The Eyeball ROV : an underwater Remotely Operated Vehicle featuring advances in rotational actuation, communication, and localization
Name
773896591-MIT.pdf
Description
Full printable version
Size
12.36 MB
Format
Adobe PDF
Checksum (MD5)
f58f6f0e1e58dddfe964358a209eaa85
Author(s)
Rust, Ian Charles
Advisor(s)
H. Harry Asada.
Alternative Title
Eyeball Remotely Operated Vehicle
Underwater Remotely Operated Vehicle featuring advances in rotational actuation, communication, and localization
Date Issued
2011
Publisher
Massachusetts Institute of Technology
Abstract
The design for a spherical Remotely Operated Vehicle (ROV) with a camera, called the Eyeball ROV due to motions similar to the human eye, is presented in this thesis. The ROV features an actuation scheme that utilizes a two-axis gimbal for changing the location of the center of mass of the ROV. This creates continuous and unlimited rotations in place on the part of the ROV, allowing the camera to be panned and tilted. A model of the ROV is presented, and control was tested in both simulation and experiments. In addition, a dual-use system for both communication and localization of the ROV is presented. This novel dual-use system uses visible blue light (-470nm) to relay data in addition to providing a beacon with which the orientation and position in space of the ROV was estimated. This localization algorithm was implemented using an Extended Kalman Filter (EKF), and was tested in both simulations and experiments.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 101-103).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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