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dc.contributor.authorGalarza Bogotá, Cesar Mauricio
dc.contributor.authorMasmitjà Rusiñol, Ivan
dc.contributor.authorPrat Tasias, Jordi
dc.contributor.authorGomáriz Castro, Spartacus
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria Electrònica
dc.date.accessioned2018-04-24T12:14:03Z
dc.date.available2018-04-24T12:14:03Z
dc.date.issued2017
dc.identifier.citationGalarza, C.M., Masmitja, I., Prat, J., Gomariz, S. Design a vectorial propulsion system for Guanay II AUV. A: OCEANS IEEE/MTS. "OCEANS 2017 - Aberdeen: 19-22 June 2017". Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 1-7.
dc.identifier.isbn978-1-5090-5278-3
dc.identifier.urihttp://hdl.handle.net/2117/116618
dc.description.abstractThe autonomous underwater vehicle(AUV) Guanay II was designed to navigate on the surface of the sea, and to realize a vertical immersion in specific points. This vehicle has three thrusters located on stern, oriented to provide propulsion and yaw control on the horizontal plane. On the other hand, the immersion system used in the Guanay II is based in the change of the buoyancy of the vehicle, by using a piston system. Therefore, the vehicle does not have the ability to navigate in immersion, due to its design, which the inclination of the vehicle (pitch angle) cannot be controlled. In this work, we show the design a vector propulsion system for the vehicle Guanay II, which will allow to control the pitch of the AUV in immersion. For this purpose, we have provided to the two laterals thruster the possibility of varying their propulsion angle on the vertical plane, using two servomotors. Next, we will show the design and the results obtained.
dc.format.extent7 p.
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.subjectÀrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subjectÀrees temàtiques de la UPC::Nàutica::Enginyeria naval
dc.subject.lcshAutonomous vehicles
dc.subject.lcshSubmersibles.
dc.subject.othervertical immersion
dc.subject.othervector propulsion system
dc.subject.otherAUV
dc.subject.otherGUANAY II.
dc.titleDesign a vectorial propulsion system for Guanay II AUV
dc.typeConference lecture
dc.subject.lemacVehicles autònoms
dc.subject.lemacVehicles submergibles
dc.contributor.groupUniversitat Politècnica de Catalunya. Centre de Desenvolupament Tecnològic de Sistemes d'Adquisició Remota i Tractament de la Informació (SARTI)
dc.identifier.doi10.1109/OCEANSE.2017.8084953
dc.relation.publisherversionieeexplore.ieee.org
dc.rights.accessOpen Access
drac.iddocument21688463
dc.description.versionPostprint (published version)
upcommons.citation.authorGalarza, C.M.; Masmitja, I.; Prat, J.; Gomariz, S.
upcommons.citation.contributorOCEANS IEEE/MTS
upcommons.citation.publishedtrue
upcommons.citation.publicationNameOCEANS 2017 - Aberdeen: 19-22 June 2017
upcommons.citation.startingPage1
upcommons.citation.endingPage7


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