Publication Detail

Cable Dynamics for Tethered Underwater Vehicles

Michael Triantafyllou, Franz Hover
30 pp.
MITSG 90-04

Tethered underwater vehicles find many uses in underwater exploration. But, although tethers provide safety, power and control, they can complicate movement of these submersibles, especially in deep water, since the tether contributes hydrodynamic effects. Inertia and drag are especially important. This paper provides a numerical scheme for studying dynamics of tethered vehicles. The Woods Hole Oceanographic Institution's vehicles ARGO and JASON are used as examples and to confirm the validity of the numerical predictions.

type: Technical reports

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