2 documents found, page 1 of 1
A New ROV Design: Issues on Low Drag and Mechanical Symmetry
Gomes, Rui; Fraga, Sérgio; Sousa, Alexandre; Fraga, Sérgio Loureiro; Martins, Alfredo; Sousa, J. Borges de; Pereira, Fernando LoboThis paper reports the design of a new remotely operated underwater vehicle (ROV), which has been developed at the Underwater Systems and Technology Laboratory (USTL) - University of Porto. This design is contextualized on the KOS project (Kits for underwater operations). The main issues addressed here concern directional drag minimization, symmetry, optimized thruster positioning, stability and layout of ROV c...
A control framework for a remotely operated vehicle
Sousa, J. Borges de; Fraga, Sérgio; Martins, Alfredo; Pereira, F. L.A control framework enabling the automated maneuvering of a Remotely Operate Vehicle (ROV) is presented. The control architecture is structured according to the principle of composition of vehicle motions from a minimal set of elemental maneuvers that are designed and verified independently. The principled approach is based on distributed hybrid systems techniques, and spans integrated design, simulation and im...