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wherein PM is the estimated power capacity of the thrust motor, and n is the total efficiency, including the motor efficiency, the mechanical efficiency (including the friction loss), and the propeller efficiency. The calculation results are shown in Table 4 when the total efficiency was reduced to 0.4. To achieve more than the maximum design speed, an 80-watt BLDC motor with a reduction gear with a 5.8:1 gear ratio (made by Maxon Motors) was selected as the thruster motor. The selected propeller for the thrust system was KP452 S175, from the KORDI propeller series.

Fig. 3. Hull contour of ISiMI AUV.

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