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dc.contributor.authorKelasidi, Eleni
dc.contributor.authorElgenes, G
dc.contributor.authorKilvær, H
dc.date.accessioned2019-01-08T09:09:08Z
dc.date.available2019-01-08T09:09:08Z
dc.date.created2019-01-06T18:38:45Z
dc.date.issued2018
dc.identifier.issn1523-651X
dc.identifier.urihttp://hdl.handle.net/11250/2579579
dc.description.abstractNowadays different types of unmanned underwater vehicles (UUVs), such as remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs), are widely used for subsea inspection, maintenance, and repair (IMR) operations in the oil and gas industry, archaeology, oceanography and marine biology. Also, lately, the development of underwater snake robots (USRs) shows promising results towards extending the capabilities of conventional UUVs. The slender and multi-articulated body of USRs allows for operation in tight spaces where other traditional UUVs are incapable of operating. However, the mathematical model of USRs is more challenging compared to models of ROVs and AUVs, because of its multi-articulated body. It is important to develop accurate models for control design and analysis, to ensure the desired behaviour and to precisely investigate the locomotion efficiency. Modelling the hydrodynamics poses the major challenge since it includes complex and nonlinear hydrodynamic effects. The existing analytical models for USRs consider theoretical values for the fluid coefficients and thus they only provide a rough prediction of the effects of hydrodynamics on swimming robots. In order to obtain an accurate prediction of the hydrodynamic forces acting on the links of the USRs, it is necessary to obtain the fluid coefficients experimentally. This paper determines the drag and added mass co-efficients of a general planar model of USRs. In particular, this paper presents methods for identifying fluid parameters based on both computational fluid dynamic (CFD) simulations and several experimental approaches. Additionally, in this paper, we investigate variations of the drag force modelling, providing more accurate representations of the hydrodynamic drag forces. The obtained fluid coefficients are compared to the existing estimates of fluid coefficients for a general model of USRs.nb_NO
dc.language.isoengnb_NO
dc.publisherASMEnb_NO
dc.titleFluid Parameter Identification for Underwater Snake Robotsnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.description.versionpublishedVersionnb_NO
dc.source.journalInternational Conference on Offshore Mechanics and Arctic Engineering (OMAE) [proceedings]nb_NO
dc.identifier.doi10.1115/OMAE2018-78070
dc.identifier.cristin1651095
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.description.localcodeCopyright © 2018 by ASMEnb_NO
cristin.unitcode194,63,25,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedtrue
cristin.fulltextpreprint
cristin.qualitycode1


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