MAE142_Lecture14

MAE142_Lecture14 - AUV Model Hydroid, Inc. Image MAE 142...

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AUV Model MAE 142 Hydroid, Inc. Image
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2 MAE 142 Autonomous Underwater Vehicle (AUV) References: [1] Ridley, P, Fontan, J and Corke, P, “Submarine Dynamic Modeling”, Australasian Conference on Robotics and Automation, Brisbane, Dec. 2003. [2] Do, KD, Control of Ships and Underwater Vehicles, Springer, 2009. REMUS 100 AUV Model Diameter: 19 cm 15 cm Length: 160 cm 140 cm Mass: 37 kg 19 kg Operating Depth: 100 m Endurance: 10 hrs Cruise Speed: 3 nmi/hr Hydroid Inc. Image The AUV model provided in Ref [1] is similar in size and shape to the REMUS 100.
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3 MAE 142 Equations of Motion Dynamic models of ocean vehicles typically set the origin of the body-fixed reference frame at the center of bouyancy (instead of the center of mass or gravity). The equations of motion must therefore include a vector from the center of buoyancy to the center of gravity. I B ˙  B  I B  B m r cg B ×[ ˙ v o B   v o B ]= G B m r cg B × g B m [ ˙ v o B
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MAE142_Lecture14 - AUV Model Hydroid, Inc. Image MAE 142...

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