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Title: Inexpensive underwater data communication.
Creator: Spragg, Donald Edgar, An, Edgar
Date Issued: 2012-04-06
PURL: http://purl.flvc.org/fcla/dt/3350926
Subject Headings: Underwater data communication, Underwater acoustic communication, Sound pickup and reproduction
Format: Document (PDF)

Title: Human powered submarine propulsion.
Creator: Nunes, Christopher, An, Edgar
Date Issued: 2013-04-05
PURL: http://purl.flvc.org/fcla/dt/3361161
Subject Headings: Submersibles, Submarines--Design and construction, Propellers
Format: Document (PDF)

Title: Human Powered Submarine Data Acquisition System.
Creator: Robert Kipp, Edgar An
Date Issued: 2017
PURL: http://purl.flvc.org/fau/fd/FAU_SR00000014
Subject Headings: College students --Research --United States.
Format: Document (PDF)

Title: Variable pitch propeller design tool development.
Creator: Neal, Michael C., Nunes, Christopher, Vidal, Raul, An, Edgar
Date Issued: 2012-04-06
PURL: http://purl.flvc.org/fcla/dt/3349038
Subject Headings: Variable Pitch Propellers, Propulsion System Performance, Propeller Blades, Design Engineering, Computer Simulation
Format: Document (PDF)

Title: Development of an intelligent fuzzy obstacle avoidance system using SONAR modeling and simulation.
Creator: Bouxsein, Philip A., Florida Atlantic University, An, Edgar
Abstract/Description: Response time to a threat or incident for coastline security is an area needing improvement. Currently, the U.S. Coast Guard is tasked with monitoring and responding to threats in coastal and port environments using boats or planes, and SCUBA divers. This can significantly hinder the response time to an incident. A solution to this problem is to use autonomous underwater vehicles (AUVs) to continuously monitor a port. The AUV must be able to navigate the environment without colliding into...
Show moreResponse time to a threat or incident for coastline security is an area needing improvement. Currently, the U.S. Coast Guard is tasked with monitoring and responding to threats in coastal and port environments using boats or planes, and SCUBA divers. This can significantly hinder the response time to an incident. A solution to this problem is to use autonomous underwater vehicles (AUVs) to continuously monitor a port. The AUV must be able to navigate the environment without colliding into objects for it to operate effectively. Therefore, an obstacle avoidance system (OAS) is essential to the activity of the AUV. This thesis describes a systematic approach to characterize the OAS performance in terms of environments, obstacles, SONAR configuration and signal processing methods via modeling and simulation. A fuzzy logic based OAS is created using the simulation. Subsequent testing of the OAS demonstrates its effectiveness in unknown environments.
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Date Issued: 2006
PURL: http://purl.flvc.org/fcla/dt/13390
Subject Headings: Fuzzy logic, Submersibles--Automatic control, Neural networks (Computer science), Underwater acoustics--Computer simulation, Sonar--Computer simulation
Format: Document (PDF)

Title: Development of Internet-based data management and retrieval schemes for AUV applications.
Creator: Bayard, Gildas Yann., Florida Atlantic University, An, Edgar
Abstract/Description: The rapid increase in the amount of data gathered by Autonomous Underwater Vehicles (AUV) leads to a global data management issue. Indeed, this large data collection effort is only interesting if the data collected can be easily retrieved and analyzed by many researchers. The main contribution of this thesis is the design of data management and retrieval schemes useful to the whole AUV community that both simplify the access and treatment of the data collected. This is achieved by the use of...
Show moreThe rapid increase in the amount of data gathered by Autonomous Underwater Vehicles (AUV) leads to a global data management issue. Indeed, this large data collection effort is only interesting if the data collected can be easily retrieved and analyzed by many researchers. The main contribution of this thesis is the design of data management and retrieval schemes useful to the whole AUV community that both simplify the access and treatment of the data collected. This is achieved by the use of a self-describing standard data format (Hierarchical Data Format) and the use of Internet browsers' file download ability. Recent developments in Sun's Java applet technology have been used to provide a user-friendly Graphical User Interface (GUI) so that the user can select data files according to a large number of parameters (what variables have been collected, when and where).
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Date Issued: 1999
PURL: http://purl.flvc.org/fcla/dt/15687
Subject Headings: Submersibles--Data processing, Java (Computer program language), Application software--Development
Format: Document (PDF)

Title: Enhancement of the inertial navigation system for the Florida Atlantic University autonomous underwater vehicles.
Creator: Grenon, Gabriel Jean., Florida Atlantic University, An, Edgar
Abstract/Description: This thesis describes a new Inertial Navigation System (INS), designed for use on the latest generation of Autonomous Underwater Vehicle (AUV), the Morpheus AUVs, developed by the Department of Ocean Engineering. The INS makes use of a high precision Inertial Measurement Unit (IMU) along with a Doppler Velocity Log (DVL), a GPS/DGPS system and a flux gate magnetic compass to estimate the position of the vehicle during a mission. Extensive data processing methods are used in order to reduce...
Show moreThis thesis describes a new Inertial Navigation System (INS), designed for use on the latest generation of Autonomous Underwater Vehicle (AUV), the Morpheus AUVs, developed by the Department of Ocean Engineering. The INS makes use of a high precision Inertial Measurement Unit (IMU) along with a Doppler Velocity Log (DVL), a GPS/DGPS system and a flux gate magnetic compass to estimate the position of the vehicle during a mission. Extensive data processing methods are used in order to reduce the sources of error most critical to the navigation estimation. Accelerometers and gyroscopes are used to estimate the vehicle attitude in a complementary filter; a standard Kalman filter performs yaw rate bias estimation, whereas a second, extended Kalman filter, provides position estimation of the vehicle in real time, while also correcting for heading errors. Overall the INS is capable of providing the Morpheus with 1% navigation accuracy over an hour.
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Date Issued: 2000
PURL: http://purl.flvc.org/fcla/dt/12682
Subject Headings: Oceanographic submersibles--Computer simulation, Underwater navigation
Format: Document (PDF)

Title: A communication protocol for acoustic ad-hoc networks of autonomous underwater vehicles.
Creator: Baud, Bertrand., Florida Atlantic University, An, Edgar
Abstract/Description: This thesis presents the design and implementation of an underwater network communication protocol. The goal is to enable several autonomous underwater vehicles (AUVs) to form a communication network and to exchange information during at-sea missions. The focus of this work is on the upper layers of the protocol: Network and Transport layers. Routing is a critical issue since all the nodes forming the network are moving. A study and comparison of existing routing algorithms is presented. Two...
Show moreThis thesis presents the design and implementation of an underwater network communication protocol. The goal is to enable several autonomous underwater vehicles (AUVs) to form a communication network and to exchange information during at-sea missions. The focus of this work is on the upper layers of the protocol: Network and Transport layers. Routing is a critical issue since all the nodes forming the network are moving. A study and comparison of existing routing algorithms is presented. Two routing algorithms have been chosen and implemented in the network layer of the protocol: Flooding and Destination Sequence Distance Vector Routing. The protocol has been tested on several types of simulated missions. An analysis of the results is proposed for each mission.
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Date Issued: 2001
PURL: http://purl.flvc.org/fcla/dt/12774
Subject Headings: Underwater acoustics, Submersibles, Computer networks
Format: Document (PDF)

Title: Modeling and estimation for the Morpheus AUV dynamics.
Creator: Binois, Nicolas., Florida Atlantic University, An, Edgar
Abstract/Description: This thesis describes the determination of linear and nonlinear coefficients for the Morpheus vehicle. Added mass and nonlinear damping terms were obtained by strip-theory. These added mass coefficients were compared to the ones previously computed by boundary-integral method. Open-loop simulations were conducted using both sets of added-mass coefficients along with the damping terms, which were adjusted to fit at-sea data. A previously estimation technique for hydrodynamic coefficients has...
Show moreThis thesis describes the determination of linear and nonlinear coefficients for the Morpheus vehicle. Added mass and nonlinear damping terms were obtained by strip-theory. These added mass coefficients were compared to the ones previously computed by boundary-integral method. Open-loop simulations were conducted using both sets of added-mass coefficients along with the damping terms, which were adjusted to fit at-sea data. A previously estimation technique for hydrodynamic coefficients has been applied to the Morpheus AUV using a Kalman filter. This technique based on linearized equations of motion was tested with linear and nonlinear data generated by simulation. Steering and diving motions were considered resulting in the estimation of different sets of coefficients. Results showed that the estimated values were able to reproduce accurately the vehicle motion in the linear as well as in the nonlinear case.
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Date Issued: 2003
PURL: http://purl.flvc.org/fcla/dt/12972
Subject Headings: Oceanographic submersibles--Mathematical models, Hydrodynamics, Underwater navigation
Format: Document (PDF)

Title: A post-processing Kalman smoother for underwater vehicle navigation.
Creator: Gustafson, Einar Irgens., Florida Atlantic University, An, Edgar
Abstract/Description: This thesis describes an automated post-processing tool, designed for use on navigational data gathered by Autonomous Underwater Vehicles (AUVs), developed and operated by the Department of Ocean Engineering at Florida Atlantic University. The post-processing tool consists of a 9-state complementary Kalman filter in conjunction with a Rauch-Tung-Striebel (RTS) smoothing algorithm. The Kalman filter is run forward in time to merge navigational data from an Inertial Measurement Unit (IMU), a...
Show moreThis thesis describes an automated post-processing tool, designed for use on navigational data gathered by Autonomous Underwater Vehicles (AUVs), developed and operated by the Department of Ocean Engineering at Florida Atlantic University. The post-processing tool consists of a 9-state complementary Kalman filter in conjunction with a Rauch-Tung-Striebel (RTS) smoothing algorithm. The Kalman filter is run forward in time to merge navigational data from an Inertial Measurement Unit (IMU), a Doppler Velocity Log (DVL), a magnetic compass, a GPS/DGPS system and an Ultrashort Baseline (USBL) tracking system. Subsequently, the RTS smoothing algorithm is run backwards in time to find and compensate for drift errors in dead reckoned position and compass measurement error. The post-processing tool has been implemented as a graphical user interface, designed in MATLAB. Improved accuracy in post-processed position and heading has been verified by conducting sea trials and post-processing the collected data.
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Date Issued: 2001
PURL: http://purl.flvc.org/fcla/dt/12752
Subject Headings: Kalman filtering, Underwater navigation
Format: Document (PDF)

Title: Static error modeling of sensors applicable to ocean systems.
Creator: Ah-Chong, Jeremy Fred., Florida Atlantic University, An, Edgar
Abstract/Description: This thesis presents a method for modeling navigation sensors used on ocean systems and particularly on Autonomous Underwater Vehicles (AUV). An extended Kalman filter was previously designed for the implementation of the Inertial Navigation System (INS) making use of Inertial Measurement Unit (IMU), a magnetic compass, a GPS/DGPS system and a Doppler Velocity Log (DVL). Emphasis is put on characterizing the static sensor error model. A "best-fit ARMA model" based on the Aikake Information...
Show moreThis thesis presents a method for modeling navigation sensors used on ocean systems and particularly on Autonomous Underwater Vehicles (AUV). An extended Kalman filter was previously designed for the implementation of the Inertial Navigation System (INS) making use of Inertial Measurement Unit (IMU), a magnetic compass, a GPS/DGPS system and a Doppler Velocity Log (DVL). Emphasis is put on characterizing the static sensor error model. A "best-fit ARMA model" based on the Aikake Information Criterion (AIC), Whiteness test and graphical analyses were used for the model identification. Model orders and parameters were successfully estimated for compass heading, GPS position and IMU static measurements. Static DVL measurements could not be collected and require another approach. The variability of the models between different measurement data sets suggests online error model estimation.
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Date Issued: 2003
PURL: http://purl.flvc.org/fcla/dt/12977
Subject Headings: Underwater navigation, Kalman filtering, Error-correcting codes (Information theory), Detectors
Format: Document (PDF)

Title: Motion-Compensated Acoustic Positioning in Very Shallow Waters Using Spread-Spectrum Signaling and a Tetrahedral Ultrashort Baseline Array.
Creator: Beaujean, Pierre-Philippe J., Bon, Antoine, An, Edgar
Date Issued: 2010-09-01
PURL: http://purl.flvc.org/fau/flvc_fau_islandoraimporter_10.4031_MTSJ.44.5.4_1629744733
Format: Citation

Title: Leveled flight control of an unmanned underwater vehicle operating in a wave induced environment.
Creator: Potesta, Joshua J., An, Edgar, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: Autonomous Underwater Vehicle (AUV) depth control methods typically use a pressure sensor to measure the depth, which results in the AUV following the trajectory of the surface waves. Through simulations, a controller is designed for the Ocean Explorer AUV with the objective of the AUV holding a constant depth below the still water line while operating in waves. This objective is accomplished by modeling sensors and using filtering techniques to provide the AUV with the depth below the still...
Show moreAutonomous Underwater Vehicle (AUV) depth control methods typically use a pressure sensor to measure the depth, which results in the AUV following the trajectory of the surface waves. Through simulations, a controller is designed for the Ocean Explorer AUV with the objective of the AUV holding a constant depth below the still water line while operating in waves. This objective is accomplished by modeling sensors and using filtering techniques to provide the AUV with the depth below the still water line. A wave prediction model is simulated to provide the controller with knowledge of the wave disturbance before it is encountered. The controller allows for depth keeping below the still water line with a standard deviation of 0.04 and 0.65 meters for wave amplitudes of 0.1-0.25 and 0.5-2 meters respectively and wave frequencies of 0.35-1.0 𝑟𝑎𝑑⁄𝑠𝑒𝑐, and the wave prediction improves the depth control on the order of 0.03 meters.
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Date Issued: 2014
PURL: http://purl.flvc.org/fau/fd/FA00004149, http://purl.flvc.org/fau/fd/FA00004149
Subject Headings: Feedback control systems, Nonlinear control theory, Remote submersibles -- Design and construction, Vehicles, Remotely piloted -- Mathematical models
Format: Document (PDF)

Title: Obstacle detection by a forward-looking sonar integrated in an autonomous underwater vehicle.
Creator: Martin, Antoine., Florida Atlantic University, An, Edgar, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: This thesis describes the implementation of a commercially available forward looking sonar (FLS) in an autonomous underwater vehicle (AUV) modified for the task of reactive obstacle detection. Any obstacle lying in the vehicle's path is a potential mission-terminating threat. Inclusion of a forward looking sensor would provide valuable information to the AUV. Threat assessment and navigation would use this information in order to avoid obstacles. The system used for this project is an 8...
Show moreThis thesis describes the implementation of a commercially available forward looking sonar (FLS) in an autonomous underwater vehicle (AUV) modified for the task of reactive obstacle detection. Any obstacle lying in the vehicle's path is a potential mission-terminating threat. Inclusion of a forward looking sensor would provide valuable information to the AUV. Threat assessment and navigation would use this information in order to avoid obstacles. The system used for this project is an 8-element transducer FLS at 200 kHz. The sonar control software is done in DOS on a dedicated personal computer in a PC/104 form factor. A variable cell-size grid occupancy search method is used to detect objects in the vehicle path. This thesis describes how this sonar is used for the obstacle detection task (software), how it is integrated (hardware and network) in the AUV and what are the results obtained with the system.
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Date Issued: 2000
PURL: http://purl.flvc.org/fcla/dt/12691
Subject Headings: Oceanographic submersibles--Computer simulation, Sonar, Underwater navigation
Format: Document (PDF)

Title: Software development of a hardware-in-the-loop simulation and a three-dimensional viewer for autonomous underwater vehicles.
Creator: Mahieu, Frederi., Florida Atlantic University, An, Edgar, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: This thesis describes the development of the hardware-in-the-loop simulation for FAU Autonomous Underwater Vehicles. The development was based on the existing simulation platform. For more efficiency and flexibility, this simulation package was ported to Linux. The hardware-in-the-loop simulation enables developers to connect the vehicle directly to a remote simulator. This kind of simulation is used to test the actual software components embedded in the vehicle system. The simulation package...
Show moreThis thesis describes the development of the hardware-in-the-loop simulation for FAU Autonomous Underwater Vehicles. The development was based on the existing simulation platform. For more efficiency and flexibility, this simulation package was ported to Linux. The hardware-in-the-loop simulation enables developers to connect the vehicle directly to a remote simulator. This kind of simulation is used to test the actual software components embedded in the vehicle system. The simulation package was enhanced by the addition of a 3D viewer. This thesis describes the whole development process, from feasibility study and implementation to qualification phases. This viewer is platform independent and designed to be connected to the simulator. It renders the AUV moving in a virtual environment. This tool can be used during all development steps, from tuning phases to post-mission analysis.
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Date Issued: 2000
PURL: http://purl.flvc.org/fcla/dt/15778
Subject Headings: Oceanographic submersibles--Computer simulation, Computer software--Development, Simulation methods, Three-dimensional display systems
Format: Document (PDF)

Title: Location-Aware Source Routing Protocol for Underwater Acoustic Networks of AUVs.
Creator: Carlson, Edward A., Beaujean, Pierre-Philippe J., An, Edgar
Date Issued: 2012
PURL: http://purl.flvc.org/fau/flvc_fau_islandoraimporter_10.1155_2012_765924_1629746277
Format: Citation

Title: Development and simulation of vertical profiling capability for FAU autonomous underwater vehicles.
Creator: Lin, Huaying., Florida Atlantic University, Hsu, Sam, An, Edgar, College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
Abstract/Description: This thesis describes the development of a simulation environment for Autonomous Underwater Vehicles (AUVs) on UNIX platforms. AUV missions can therefore be carried out without going to the sea. The Yoyo controller, a component for AUVs is also described in this thesis. The main function of Yoyo is to control the vertical profile of an AUV while it is navigating underwater performing data collection missions. The development of the controller is done in the simulation environment. Several...
Show moreThis thesis describes the development of a simulation environment for Autonomous Underwater Vehicles (AUVs) on UNIX platforms. AUV missions can therefore be carried out without going to the sea. The Yoyo controller, a component for AUVs is also described in this thesis. The main function of Yoyo is to control the vertical profile of an AUV while it is navigating underwater performing data collection missions. The development of the controller is done in the simulation environment. Several test cases have been performed, and the test results have clearly demonstrated the successful development of the controller.
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Date Issued: 1998
PURL: http://purl.flvc.org/fcla/dt/15599
Subject Headings: Oceanographic submersibles--Computer simulation, Underwater navigation
Format: Document (PDF)

Title: Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network.
Creator: Deng, Yueyue, Beaujean, Pierre-Philippe J., An, Edgar, Carlson, Edward
Date Issued: 2013
PURL: http://purl.flvc.org/fau/flvc_fau_islandoraimporter_10.1155_2013_483095_1629813605
Format: Citation

FAU Theses and Dissertations (11)	+ -
FAU Undergraduate Student Research (4)	+ -
FAU College Collections (3)	+ -

Underwater navigation (6)	+ -
Oceanographic submersibles--Computer simulation (4)	+ -
Kalman filtering (2)	+ -
Submersibles (2)	+ -
Application software--Development (1)	+ -

College students --Research --United States. (1)	+ -
Computer Simulation (1)	+ -
Computer networks (1)	+ -
Computer software--Development (1)	+ -
Design Engineering (1)	+ -
Detectors (1)	+ -
Error-correcting codes (Information theory) (1)	+ -
Feedback control systems (1)	+ -
Fuzzy logic (1)	+ -
Hydrodynamics (1)	+ -
Java (Computer program language) (1)	+ -
Neural networks (Computer science) (1)	+ -
Nonlinear control theory (1)	+ -
Oceanographic submersibles--Mathematical models (1)	+ -
Propeller Blades (1)	+ -
Propellers (1)	+ -
Propulsion System Performance (1)	+ -
Remote submersibles -- Design and construction (1)	+ -
Simulation methods (1)	+ -
Sonar (1)	+ -
Sonar--Computer simulation (1)	+ -
Sound pickup and reproduction (1)	+ -
Submarines--Design and construction (1)	+ -
Submersibles--Automatic control (1)	+ -
Submersibles--Data processing (1)	+ -

Electronic Thesis or Dissertation (11)	+ -
article (3)	+ -
poster (3)	+ -
abstract (1)	+ -

An, Edgar (17)	+ -
Florida Atlantic University (11)	+ -
College of Engineering and Computer Science (4)	+ -
Beaujean, Pierre-Philippe J. (3)	+ -
Department of Ocean and Mechanical Engineering (3)	+ -

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