In this paper, basic experiments were carried out to identify parameters from the dynamic model of anunderactuated Unmanned Underwater Vehicle (UUV) equipped with two counter rotating screw propellers.Measurement of counter moment and thrust generation along the longitudinal axis, relative to propellers rotationspeed and direction show the effectiveness of the design. Moreover, a mathematical model was derived andcomputational simulation will be held to verify the matching between the theoretical model and the real robotperformance.
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