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

    2014, Vol. 10, No. 4, pp.  513-531

    Author(s): Rust  . C., Asada H. H.

    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.
    Citation: Rust . C., Asada H. H., The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass, Rus. J. Nonlin. Dyn., 2014, Vol. 10, No. 4, pp.  513-531
    DOI:10.20537/nd1404010


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