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- W2908837623 abstract "This paper presents the modeling and simulation of a spherical autonomous underwater vehicle. The robot was developed under the European Union H2020 innovation action UNEXMIN for the exploration of underground flooded mines, and is a small spherical robot with thrusters and an internal pendulum for pitch control. A model of the vehicle is presented, initially without the pendulum, then an extended formulation is derived accounting for a multibody dynamic description of the system. Experimental identification results for the determination of drag parameters are presented as well. A Modelica based simulator is developed for dynamic simulation of the vehicle, and is integrated with the Matlab/Simulink environment. The simulator is then validated based on preliminary experimental results." @default.
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- W2908837623 date "2018-10-01" @default.
- W2908837623 modified "2023-09-23" @default.
- W2908837623 title "Modeling and simulation of a spherical vehicle for underwater surveillance" @default.
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- W2908837623 doi "https://doi.org/10.1109/oceans.2018.8604570" @default.
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