Project, wewe decidedcreate a new new configuration with the ROV using the so-called Hexaflumuron Inhibitor Y-arrangement of thrusters. together with the so-called Y-arrangement of thrusters. As outlined by the proposed arrangement, you can find three thrusters with thrust inside the In accordance with the proposed arrangement, you will find 3 thrusters with aathrust inside the horizontal plane and three thrusters with aathrust within the vertical plane. Thrusters with horizontal plane and three thrusters with thrust in the vertical plane. Thrusters with horizontal thrusts are positioned in one particular plane at a distance from the center of rotation with the horizontal thrusts are located in a single plane at a distance from the center of rotation in the automobile, inside a circle, having a step of 120 degrees relative to the vertical axis. Within this case, the car, in a circle, using a step of 120 degrees relative for the vertical axis. In this case, the vectors of your horizontal thrust from the thrusters are situated tangentially towards the indicated vectors of your horizontal thrust of your thrusters are located tangentially towards the indicated circle. Thus, this group of thrusters delivers controlled Landiolol manufacturer linear movement in the horizontal circle. Hence, this group of thrusters delivers controlled linear movement in the horizontal plane along the two degrees of freedom and rotational movement relative towards the vertical plane along the two degrees of freedom and rotational movement relative to the vertical axis with the automobile. axis with the automobile. Thrusters using a thrust within the vertical Thrusters having a thrust within the vertical plane are located similarly to a group of horigroup of horizontal thrusters at a distance in the center of rotation from the car within a circle with aa zontal thrusters rotation with the car in a circle with step of 120 degrees relative towards the vertical axis. Thus, this group of thrusters delivers aa step of 120 degrees relative for the vertical axis. Hence, this group of thrusters provides controlled linear movement with the car inside the vertical plane and rotational movement controlled linear movement of the automobile inside the vertical plane and rotational movement relative towards the longitudinal and transverse axes from the automobile. relative to the longitudinal and transverse axes in the automobile. All thrusters in aa complex manner enable reaching complete controllability thethe vehicle All thrusters in complicated manner enable reaching complete controllability of of automobile in degrees of freedom when making use of six thrusters, which is typically achieved with eight thrusters in in degrees of freedom when employing six thrusters, which is generally achieved with eight thrusters classic configurations. in classic configurations. The created ROV is named SevROV. The arrangement of the SevROV thrusters may be the created ROV is named SevROV. The arrangement from the SevROV thrusters is shown in Figure 1. shown in Figure 1.Figure 1. The arrangement on the SevROV thrusters. Figure 1. The arrangement in the SevROV thrusters.Let us compare two preferred 6-thruster (Figure 2a) and 8-thruster (Figure 2b) schemes Let us compare two popular 6-thruster (Figure 2a) and 8-thruster (Figure 2b) schemes ofthe ROV together with the proposed one (Table 1). As a result of working with the proposed layout, we get the ROV together with the proposed 1 (Table 1). Due to employing the proposed layout, we get of decrease thrusts in the horizontal directions compared to the classic 6-thruster layouts, by decrease thrusts within the horizontal directions in comparison with the classic 6-thruster layouts, by 11 within the lag and 32 in t.