Title :
A new jet propulsion device for small subsea robots
Author :
Muggeridge, Karen ; Hinchey, Michael
Author_Institution :
Ocean Eng. Res. Centre, Memorial Univ. of Newfoundland, St. John´´s, Nfld., Canada
Abstract :
The authors are developing a propulsion device for short duration positioning of small subsea robots that mimics the jet mechanism used by squid. The water jet is generated by a gas-operated hydraulic actuator. The authors describe the concept of the device and some control tests soon to be conducted on a simple configuration in a wave tank facility
Keywords :
actuators; hydraulic control equipment; marine systems; mobile robots; propulsion; AUV; autonomous underwater vehicles; gas-operated hydraulic actuator; jet propulsion device; small subsea robots; submarines; wave tank facility; Computational efficiency; Equations; Error correction; Oceans; Propulsion; Robots; Robust control; SQUIDs; Sliding mode control; Vehicles;
Conference_Titel :
Autonomous Underwater Vehicle Technology, 1992. AUV '92., Proceedings of the 1992 Symposium on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-0704-6
DOI :
10.1109/AUV.1992.225185
