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Design of a CMG for underwater robots

dc.creatorYime E.
dc.creatorMoreno H.
dc.creatorSaltarén R.
dc.creatorAracil R.
dc.date.accessioned2020-03-26T16:32:58Z
dc.date.available2020-03-26T16:32:58Z
dc.date.issued2011
dc.identifier.citationOCEANS 2011 IEEE - Spain
dc.identifier.isbn9781457700866
dc.identifier.urihttps://hdl.handle.net/20.500.12585/9109
dc.description.abstractIn this paper we present a Control Moment Gyroscope (CMG) for underwater robots. This is a single gimbal CMG with pyramid type configuration. This device has a modular design and is self-contained (i.e., all mechanical and electrical parts are contained in the CMG's hull.) The mechanical, electrical and electronic components of the CMG are described, and two experimental test are carry out to demonstrate the system functionality. © 2011 IEEE.eng
dc.format.mediumRecurso electrónico
dc.format.mimetypeapplication/pdf
dc.language.isoeng
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.sourcehttps://www.scopus.com/inward/record.uri?eid=2-s2.0-80052946043&doi=10.1109%2fOceans-Spain.2011.6003401&partnerID=40&md5=46e913523f77dd85896a70980d77a5be
dc.titleDesign of a CMG for underwater robots
dcterms.bibliographicCitationBedrossian, N.S., Paradiso, J., Bergmann, E.V., Rowell, D., Redundant single gimbal control moment gyroscope singularity analysis (1990) J. Guidance, 13 (6), pp. 1096-1101
dcterms.bibliographicCitationThornton, B., Ura, T., Nose, Y., Turnock, S., Internal actuation of underwater robots using control moment gyros (2005) IEEE Oceans 2005, 1, pp. 591-598
dcterms.bibliographicCitationOh, H.S., Vadali, S.R., Feedback control and steering laws for spacecraft using single gimbal control moment gyros (1991) J. Astronautical Sciences, 39 (2), pp. 183-203
dcterms.bibliographicCitationMargulies, G., Aubrun, J.N., Geometric theory of single-gimbal control moment gyro systems (1978) Journal of the Astronautical Sciences, 26 (2), pp. 159-191
dcterms.bibliographicCitationKurokawa, H., A geometric study of single gimbal control moment gyros, singularity problems and steering law (1988) Intelligent Systems Institute, National Institute of Advanced Science and Technology, 175, pp. 305-8564. , 1-2-1 Namiki, Tsukuba, Ibaraki Japan, Tech. Rep
dcterms.bibliographicCitationWie, B., Singularity analysis and visualization for single-gimbal control moment gyro systems (2004) Journal of Guidance, Control and Dynamics, 27 (2), pp. 271-282
dcterms.bibliographicCitationSaltaren, R., Aracil, R., Alvarez, C., Yime, E., Sabater, J., Field and service applications-exploring deep sea by teleoperated robot-an underwater parallel robot with high navigation capabilities (2007) Robotics Automation Magazine, IEEE, 14 (3), pp. 65-75. , sep
dcterms.bibliographicCitationYime, E., Quintero, J., Saltaren, R., Aracil, R., A new approach to avoid internal singularities in cmg with pyramidal shape using sliding control (2009) IFAC European Control Conference, ECC 09
datacite.rightshttp://purl.org/coar/access_right/c_16ec
oaire.resourceTypehttp://purl.org/coar/resource_type/c_c94f
oaire.versionhttp://purl.org/coar/version/c_970fb48d4fbd8a85
dc.source.eventOCEANS 2011 IEEE - Spain
dc.type.driverinfo:eu-repo/semantics/conferenceObject
dc.type.hasversioninfo:eu-repo/semantics/publishedVersion
dc.identifier.doi10.1109/Oceans-Spain.2011.6003401
dc.subject.keywordsControl moment gyroscope
dc.subject.keywordsElectrical parts
dc.subject.keywordsElectronic component
dc.subject.keywordsExperimental test
dc.subject.keywordsModular designs
dc.subject.keywordsSystem functionality
dc.subject.keywordsUnderwater robots
dc.subject.keywordsMachine design
dc.rights.accessrightsinfo:eu-repo/semantics/restrictedAccess
dc.rights.ccAtribución-NoComercial 4.0 Internacional
dc.identifier.instnameUniversidad Tecnológica de Bolívar
dc.identifier.reponameRepositorio UTB
dc.relation.conferenceplaceSantander
dc.relation.conferencedate6 June 2011 through 9 June 2011
dc.type.spaConferencia
dc.identifier.orcid22837432800
dc.identifier.orcid56233009100
dc.identifier.orcid6506558366
dc.identifier.orcid6603913268


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Universidad Tecnológica de Bolívar - 2017 Institución de Educación Superior sujeta a inspección y vigilancia por el Ministerio de Educación Nacional. Resolución No 961 del 26 de octubre de 1970 a través de la cual la Gobernación de Bolívar otorga la Personería Jurídica a la Universidad Tecnológica de Bolívar.