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n
,
a
m
a
s
s
m
o
v
es
to
w
ar
d
s
t
h
e
l
o
n
g
it
u
d
in
a
l d
ir
ec
tio
n
o
f
t
h
e
b
o
d
y
(
x
-
a
x
is
)
ca
u
s
in
g
a
ch
an
g
e
in
t
h
e
ce
n
ter
o
f
g
r
av
it
y
.
So
,
k
n
o
w
in
g
th
a
t
th
e
s
tea
d
y
s
tate
is
i
n
h
er
e
n
t
l
y
th
e
ze
r
o
an
g
le,
t
h
e
m
a
s
s
is
m
o
v
ed
ac
co
r
d
in
g
l
y
to
th
e
co
m
m
an
d
(
d
iv
e
o
r
r
is
e)
.
Ho
w
ev
er
,
b
y
v
ar
y
i
n
g
th
e
d
ev
ice
n
o
s
e
an
g
le
r
elativ
e
l
y
to
th
e
x
-
a
x
i
s
,
th
e
f
r
ictio
n
w
it
h
t
h
e
f
l
u
id
w
ill
d
ec
r
ea
s
e
t
h
u
s
,
i
n
c
r
ea
s
in
g
t
h
e
s
p
ee
d
o
f
t
h
e
r
o
b
o
t.
A
p
itc
h
co
n
tr
o
ller
w
a
s
th
e
n
i
m
p
le
m
e
n
ted
to
ad
j
u
s
t th
e
m
o
v
e
m
e
n
t o
f
t
h
e
p
o
is
e
b
ased
o
n
th
e
f
o
llo
w
i
n
g
r
elatio
n
[
6
]
:
2
=
×
(
3
)
w
h
er
e
2
is
t
h
e
co
n
tr
o
ller
o
u
tp
u
t,
w
h
ic
h
in
cl
u
d
es
t
h
e
p
o
is
e
d
is
tan
ce
to
w
ar
d
s
th
e
ce
n
ter
o
f
b
alan
ce
.
is
t
h
e
co
n
tr
o
ller
p
r
o
p
o
r
tio
n
al
co
ef
f
icie
n
t a
n
d
ε
p
is
t
h
e
n
o
s
e
an
g
le
er
r
o
r
ca
lcu
lated
as b
elo
w
:
=
−
(
4
)
w
it
h
θ
d
t
h
e
d
esire
d
p
itch
a
n
g
l
e
an
d
θ
th
e
p
itc
h
a
n
g
le
m
ea
s
u
r
ed
b
y
s
e
n
s
o
r
s
.
P
r
eli
m
i
n
ar
y
s
i
m
u
latio
n
s
d
em
o
n
s
tr
ated
t
h
at
a
p
r
o
p
o
r
tio
n
al
co
n
tr
o
ller
is
s
u
f
f
icie
n
t
to
r
ea
ch
t
h
e
d
esire
d
co
n
tr
o
l
(
n
o
n
ee
d
f
o
r
an
in
teg
r
ato
r
ter
m
)
.
2
.
3
.
Dept
h a
lg
o
rit
h
m
T
o
ef
f
ec
tiv
e
l
y
r
ea
ch
t
h
e
d
e
s
ir
ed
d
ep
th
,
a
co
n
tr
o
ller
w
a
s
d
es
ig
n
ed
an
d
o
p
er
ated
b
y
a
d
ep
t
h
co
n
tr
o
ller
alg
o
r
ith
m
co
n
s
is
t
in
g
o
n
t
w
o
p
ar
ts
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Desig
n
a
n
d
C
o
n
tr
o
l o
f U
n
d
erw
a
ter R
o
b
o
ts
w
ith
R
o
ta
tin
g
Th
r
u
s
ter
s
(
A
li J
eb
elli
)
287
2
.
3
.
1
.
Dept
h c
o
ntr
o
ller
a
t
re
s
t
W
h
en
t
h
e
d
ev
ice
r
ea
ch
e
s
th
e
d
esire
d
d
ep
th
,
th
e
d
ep
th
co
n
tr
o
ller
m
ain
tain
s
th
e
d
esire
d
d
ep
th
b
y
ad
j
u
s
tin
g
th
e
le
v
el
o
f
e
n
g
in
e
s
r
ev
o
lu
tio
n
.
Fo
r
th
is
,
a
p
r
o
p
o
r
ti
o
n
al
in
te
g
r
al
co
n
tr
o
ller
h
a
s
b
ee
n
u
s
ed
w
h
ic
h
o
u
tp
u
t (
in
%)
ca
n
b
e
ex
p
r
e
s
s
e
d
as [
5
]
,
[
7
]
:
=
1
×
+
1
∫
(
5
)
w
h
er
e
1
is
t
h
e
d
ep
th
co
n
tr
o
ller
p
r
o
p
o
r
tio
n
al
co
ef
f
icie
n
t a
t
r
est,
1
th
e
d
ep
th
co
n
tr
o
ller
i
n
teg
r
al
co
ef
f
icie
n
t a
t r
est,
a
n
d
th
e
d
ep
th
er
r
o
r
,
ca
lcu
lated
as f
o
llo
w
s
:
=
−
(
6
)
w
it
h
th
e
d
esire
d
d
ep
th
an
d
D
th
e
d
ep
th
m
ea
s
u
r
ed
b
y
s
e
n
s
o
r
s
.
2
.
3
.
2
.
Dept
h c
o
ntr
o
ller
du
rin
g
m
o
v
e
m
ent
Du
r
in
g
th
e
m
o
v
e
m
en
t,
th
e
en
g
in
e
c
h
an
g
e
s
t
h
e
d
ep
th
a
n
g
le
to
p
r
o
v
id
e
th
e
r
eq
u
ir
ed
h
o
r
izo
n
t
al
-
v
er
tical
f
o
r
ce
s
.
Fo
r
th
is
p
u
r
p
o
s
e,
a
p
r
o
p
o
r
tio
n
al
in
teg
r
al
co
n
tr
o
ller
h
as
b
ee
n
u
s
ed
to
co
n
tr
o
l
th
e
d
e
s
ir
ed
an
g
le
s
u
c
h
as
[
5
]
,
[
7
]
:
=
2
×
+
2
∫
(
7
)
w
it
h
k
p
D
2
an
d
2
t
h
e
r
esp
e
ctiv
e
d
ep
th
co
n
tr
o
ller
p
r
o
p
o
r
tio
n
al
an
d
i
n
te
g
r
al
co
ef
f
icie
n
ts
d
u
r
i
n
g
m
o
v
e
m
e
n
t.
2
.
4
.
Ya
w
c
o
ntr
o
ller
T
o
m
ai
n
tai
n
t
h
e
r
o
b
o
t
in
a
d
e
s
ir
ed
d
ir
ec
tio
n
,
a
y
a
w
co
n
tr
o
ll
er
w
a
s
s
et
b
y
co
n
s
id
er
in
g
t
h
e
d
if
f
er
e
n
ce
in
an
g
le
b
et
w
ee
n
th
e
le
f
t
an
d
r
ig
h
t
s
er
v
o
s
.
Fo
r
ex
a
m
p
le,
to
r
o
tate
to
w
ar
d
s
th
e
r
i
g
h
t
d
ir
ec
ti
o
n
,
th
e
lef
t
s
er
v
o
is
p
lace
d
u
p
p
er
th
e
r
ig
h
t
s
er
v
o
to
b
ec
o
m
e
clo
s
er
to
h
o
r
izo
n
,
a
n
d
in
v
er
s
el
y
,
to
t
u
r
n
le
f
t,
t
h
e
r
ig
h
t
s
er
v
o
co
m
e
s
u
p
.
T
o
im
p
le
m
e
n
t
th
is
lo
g
ic,
a
p
r
o
p
o
r
ti
o
n
al
-
i
n
te
g
r
al
co
n
tr
o
ller
h
as
b
ee
n
u
s
ed
w
h
ic
h
o
u
tp
u
t
(
in
ter
m
s
o
f
a
n
g
le
d
if
f
er
e
n
ce
a
m
o
n
g
s
er
v
o
s
)
ca
n
b
e
ex
p
r
ess
ed
as [
7
]
:
=
×
+
∫
(
8
)
w
h
er
e
i
s
th
e
p
r
o
p
o
r
tio
n
al
co
ef
f
icie
n
t
an
d
th
e
i
n
te
g
r
al
co
ef
f
icie
n
t
o
f
t
h
e
co
n
tr
o
ller
.
is
th
e
d
ir
ec
tio
n
er
r
o
r
,
ca
lcu
lated
as:
=
−
(
9
)
w
it
h
y
d
th
e
d
esire
d
d
ir
ec
tio
n
a
n
g
le
a
n
d
y
t
h
e
d
ir
ec
tio
n
an
g
le
d
eter
m
in
ed
b
y
t
h
e
s
e
n
s
o
r
s
.
3
.
SE
NSO
RE
S
3
.
1
.
I
M
U
Sens
o
r
A
MP
U
-
9
2
5
0
I
n
er
tial
Me
as
u
r
e
m
en
t
U
n
it
(
I
MU
)
s
en
s
o
r
f
r
o
m
I
n
v
e
n
Se
n
s
e
I
n
c.
h
as
b
ee
n
u
s
ed
[
8
]
.
I
t
is
co
m
p
o
s
ed
o
f
th
r
ee
s
e
n
s
o
r
s
,
i.e
.
,
an
ac
ce
ler
atio
n
co
u
n
ter
to
m
ea
s
u
r
e
th
e
ac
ce
ler
atio
n
o
f
th
e
d
ev
ice,
its
b
alan
ce
an
d
its
d
ev
iatio
n
,
a
g
y
r
o
s
co
p
e
to
m
ea
s
u
r
e
th
e
cir
c
u
latio
n
r
ate
o
f
th
e
d
ev
ice
an
d
f
i
n
all
y
,
a
m
ag
n
o
m
e
ter
to
d
eter
m
in
e
t
h
e
p
o
s
itio
n
o
f
th
e
d
ev
ic
e
r
elativ
e
l
y
to
t
h
e
No
r
th
P
o
le.
3
.
1
.
Co
m
pa
s
s
Se
ns
o
r
A
co
m
p
a
s
s
s
e
n
s
o
r
h
a
s
b
ee
n
al
s
o
in
co
r
p
o
r
ated
to
d
eter
m
i
n
e
th
e
h
ea
d
i
n
g
p
o
in
t
o
f
th
e
r
o
b
o
t.
B
ec
au
s
e
th
e
m
a
g
n
o
m
eter
s
e
n
s
o
r
i
s
h
i
g
h
l
y
s
e
n
s
iti
v
e
to
elec
tr
o
m
a
g
n
etic
n
o
is
e
an
d
ea
r
t
h
m
a
g
n
et
ic
f
ield
i
n
te
n
s
i
t
y
,
its
o
p
er
atio
n
in
s
u
b
m
ar
in
e
co
n
d
i
tio
n
s
co
u
ld
b
e
n
o
t
p
r
ec
is
e.
T
h
er
ef
o
r
e,
w
e
h
ad
to
i
n
te
g
r
ate
a
s
ep
ar
ate
d
ig
ital
co
m
p
a
s
s
s
en
s
o
r
to
i
n
cr
ea
s
e
ac
cu
r
ac
y
.
T
h
e
s
elec
ted
co
m
p
ass
s
e
n
s
o
r
i
s
a
Ho
n
e
y
w
ell
HM
C
6
3
4
3
,
a
f
u
ll
y
in
te
g
r
ated
elec
tr
o
n
ic
co
m
p
as
s
m
o
d
u
le
th
at
ca
n
e
v
al
u
ate
t
h
e
h
ea
d
in
g
d
ir
ec
tio
n
w
it
h
i
n
a
co
u
p
le
o
f
d
e
g
r
ee
s
.
I
t
i
s
tilt
co
m
p
e
n
s
ate
d
a
n
d
ca
l
ib
r
ated
to
h
a
n
d
le
m
ag
n
etic
d
is
to
r
ti
o
n
s
.
I
t
co
m
b
in
e
s
3
-
ax
i
s
m
a
g
n
eto
-
r
esis
t
iv
e
s
e
n
s
o
r
an
d
3
-
ax
i
s
ME
MS
ac
ce
ler
o
m
e
ter
an
d
co
m
p
u
te
a
h
ea
d
i
n
g
d
ir
ec
tio
n
ev
er
y
2
0
0
m
s
[
9
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
5
,
No
.
4
,
Dec
em
b
er
2
0
1
6
:
2
84
–
29
4
288
3
.
1
.
P
re
s
s
ure
Sens
o
r
B
ec
au
s
e
t
h
er
e
is
a
li
n
ea
r
r
elati
o
n
b
et
w
ee
n
w
ater
p
r
ess
u
r
e
a
n
d
w
ater
d
ep
th
,
w
e
u
s
ed
a
p
r
es
s
u
r
e
s
en
s
o
r
to
m
ea
s
u
r
e
th
e
d
ev
ice
d
ep
th
.
Fo
r
an
u
t
m
o
s
t
d
ep
th
o
f
2
0
m
,
th
e
u
t
m
o
s
t
p
r
ess
u
r
e
w
ill
b
e
ar
o
u
n
d
3
b
a
r
.
T
h
e
s
elec
ted
p
r
ess
u
r
e
s
e
n
s
o
r
,
th
e
Me
asu
r
e
m
en
t
Sp
ec
.
M
S5
8
0
3
-
1
4
B
A
,
is
a
h
ig
h
r
eso
lu
t
io
n
p
r
ess
u
r
e
s
e
n
s
o
r
w
i
th
I
2
C
in
ter
f
ac
e,
o
p
ti
m
ized
f
o
r
d
ep
th
m
ea
s
u
r
e
m
en
t s
y
s
te
m
s
w
i
t
h
a
w
ater
d
ep
th
r
eso
lu
tio
n
o
f
a
r
o
u
n
d
1
c
m
[
1
0
]
.
4
.
P
E
RF
O
RM
ANCE RES
U
L
T
S
4
.
1
.
Ro
bo
t
s
peed
T
o
test
th
e
i
m
p
le
m
e
n
ted
alg
o
r
ith
m
s
as
w
ell
as
t
h
e
as
s
o
ciat
ed
h
ar
d
w
ar
e,
w
e
f
ir
s
t
s
elec
te
d
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ig
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4856
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N
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0
8
9
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4856
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IJ
RA
I
SS
N:
2089
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4856
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RE
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NC
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S
[1
]
V
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[3
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J.
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[4
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Ke
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M
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[5
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Å
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K.J.,
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[6
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[7
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V
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[8
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