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Design, implementation and testing of a bio-inspired propulsion system for autonomous underwater vehicles

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Date Issued:
2003
Summary:
Some Autonomous Underwater Vehicles have recently been designed to mimic the locomotion of underwater animals. A new way of propulsion which uses Oscillating Fin Thrusters (OFTs) has been implemented on the AUV Morpheus, with the Nektor module. In particular, first a low level adaptive controller has been developed with the purpose of studying the characteristics of the OFT. Then, a new vehicle using Morpheus' base has been built in order to implement this module and test it. This required for the Lonworks network to be interfaced with QNXnet to create a multi communication protocol vehicle. Concerning the high level control, some proportional controllers and a 6-degree of freedom adaptive controller have been implemented and tested on the new vehicle. The results from these tests have shown that the Nektor module is suitable for the Morpheus, providing high-maneuverability features unavailable when using more standard propulsion systems.
Title: Design, implementation and testing of a bio-inspired propulsion system for autonomous underwater vehicles.
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Name(s): Le Goff, Ivan.
Florida Atlantic University, Degree grantor
Leonessa, Alexander, 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: 2003
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 85 p.
Language(s): English
Summary: Some Autonomous Underwater Vehicles have recently been designed to mimic the locomotion of underwater animals. A new way of propulsion which uses Oscillating Fin Thrusters (OFTs) has been implemented on the AUV Morpheus, with the Nektor module. In particular, first a low level adaptive controller has been developed with the purpose of studying the characteristics of the OFT. Then, a new vehicle using Morpheus' base has been built in order to implement this module and test it. This required for the Lonworks network to be interfaced with QNXnet to create a multi communication protocol vehicle. Concerning the high level control, some proportional controllers and a 6-degree of freedom adaptive controller have been implemented and tested on the new vehicle. The results from these tests have shown that the Nektor module is suitable for the Morpheus, providing high-maneuverability features unavailable when using more standard propulsion systems.
Identifier: 9780496181643 (isbn), 13000 (digitool), FADT13000 (IID), fau:9867 (fedora)
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): College of Engineering and Computer Science
Thesis (M.S.)--Florida Atlantic University, 2003.
Subject(s): Oceanographic submersibles--Computer simulation
Underwater propulsion
Held by: Florida Atlantic University Libraries
Persistent Link to This Record: http://purl.flvc.org/fcla/dt/13000
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.