Latest revision as of 08:47, 29 September 2020

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.

Document type: Part of book or chapter of book

Full document

Original document

The different versions of the original document can be found in:

• https://hal.inria.fr/inria-00199712/file/fsr_99.pdf

• http://www.springerlink.com/index/pdf/10.1007/978-3-540-75404-6_15,http://dx.doi.org/10.1007/978-3-540-75404-6_15

• https://link.springer.com/chapter/10.1007%2F978-3-540-75404-6_15,https://rd.springer.com/chapter/10.1007/978-3-540-75404-6_15,https://academic.microsoft.com/#/detail/1491465832