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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 Ingenieríasspa
dc.date.accessioned2019-08-26T13:18:05Z
dc.date.available2019-08-26T13:18:05Z
dc.date.issued2019
dc.identifier.urihttp://hdl.handle.net/20.500.11912/4742
dc.description302 páginasspa
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.spa
dc.format.mimetypeapplication/pdf
dc.language.isospa
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectDinámica de fluidos computacionalesspa
dc.subjectVehículos subacuáticos operados remotamente (ROV)spa
dc.subjectHidrodinámicaspa
dc.subjectRobótica subacuáticaspa
dc.subjectSistemas de controlspa
dc.subjectCinemáticaspa
dc.titleDynamics and motion control of Underwater remotely operated vehicles and highly flexible elastic rodsspa
dc.typedoctoralThesisspa
dc.publisher.departmentEscuela de Ingenieríasspa
dc.publisher.programDoctorado en Ingenieríasspa
dc.rights.accessRightsopenAccessspa
dc.type.hasVersiondraftspa
dc.description.sectionalMedellínspa
dc.identifier.instnameinstname:Universidad Pontificia Bolivarianaspa
dc.identifier.reponamereponame:Repositorio Institucional de la Universidad Pontificia Bolivarianaspa
dc.identifier.repourlrepourl:https://repository.unab.edu.co/
dc.description.degreenameDoctor en Ingenieríasspa


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Attribution-NonCommercial-NoDerivatives 4.0 International
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