Please use this identifier to cite or link to this item: https://doi.org/10.1109/ICIT.2013.6505648
Title: Dynamic modeling of variable ballast tank for spherical underwater robot
Authors: Agrawal, A.
Prasad, B.
Viswanathan, V.
Panda, S.K. 
Keywords: ballast tank
UUV
variable buoyancy
Issue Date: 2013
Source: Agrawal, A.,Prasad, B.,Viswanathan, V.,Panda, S.K. (2013). Dynamic modeling of variable ballast tank for spherical underwater robot. Proceedings of the IEEE International Conference on Industrial Technology : 58-63. ScholarBank@NUS Repository. https://doi.org/10.1109/ICIT.2013.6505648
Abstract: Under-water exploration and surveillance requires a significant amount of onboard power for unmanned underwater vehicles (UUVs). The main focus of researchers and scientists is to design small, versatile UUVs, which can relax the power requirement onboard and hence increase the mission time. The paper proposes to develop a spherical underwater robot that can employ a docking or soft grounding behavior. To obtain this mechanism the spherical underwater robot should have the capability of self-ballast. By optimally positioning itself and sitting on the bottom, the spherical underwater robot can be placed in sleep mode, with only monitoring sensors awake, thereby harvesting power from the water current through dynamo based rotor blades. After the evaluation of different depth control strategies and research for commercially available UUVs, a concept was found by several comparisons. A diving system has been designed, built and implemented. Additionally, a dynamic model of the diving system has been developed and tested, allowing variable depth control. A Spherical Underwater Robot (SUR) is designed to perform test runs in a test pool. The development of the dynamic model is carried out by a simulation implemented in the MATLAB / Simulink software platform. Experimental test were conducted to validate the dynamic model. © 2013 IEEE.
Source Title: Proceedings of the IEEE International Conference on Industrial Technology
URI: http://scholarbank.nus.edu.sg/handle/10635/70043
ISBN: 9781467345699
DOI: 10.1109/ICIT.2013.6505648
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

3
checked on Jan 23, 2018

Page view(s)

33
checked on Jan 20, 2018

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.