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Dynamics and motion control of Underwater remotely operated vehicles and highly flexible elastic rods

dc.contributor.advisorVásquez, Rafael E.
dc.contributor.advisorSorensen, Asgeir J.
dc.contributor.advisorSaevin, Svein
dc.contributor.authorRamírez Macías, Juan Alberto
dc.coverage.spatialSeccional Medellín. Escuela de Ingenierías. Doctorado en Ingenieríases_CO
dc.description302 páginases_CO
dc.description.abstractThis thesis develops analytical- and numerical-oriented tools for the dynamic analysis and motion control of ROVs, using an integrated approach where hydrodynamics, control, and cable e_ects are considered. These tools facilitate the analysis, design, and operation of ROV systems and are aimed at answering questions about their motion feasibility. They are grounded on available theory to model the ROV and cable, design of feedback control, and thrust allocation. Subsequently, this work contributes means to study the hydrodynamics of an ROV and develops a framework where hydrodynamics and other motion-relevant systems can be integrated and evaluated.es_CO
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.sourceinstname:Universidad Pontificia Bolivarianaes_CO
dc.sourcereponame:Repositorio Institucional de la Universidad Pontificia Bolivarianaes_CO
dc.subjectDinámica de fluidos computacionaleses_CO
dc.subjectVehículos subacuáticos operados remotamente (ROV)es_CO
dc.subjectRobótica subacuáticaes_CO
dc.subjectSistemas de controles_CO
dc.titleDynamics and motion control of Underwater remotely operated vehicles and highly flexible elastic rodses_CO
dc.creator.degreeDoctor en Ingenieríases_CO
dc.publisher.departmentEscuela de Ingenieríases_CO
dc.publisher.programDoctorado en Ingenieríases_CO

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Attribution-NonCommercial-NoDerivatives 4.0 International
Except where otherwise noted, this item's license is described as Attribution-NonCommercial-NoDerivatives 4.0 International