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Thermocline tracking using an upgraded ocean explorer autonomous underwater vehicle

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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
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.
Subject(s): Thermoclines (Oceanography)
Oceanographic submersibles--Computer simulation
Underwater navigation
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.