Design of Pitch and Roll Control for IOT Glider

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TypeTechnical Report
Series titleStudent Report
SubjectUnderwater Glider; Pitch and Roll
AbstractThis report outlines modifications that have been designed for the IOT glider during my term at IOT. This includes investigation of an alternative hull for the glider and design of a pitch and roll control mechanism. The glider body is currently constructed of ABS pipe. Changing the body to aluminium was investigated. It was concluded that due to mass constraints, the inside diameter will need to be modified. As this is a detailed procedure, the switch to aluminium pipe has been postponed.The IOT glider moves using changes in the glider?s volume, and therefore buoyancy. This change carries with it a change in pitch as well. However, fine-tuning of pitch angle is not currently possible. The mechanism outlined in this report uses internal actuation to change the location of the vehicle?s center of gravity (CG) to finely adjust the pitch and roll attitude of the vehicle. This system slides the vehicle?s battery pack forward and aft to adjust trim and offsets the battery pack to the left or right of centerline to adjust roll. In this manner the CG of the vessel is manipulated causing the orientation of the vehicle to change. This report describes the process involved in designing this mechanism and outlines the way forward for manufacturing and installing it in the IOT glider.
Publication date
PublisherNational Research Council Canada. Institute for Ocean Technology
PlaceSt. John's, NL
AffiliationNRC Institute for Ocean Technology; National Research Council Canada
Peer reviewedNo
NRC number6306
NPARC number8894970
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Record identifier7d62f089-97ec-4b99-a609-76425913e7fe
Record created2009-04-22
Record modified2016-10-03
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