Scipediacontent: Scipediacontent moved page Draft Content 961308743 to Khan et al 2008a

2020-09-29T07:47:49Z

Scipediacontent moved page Draft Content 961308743 to Khan et al 2008a

Scipediacontent: Created page with " == Abstract == This paper describes the development of a five degree of freedom towed underwater vehicle designed for condition monitoring of undersea pipelines. Its innovat..."

2020-09-29T07:47:47Z

Created page with " == Abstract == This paper describes the development of a five degree of freedom towed underwater vehicle designed for condition monitoring of undersea pipelines. Its innovat..."

New page

== Abstract ==

This paper describes the development of a five degree of freedom towed underwater vehicle designed for condition monitoring of undersea pipelines. Its innovative design, with 6 fins actuated by 5 motors adding heave and sway capabilities to the yaw, roll and pitch movements possible in traditional designs, is explained. The parameters influencing the stability and the design in general are analyzed. A Control strategy for this design of highly coupled movements and control modes encompassing all the operational scenarios, are presented.

Document type: Part of book or chapter of book

== Full document ==
<pdf>Media:Draft_Content_961308743-beopen5238-9077-document.pdf</pdf>

== Original document ==

The different versions of the original document can be found in:

* [https://hal.inria.fr/inria-00199712/file/fsr_99.pdf https://hal.inria.fr/inria-00199712/file/fsr_99.pdf]

* [http://www.springerlink.com/index/pdf/10.1007/978-3-540-75404-6_15 http://www.springerlink.com/index/pdf/10.1007/978-3-540-75404-6_15],[http://dx.doi.org/10.1007/978-3-540-75404-6_15 http://dx.doi.org/10.1007/978-3-540-75404-6_15]

* [https://link.springer.com/chapter/10.1007%2F978-3-540-75404-6_15 https://link.springer.com/chapter/10.1007%2F978-3-540-75404-6_15],[https://rd.springer.com/chapter/10.1007/978-3-540-75404-6_15 https://rd.springer.com/chapter/10.1007/978-3-540-75404-6_15],[https://academic.microsoft.com/#/detail/1491465832 https://academic.microsoft.com/#/detail/1491465832]

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Khan et al 2008a - Revision history

Scipediacontent: Scipediacontent moved page Draft Content 961308743 to Khan et al 2008a

Scipediacontent: Created page with " == Abstract == This paper describes the development of a five degree of freedom towed underwater vehicle designed for condition monitoring of undersea pipelines. Its innovat..."