R 1 2 3 4 five 6 lxi , m 0.15125 0.07563 0.07563 0.225 0.1125 0.1125 lyi , m 0 0.13099 0.13099 0 0.19486 0.19486 lzi , m-0.00387 -0.00387 -0.00387 0 0The rotation angles for horizontal thrusters of 1 to 3 are /2, -/6, /6, respectively, and thrusters 4 to six are vertical thrusters without having horizontal rotations. Subsequently, working with (eight) the forces and moments created by thruster:Drones 2021, five, x FOR PEER REVIEWDrones 2021, 5,The rotation angles for horizontal thrusters of 1 to 3 are /2, -/6, /6, re 13 of 19 and thrusters 4 to six are vertical thrusters without horizontal rotations. Subsequently, utilizing (8) the forces and moments made by thruster:(a)(b)Figure 8. (a)Figure eight. (a)the SevROV; (b) front view of(b) front view in the SevROV. Top rated view of Prime view on the SevROV; the SevROV.Drones 2021, five,14 of1 =0 F1 0 F1 lz1 0 F1 lx= lz1 0 lx0 1F1 ,2 =F2 cos (/6) F2 sin (/6) 0 F2 sin (/6)lz2 F2 cos (/6)lz2 F2 sin (/6)lx2 F2 cos (/6)ly2 F3 cos (/6) – F3 sin (/6) 0 – F3 sin (/6)lz3 F3 cos (/6)lz3 – F3 sin (/6)lx3 – F3 cos (/6)ly=cos (/6) sin (/6) 0 sin (/6)lz2 cos (/6)lz2 sin (/6)lx2 cos (/6)ly2 cos (/6) – sin (/6) 0 – sin (/6)lz3 cos (/6)lz3 – sin (/6)lx3 – cos (/6) 0 0 F6 F6 ly6 – F6 lx6F2 , (9)3 =F3 ,=4 =0 0 F4 0 F4 lx4= lx40 0 1F4 , five =0 0 F5 – F5 ly5 – F5 lx5=0 0 1 -ly5 -lx5F5 , six == ly6 -lx60 0F6 .Because of this, from (9), the matrix from the thruster’s configuration created by a total of six thrusters might be equal to: 0 1 0 0.866 0.five 0 0.5lz2 0.866lz2 0.5lx2 0.866ly2 0.866 -0.5 0 -0.5lz3 0.866lz3 -0.5lx3 – 0.866ly3 0 0 1 0 lx4 0 0 0 1 -ly5 -lx5 0 0 0 1 ly6 -lx6 0 .T = lz1 0 lxKnowing the distribution of forces and moments, the handle input u is usually calculated to be applied for the motors in such a way that the desired manage might be generalized forces . Because the manage forces and moments caused by the thrusters relative to the manage inputs are expressed by way of (7), the vector of control inputs may be obtained within the type: u = K-1 T-1 . (ten)An essential nuance is the fact that because of the proposed design and thruster’s arrangement, the configuration matrix T is square and non-degenerate, which makes it possible for not to resort to pseudo-inversion within the expression (ten) for calculating the manage. three. Benefits Because of this, an underwater car SevROV of inspection class having a Y-shaped arrangement of the thrusters was proposed, which allowed working with six thrusters to receive the controllability of the car by six degrees of freedom. The look on the manufactured experimental Monomethyl supplier sample SevROV is shown in Figure 9. To achieve zero buoyancy in the robot, buoyancy components produced of extruded polystyrene foam had been added to its frame.three. Benefits Consequently, an underwater automobile SevROV of inspection class having a Y-shaped arrangement of your thrusters was proposed, which permitted applying six thrusters to obtain the controllability in the automobile by six degrees of freedom. The look of your manufactured experimental sample SevROV is shown in Figure 9. To achieve zero buoyancy 19 15 of on the robot, buoyancy elements made of extruded polystyrene foam were added to its frame.Drones 2021, five,Figure 9. The look from the experimental sample SevROV. Figure 9. The appearance of the experimental sample SevROV.To stabilize the robot’s movement and recognize within the future the possibility of complicated To stabilize the robot’s movement and recognize inside the future the possibility of complex trajectory movement in automatic mode, a mathematical model on the robot was was deve.