The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass
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 Eyeba...
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| Format: | Article |
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Izhevsk Institute of Computer Science
2018
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| Online Access: | http://hdl.handle.net/1721.1/118917 https://orcid.org/0000-0003-3155-6223 |
| _version_ | 1826213266734448640 |
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| author | Rust, I.C. Asada, Haruhiko |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Rust, I.C. Asada, Haruhiko |
| author_sort | Rust, I.C. |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T15:46:21Z |
| format | Article |
| id | mit-1721.1/118917 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T15:46:21Z |
| publishDate | 2018 |
| publisher | Izhevsk Institute of Computer Science |
| record_format | dspace |
| spelling | mit-1721.1/1189172022-10-02T04:00:50Z The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass Rust, I.C. Asada, Haruhiko Massachusetts Institute of Technology. Department of Mechanical Engineering Asada, Haruhiko 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. 2018-11-06T16:02:40Z 2018-11-06T16:02:40Z 2014-05 2018-10-23T18:31:39Z Article http://purl.org/eprint/type/JournalArticle 1816448X 18175155 http://hdl.handle.net/1721.1/118917 Rust, I. C., and H. H. Asada. “The Eyeball ROV: Design and Control of a Spherical Underwater Vehicle Steered by an Internal Eccentric Mass.” Nelineinaya Dinamika, 2014, pp. 513–31. © 2011 IEEE https://orcid.org/0000-0003-3155-6223 http://dx.doi.org/10.20537/ND1404010 Nelineinaya Dinamika Creative Commons Attribution-NoDerivs 3.0 Unported https://creativecommons.org/licenses/by-nd/3.0/ application/pdf Izhevsk Institute of Computer Science Russian Journal of Nonlinear Dynamics |
| spellingShingle | Rust, I.C. Asada, Haruhiko The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass |
| title | The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass |
| title_full | The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass |
| title_fullStr | The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass |
| title_full_unstemmed | The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass |
| title_short | The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass |
| title_sort | eyeball rov design and control of a spherical underwater vehicle steered by an internal eccentric mass |
| url | http://hdl.handle.net/1721.1/118917 https://orcid.org/0000-0003-3155-6223 |
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