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Title: Implementation of the Ocean Explorer AUV dock for use with the Morpheus AUV.
Creator: Lambiotte, Joseph Clayton, Jr., Florida Atlantic University, Smith, Samuel M., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: This report highlights important aspects of previous work with the Ocean Explorer (OEX) autonomous underwater vehicle (AUV) docking system as a background. This includes short baseline navigation, the Tracking Controller, Mechanical aspects of the dock, and results of testing of the docking system for the OEX Details of the Morpheus AUV are then given along with the major concerns faced in trying to adapt the OEX dock to the Morpheus. Using computer simulation, the reaction of the Morpheus...
Show moreThis report highlights important aspects of previous work with the Ocean Explorer (OEX) autonomous underwater vehicle (AUV) docking system as a background. This includes short baseline navigation, the Tracking Controller, Mechanical aspects of the dock, and results of testing of the docking system for the OEX Details of the Morpheus AUV are then given along with the major concerns faced in trying to adapt the OEX dock to the Morpheus. Using computer simulation, the reaction of the Morpheus when it impacts the dock is explored and the results of at sea testing (the collision of the vehicle and the dock) is discussed. A stinger strength analysis of the docking components is included and finally, suggestions for future work including modifications of the existing dock as well as another docking scheme are presented.
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Date Issued: 2001
PURL: http://purl.flvc.org/fcla/dt/12735
Subject Headings: Oceanographic submersibles--Computer simulation, Underwater navigation
Format: Document (PDF)

Title: Hydrodynamic analysis of an underwater body including free-surface effects.
Creator: Puaut, Christophe., Florida Atlantic University, Ananthakrishnan, Palaniswamy, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: Boundary integral algorithms are developed to analyze three-dimensional inviscid fluid-body interactions, including the nonlinear free-surface effects. Hydrodynamic coefficients are computed for various body geometries, some corresponding to that of small underwater vehicles, in deep waters and near the free surface. The fully nonlinear unsteady wave-radiation problem corresponding to forced submerged-body oscillations and forward translation are solved using the mixed Eulerian-Lagrangian...
Show moreBoundary integral algorithms are developed to analyze three-dimensional inviscid fluid-body interactions, including the nonlinear free-surface effects. Hydrodynamic coefficients are computed for various body geometries, some corresponding to that of small underwater vehicles, in deep waters and near the free surface. The fully nonlinear unsteady wave-radiation problem corresponding to forced submerged-body oscillations and forward translation are solved using the mixed Eulerian-Lagrangian formulation (Longuet-Higgins and Cokelet, 1976). By implementing the leading-order free-surface conditions on the calm surface, linear time-domain solutions are also obtained. The nonlinear and linear results are compared to quantify the nonlinear free-surface effects. Linear frequency-domain analysis of the wave-body interactions is also carried out using a boundary-integral method based on the simple-source distribution (Yeung, 1974). The linear time-domain and the latter frequency-domain results are also compared for a validation of the algorithms.
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Date Issued: 2001
PURL: http://purl.flvc.org/fcla/dt/12845
Subject Headings: Boundary element methods, Oceanographic submersibles, Hydrodynamics
Format: Document (PDF)

Title: Pattern-oriented design of a dynamically reconfigurable software architecture for AUV high-level control.
Creator: Dupire, Benoit Francois., Florida Atlantic University, Smith, Samuel M.
Abstract/Description: The Morpheus, the latest generation of AUV developed at Florida Atlantic University was designed to be as modular as possible, and to handle longer, more complicated missions. The software must now reflect this improvement: it should be as dynamic as possible, must adapt to the different missions and emphasize flexibility and scalability. It must allow for complex behaviors, failure detection and handling and multiple cooperative missions. On the other hand, the new high-level controller has...
Show moreThe Morpheus, the latest generation of AUV developed at Florida Atlantic University was designed to be as modular as possible, and to handle longer, more complicated missions. The software must now reflect this improvement: it should be as dynamic as possible, must adapt to the different missions and emphasize flexibility and scalability. It must allow for complex behaviors, failure detection and handling and multiple cooperative missions. On the other hand, the new high-level controller has to remain accessible to the non expert user. To achieve these goals, a new architecture, based on the Convenient Hierarchical Autonomous State Machine formalism, was implemented using Python. The system is modeled as a set of concurrent processes communicating through shared memory to accommodate a variety of sensor payloads from one mission to the next. New control tools can be integrated dynamically into the architecture in the form of modules implementing new behaviors.
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Date Issued: 2001
PURL: http://purl.flvc.org/fcla/dt/12789
Subject Headings: Submersibles--Automatic control, Software configuration management
Format: Document (PDF)

Title: Technological advancements of lock-out submersibles.
Creator: Cook, Roger W., Harbor Branch Oceanographic Institute
Date Issued: 1982
PURL: http://purl.flvc.org/fau/fd/FA00007366
Subject Headings: Submersibles, Johnson-Sea-Link II (Submarine), Submersibles--Technological innovations
Format: Document (PDF)

Title: Modern power distribution and conversion in undersea systems.
Creator: Tusting, Robert F., Taylor, Lawrence D.
Date Issued: 1991
PURL: http://purl.flvc.org/FCLA/DT/3351947
Subject Headings: Remote submersibles--Design and construction, Submersibles--Design and construction, Power systems, Electric current converters
Format: Document (PDF)

Title: Determination of Horizontal Motion through Optical Flow Computations.
Creator: Chih-Ho, Yu, Caimi, F. M., Harbor Branch Oceanographic Institute
Date Issued: 1997
PURL: http://purl.flvc.org/fcla/dt/3318842
Subject Headings: Remote submersibles, Remote submersibles --Automatic control, Computer vision, Optical measurements --Remote sensing
Format: Document (PDF)

Title: Habitat and fauna of deep-water Lophelia pertusa coral reefs off the southeastern US: Blake Plateau, Straits of Florida, and Gulf of Mexico.
Creator: Reed, John K., Weaver, Doug C., Pomponi, Shirley A.
Date Issued: 2006
PURL: http://purl.flvc.org/FCLA/DT/3172090
Subject Headings: Coral reef ecology, Corals --Habitat --Congresses, Deep sea corals, Oceanographic submersibles, Remote submersibles
Format: Document (PDF)

Title: Redesign of Johnson-Sea-Link acrylic submersible for manned operation to 3000 ft (914.4 m) ocean depth.
Creator: Das, Partha S.
Date Issued: 2000-04
PURL: http://purl.flvc.org/fcla/dt/3359266
Subject Headings: Johnson-Sea-Link II (Submarine), Submersibles, Submersibles--Design and construction
Format: Document (PDF)

Title: 50° conical opening penetrators for the Johnson-Sea-Link: MK V acrylic pilot sphere.
Creator: Olson, Scott
Date Issued: 2000-10-23
PURL: http://purl.flvc.org/fcla/dt/3359268
Subject Headings: Johnson-Sea-Link II (Submarine), Submersibles--Design and construction, Submersibles
Format: Document (PDF)

Title: The development and use of an equipment retrieval reel.
Creator: Holt, John K.
Date Issued: 1977-07-01
PURL: http://purl.flvc.org/fcla/dt/3358615
Subject Headings: Submersibles, Submersibles--Design and construction, Johnson-Sea-Link II (Submarine)
Format: Document (PDF)

Title: Design project to increase the speed of the Johnson-Sea-Link submersibles.
Creator: Schudel, Gregg William
Date Issued: 1980-03
PURL: http://purl.flvc.org/fcla/dt/3358628
Subject Headings: Submersibles, Johnson-Sea-Link II (Submarine), Submersibles--Design and construction
Format: Document (PDF)

Title: Deep ocean ROV operated coring device.
Creator: White, Dan G., Tietze, R. C., Jolly, D., Hammond, Don, Harbor Branch Oceanographic Institute
Date Issued: 1996
PURL: http://purl.flvc.org/FCLA/DT/3351970
Subject Headings: Remote submersibles--Design and construction, Remote submersibles--Automatic control, Marine sediments--Sampling
Format: Document (PDF)

Title: Design and implementation of an altitude flight controller for the FAU Ocean Voyager II.
Creator: White, Kevin Andrew., Florida Atlantic University, Smith, Samuel M., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: Autonomous underwater vehicle (AUV) missions are generally of a multi-tasked nature, i.e., there are usually several criteria which need to be met concurrently during the course of a mission. An example is the bottom altitude tracking mission proposed by the University of South Florida. They have developed a bottom classification and albedance package (BCAP) which will be used to record data to ground-truth oceanographic satellites. Two criteria needed for this mission are vehicle safety and...
Show moreAutonomous underwater vehicle (AUV) missions are generally of a multi-tasked nature, i.e., there are usually several criteria which need to be met concurrently during the course of a mission. An example is the bottom altitude tracking mission proposed by the University of South Florida. They have developed a bottom classification and albedance package (BCAP) which will be used to record data to ground-truth oceanographic satellites. Two criteria needed for this mission are vehicle safety and motion stability of the recording sensors. This thesis will respectively compare the results of three bottom altitude tracking controllers: a linear modification of an existing depth controller, a TSK fuzzy logic controller, and a behavior based decision controller. Aspects analyzed for meeting the criteria were the ability of the auv to avoid collisions with bottom, the ability of the auv to maintain a desired altitude above the sea floor, and the ability of the auv to keep the amount of blur in a picture taken by a downward looking camera under one pixel. From simulation and real world testing, final results indicate the behavioral based decision controller was proven to be the most robust and the only controller tested to be able to handle multi-criteria.
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Date Issued: 1996
PURL: http://purl.flvc.org/fcla/dt/15236
Subject Headings: Remote submersibles, Underwater navigation, Underwater exploration, Altitudes--Measurement, Oceanographic submersibles--Design
Format: Document (PDF)

Title: A fuzzy logic based flight control system for the FAU "Ocean Voyager" autonomous underwater vehicle.
Creator: Anderson, Donald Taylor., Florida Atlantic University, Smith, Samuel M.
Abstract/Description: The development of a Flight Control System for a non-linear six degree of freedom model of an Autonomous Underwater Vehicle is described. Heading, pitch and depth are regulated by three independent Fuzzy Logic Controllers (FLCs). Numerical methods are used to tune rule bases to control tables that are based on the minimum time characteristics of the model. Setpoint errors are eliminated using fuzzily constrained integrators. A scheme to vary control policy with forward speed is also detailed....
Show moreThe development of a Flight Control System for a non-linear six degree of freedom model of an Autonomous Underwater Vehicle is described. Heading, pitch and depth are regulated by three independent Fuzzy Logic Controllers (FLCs). Numerical methods are used to tune rule bases to control tables that are based on the minimum time characteristics of the model. Setpoint errors are eliminated using fuzzily constrained integrators. A scheme to vary control policy with forward speed is also detailed. System stability is evaluated using cell-to-cell mapping. A variable structure fuzzy heading controller is designed for an unstable non-linear model of an Unmanned Underwater Vehicle. Scheduling of scaling parameters accommodates changes in forward speed as predicted by thruster RPM and angular distance turned. This FLC combines bang-bang and linear type control to respond more rapidly and robustly than a gain scheduled linear PID controller.
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Date Issued: 1993
PURL: http://purl.flvc.org/fcla/dt/14899
Subject Headings: Fuzzy sets, Submersibles--Control systems, Oceanographic submersibles--Automatic control
Format: Document (PDF)

Title: Simulation, control and optimization of underwater vehicle performance.
Creator: Zipf, David Glenn., Florida Atlantic University, Dunn, Stanley E., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: This project addresses the simulation, control and optimization of underwater vehicle performance. An analytical model of underwater vehicle motion has been developed. This model is based on a set of six degree of freedom nonlinear differential equations of motion. These equations incorporate inertial, hydrodynamic, hydrostatic, gravity and thruster forces to define the vehicle's motion. The forces are calculated and the equations of motion solved using a finite difference method of...
Show moreThis project addresses the simulation, control and optimization of underwater vehicle performance. An analytical model of underwater vehicle motion has been developed. This model is based on a set of six degree of freedom nonlinear differential equations of motion. These equations incorporate inertial, hydrodynamic, hydrostatic, gravity and thruster forces to define the vehicle's motion. The forces are calculated and the equations of motion solved using a finite difference method of integration. An automatic closed loop control strategy has been developed and integrated into the motion model. The controller determines control plane deflection and thruster output based on sensor provided input, maneuver request and control gain constants. The motion model simulates the effects of these controller requests on the vehicle motion. The controller effects are analyzed and an optimal set of control gains is determined. These optimal gains are determined based on a quantitative comparison of a pre-defined Performance Index (PI) function. The PI is a function of critical performance values, i.e., energy consumption, and user defined weighted constants. By employing an iteration technique the PI is minimized to provide an optimal set of control gains.
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Date Issued: 1989
PURL: http://purl.flvc.org/fcla/dt/14534
Subject Headings: Oceanographic submersibles--Automatic control, Oceanographic submersibles--Simulation methods, Vehicles, Remotely piloted
Format: Document (PDF)

Title: Point count censusing from a submersible to estimate reef fish abundance over large areas.
Creator: Shipp, R. L., Tyler, W. A., III, Jones, Robert S., Harbor Branch Oceanographic Institute
Date Issued: 1986
PURL: http://purl.flvc.org/FCLA/DT/3340762
Subject Headings: Fish populations--Estimates, Fishes Counting, Reef fishes, Submersibles
Format: Document (PDF)

Title: The R/V Seaward Johnson: a new state-of-the art submersible support ship.
Creator: Cook, Roger W., Jones, Robert S., Prentice, Jeffrey R.
PURL: http://purl.flvc.org/fcla/dt/3357465
Subject Headings: Oceanographic submersibles, Deep-sea research vessels, Manned exploration devices
Format: Document (PDF)

Title: Color variation and associated behavior in the epinepheline groupers, Mycteroperca microlepis (Goode and Bean) and M. phenax Jordan and Swain.
Creator: Gilmore, R. G., Jones, Robert S., Harbor Branch Oceanographic Institute
Date Issued: 1992
PURL: http://purl.flvc.org/FCLA/DT/3171645
Subject Headings: Groupers, Epinephelus, Marine animals, Animal behavior, Oceanographic submersibles
Format: Document (PDF)

Title: Lipogramma flavescens, a new gram-mid fish from the Bahama Islands, with descriptions and distributional notes on L. evides and L. anabantoides.
Creator: Gilmore, R. G., Jones, Robert S., Harbor Branch Oceanographic Institute
Date Issued: 1988
PURL: http://purl.flvc.org/FCLA/DT/3172764
Subject Headings: Fishes --Anatomy, Coral reef fishes, Fish --Names, Rotenone, Oceanographic submersibles
Format: Document (PDF)

Title: Chlorophyll distribution in continental shelf sediments off West Palm Beach, Florida and west end, Bahamas.
Creator: Heffernan, John J., Gibson, R. A., Harbor Branch Oceanographic Institute
Date Issued: 1983
PURL: http://purl.flvc.org/FCLA/DT/3173005
Subject Headings: Marine sediments, Continental shelf, Chlorophyll, Pigments Analysis, Oceanographic 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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