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Hydrodynamics and control of an autonomous underwater vehicle equipped with a vectored thruster

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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
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.
Subject(s): Boundary layer
Laminar flow
Hydrodynamics
Oceanographic submersibles--Mathematical models
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.