… We show that the motion of rigid bodies under water can be realistically simulated by replacing
the usual inertia tensor and scalar mass by the so-called Kirchhoff tensor. This allows us …

… of rigid-body rotations, together with a proof of asymptotic stability. Techniques for navigating
underwater … in the identification, dynamics, and control on the group of rigid-body motions. …

… The basic structure of the model is made by a rigid body, called rigid root-body, and
several soft appendages attached to it through one extreme or boundary of the soft …

… Of course, there have been many works on the dynamics of rigid bodies in fluids, and we
make no attempt to survey them here. For example, Aref and Jones [1] study some …

… First, M(q) is an inertia matrix containing rigid body and … up of rigid body and hydrodynamic
contributions also called added mass. The rigid body is simply the mass of the body itself, …

… time model for the dynamics of the rigid body described in the … torques are included in the
rigid-body dynamics model. Also the … be applied to underwater vehicle dynamics—unlike these …

… The dynamic response of a floating hull girder to an underwater explosion bubble is
normally composed of two parts: rigid-body motion and elastic deformation. However, it is the …

… Because of the increasing need for unmanned underwater vehicles (UUVs) in oil and gas …
of the underwater vehicles was studied. In this paper, an efficient dynamic simulation algorithm …

… dynamic behavior as compared to the rigid body counterpart. Newman [24] derived a set of
equations to compute the added mass force that is exerted on a rigid body … the rigid body, and …

… between two rigid bodies. In essence the definition means that the two rigid bodies becomes
one rigid body and the … This section derives the generic formulation for a rigid constraint. …