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Development of a 5 degree-of-freedom Towfish and its Control Strategy

Abstract : This paper describes the development of a five degree of freedom towed underwater vehicle designed for condition monitoring of undersea pipelines. Its innovative design, with 6 fins actuated by 5 motors adding heave and sway capabilities to the yaw, roll and pitch movements possible in traditional designs, is explained. The parameters influencing the stability and the design in general are analyzed. A Control strategy for this design of highly coupled movements and control modes encompassing all the operational scenarios, are presented.
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https://hal.inria.fr/inria-00199712
Contributor : Inria Rhône-Alpes Documentation <>
Submitted on : Wednesday, December 19, 2007 - 1:49:59 PM
Last modification on : Monday, October 29, 2018 - 10:08:13 AM
Long-term archiving on: : Monday, April 12, 2010 - 8:29:39 AM

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  • HAL Id : inria-00199712, version 1

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Mohammad Aamir Khan, Aazir Khan, Matteo Zoppi, Rezia Molfino. Development of a 5 degree-of-freedom Towfish and its Control Strategy. 6th International Conference on Field and Service Robotics - FSR 2007, Jul 2007, Chamonix, France. ⟨inria-00199712⟩

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