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In this paper, a spherical underwater robot is proposed that uses six degree of freedom thrust allocator to determine the magnitude and the direction of thrust required for each water-jetted bilge pump thruster to create force and moment equilibrium. However, in order to ensure safe operation of the underwater robot it is equipped with redundant thruster configuration and therefore is over-actuated...
In this paper, a spherical underwater robot uses optimal thrust allocator to determine the magnitude and the direction of thrust required for each water-jetted bilge pump thruster to create force and moment equilibrium. However, in order to ensure safe operation of the underwater robot it is equipped with redundant thruster configuration and therefore is over-actuated. Therefore, the choice of a particular...
In this paper, the thrust allocation problem for semi-submersible oil rig platform is formulated as an optimization problem, with an objective to minimize the power consumption. The electrical power consumed by the oil rig platform depends on the thrust generated by the thrusters and the efficiency of the electrical propulsion system. A detailed mathematical model to compute the efficiency of the...
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