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- W2289057751 abstract "This paper proposes a modular and easy to use approach to modeling of an underwater vehicle (UV) with robotic arms. The vehicle and the arms can be seen as an articulated structure, and modeled as a multibody system. External forces can be easily added to the structure using the Geometrical Jacobian. Thus, complex hydrodynamic effects can be put into vehicle dynamics as external modules. Such simulation structure can be used effectively for parallel simulation, using distributed computing techniques. The paper will show how the model is build, and explain how hydrodynamic effects have been added. Furthermore will present simulation results to prove model reliability, in particular will show that complex coupled dynamic effects have been successfully obtained." @default.
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- W2289057751 title "A Modular Easy-To-Use Technique for Modeling and Simulation of Underwater Robotic Vehicles" @default.
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- W2289057751 doi "https://doi.org/10.1016/s1474-6670(17)37051-9" @default.
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