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Title: A convenient state machine formalism for high-level control of autonomous underwater vehicles.
Creator: Girard, Anouck Renee., Florida Atlantic University, Smith, Samuel M.
Abstract/Description: Recent successes in Autonomous Underwater Vehicle (AUV) technology have generated demand for broader, more general use of these vehicles, along with demand for longer, more complicated missions. However, AUVs are becoming more complex, and hence more difficult to program, test and maintain. A discrete event system would provide conditional execution for mission management, failure detection, and resource allocation techniques. The goal of this thesis is to provide a convenient formalism for...
Show moreRecent successes in Autonomous Underwater Vehicle (AUV) technology have generated demand for broader, more general use of these vehicles, along with demand for longer, more complicated missions. However, AUVs are becoming more complex, and hence more difficult to program, test and maintain. A discrete event system would provide conditional execution for mission management, failure detection, and resource allocation techniques. The goal of this thesis is to provide a convenient formalism for discrete event systems that reduces the apparent complexity of the system while maintaining its robust capabilities. The chosen formalism allows the convenient representation of hierarchies of concurrent hierarchical state machines. The formal semantics of the model are discussed, along with complete data structures and algorithms. As an example, a complete design of the navigator state machine is provided.
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Date Issued: 1998
PURL: http://purl.flvc.org/fcla/dt/15549
Subject Headings: Submersibles, Oceanographic submersibles
Format: Document (PDF)

Title: Basic design and performance analysis of an inertial navigation system for an autonomous underwater vehicle.
Creator: Khedkar, Amol C., Florida Atlantic University, Dunn, Stanley E., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: The parameters underlying the design of an Inertial Navigation System (INS) for an Autonomous Underwater Vehicle (AUV) are studied. The strapdown approach for this design is discussed. The performance of a mathematical model of an INS is investigated using a simulation program developed for this purpose. An algorithm is outlined for investigating the accuracy of the computed position of an AUV as compared to the actual or expected position. The results of the simulation program developed...
Show moreThe parameters underlying the design of an Inertial Navigation System (INS) for an Autonomous Underwater Vehicle (AUV) are studied. The strapdown approach for this design is discussed. The performance of a mathematical model of an INS is investigated using a simulation program developed for this purpose. An algorithm is outlined for investigating the accuracy of the computed position of an AUV as compared to the actual or expected position. The results of the simulation program developed using the above mentioned algorithm are presented in a graphical form. The Ring Laser Gyro (RLG), a recent development in the field of inertial sensor technology, is studied with reference to possible use in an INS for an AUV.
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Date Issued: 1989
PURL: http://purl.flvc.org/fcla/dt/14535
Subject Headings: Remote submersibles
Format: Document (PDF)

Title: Upgrading the electrical and electronic systems of the manned research submersibleCLELIA.
Creator: Tusting, Robert F., Adams, M., Kennedy, G., Caimi, F. M., Chiong, B., Spytek, J., Harbor Branch Oceanographic Institute
Date Issued: 1994
PURL: http://purl.flvc.org/fau/fd/FA00007309
Subject Headings: Submersibles, Submersibles--Technological innovations, Submersibles--Design and construction
Format: Document (PDF)

Title: Underwater marketplace: ROV tooling.
Creator: Kocak, D. M., Harbor Branch Oceanographic Institute
Date Issued: 1999
PURL: http://purl.flvc.org/fau/fd/FA00007455
Subject Headings: Submersibles, Remote submersibles, Underwater vehicles, Submersibles--Design and construction
Format: Document (PDF)

Title: A stress analysis of the submersible tracking & communications mast attached to sea diver.
Creator: Bernard, Steven
Date Issued: 1977-03-17
PURL: http://purl.flvc.org/fcla/dt/3358606
Subject Headings: Submersibles, Submersibles--Design and construction, Oceanographic submersibles
Format: Document (PDF)

Title: A system for dynamic stress analysis of a launch & recovery crane at sea with some preliminary results.
Creator: Stewart, Ken
Date Issued: 1981
PURL: http://purl.flvc.org/fcla/dt/3358773
Subject Headings: Submersibles, Submersibles--Design and construction, Submersibles--Technological innovations
Format: Document (PDF)

Title: Aluminum hydrocrane for submersible operations.
Creator: Dolan, Robert B.
Date Issued: 1976
PURL: http://purl.flvc.org/fcla/dt/3358475
Subject Headings: Submersibles, Oceanographic submersibles, Submersibles--Design and construction
Format: Document (PDF)

Title: Low cost operation and system design for a submersible tender.
Creator: Atwell, J. T., Heil, O. F., Harbor Branch Oceanographic Institute
Date Issued: 1974
PURL: http://purl.flvc.org/FCLA/DT/3338490
Subject Headings: Submersibles, Submersibles--Design and construction
Format: Document (PDF)

Title: Design and construction of an aluminum A-frame for submersible launch and recovery.
Creator: Clark, A. M., Harbor Branch Oceanographic Institute
Date Issued: 1986
PURL: http://purl.flvc.org/fau/fd/FA00007490
Subject Headings: Submersibles, Submersibles--Design and construction
Format: Document (PDF)

Title: An evaluation of diving and submersible systems.
Creator: Cook, Roger W., Prentice, Jeffrey R.
Date Issued: 1978
PURL: http://purl.flvc.org/fcla/dt/3358617
Subject Headings: Submersibles, Scuba apparatus, Submersibles--History
Format: Document (PDF)

Title: Control design for highly maneuverable autonomous underwater vehicles.
Creator: Poirrier, Ronald., Florida Atlantic University, Leonessa, Alexander, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: Accurate Autonomous Underwater Vehicles positioning requires an appropriate control design which takes into account the nonlinear coupling between the different degrees of freedom. Assuming a vehicle equipped with two side-thruster modules including two tunnel thrusters each, the control problem will be split into an outer control loop handling the motion of the vehicle, and an inner control loop designed to track the thrust commanded to each thruster. A multivariable Lyapunov function based...
Show moreAccurate Autonomous Underwater Vehicles positioning requires an appropriate control design which takes into account the nonlinear coupling between the different degrees of freedom. Assuming a vehicle equipped with two side-thruster modules including two tunnel thrusters each, the control problem will be split into an outer control loop handling the motion of the vehicle, and an inner control loop designed to track the thrust commanded to each thruster. A multivariable Lyapunov function based approach, characterized by robustness properties with respect to parametric uncertainties and linearly bounded control output, will be proposed for the outer-loop and simulation results will be discussed. Regarding the low-level control framework, the performance of nine different controllers including conventional PI, sliding mode fuzzy controllers, and adaptive schemes such as model reference and sliding mode adaptive controllers, will be compared through theoretical derivations and experimental results. Such a comparison will show the advantages of the adaptive schemes in terms of tuning, robustness, and tracking performances.
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Date Issued: 2001
PURL: http://purl.flvc.org/fau/fd/FADT12777
Subject Headings: Submersibles--Automatic control, Oceanographic submersibles
Format: Document (PDF)

Title: Life suppot materials in a manned submersible.
Creator: Wang, Tsen C.
Date Issued: 1982-02
PURL: http://purl.flvc.org/fcla/dt/3358776
Subject Headings: Submersibles, Carbon dioxide mitigation
Format: Document (PDF)

Title: RAM (rotary actuated manipulator).
Creator: Moore, Ellen C.
Date Issued: 1981-02-20
PURL: http://purl.flvc.org/fcla/dt/3358749
Subject Headings: Submersibles, Submersibles--Design and construction, Remote submersibles, Remote submersibles--Automatic control
Format: Document (PDF)

Title: Characterization of the acoustic signature of an Ocean Explorer class AUV.
Creator: Lambe, Frederic Lionel., Florida Atlantic University, Cuschieri, Joseph M., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: The radiated noise from Autonomous Underwater Vehicles (AUV's) can interfere with on-board sensors and with certain type of missions. It is thus important to understand the parameters controlling the AUV self noise. In this thesis, measurement techniques and analyses are developed to investigate the mechanisms contributing to the acoustic noise of an Ocean Explorer class AUV. Measurements of the AUV acoustic signature are performed in a reverberant tank, after the tank is qualified to...
Show moreThe radiated noise from Autonomous Underwater Vehicles (AUV's) can interfere with on-board sensors and with certain type of missions. It is thus important to understand the parameters controlling the AUV self noise. In this thesis, measurement techniques and analyses are developed to investigate the mechanisms contributing to the acoustic noise of an Ocean Explorer class AUV. Measurements of the AUV acoustic signature are performed in a reverberant tank, after the tank is qualified to establish a reliable procedure to measure the AUV source levels. The measurement results are compared that obtained in an anechoic tank and in open-water. Acoustic measurements are correlated with vibration measurements performed on various components of the AUV, in order to identify the dominant components. From the results, some preliminary mitigation procedures to reduce the AUV acoustic signature are developed.
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Date Issued: 1999
PURL: http://purl.flvc.org/fcla/dt/15618
Subject Headings: Oceanographic submersibles, Underwater acoustics
Format: Document (PDF)

Title: Oceanic turbulence measurement using an AUV platform and development of graphical interfaces for data acquisition and analysis.
Creator: Leindecker, Eric-Olivier., Florida Atlantic University, Dhanak, Manhar R., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: Application of a small autonomous underwater vehicle (AUV) is described as a platform for measurement of oceanic turbulence in coastal waters during cold atmospheric fronts. The turbulence package, mounted on the AUV, allows horizontal profiling and measurement of small-scale fluctuations of velocity and temperature and other characteristics of the flow in the ocean mixed layer. The turbulence measurements were made in conjunction with current profile measurements, conductivity, temperature,...
Show moreApplication of a small autonomous underwater vehicle (AUV) is described as a platform for measurement of oceanic turbulence in coastal waters during cold atmospheric fronts. The turbulence package, mounted on the AUV, allows horizontal profiling and measurement of small-scale fluctuations of velocity and temperature and other characteristics of the flow in the ocean mixed layer. The turbulence measurements were made in conjunction with current profile measurements, conductivity, temperature, and depth measurements, providing the background conditions. The navigation and tracking data from the ship and the underwater vehicle are also presented. The primary focus of this research was to collect and analyze data from the ocean in order to resolve the turbulent velocity fluctuations and the dissipation rates of turbulent kinetic energy. The aim of this thesis is to explain the approach for measurement and analysis of ocean data. It includes the manufacture of the measurement probes, the preparation of the electronic system, the coding of the acquisition software and use of several algorithms for detecting the presence of turbulence and mixing. Two observational oceanographic experiments are described as a basis for illustrating the techniques and methods in data acquisition and analysis of the oceanographic and turbulent quantities.
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Date Issued: 2001
PURL: http://purl.flvc.org/fcla/dt/12781
Subject Headings: Oceanographic submersibles, Turbulence, Oceanography
Format: Document (PDF)

Title: An experimental investigation of the performance of a series of propellers for a human powered underwater vehicle.
Creator: Heeb, Karl Von., Florida Atlantic University, Dhanak, Manhar R.
Abstract/Description: Designing a propeller for optimum performance on a human powered underwater vehicle presents a significant engineering challenge. The propeller must be highly efficient to utilize the inherently low power output of a human. Also, the propeller must be correctly matched to the maximum sustainable torque of the propulsor. This thesis experimentally investigates a minimum induced loss propeller design program and its application to a human powered underwater vehicle. The design program is based...
Show moreDesigning a propeller for optimum performance on a human powered underwater vehicle presents a significant engineering challenge. The propeller must be highly efficient to utilize the inherently low power output of a human. Also, the propeller must be correctly matched to the maximum sustainable torque of the propulsor. This thesis experimentally investigates a minimum induced loss propeller design program and its application to a human powered underwater vehicle. The design program is based on the vortex theory of propellers. The work includes experimental measurements of the velocity and rotational rate of three propellers designed with the minimum induced loss propeller design program. This positively verifies the output of the design algorithm. Also, the research, through the use of an underwater ergometer, determines the maximum power and torque sustainable by a human pedaling underwater. Final results of the research show that the design algorithm overestimates the blade section angles by 25% because the design program neglects the influence of the wake of the vehicle.
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Date Issued: 1994
PURL: http://purl.flvc.org/fcla/dt/15078
Subject Headings: Propellers, Submersibles, Underwater propulsion
Format: Document (PDF)

Title: Experimental analysis of the AUV acoustic signature.
Creator: Frandsen, Susan Eileen., Florida Atlantic University, Cuschieri, Joseph M.
Abstract/Description: This thesis presents an experimental analysis of the acoustic signature of an Ocean Explorer class AUV. The experimental analysis consists of three parts. The first part reports the measurements performed in an open water environment at NSWC in Lake Pend Oreille, Idaho. The second part reports on measurements performed at the FAU test tank on a mock model of the AUV and the third part reports the measurements also in the FAU test tank of the AUV under typical operating conditions. The model...
Show moreThis thesis presents an experimental analysis of the acoustic signature of an Ocean Explorer class AUV. The experimental analysis consists of three parts. The first part reports the measurements performed in an open water environment at NSWC in Lake Pend Oreille, Idaho. The second part reports on measurements performed at the FAU test tank on a mock model of the AUV and the third part reports the measurements also in the FAU test tank of the AUV under typical operating conditions. The model measurement results were also used to verify the prediction capabilities of a numerical FE model of the AUV using the reciprocity method. The measurements in the FAU tank considered different operating conditions and different mounting of the podule inside the AUV. The podule contains the main mechanical components of the AUV, which are the propulsion motor and the control surface motors. Also considered in these measurements is the influence of the propeller and the influence of covering the aft section of the AUV with a compliant layer. The results of this analysis show that the type of mounting of the podule is not very significant and that significant energy is transferred through the water trapped in between the podule and the hull. Furthermore, the propeller has a significant influence on the acoustic signature since it generates distinct tones. These tones were also observed in the results of the open water measurements.
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Date Issued: 2001
PURL: http://purl.flvc.org/fcla/dt/12768
Subject Headings: Underwater acoustics, Oceanographic submersibles
Format: Document (PDF)

Title: CORD II - an ROV system for use in high current conditions.
Creator: Clayton, David L., Prentice, Jeffrey R., Tietze, R. C.
Date Issued: 1983
PURL: http://purl.flvc.org/fcla/dt/3358782
Subject Headings: Remote submersibles, Remote submersibles--Design and construction, Underwater exploration
Format: Document (PDF)

Title: A purpose-built ROV for submersible rescue.
Creator: Clark, A. M., Neely, J. W., White, Dan G., Harbor Branch Oceanographic Institute
Date Issued: 1993
PURL: http://purl.flvc.org/fau/fd/FA00007451
Subject Headings: Submersibles, Oceanographic submersibles, Submarine rescue vehicles, Harbor Branch Oceanographic Institution
Format: Document (PDF)

Title: Remotely operated tools for undersea vehicles.
Creator: Tietze, R. C., Clark, A. M., Harbor Branch Oceanographic Institute
Date Issued: 1986
PURL: http://purl.flvc.org/fau/fd/FA00007434
Subject Headings: Submersibles, Remote submersibles, Johnson-Sea-Link II (Submarine)
Format: Document (PDF)

FAU Theses and Dissertations (67)	+ -
HBOI Faculty Contributions (62)	+ -
HBOI Technical Reports (26)	+ -
FAU Undergraduate Student Research (1)	+ -

Submersibles (57)	+ -
Oceanographic submersibles (40)	+ -
Remote submersibles (25)	+ -
Submersibles--Design and construction (25)	+ -
Johnson-Sea-Link II (Submarine) (24)	+ -

Submersibles--Automatic control (12)	+ -
Underwater navigation (10)	+ -
Underwater acoustics (9)	+ -
Oceanographic submersibles--Computer simulation (8)	+ -
Underwater vehicles (7)	+ -
Submersibles--United States--Safety measures (6)	+ -
Automatic control (5)	+ -
Hydrodynamics (5)	+ -
Acoustical engineering (4)	+ -
Oceanographic submersibles--Automatic control (4)	+ -
Remote submersibles--Design and construction (4)	+ -
Sonar (4)	+ -
Deep sea corals (3)	+ -
Fuzzy sets (3)	+ -
Harbor Branch Oceanographic Institution (3)	+ -
Mathematical models (3)	+ -
Neural networks (Computer science) (3)	+ -
Nonlinear control theory (3)	+ -
Oceanographic submersibles--Mathematical models (3)	+ -
Propellers (3)	+ -
Remote submersibles -- Design and construction (3)	+ -
Submersibles--Technological innovations (3)	+ -
Underwater propulsion (3)	+ -
Ad hoc networks (Computer networks) (2)	+ -
Carbon dioxide (2)	+ -

Electronic Thesis or Dissertation (67)	+ -
article (62)	+ -
technical report (26)	+ -
poster (1)	+ -

Florida Atlantic University (61)	+ -
Harbor Branch Oceanographic Institute (48)	+ -
College of Engineering and Computer Science (44)	+ -
Department of Ocean and Mechanical Engineering (41)	+ -
An, Edgar (10)	+ -

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