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Development of a morphing autonomous underwater vehicle for path and station keeping in complex current environments
| Title: | Development of a morphing autonomous underwater vehicle for path and station keeping in complex current environments. |
 1236 views 1086 downloads |
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| Name(s): |
Meneses, Andrea M., author Su, Tsung-Chow, Thesis advisor Florida Atlantic University, Degree grantor 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 | |
| Date Created: | 2014 | |
| Date Issued: | 2014 | |
| Publisher: | Florida Atlantic University | |
| Place of Publication: | Boca Raton, Fla. | |
| Physical Form: | application/pdf | |
| Extent: | 100 p. | |
| Language(s): | English | |
| Summary: | This thesis explores the feasibility of using morphing rudders in autonomous underwater vehicles (AUVs) to improve their performance in complex current environments. The modeling vehicle in this work corresponds to the Florida Atlantic University's Ocean EXplorer (OEX) AUV. The AUV nonlinear dynamic model is limited to the horizontal plane and includes the effect of ocean current. The main contribution of this thesis is the use of active rudders to successfully achieve path keeping and station keeping of an AUV under the influence of unsteady current force. A constant ocean current superimposed with a sinusoidal component is considered. The vehicle's response is analyzed for a range of current frequencies. | |
| Identifier: | FA00004137 (IID) | |
| Degree granted: | Thesis (M.S.)--Florida Atlantic University, 2014. | |
| Collection: | FAU Electronic Theses and Dissertations Collection | |
| Note(s): | Includes bibliography. | |
| Subject(s): |
Autonomous robots -- Design and construction Fracture mechanics Manipulation (Mechanism) -- Control Remote submersibles -- Design and construction Vehicles, Remotely piloted -- Design and construction |
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| Held by: | Florida Atlantic University Libraries | |
| Sublocation: | Digital Library | |
| Links: | http://purl.flvc.org/fau/fd/FA00004137 | |
| Persistent Link to This Record: | http://purl.flvc.org/fau/fd/FA00004137 | |
| 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. |
