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Hydrodynamics and control of an autonomous underwater vehicle equipped with a vectored thruster
- Date Issued:
- 2000
- Summary:
- In this study, a laminar flow hull shape is implemented on an Autonomous Underwater Vehicle (AUV), with boundary layer suction at the aft end of the hull to prevent separation. The hull shape has the largest diameter of the vehicle near the aft end of the hull resulting in an accelerating flow over the majority of the hull's surface. The problem of axially symmetrical flow around the AUV is solved using a potential flow analysis. A finite difference algorithm evaluates the stream function, leading to the computation of fluid velocity and pressure fields. The boundary layer characteristics are analyzed to predict the risk of separation. The numerical results are compared with laboratory measurements of the flow using a Particle Image Velocimetry system. Fuzzy Logic Sliding Mode Controllers are implemented to control the vectored thruster vehicle, and are simulated using a six-degree of freedom dynamic model of the vehicle.
Title: | Hydrodynamics and control of an autonomous underwater vehicle equipped with a vectored thruster. |
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Name(s): |
Le Page, Yann Georges. Florida Atlantic University, Degree grantor Holappa, Kenneth W., Thesis advisor College of Engineering and Computer Science Department of Ocean and Mechanical Engineering |
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Type of Resource: | text | |
Genre: | Electronic Thesis Or Dissertation | |
Issuance: | monographic | |
Date Issued: | 2000 | |
Publisher: | Florida Atlantic University | |
Place of Publication: | Boca Raton, Fla. | |
Physical Form: | application/pdf | |
Extent: | 146 p. | |
Language(s): | English | |
Summary: | In this study, a laminar flow hull shape is implemented on an Autonomous Underwater Vehicle (AUV), with boundary layer suction at the aft end of the hull to prevent separation. The hull shape has the largest diameter of the vehicle near the aft end of the hull resulting in an accelerating flow over the majority of the hull's surface. The problem of axially symmetrical flow around the AUV is solved using a potential flow analysis. A finite difference algorithm evaluates the stream function, leading to the computation of fluid velocity and pressure fields. The boundary layer characteristics are analyzed to predict the risk of separation. The numerical results are compared with laboratory measurements of the flow using a Particle Image Velocimetry system. Fuzzy Logic Sliding Mode Controllers are implemented to control the vectored thruster vehicle, and are simulated using a six-degree of freedom dynamic model of the vehicle. | |
Identifier: | 9780599640832 (isbn), 15766 (digitool), FADT15766 (IID), fau:12519 (fedora) | |
Collection: | FAU Electronic Theses and Dissertations Collection | |
Note(s): |
College of Engineering and Computer Science Thesis (M.S.)--Florida Atlantic University, 2000. |
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Subject(s): |
Boundary layer Laminar flow Hydrodynamics Oceanographic submersibles--Mathematical models |
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Held by: | Florida Atlantic University Libraries | |
Persistent Link to This Record: | http://purl.flvc.org/fcla/dt/15766 | |
Sublocation: | Digital Library | |
Use and Reproduction: | Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder. | |
Use and Reproduction: | http://rightsstatements.org/vocab/InC/1.0/ | |
Host Institution: | FAU | |
Is Part of Series: | Florida Atlantic University Digital Library Collections. |