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Development of a morphing autonomous underwater vehicle for path and station keeping in complex current environments

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Date Issued:
2014
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.
Title: Development of a morphing autonomous underwater vehicle for path and station keeping in complex current environments.
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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
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
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.