Six-Degree-of-Freedom Motion Emulation for Data-Driven Modeling of Underwater Vehicles

Juliana Danesi Ruiz; Michael Swafford; Austin Krebill; Rachel Vitali; Casey Harwood

doi:10.48550/arxiv.2501.17018

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Six-Degree-of-Freedom Motion Emulation for Data-Driven Modeling of Underwater Vehicles

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Six-Degree-of-Freedom Motion Emulation for Data-Driven Modeling of Underwater Vehicles

Juliana Danesi Ruiz, Michael Swafford, Austin Krebill, Rachel Vitali and Casey Harwood

ArXiV.org

Cornell University

01/28/2025

DOI: 10.48550/arxiv.2501.17018

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https://doi.org/10.48550/arxiv.2501.17018View

Preprint (Author's original)This preprint has not been evaluated by subject experts through peer review. Preprints may undergo extensive changes and/or become peer-reviewed journal articles. Open Access

Abstract

This article presents a collaborative research effort aimed at developing a novel six-degree-of-freedom (6-DOF) motion platform for the empirical characterization of hydrodynamic forces crucial for the control and stability of surface and subsurface vehicles. Traditional experimental methods, such as the Planar Motion Mechanism (PMM), are limited by the number of simultaneously articulated DOFs and are limited to single-frequency testing, making such systems impractical for resolving frequency-dependent added mass or damping matrices. The 6 DOF platform, termed a hexapod, overcomes these limitations by offering enhanced maneuverability and the ability to test broad-banded frequency spectra in multiple degrees of freedom in a single experiment.

Computer Science - Robotics

Details

Title: Subtitle: Six-Degree-of-Freedom Motion Emulation for Data-Driven Modeling of Underwater Vehicles
Creators: Juliana Danesi Ruiz - IIHR-Hydroscience and Engineering, The University of Iowa
Michael Swafford - University of Iowa
Austin Krebill - University of Iowa
Rachel Vitali - University of Iowa
Casey Harwood - University of Iowa
Resource Type: Preprint
Publication Details: ArXiV.org
DOI: 10.48550/arxiv.2501.17018
ISSN: 2331-8422
Publisher: Cornell University; Ithaca, New York
Language: English
Date posted: 01/28/2025
Academic Unit: Roy J. Carver Department of Biomedical Engineering; Mechanical Engineering
Record Identifier: 9984780239902771

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