Design and control of an high maneuverability remotely operated vehicle with multi-degree of freedom thrusters
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2006
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| Online Access: | http://hdl.handle.net/1721.1/32968 |
| _version_ | 1826208250901561344 |
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| author | Walker, Daniel G. (Daniel George) |
| author2 | Franz Hover. |
| author_facet | Franz Hover. Walker, Daniel G. (Daniel George) |
| author_sort | Walker, Daniel G. (Daniel George) |
| collection | MIT |
| description | Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005. |
| first_indexed | 2024-09-23T14:02:54Z |
| format | Thesis |
| id | mit-1721.1/32968 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T14:02:54Z |
| publishDate | 2006 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/329682019-04-12T09:21:59Z 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 Walker, Daniel G. (Daniel George) Franz Hover. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. 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. 2006-05-15T20:42:39Z 2006-05-15T20:42:39Z 2005 2005 Thesis http://hdl.handle.net/1721.1/32968 62860963 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 72 leaves 3746917 bytes 3749505 bytes application/pdf application/pdf application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Walker, Daniel G. (Daniel George) Design and control of an high maneuverability remotely operated vehicle with multi-degree of freedom thrusters |
| title | Design and control of an high maneuverability remotely operated vehicle with multi-degree of freedom thrusters |
| title_full | Design and control of an high maneuverability remotely operated vehicle with multi-degree of freedom thrusters |
| title_fullStr | Design and control of an high maneuverability remotely operated vehicle with multi-degree of freedom thrusters |
| title_full_unstemmed | Design and control of an high maneuverability remotely operated vehicle with multi-degree of freedom thrusters |
| title_short | Design and control of an high maneuverability remotely operated vehicle with multi-degree of freedom thrusters |
| title_sort | design and control of an high maneuverability remotely operated vehicle with multi degree of freedom thrusters |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/32968 |
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