2026-09-19T13:42:31Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/329682022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Franz Hover.
Walker, Daniel G. (Daniel George)
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2006-05-15T20:42:39Z
2006-05-15T20:42:39Z
2005
2005
http://hdl.handle.net/1721.1/32968
62860963
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005.
Includes bibliographical references (leaf 72).
This research involves the design, manufacture, and testing of a small, < lm³, < 1Okg, low cost, unmanned submersible. High maneuverability in the ROV as achieved through a high thrust-to- mass ratio in all directions. One identified solution is moving the primary thrusters in both the pitch and yaw directions. The robot is propelled by a pair of 2 DOF thrusters, and is directly controlled in heave, surge, sway, yaw, and roll. Pitch is controlled through passive buoyancy and, potentially, active manipulation of added mass and gyroscopic effects. This system is compared against a traditional fixed-thruster system in terms of cost, size, weight, and high/low speed performance. Preliminary results indicate that the actuated system can provide an improved thrust-to-mass metric at the expense of increased system complexity. This margin of improvement increases with increasing thruster size. The system has applications in high accuracy positioning areas such as ship hull inspection, recovery, and exploration.
by Daniel G. Walker.
S.B.
72 leaves
3746917 bytes
3749505 bytes
application/pdf
application/pdf
eng
Massachusetts Institute of Technology
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Design and control of an high maneuverability remotely operated vehicle with multi-degree of freedom thrusters
High maneuverability remotely operated vehicle with multi-degree of freedom thrusters
Thesis
application/pdf
Publication
unknown
unknown
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<Abstract>This research involves the design, manufacture, and testing of a small, < lm³, < 1Okg, low cost, unmanned submersible. High maneuverability in the ROV as achieved through a high thrust-to- mass ratio in all directions. One identified solution is moving the primary thrusters in both the pitch and yaw directions. The robot is propelled by a pair of 2 DOF thrusters, and is directly controlled in heave, surge, sway, yaw, and roll. Pitch is controlled through passive buoyancy and, potentially, active manipulation of added mass and gyroscopic effects. This system is compared against a traditional fixed-thruster system in terms of cost, size, weight, and high/low speed performance. Preliminary results indicate that the actuated system can provide an improved thrust-to-mass metric at the expense of increased system complexity. This margin of improvement increases with increasing thruster size. The system has applications in high accuracy positioning areas such as ship hull inspection, recovery, and exploration.</Abstract>
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