NDLI: Design of an omnidirectional propulsion system for small jet-boats

Content Provider	IEEE Xplore Digital Library
Author	Foley, D. Plante, J.-S.
Copyright Year	2010
Description	Author affiliation: Department of Mechanical Engineering, Universite de Sherbrooke, Canada (Foley, D.; Plante, J.-S.)
Abstract	Jet-boats perform remarkably well at high-speed but lack low speed maneuverability for tight maneuvers such as ducking. This paper presents a low speed omnidirectional propulsion system controlled with a joystick for jet-boats. Two concepts are presented and evaluated. The first concept uses all original parts. The second concept uses a set of fix jet nozzles disposed around the hull. The position and angles of the nozzles are optimized with an index of omnidirectionality quality based on the projection of a set of force solutions on a shell with the shape of the desired force space. A 3D simulator backed by experimental results serves for the evaluation by potential customers of each design. The first concept exhibited poor maneuverability, as it offers ten times less force in sway than in surge. The optimized force space of the second concept is much more uniform, and was unanimously appreciated for its quality of low speed maneuverability. Both designs have been validated experimentally. The present work offers an omnidirectional propulsion system that is easy to enhance with advanced control laws. Velocity feedback control is given as example, and shows important improvement of maneuverability and robustness to miscalibration.
Starting Page	5289
Ending Page	5294
File Size	1354145
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509759
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Propulsion Boats Control systems Shape Costs Force control Predictive models Computational fluid dynamics Kinetic theory Robotics and automation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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