Geodesic
The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass
Russian journal of nonlinear dynamics, Tome 10 (2014) no. 4, pp. 513-531

Voir la notice de l'article provenant de la source Math-Net.Ru

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. 
@article{ND_2014_10_4_a9,
     author = {Ian C. Rust and H. Harry Asada},
     title = {The eyeball {ROV:} {Design} and control of a spherical underwater vehicle steered by an internal eccentric mass},
     journal = {Russian journal of nonlinear dynamics},
     pages = {513--531},
     publisher = {mathdoc},
     volume = {10},
     number = {4},
     year = {2014},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/ND_2014_10_4_a9/}
}
TY  - JOUR
AU  - Ian C. Rust
AU  - H. Harry Asada
TI  - The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass
JO  - Russian journal of nonlinear dynamics
PY  - 2014
SP  - 513
EP  - 531
VL  - 10
IS  - 4
PB  - mathdoc
UR  - http://geodesic.mathdoc.fr/item/ND_2014_10_4_a9/
LA  - ru
ID  - ND_2014_10_4_a9
ER  - 
%0 Journal Article
%A Ian C. Rust
%A H. Harry Asada
%T The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass
%J Russian journal of nonlinear dynamics
%D 2014
%P 513-531
%V 10
%N 4
%I mathdoc
%U http://geodesic.mathdoc.fr/item/ND_2014_10_4_a9/
%G ru
%F ND_2014_10_4_a9
Ian C. Rust; H. Harry Asada. The eyeball ROV: Design and control of a spherical underwater vehicle steered by an internal eccentric mass. Russian journal of nonlinear dynamics, Tome 10 (2014) no. 4, pp. 513-531. http://geodesic.mathdoc.fr/item/ND_2014_10_4_a9/