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 | 2018-05-16T11:25:26Z | |
dc.date.available | 2018-05-16T11:25:26Z | |
dc.date.created | 2017-12-30T14:20:26Z | |
dc.date.issued | 2018 | |
dc.identifier.citation | Ocean Engineering. 2018, 149 358-372. | nb_NO |
dc.identifier.issn | 0029-8018 | |
dc.identifier.uri | http://hdl.handle.net/11250/2498388 | |
dc.description.abstract | This paper investigates the problem of modelling a system of interconnected underwater robots with highly coupled dynamics. The objective is to develop a mathematical description of the system that captures its most significant dynamics. The proposed modelling method is based on active constraint enforcement by utilising the Udwadia-Kalaba Formulation for multi-body dynamics. The required description of a rigid constraint is defined, derived and implemented into a system of interconnected sub-models. An exhaustive experimental validation is conducted on a two-vehicle system, including towing tank tests on a BlueROV vehicle to determine the model parameters. The applicability of the modelling approach is assessed by comparing experimental data to simulations of an equivalent model synthesised using the proposed theory. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Elsevier | nb_NO |
dc.title | Constrained multi-body dynamics for modular underwater robots — Theory and experiments | nb_NO |
dc.type | Journal article | nb_NO |
dc.description.version | submittedVersion | nb_NO |
dc.source.pagenumber | 358-372 | nb_NO |
dc.source.volume | 149 | nb_NO |
dc.source.journal | Ocean Engineering | nb_NO |
dc.identifier.doi | 10.1016/j.oceaneng.2017.12.007 | |
dc.identifier.cristin | 1533024 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.description.localcode | This is a submitted manuscript of an article published by Elsevier Ltd in Ocean Engineering, 27 December 2017. | 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 | preprint | |
cristin.qualitycode | 1 | |