EQUIPPING OF A HOVERING TYPE AUTONOMOUS UNDERWATER VEHICLE WITH BALLAST TANKS AND ITS EFFECT ON DEGREES OF FREEDOM

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KARIMI ABDOLLAH; HASANZADEH GHASEMI REZA

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Journal: Modares Mechanical Engineering Year:2017 | Volume:17 | Issue:7 Page(s): 397-404

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Title

EQUIPPING OF A HOVERING TYPE AUTONOMOUS UNDERWATER VEHICLE WITH BALLAST TANKS AND ITS EFFECT ON DEGREES OF FREEDOM

Author(s)

KARIMI ABDOLLAH | HASANZADEH GHASEMI REZA | Issue Writer Certificate

Keywords

HOVERING TYPE AUTONOMOUS UNDERWATERQ1

VEHICLEQ2

DYNAMIC MODELINGQ1

BALLAST TANKQ1

Abstract

HOVERING TYPE AUTONOMOUS UNDERWATER VEHICLEs (HAUV’s) are quite remarkable due to their unique capabilities and features. Appropriate maneuverability and controllability is the most important feature for a HAUV that make it better than other AUV’s. In order to increase stability and controllability of robot, the BALLAST TANK is applied for a HAUV. Use of BALLAST TANK in HAUV was not common before. In this paper a new underwater VEHICLE is presented, including three BALLAST TANKs and three thrusters. In this underwater VEHICLE, the number of thrusters is less than the original robot. In this paper, dynamics modeling and tracking control of this new underwater VEHICLE is investigated. The results show that the heave and pitch DOF’s can be reached by using the BALLAST TANKs and it is not necessary to use extra thrusters for these degrees of freedoms.

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APA: Copy

KARIMI, ABDOLLAH, & HASANZADEH GHASEMI, REZA. (2017). EQUIPPING OF A HOVERING TYPE AUTONOMOUS UNDERWATER VEHICLE WITH BALLAST TANKS AND ITS EFFECT ON DEGREES OF FREEDOM. MODARES MECHANICAL ENGINEERING, 17(7 ), 397-404. SID. https://sid.ir/paper/179363/en

Vancouver: Copy

KARIMI ABDOLLAH, HASANZADEH GHASEMI REZA. EQUIPPING OF A HOVERING TYPE AUTONOMOUS UNDERWATER VEHICLE WITH BALLAST TANKS AND ITS EFFECT ON DEGREES OF FREEDOM. MODARES MECHANICAL ENGINEERING[Internet]. 2017;17(7 ):397-404. Available from: https://sid.ir/paper/179363/en

IEEE: Copy

ABDOLLAH KARIMI, and REZA HASANZADEH GHASEMI, “EQUIPPING OF A HOVERING TYPE AUTONOMOUS UNDERWATER VEHICLE WITH BALLAST TANKS AND ITS EFFECT ON DEGREES OF FREEDOM,” MODARES MECHANICAL ENGINEERING, vol. 17, no. 7 , pp. 397–404, 2017, [Online]. Available: https://sid.ir/paper/179363/en

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