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force sensor system for the real time measurement of thrust on an AUV

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Date Issued:
2001
Summary:
When a control system for an Autonomous Underwater Vehicle (AUV) requires thrust, it is common to apply a simplified model to estimate the force generated. Even though this model takes into account several parameters, it will never recover the real value. Our challenge is to directly measure the force, in real time, from the tunnel thrusters used in the positioning control of the Mini AUV known as Morpheus. Therefore, a force sensor system has been designed, optimized, machined and tested, that supports the thruster assembly. The sensor implements strain gages to measure the deformation in a beam. To optimize the capabilities of the sensor, a finite elements analysis has been run. The sensor has been fabricated and tested to determine the static and dynamic characteristics. This thesis discusses the design implementation, optimization, fabrication and testing of the force sensor. The discussion begins with an overview of the problem, then explains the fabrication, optimization, testing and concludes with recommendation for future work.
Title: A force sensor system for the real time measurement of thrust on an AUV.
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Name(s): Larroque-Lahitette, Gilles.
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: 2001
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 81 p.
Language(s): English
Summary: When a control system for an Autonomous Underwater Vehicle (AUV) requires thrust, it is common to apply a simplified model to estimate the force generated. Even though this model takes into account several parameters, it will never recover the real value. Our challenge is to directly measure the force, in real time, from the tunnel thrusters used in the positioning control of the Mini AUV known as Morpheus. Therefore, a force sensor system has been designed, optimized, machined and tested, that supports the thruster assembly. The sensor implements strain gages to measure the deformation in a beam. To optimize the capabilities of the sensor, a finite elements analysis has been run. The sensor has been fabricated and tested to determine the static and dynamic characteristics. This thesis discusses the design implementation, optimization, fabrication and testing of the force sensor. The discussion begins with an overview of the problem, then explains the fabrication, optimization, testing and concludes with recommendation for future work.
Identifier: 9780493097695 (isbn), 12745 (digitool), FADT12745 (IID), fau:9623 (fedora)
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): College of Engineering and Computer Science
Thesis (M.S.)--Florida Atlantic University, 2001.
Subject(s): Oceanographic submersibles
Tactile sensors
Robots--Control systems
Held by: Florida Atlantic University Libraries
Persistent Link to This Record: http://purl.flvc.org/fcla/dt/12745
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.