Development of a Low-Level Control System for the ROV Visor3

<div>Coefficients <svg height="11.8174pt" id="M210" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -8.6359 15.7539 11.8174" width="15.7539pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M743 650H503L496 622L527 618C563 613 564 603 532 573C449 495 371 431 323 392C301 374 272 355 246 346L280 522C297 609 300 614 379 622L385 650H135L129 622C209 614 215 609 198 522L124 133C106 39 99 35 23 28L17 0H271L277 28C193 35 192 39 208 133L239 316C264 328 280 325 303 288C368 183 435 90 502 0H652L659 28C602 34 584 43 543 94C495 154 403 283 347 369L574 554C634 603 659 612 735 624L743 650Z" id="g113-76"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="755" vert-adv-y="755"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,9.23,3.132)"><path d="M655 676H628C608 656 600 650 571 650H156C118 650 114 651 102 676H77C63 615 45 548 24 485L60 486C81 531 97 562 114 580C134 603 148 611 252 611H308L217 127C201 41 196 38 105 32L98 0H384L393 32C300 38 288 41 304 127L393 611H466C553 611 571 604 582 580C592 559 597 530 595 485L630 489C636 548 645 624 655 676Z" id="g50-85"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="673" vert-adv-y="673"></glyph.data></g></svg> and <svg height="13.3154pt" id="M211" style="vertical-align:-4.679501pt" version="1.1" viewbox="-0.0498162 -8.6359 16.512 13.3154" width="16.512pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M743 650H503L496 622L527 618C563 613 564 603 532 573C449 495 371 431 323 392C301 374 272 355 246 346L280 522C297 609 300 614 379 622L385 650H135L129 622C209 614 215 609 198 522L124 133C106 39 99 35 23 28L17 0H271L277 28C193 35 192 39 208 133L239 316C264 328 280 325 303 288C368 183 435 90 502 0H652L659 28C602 34 584 43 543 94C495 154 403 283 347 369L574 554C634 603 659 612 735 624L743 650Z" id="g113-76"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="755" vert-adv-y="755"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,9.23,3.132)"><path d="M750 355C750 552 603 667 428 667C199 667 24 497 24 286C24 118 146 -4 316 -16L336 -29C480 -122 544 -145 582 -154C606 -159 666 -170 714 -172L722 -146C652 -117 562 -75 472 -15L454 -3C623 38 750 176 750 355ZM646 353C646 210 556 50 414 25L385 41L304 27C193 50 128 152 128 282C128 474 254 626 418 626C571 626 646 519 646 353Z" id="g50-82"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="774" vert-adv-y="774"></glyph.data></g></svg> for Visor3’s propellers.</div>

International Journal of Navigation and Observation

Development of a Low-Level Control System for the ROV Visor3

Figure 7