Current Search: Meneses, Andrea M. (x)
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Title
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Development of a morphing autonomous underwater vehicle for path and station keeping in complex current environments.
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Creator
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Meneses, Andrea M., Su, Tsung-Chow, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
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Abstract/Description
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This thesis explores the feasibility of using morphing rudders in autonomous underwater vehicles (AUVs) to improve their performance in complex current environments. The modeling vehicle in this work corresponds to the Florida Atlantic University's Ocean EXplorer (OEX) AUV. The AUV nonlinear dynamic model is limited to the horizontal plane and includes the effect of ocean current. The main contribution of this thesis is the use of active rudders to successfully achieve path keeping and...
Show moreThis thesis explores the feasibility of using morphing rudders in autonomous underwater vehicles (AUVs) to improve their performance in complex current environments. The modeling vehicle in this work corresponds to the Florida Atlantic University's Ocean EXplorer (OEX) AUV. The AUV nonlinear dynamic model is limited to the horizontal plane and includes the effect of ocean current. The main contribution of this thesis is the use of active rudders to successfully achieve path keeping and station keeping of an AUV under the influence of unsteady current force. A constant ocean current superimposed with a sinusoidal component is considered. The vehicle's response is analyzed for a range of current frequencies.
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Date Issued
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2014
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PURL
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http://purl.flvc.org/fau/fd/FA00004137, http://purl.flvc.org/fau/fd/FA00004137
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Subject Headings
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Autonomous robots -- Design and construction, Fracture mechanics, Manipulation (Mechanism) -- Control, Remote submersibles -- Design and construction, Vehicles, Remotely piloted -- Design and construction
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Format
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Document (PDF)
