Early stage design of a spherical underwater robotic vehicle
- Resource Type
- Conference
- Authors
- Zavari, Soheil; Heininen, Arttu; Aaltonen, Jussi; Koskinen, Kari T.
- Source
- 2016 20th International Conference on System Theory, Control and Computing (ICSTCC) System Theory, Control and Computing (ICSTCC), 2016 20th International Conference on. :240-244 Oct, 2016
- Subject
- Bioengineering
Components, Circuits, Devices and Systems
Computing and Processing
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Robot kinematics
Robot sensing systems
Gravity
Underwater robot
Mechatronic
Control
ROV design
- Language
This paper presents a high performance autonomous underwater robot under development for inspection of flooded mines up to 500 meters depth. Underwater robots have multiple advanced subsystems and mechanisms. Initial structure design of subsystems and their functions are demonstrated here briefly. In addition, Hydrodynamic coefficients that contribute to robot equation of motion are addressed. The advantage of utilizing spherical design is verified by applying simplification to determine the main coefficient of motion theoretically.