@book{750e91754dbb431ea3d22efc9b9813ea,
title = "Motion simulation of underwater vehicles",
abstract = "A three-dimensional time-domain simulation method for tethered subsea vehicle motions has been developed. The method is applicable to vehicles equipped with thrusters as propulsion devices, and can be applied to vehicles of arbitrary shape. A computer program using the present method has been written. It will be described in detail. Results will be presented in this report for one Remotely Operated Vehicle (ROV) with comparison of measured results from manoeuvring tests in horizontal and vertical planes in a towing tank. The agreement between simulated and measured results is good in most cases. The effects of various input data quantities and differing thruster configurations have been studied in additional simulations",
keywords = "submarines, underwater vehicles, remote control, computerized simulation, submarine simulators, maneuverability, thrust, force, motion, computer programs, mathematical models, three dimensional systems",
author = "Seppo Kalske",
note = "Project code: LAIT952 ",
year = "1992",
language = "English",
isbn = "951-38-4075-1",
series = "VTT Publications",
publisher = "VTT Technical Research Centre of Finland",
number = "97",
address = "Finland",
}