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This paper describes an analysis on architecture and control system of a new disk-shaped underwater robot entitled an underwater disk robot (UDR) which has six degrees of freedom (DOF) motion. The UDR has three symmetrical thrusters disposed around the perimeter of a circular chassis, each facing 120 degrees apart from the others. With this disposition, the vehicle has omnidirectional manoeuvrability...
This paper shows a method for predicting the drag and propulsion performance (thrust, torque estimation) of an Underwater Disk Robot (UDR). The Computational Fluid Dynamics (CFD) software, ANSYS-CFX, was used to predict the drag and propulsion performance of the UDR before comparing the CFD results with the results of the empirical method (ITTC1957) and an experimental bollard test conducted within...
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