights | M.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.uri | http://dspace.mit.edu/handle/1721.1/7582 | en_US |
dc.subject | Mechanical Engineering. | en_US |
dc.title | The Eyeball ROV : an underwater Remotely Operated Vehicle featuring advances in rotational actuation, communication, and localization | en_US |
dc.title.alternative | Eyeball Remotely Operated Vehicle | en_US |
dc.title.alternative | Underwater Remotely Operated Vehicle featuring advances in rotational actuation, communication, and localization | en_US |
dc.type | Thesis | en_US |
dc.description.degree | S.M. | en_US |
dc.contributor.department | Massachusetts Institute of Technology. Department of Mechanical Engineering | |
dc.identifier.oclc | 773896591 | en_US |