dc.contributor.author | Nielsen, Mikkel Cornelius | |
dc.contributor.author | Eidsvik, Ole Alexander | |
dc.contributor.author | Blanke, Mogens | |
dc.contributor.author | Schjølberg, Ingrid | |
dc.date.accessioned | 2017-12-05T12:28:37Z | |
dc.date.available | 2017-12-05T12:28:37Z | |
dc.date.created | 2016-12-18T12:08:35Z | |
dc.date.issued | 2016 | |
dc.identifier.isbn | 978-1-5090-1537-5 | |
dc.identifier.uri | http://hdl.handle.net/11250/2469292 | |
dc.description.abstract | This paper investigates the problem of employing reconfigurable robots in an underwater setting. The main results presented is the experimental validation of a modelling methodology for a system consisting of N dynamically connected robots with heterogeneous dynamics. Two distinct types of experiments are performed, a series of hydrostatic free-decay tests and a series of open-loop trajectory tests. The results are compared to a simulation based on the modelling methodology. The modelling methodology shows promising results for usage with systems composed of reconfigurable underwater modules. The purpose of the model is to enable design of control strategies for cooperative reconfigurable underwater systems. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | nb_NO |
dc.relation.ispartof | OCEANS 2016 MTS/IEEE Monterey | |
dc.title | Validation of multi-body modelling methodology for reconfigurable underwater robots | nb_NO |
dc.type | Chapter | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.identifier.doi | 10.1109/OCEANS.2016.7761240 | |
dc.identifier.cristin | 1414601 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.description.localcode | © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitcode | 194,64,20,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.unitname | Institutt for marin teknikk | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.fulltext | original | |
cristin.qualitycode | 1 | |