%0 Journal Article
%T Manoeuvre test simulation of a teleoperated robot designed for flow measurement in natural water bodies
%A D¨ªaz-Guti¨¦rrez
%A C. E
%A Segovia-de-los-R¨ªos
%A J. A
%A Gardu£¿o-Gaffare
%A M. P
%A Ben¨ªtez-Read
%A J. S
%J Ingenier¨ªa e Investigaci¨®n
%D 2012
%I Universidad Nacional de Colombia
%X this article describes the simulation results of manoeuvring operations used in ships, but applied to an sa-1 teleoperated aquatic robot. the sa-1 is a type of robot designed for flow measurement in natural water bodies (rivers, lakes). a robot's dynamic stability and course stability must be guaranteed due to the different tasks assigned to it. these features can be demonstrated through the pull-out manoeuvre, the dieudonn¨¦ spiral manoeuvre, modified kempf manoeuvre and turning circle manoeuvre. system behaviour when using such manoeuvres can be used to propose a better control system for improving robot performance or modify system design.
%K teleoperated-aquatic-robot
%K simulation
%K mathematical-model
%K ship-manoeuvre
%K pwm-function.
%U http://www.scielo.org.co/scielo.php?script=sci_abstract&pid=S0120-56092012000300013&lng=en&nrm=iso&tlng=en