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Cely Gutiérrez, Juan Sebastián and Saltaren Pazmiño, Roque Jacinto and Portilla Tuesta, Gerardo Alejandro and Yakrangi, Oz and Rodríguez Barroso, Alejandro (2019). Experimental and Computational Methodology for the Determination of Hydrodynamic Coefficients Based on Free Decay Test: Application to Conception and Control of Underwater Robots. "Sensors", v. 19 (n. 17); pp. 1-24. ISSN 1424-8220. https://doi.org/10.3390/s19173631.
Title: | Experimental and Computational Methodology for the Determination of Hydrodynamic Coefficients Based on Free Decay Test: Application to Conception and Control of Underwater Robots |
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Author/s: |
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Item Type: | Article |
Título de Revista/Publicación: | Sensors |
Date: | 21 August 2019 |
ISSN: | 1424-8220 |
Volume: | 19 |
Subjects: | |
Freetext Keywords: | system identification; systems modelling; hydrodynamics coefficients; unmanned underwater vehicles |
Faculty: | E.T.S.I. Industriales (UPM) |
Department: | Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial |
Creative Commons Licenses: | Recognition - No derivative works - Non commercial |
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Hydrodynamic coefficients are essential for the development of underwater robots; in particular, for their design and navigation control. To obtain these coefficients, several techniques exist. These methods are usually experimental, but, more recently, some have been designed by a combination of experiments with computational methods based on Computational Fluid Dynamics (CFD). One method for obtaining the hydrodynamic coefficients of an ROV (Remote Operated Vehicle) is by using an experimental PMM (Planar Motion Mechanism) or CWC (Circular Water Channel); however, the use of these experimental infrastructures is costly. Therefore, it is of interest to obtain these coefficients in other ways, for example, by the use of simple experiments. The Free Decay Test is an ideal type of experiment, as it has a low cost and is simple to implement. In this paper, two different free decay tests were carried out, to which three different methods for obtaining coefficients were applied. They were compared with results obtained by CFD simulation to conduct a statistical analysis in order to determine their behaviours. It was possible to obtain values of the drag and added mass coefficients for the models analysed, where the values were obtained for an Underwater Drone Robot (UDrobot).
Type | Code | Acronym | Leader | Title |
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Government of Spain | DPI2014-57220-C2-1-P | Unspecified | Unspecified | Robot actuado por cables para investigar y desarrollar el control cinemático y dinámico de sistemas robotizados en baja gravedad: aplicación a robots humanoides submarinos |
Government of Spain | PGC2018-095939-B-I00 | Unspecified | Unspecified | Underwater hybrid legged robot for research on kinematics, dynamics and control during the locomotion on the seabed |
Madrid Regional Government | S2018/NMT-4331 | RoboCity2030 DIH-CM | Unspecified | Madrid Robotics Digital Innovation Hub |
Item ID: | 64178 |
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DC Identifier: | http://oa.upm.es/64178/ |
OAI Identifier: | oai:oa.upm.es:64178 |
DOI: | 10.3390/s19173631 |
Official URL: | https://www.mdpi.com/1424-8220/19/17/3631 |
Deposited by: | Memoria Investigacion |
Deposited on: | 20 Oct 2020 15:40 |
Last Modified: | 21 Oct 2020 09:25 |