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Development and implementation of a dynamic simulator for a ship-hull inspection robotic vehicle

Grant number: 12/01636-3
Support type:Scholarships in Brazil - Scientific Initiation
Effective date (Start): May 01, 2012
Effective date (End): October 31, 2012
Field of knowledge:Engineering - Mechanical Engineering - Mechanical Engineering Design
Principal researcher:Juan Pablo Julca Avila
Grantee:Daniel Santos de Oliveira
Home Institution: Centro de Engenharia, Modelagem e Ciências Sociais Aplicadas (CECS). Universidade Federal do ABC (UFABC). Ministério da Educação (Brasil). Santo André , SP, Brazil

Abstract

Robotic Systems (SR) are being developed extensively in almost all fields these days. An example is the work developed at the Universidade Federal do ABC (UFABC) which consists in a robotic SR for inspection of ship hulls. The SR is classified as a hybrid robot due to its two operating modes: free-flight and crawling which consists in a tubular structure made of polypropylene plates, a set of thrusters, a set of sensors and two motorized tracks, the latter for movement on the surface of the ship hull. An umbilical cable is used for motion control and supply energy to the vehicle. In order to provide a tool to help in the design of the control system of the SR, the present research project aims to develop and implement a simulator for the dynamic behavior of the vehicle. The simulator will display the 3D motion of the SR in a virtual ocean environment and allow the motion control by an operator using a joystick. The methodology considers the following steps: 1) mathematical modelling of the SR, 2) modelling of the actuation system, 3) implementation of mathematical equations in MATLAB / SIMULINK, 4) development and implementation of the virtual environment using the Virtual Reality Toolbox of the MATLAB, and 5) for simulations with closed loop control.(AU)

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