| Author | Jayasekara, Akhila Madhushan |
| Note | A thesis submitted in partial fulfillment of the requirement for the
degree of Master of Engineering in
Mechatronics |
| Publisher | Asian Institute of Technology |
| Abstract | A number of researches have been conducted to date on various methods and techniques to make underwater vehicles better and risk free. The ocean is a vast 3-D environment and it follows that an ocean research tool, such as the underwater vehicle, should ideally be able to move freely in any direction within its surroundings. Most underwater robots uses rudders, propellers and many numbers of water pumps to create its motion, changes its altitude and keep its stability. Actuators that deflect fluid momentum, such as fins and rudders, lose control authority at low velocities. Although actuators that generate fluid momentum, such as thrusters, can provide low-velocity control, the use of multiple thrusters increases drag, reducing efficiency particularly when travelling at high speeds. The ability to adopt and maintain any attitude on the surface of a sphere with a zero radius turning circle would allow an underwater robot to approach its missions in a fully 3-D manner, optimizing the use of its thrusters, sensors, and power supply in a way that has not been possible previously. Purpose of this thesis is to approach the subject in a different direction and make advancements, the zero-G concept. This method is mainly uses in satellites to control its motions. |
| Year | 2017 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Abeykoon, A. M. Harsha S.;Mongkol Ekpanyapong |
| Scholarship Donor(s) | AIT Fellowship |
| Degree | Thesis (M. Eng.) -- Asian Institute of Technology, 2017 |