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The dynamic modelling and development of a controller for a general purpose remotely operated underwater vehicle
A preliminary mathematical model for the UCT SEAHOG Remotely operated underwater vehicle (ROV) is developed, including estimation of the rigid body, hydrodynamic and hydrostatic properties of the robot. A single state thruster model is developed and verified according to real life test data. A close...
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| Format: | Thesis |
| Language: | English |
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Department of Mechanical Engineering
2016
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