TY - GEN
T1 - The design and production of an X4-AUV
AU - Le Tu, Ge Ri
AU - Tobita, Shinnosuke
AU - Watanabe, Keigo
AU - Nagai, Isaku
N1 - Publisher Copyright:
© 2015 The Society of Instrument and Control Engineers-SICE.
PY - 2015/9/30
Y1 - 2015/9/30
N2 - In this research, an X4-AUV consisting of four thrusters is designed and manufactured to develop a small AUV which does not use any rudders. Especially, each thruster is arranged at equal intervals to the same plane, and the attitude motions of a roll, a pitch and a yaw, and the translational motion of forward are realizable by changing the rotational speeds of four thrusters. First, the construction of an X4-AUV and the motion method are described, together with the added mass. Next, regarding the production of the X4-AUV, the selection of parts, the structure and thrust of a thruster, the manufacture of a waterproofed container, etc. are described. Finally, some experiments are conducted to verify the forward motion of X4-AUV and the rotational motion in each attitude.
AB - In this research, an X4-AUV consisting of four thrusters is designed and manufactured to develop a small AUV which does not use any rudders. Especially, each thruster is arranged at equal intervals to the same plane, and the attitude motions of a roll, a pitch and a yaw, and the translational motion of forward are realizable by changing the rotational speeds of four thrusters. First, the construction of an X4-AUV and the motion method are described, together with the added mass. Next, regarding the production of the X4-AUV, the selection of parts, the structure and thrust of a thruster, the manufacture of a waterproofed container, etc. are described. Finally, some experiments are conducted to verify the forward motion of X4-AUV and the rotational motion in each attitude.
KW - Autonomous underwater vehicles (AUVs)
KW - Thruster
KW - Underwater robots
KW - Waterproofed motor
UR - http://www.scopus.com/inward/record.url?scp=84960075942&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84960075942&partnerID=8YFLogxK
U2 - 10.1109/SICE.2015.7285488
DO - 10.1109/SICE.2015.7285488
M3 - Conference contribution
AN - SCOPUS:84960075942
T3 - 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
SP - 1118
EP - 1121
BT - 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
Y2 - 28 July 2015 through 30 July 2015
ER -