{"id":{"repo_id":"gatech","oai_identifier":"oai:repository.gatech.edu:1853/60770"},"canonical_url":"https://search.dev.ndltd.org/etd/gatech/oai:repository.gatech.edu:1853/60770","repository":{"repo_id":"gatech","name":"Georgia Tech","base_url":"https://repository.gatech.edu/server/oai/request"},"display":{"title":"Mechatronic design of autonomous underwater vehicles for confined spaces","abstract":"In utility piping and fluid transportation pipelines, it is often desired to have a robotic device that can navigate the complex structure to carry inspection to maintain the integrity of these infrastructures. In this work, an attempt to design an untethered micro autonomous underwater vehicle, mAUV, is conducted. The mechanical, electrical, control and perception system are developed through a proposed model-based mechatronic design approach. 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