Zero-G class underwater robots: unrestricted attitude control using control moment gyros


Thornton, B., Ura, T., Nose, Y. and Turnock, S. (2007) Zero-G class underwater robots: unrestricted attitude control using control moment gyros IEEE Journal of Oceanic Engineering, 32, (3), pp. 565-583. (doi:10.1109/JOE.2007.899274).

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Description/Abstract

The “Zero-G” is designated as a new class of underwater robot that is capable of unrestricted attitude control. A novel control scheme based on internal actuation using control moment gyros (CMGs) is developed to provide Zero-G class autonomous underwater vehicles (AUVs) with this unique freedom in control. This is implemented in the CMG-actuated Zero-G class internal kinematic underwater robot actuation (IKURA) system that was developed as part of this research. A series of experiments are performed to demonstrate the practical application of CMGs and verify the associated theoretical developments. The ability to actively stabilize the translational dynamics of the robot is assessed and unrestricted attitude control is demonstrated in an experiment that involves vertically pitched diving and surfacing in surge. Finally, potential applications for Zero-G class AUVs are discussed.

Item Type: Article
Digital Object Identifier (DOI): doi:10.1109/JOE.2007.899274
ISSNs: 0364-9059 (print)
Related URLs:
Keywords: control moment gyro (cmg), internal kinematic underwater robot actuation (ikura), internal actuation, underwater robot, unrestricted attitude control, zero-g
Subjects:
Organisations: Fluid Structure Interactions Group
ePrint ID: 50222
Date :
Date Event
July 2007Published
Date Deposited: 30 Jan 2008
Last Modified: 16 Apr 2017 18:12
Further Information:Google Scholar
URI: http://eprints.soton.ac.uk/id/eprint/50222

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