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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)

Title: An advanced submersible handling system.
Creator: Clark, A. M., McCallum, R., Harbor Branch Oceanographic Institute
Date Issued: 1985
PURL: http://purl.flvc.org/FCLA/DT/3183671
Subject Headings: Automatic control, Resonance, Oceanographic submersibles, Remote submersibles, Winches
Format: Document (PDF)

Title: Deep-sea benthic and benthopelagic medusae: recent observations from submersibles and a remotely operated vehicle.
Creator: Larson, R. J., Matsumoto, G. I., Madin, L. P., Lewis, L. M., Harbor Branch Oceanographic Institute
Date Issued: 1992
PURL: http://purl.flvc.org/FCLA/DT/3172854
Subject Headings: Jellyfishes, Deep-sea animals, Biomass, Submersibles, Remote submersibles
Format: Document (PDF)

Title: A submersible diving system for science.
Creator: Fike, John W., Dolan, Robert B.
Date Issued: 1976
PURL: http://purl.flvc.org/fcla/dt/3358473
Subject Headings: Submersibles, Oceanographic submersibles, Johnson-Sea-Link II (Submarine)
Format: Document (PDF)

Title: An experimental investigation of the design and performance of small-diameter tunnel thrusters.
Creator: Whitney, James Walter, Jr., Florida Atlantic University, Smith, Samuel M., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: Maneuvering thrusters can provide small underwater vehicles with the ability to dynamically control position at low speeds. However, the successful implementation of these thrusters requires an understanding of their dynamic response, as well as a design which meets the specified design requirements. This thesis experimentally investigates the design and dynamic performance of small diameter tunnel thrusters for two small autonomous underwater vehicles. A systematic series of dynamic...
Show moreManeuvering thrusters can provide small underwater vehicles with the ability to dynamically control position at low speeds. However, the successful implementation of these thrusters requires an understanding of their dynamic response, as well as a design which meets the specified design requirements. This thesis experimentally investigates the design and dynamic performance of small diameter tunnel thrusters for two small autonomous underwater vehicles. A systematic series of dynamic experiments were conducted with three working tunnel thruster prototypes that fulfill the operating and design constraints of these vehicles. The results from these experiments are shown to provide an accurate representation of the overall performance and thrust capability of the thrusters tested. Experimental data is compared with simulations utilizing a recently proposed thruster model, and the ability of the model to predict the dynamic response is discussed.
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Date Issued: 1998
PURL: http://purl.flvc.org/fcla/dt/15555
Subject Headings: Submersibles--Equipment and supplies, Oceanographic submersibles--Design
Format: Document (PDF)

Title: Preliminary study on carbondioxide, temperature and humidity profiles in a manned submersible.
Creator: Wang, Tsen C., Lenahan, Robert A., Harbor Branch Oceanographic Institute
Date Issued: 1982
PURL: http://purl.flvc.org/fau/fd/FA00007001
Subject Headings: Carbon dioxide, Submersibles, Temperature, Humidity
Format: Document (PDF)

Title: Ship shadow measurements obtained from a manned submersible.
Creator: Spinard, R. W., Widder, Edith A., Harbor Branch Oceanographic Institute
Date Issued: 1992
PURL: http://purl.flvc.org/FCLA/DT/3180407
Subject Headings: Submersibles, Spectral irradiance, Optical oceanography
Format: Document (PDF)

Title: The manned submersible as an effective sampling and imaging platform.
Creator: Liberatore, D., Askew, T. M., Tusting, Robert F., Harbor Branch Oceanographic Institute
Date Issued: 1997
PURL: http://purl.flvc.org/FCLA/DT/3183699
Subject Headings: Submersibles, Underwater imaging systems, Sampling
Format: Document (PDF)

Title: Design of optimal control surfaces for underwater vehicles.
Creator: Jenkin, Alan Paul., Florida Atlantic University, Merry, Stephanie L.
Abstract/Description: This thesis presents a method for determining the optimal size and position of stabilizing fins and control surfaces for underwater vehicles. An interactive computer program predicts performance characteristics from calculated vehicle hydrodynamic coefficients. This program merges with a dynamic simulation that utilizes the characteristic coefficients of the design vehicle configuration. Example designs illustrate the procedure and general guidelines for the design of control surfaces....
Show moreThis thesis presents a method for determining the optimal size and position of stabilizing fins and control surfaces for underwater vehicles. An interactive computer program predicts performance characteristics from calculated vehicle hydrodynamic coefficients. This program merges with a dynamic simulation that utilizes the characteristic coefficients of the design vehicle configuration. Example designs illustrate the procedure and general guidelines for the design of control surfaces. Simulated steady state maneuvers illustrate the performance criteria and confirm the application of the design and simulation software package.
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Date Issued: 1989
PURL: http://purl.flvc.org/fcla/dt/14533
Subject Headings: Submersibles--Design and construction
Format: Document (PDF)

Title: Modeling the forward look sonar.
Creator: Barrault, Guillaume., Florida Atlantic University, Cuschieri, Joseph M.
Abstract/Description: A numerical model that simulates the operation of a Forward Look Scan Sonar (FLSS) has been developed in this thesis. The model discretizes the sonar-projected signal by a set of rays using a geometrical approach. Bending of the rays due to varying acoustic wave speed is neglected. Simulated raw sonar data are generated, and used as input in the sonar processing algorithms to generate sonar images. Using the model, the influence of, the most critical characteristics of the sonar, including...
Show moreA numerical model that simulates the operation of a Forward Look Scan Sonar (FLSS) has been developed in this thesis. The model discretizes the sonar-projected signal by a set of rays using a geometrical approach. Bending of the rays due to varying acoustic wave speed is neglected. Simulated raw sonar data are generated, and used as input in the sonar processing algorithms to generate sonar images. Using the model, the influence of, the most critical characteristics of the sonar, including phase variations among the channels, non-homogeneous channel amplitude, and the number of bad channels, on the quality of the sonar image is determined. The results of the model are compared to real data from a low frequency FLS sonar (250 KHz) and a high frequency FLS sonar (600 KHz). There is good matching between the simulation and the operation of the two sonars and the performance was markedly enhanced by using the modeling results.
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Date Issued: 2001
PURL: http://purl.flvc.org/fcla/dt/12733
Subject Headings: Sonar, Underwater acoustics, Remote submersibles
Format: Document (PDF)

Title: Experimental investigation of an oscillating hydrofoil propulsion system.
Creator: Viswanathan, Hariharan., Florida Atlantic University, Marshall, Jeffrey S., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: An experimental investigation of an oscillating hydrofoil propulsion system working behind a model of a small submersible was conducted. Tests were carried out both for a single foil and for systems of two foils. The tests with two foils considered various possible interactions between the foils. In order to understand the influence of trailing vortices of the foils on efficiency of the propulsion system, the two foils were tested for three different combinations of their relative wing spans....
Show moreAn experimental investigation of an oscillating hydrofoil propulsion system working behind a model of a small submersible was conducted. Tests were carried out both for a single foil and for systems of two foils. The tests with two foils considered various possible interactions between the foils. In order to understand the influence of trailing vortices of the foils on efficiency of the propulsion system, the two foils were tested for three different combinations of their relative wing spans. All of the above tests were carried out for two types of foil motion, one in which the pitch distribution was prescribed and the other in which the pitch depended on the motion characteristics.
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Date Issued: 1991
PURL: http://purl.flvc.org/fcla/dt/14695
Subject Headings: Underwater propulsion, Submersibles, Hydrofoil boats
Format: Document (PDF)

Title: Ocean turbulence measurement using an autonomous underwater vehicle.
Creator: Holappa, Kenneth Walter., Florida Atlantic University, Dhanak, Manhar R., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: The complex dynamics of the oceans are only beginning to be understood. There is a wide range of dynamic scales in the ocean from the Gulf Stream, with scales as large as the ocean itself, to the microstructure scales of turbulent dissipation. The program of work presented in this dissertation involves the implementation of a turbulence measurement package on board a recently developed small autonomous underwater vehicle (AUV), as well as the design of an optimized AUV platform and the...
Show moreThe complex dynamics of the oceans are only beginning to be understood. There is a wide range of dynamic scales in the ocean from the Gulf Stream, with scales as large as the ocean itself, to the microstructure scales of turbulent dissipation. The program of work presented in this dissertation involves the implementation of a turbulence measurement package on board a recently developed small autonomous underwater vehicle (AUV), as well as the design of an optimized AUV platform and the development of new oceanographic sensors for measurement of micro-structure velocity. Attention is focused on ensuring that the platform is sufficiently quiet since small-scale, low level measurements are easily contaminated by the measurement process, structural vibrations, rigid-body motions and electrical interference; particularly so with the requisite machinery of a self-propelled AUV. Successful measurement entails making suitable modification to the AUV and its mode of operation. In addition to optimization of the measurement platform, consideration is given here to the optimization of the sensors for flow measurement using an AUV. Included in the research are laboratory tests of the new probes and a successful mission in making high quality measurements of ocean turbulence. Modern adaptation of the well-known Pitot tube shows promise in being less sensitive to vehicle self motion as well as yielding a greater spectral range, thereby facilitating more accurate measurement. Comparisons with shear probes and hot film probes, conducted in an axisymmetric water jet and in a wind tunnel, suggest that the pressure probe, developed as part of the work presented here, resolves the dissipation scales more fully than the shear probe. Additionally, the pressure probe does not suffer from the spectral distortion of the signal observed in measurements using a shear probe. In addition to measurement of velocity microstructure, consideration is given to the implementation of modern signal processing hardware in designing a method for the direct measurement of density microstructure. This basic property of the ocean has never before been measured directly. Results, obtained off the Florida coast in 18 meter deep water with the Ocean Explorer AUV; Cook, reveal a complex mixing event. Simultaneous measurement of two components of the velocity microstructure and measurements with a CTD package are analyzed and the instantaneous rates of viscous dissipation of turbulent energy are calculated. The dissipation rate was not stationary and showed a gradient vertically with depth as well as horizontally. The AUV platform, modified for low vibration noise, allowed measurement of dissipation rates of O(10^-8 W/kg).
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Date Issued: 1997
PURL: http://purl.flvc.org/fcla/dt/12532
Subject Headings: Oceanographic submersibles, Turbulence--Measurement
Format: Document (PDF)

Title: A communication protocol for acoustic ad-hoc networks of autonomous underwater vehicles.
Creator: Baud, Bertrand., Florida Atlantic University, An, Edgar
Abstract/Description: This thesis presents the design and implementation of an underwater network communication protocol. The goal is to enable several autonomous underwater vehicles (AUVs) to form a communication network and to exchange information during at-sea missions. The focus of this work is on the upper layers of the protocol: Network and Transport layers. Routing is a critical issue since all the nodes forming the network are moving. A study and comparison of existing routing algorithms is presented. Two...
Show moreThis thesis presents the design and implementation of an underwater network communication protocol. The goal is to enable several autonomous underwater vehicles (AUVs) to form a communication network and to exchange information during at-sea missions. The focus of this work is on the upper layers of the protocol: Network and Transport layers. Routing is a critical issue since all the nodes forming the network are moving. A study and comparison of existing routing algorithms is presented. Two routing algorithms have been chosen and implemented in the network layer of the protocol: Flooding and Destination Sequence Distance Vector Routing. The protocol has been tested on several types of simulated missions. An analysis of the results is proposed for each mission.
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Date Issued: 2001
PURL: http://purl.flvc.org/fcla/dt/12774
Subject Headings: Underwater acoustics, Submersibles, Computer networks
Format: Document (PDF)

Title: Computation of hydrodynamic coefficients and determination of dynamic stability characteristics of an underwater vehicle including free surface effects.
Creator: Saout, Olivier., Florida Atlantic University, Ananthakrishnan, Palaniswamy, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: The inviscid hydrodynamic coefficients of an underwater vehicle (Ocean EXplorer), including the nonlinear effects of the wave surface, are computed using a boundary-integral method. A mixed Eulerian-Lagrangian formulation (Longuet-Higgins and Cokelet, 1976) is used for the treatment of nonlinear free-surface conditions. The algorithm is validated using the work-energy theorem (Yeung, 1982) and experimental data. Results, in the form of free-surface elevations and hydrodynamic coefficients,...
Show moreThe inviscid hydrodynamic coefficients of an underwater vehicle (Ocean EXplorer), including the nonlinear effects of the wave surface, are computed using a boundary-integral method. A mixed Eulerian-Lagrangian formulation (Longuet-Higgins and Cokelet, 1976) is used for the treatment of nonlinear free-surface conditions. The algorithm is validated using the work-energy theorem (Yeung, 1982) and experimental data. Results, in the form of free-surface elevations and hydrodynamic coefficients, are obtained for a range of body geometries and maneuvers. The open-loop dynamics of underwater vehicles are then investigated by solving the 3DOF rigid-body equations of motion (OXY plane). The advantages and possible usage of the developed methodology for the design and control of underwater vehicles, as well as topics for further research, are addressed in the conclusion chapter of the thesis.
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Date Issued: 2003
PURL: http://purl.flvc.org/fcla/dt/12981
Subject Headings: Hydrodynamics, Oceanographic submersibles, Water waves
Format: Document (PDF)

Title: Subsurface structure of an atmospherically forced water column in littoral waters.
Creator: Chernys, Michael., Florida Atlantic University, Dhanak, Manhar R., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: The developing subsurface structure of a shallow sub-tropical water column during the passage of cold low-pressure atmospheric front is characterized through synoptic and in-situ observations during the passage of three separate fronts over South Florida. Subsurface distribution of current, salinity, temperature, density and dissipation rates were examined using an autonomous underwater vehicle (AUV), ship-based instruments, moored instruments and an Ocean Surface Current Radar (OSCR) as the...
Show moreThe developing subsurface structure of a shallow sub-tropical water column during the passage of cold low-pressure atmospheric front is characterized through synoptic and in-situ observations during the passage of three separate fronts over South Florida. Subsurface distribution of current, salinity, temperature, density and dissipation rates were examined using an autonomous underwater vehicle (AUV), ship-based instruments, moored instruments and an Ocean Surface Current Radar (OSCR) as the fronts passed through the region. Airfoil shear probes mounted in a package on the nose of the AUV were used to measure the level and distribution of small-scale turbulence in the water column and to estimate the in-situ dissipation rate of turbulent kinetic energy. Prevailing meteorological conditions were determined from two NOAA C-MAN stations and, for two of the experiments, from a local Air Sea Interaction Spar buoy (ASIS). The first atmospheric front examined was in December 1998. A significant 10°C drop in air temperature was recorded. The AUV carried out several pre-programmed surveys over a 6-day period. A turbulent kinetic energy dissipation rates of O(10-6W/kg) were observed in the water column during the passage of the front. Fetch-limited, offshore, wind-induced surface and subsurface currents were identified during the passage of the front on April 9, 2000. As the winds increased in magnitude and shifted direction, a change in surface current was apparent in the OSCR observations. A bottom-mounted ADCP and an AUV-mounted ADCP both recorded distinct corresponding contributions to the subsurface current due to the winds. Clockwise rotation of the current profile in the water column, consistent with wind-generated currents, was observed. A third low-pressure cold front passed through the region on April 18 an 19, 2000. AUV surveys were carried out as the front passed over the region for 19 hours within a 24-hour period. Dissipation rates reached O(10 -6W/kg) during the period of the survey and decreased to O(10 -8W/kg) subsequently. The distribution of dissipation rate appeared to agree with the characteristic log law for wind-induced turbulence at the start of the passage of the front, but was significantly higher subsequently and more dependent on the combination of convective fluxes and wind stress.
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Date Issued: 2002
PURL: http://purl.flvc.org/fau/fd/FADT12001
Subject Headings: Turbulence--Measurement, Oceanographic submersibles
Format: Document (PDF)

Title: Series II cable cutter evaluation and test report.
Creator: Cohen, Michael L., Tietze, R. C.
Date Issued: 1978-09-08
PURL: http://purl.flvc.org/fcla/dt/3358623
Subject Headings: Submersibles, Submersibles--United States--Safety measures, Submersibles--Design and construction
Format: Document (PDF)

Title: Dynamic operation of a thethered submersible vehicle: Sea guardian/cord system.
Creator: Tietze, R. C., Feild, Fay
Date Issued: 1976-09-24
PURL: http://purl.flvc.org/fcla/dt/3358480
Subject Headings: Submersibles, Submersibles--United States--Safety measures, Submersibles--Design and construction
Format: Document (PDF)

Title: A precision navigation system for autonomous undersea vehicles.
Creator: White, Dan G., Psota, F., Harbor Branch Oceanographic Institute
Date Issued: 1996
PURL: http://purl.flvc.org/FCLA/DT/3351964
Subject Headings: Inertial navigation systems, Submersibles, Submersibles--Automatic control, Inertial navigation, Remote submersibles
Format: Document (PDF)

Title: Development of tools for underwater vehicles.
Creator: Kocak, D. M., Neely, J. W., Harbor Branch Oceanographic Institute
Date Issued: 2000
PURL: http://purl.flvc.org/fau/fd/FA00007154
Subject Headings: Underwater vehicles, Submersibles--Design and construction, Submersibles--Automatic control, Tools, Remote submersibles
Format: Document (PDF)

FAU Theses and Dissertations (67)	+ -
HBOI Faculty Contributions (65)	+ -
HBOI Technical Reports (26)	+ -
FAU Undergraduate Student Research (1)	+ -

Submersibles (60)	+ -
Oceanographic submersibles (40)	+ -
Submersibles--Design and construction (26)	+ -
Remote submersibles (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)	+ -
Sampling (3)	+ -
Submersibles--Technological innovations (3)	+ -
Underwater propulsion (3)	+ -
Ad hoc networks (Computer networks) (2)	+ -

Electronic Thesis or Dissertation (67)	+ -
article (65)	+ -
technical report (26)	+ -
poster (1)	+ -

Florida Atlantic University (61)	+ -
Harbor Branch Oceanographic Institute (51)	+ -
College of Engineering and Computer Science (44)	+ -
Department of Ocean and Mechanical Engineering (41)	+ -
An, Edgar (10)	+ -

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