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Nelin. Dinam., 2014, Volume 10, Number 4, Pages 513–531 (Mi nd461)  

Classical works. Reviews

The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass

Ian C. Rust, H. Harry Asada


Abstract: A Remotely Operated Vehicle (ROV) is developed for use in the inspection of underwater structures in hazardous environments. The vehicle presented can change orientation like an eyeball using a novel gimbal mechanism for moving an internal eccentric mass. Combined with a pair of thrusters, the Eyeball ROV can move in any direction with non-holonomic constraints. In this paper the design concept is presented first, followed by dynamic and hydrodynamic analysis. Due to poor open loop stability characteristics, stability a ugmentation is implemented using onboard sensors and was de signed and tested in simulation. A physical proof-of-concept prototype is also presented.

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Citation: Ian C. Rust, H. Harry Asada, “The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass”, Nelin. Dinam., 10:4 (2014), 513–531

Citation in format AMSBIB
\Bibitem{RusAsa14}
\by Ian~C.~Rust, H.~Harry~Asada
\paper The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass
\jour Nelin. Dinam.
\yr 2014
\vol 10
\issue 4
\pages 513--531
\mathnet{http://mi.mathnet.ru/nd461}


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  • http://mi.mathnet.ru/eng/nd/v10/i4/p513

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  • Нелинейная динамика
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