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Specifications of AUV model_
| Parameter | Calculated value | Unit | Parameter | Calculated value | Unit |
|---|---|---|---|---|---|
| Mass of the AUV | 10.4102 | Kg | CG (original) | [‒10.7498‒3.49512428.206] | mm |
| Payload capacity | 21.1408 | Kg | Total length (L) | 1.064 | m |
| Mass of AUV + Payload | 31.551 | Kg | Diameter (d) | 0.250 | m |
| Ix | 0.6384 | Kg.m2 | Speed | 1 | m/s |
| Iy | 6.4110 | Kg.m2 | 1000 | Kg/m3 | |
| Iz | 6.4110 | Kg.m2 | BC | [0 0 0] | m |
| CG | [0 0 0] | m | BC(original) | [0 0 21.306] | mm |
Hydrodynamic coefficient of UNSW Canberra AUV model_
| Parameter | Calculated value | Unit | Parameter | Calculated value | Unit |
|---|---|---|---|---|---|
| ‒7.365 | Kg/m | ‒2.12 | Kg/sec | ||
| ‒0.737 | Kg/m | ‒0.31 | Kg/sec | ||
| ‒0.737 | Kg/m | ‒0.31 | Kg/sec | ||
| ‒1.065 | Kg.m/rad | ‒0.51 | Kg.m/sec | ||
| ‒1.065 | Kg.m/rad | ‒0.51 | Kg.m/sec | ||
| ‒112.2 | Kg/m | ‒62.45 | Kg/sec | ||
| 0.250 | Kg.m/rad | 0.12 | Kg.m/sec | ||
| ‒112.2 | Kg/m | ‒62.45 | Kg/sec | ||
| ‒0.250 | Kg.m/rad | 0.12 | Kg.m/sec | ||
| ‒0.5975 | Kg.m2/rad2 | ‒0.3125 | Kg.m2/sec | ||
| 2.244 | Kg.m/rad | 1.2 | Kg.m/sec | ||
| ‒119.5 | Kg.m2/rad2 | ‒59.75 | Kg.m2/sec | ||
| ‒2.244 | Kg.m/rad | 1.2 | Kg.m/sec | ||
| ‒59.75 | Kg.m2/rad2 | ‒31.25 | Kg.m2/sec | ||
| ‒1.17 | Kg | 0 | Kg.m/rad | ||
| ‒34.834 | Kg | ‒1.042 | Kg.m/rad | ||
| 1.042 | Kg.m/rad | ‒2.659 | Kg.m/rad | ||
| ‒34.834 | Kg | ‒1.042 | Kg.m/rad | ||
| ‒1.042 | Kg.m/rad | ‒2.659 | Kg.m/rad |