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Thermocline tracking using an upgraded ocean explorer autonomous underwater vehicle
- Date Issued:
- 2003
- Summary:
- This thesis addresses the problem of tracking a thermocline---a layer of water showing an intense vertical temperature gradient---with an Autonomous Underwater Vehicle (AUV). One of Florida Atlantic University's Ocean Explorer (OEX) AUV has been upgraded, as part of the work described here, by integration of a standard and convenient software interface, and used in several thermocline survey experiments aimed at gathering oceanographic data relevant to thermoclines. A tool that simulates the longitudinal motion of the OEX through a water slice, whose temperature map is read using a simulated temperature and depth sensor, has been developed. Using this tool and information from at-sea experiments, several control methods for the OEX to track a thermocline were analyzed. In particular, two different algorithms were implemented and tested by simulation. Overall, two control algorithms have been validated, and it will soon be possible to provide the AUV with a thermocline tracking capability.
Title: | Thermocline tracking using an upgraded ocean explorer autonomous underwater vehicle. |
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Name(s): |
Clabon, Mathieu. Florida Atlantic University, Degree grantor Dhanak, Manhar R., Thesis advisor |
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Type of Resource: | text | |
Genre: | Electronic Thesis Or Dissertation | |
Issuance: | monographic | |
Date Issued: | 2003 | |
Publisher: | Boca Raton, Fla. | |
Place of Publication: | Electronic Thesis or Dissertation | |
Physical Form: | application/pdf | |
Extent: | 268 p. | |
Language(s): | English | |
Summary: | This thesis addresses the problem of tracking a thermocline---a layer of water showing an intense vertical temperature gradient---with an Autonomous Underwater Vehicle (AUV). One of Florida Atlantic University's Ocean Explorer (OEX) AUV has been upgraded, as part of the work described here, by integration of a standard and convenient software interface, and used in several thermocline survey experiments aimed at gathering oceanographic data relevant to thermoclines. A tool that simulates the longitudinal motion of the OEX through a water slice, whose temperature map is read using a simulated temperature and depth sensor, has been developed. Using this tool and information from at-sea experiments, several control methods for the OEX to track a thermocline were analyzed. In particular, two different algorithms were implemented and tested by simulation. Overall, two control algorithms have been validated, and it will soon be possible to provide the AUV with a thermocline tracking capability. | |
Identifier: | 9780496198740 (isbn), 13025 (digitool), FADT13025 (IID), fau:9890 (fedora) | |
Collection: | FAU Electronic Theses and Dissertations Collection | |
Note(s): |
College of Engineering and Computer Science Thesis (M.S.)--Florida Atlantic University, 2003. |
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Subject(s): |
Thermoclines (Oceanography) Oceanographic submersibles--Computer simulation Underwater navigation |
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Held by: | Florida Atlantic University Libraries | |
Persistent Link to This Record: | http://purl.flvc.org/fcla/dt/13025 | |
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. |