Validation of multi-body modelling methodology for reconfigurable underwater robots

M.C. Nielsen; O. A. Eidsvik; Mogens Blanke; I. Schjølberg

doi:10.1109/OCEANS.2016.7761240

Validation of multi-body modelling methodology for reconfigurable underwater robots

M.C. Nielsen, O. A. Eidsvik, Mogens Blanke, I. Schjølberg

Norwegian University of Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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Abstract

This paper investigates the problem of employing reconfigurable robots in an underwater setting. The main results presented is the experimental validation of a modelling methodology for a system consisting of N dynamically connected robots with heterogeneous dynamics. Two distinct types of experiments are performed, a series of hydrostatic free-decay tests and a series of open-loop trajectory tests. The results are compared to a simulation based on the modelling methodology. The modelling methodology shows promising results for usage with systems composed of reconfigurable underwater modules. The purpose of the model is to enable design of control strategies for cooperative reconfigurable underwater systems.

Original language	English
Title of host publication	Proceedings of OCEANS 2016 MTS/IEEE Monterey
Number of pages	8
Publisher	IEEE
Publication date	2016
ISBN (Print)	978-1-5090-1537-5
DOIs	https://doi.org/10.1109/OCEANS.2016.7761240
Publication status	Published - 2016
Event	2016 MTS/IEEE OCEANS'16 - Monterey, United States Duration: 19 Sept 2016 → 23 Sept 2016 https://monterey16.oceansconference.org/

Conference

Conference	2016 MTS/IEEE OCEANS'16
Country/Territory	United States
City	Monterey
Period	19/09/2016 → 23/09/2016
Internet address	https://monterey16.oceansconference.org/

Keywords

Mathematical model
Robots
Vehicle dynamics
Force
Hydrodynamics
Kinematics

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title = "Validation of multi-body modelling methodology for reconfigurable underwater robots",

abstract = "This paper investigates the problem of employing reconfigurable robots in an underwater setting. The main results presented is the experimental validation of a modelling methodology for a system consisting of N dynamically connected robots with heterogeneous dynamics. Two distinct types of experiments are performed, a series of hydrostatic free-decay tests and a series of open-loop trajectory tests. The results are compared to a simulation based on the modelling methodology. The modelling methodology shows promising results for usage with systems composed of reconfigurable underwater modules. The purpose of the model is to enable design of control strategies for cooperative reconfigurable underwater systems.",

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AB - This paper investigates the problem of employing reconfigurable robots in an underwater setting. The main results presented is the experimental validation of a modelling methodology for a system consisting of N dynamically connected robots with heterogeneous dynamics. Two distinct types of experiments are performed, a series of hydrostatic free-decay tests and a series of open-loop trajectory tests. The results are compared to a simulation based on the modelling methodology. The modelling methodology shows promising results for usage with systems composed of reconfigurable underwater modules. The purpose of the model is to enable design of control strategies for cooperative reconfigurable underwater systems.

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KW - Robots

KW - Vehicle dynamics

KW - Force

KW - Hydrodynamics

KW - Kinematics

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ER -

Validation of multi-body modelling methodology for reconfigurable underwater robots

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