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Human powered submarine propulsion
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)
Variable pitch propeller design tool development
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)
Optical 2D Positional Estimation for a Biomimetic Station-Keeping Autonomous Underwater Vehicle
Title
Optical 2D Positional Estimation for a Biomimetic Station-Keeping Autonomous Underwater Vehicle.
Creator
Nunes, Christopher, Dhanak, Manhar R., Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
Underwater vehicles often use acoustics or dead reckoning for global positioning, which is impractical for low cost, high proximity applications. An optical based positional feedback system for a wave tank operated biomimetic station-keeping vehicle was made using an extended Kalman filter and a model of a nearby light source. After physical light model verification, the filter estimated surge, sway, and heading with 6 irradiance sensors and a low cost inertial measurement unit (~$15)....
Show moreUnderwater vehicles often use acoustics or dead reckoning for global positioning, which is impractical for low cost, high proximity applications. An optical based positional feedback system for a wave tank operated biomimetic station-keeping vehicle was made using an extended Kalman filter and a model of a nearby light source. After physical light model verification, the filter estimated surge, sway, and heading with 6 irradiance sensors and a low cost inertial measurement unit (~$15). Physical testing with video feedback suggests an average error of ~2cm in surge and sway, and ~3deg in yaw, over a 1200 cm2 operational area. This is 2-3 times better, and more consistent, than adaptations of prior art tested alongside the extended Kalman filter feedback system. The physical performance of the biomimetic platform was also tested. It has a repeatable forward velocity response with a max of 0.3 m/s and fair stability in surface testing conditions.
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Date Issued
2015
PURL
http://purl.flvc.org/fau/fd/FA00004528, http://purl.flvc.org/fau/fd/FA00004528
Subject Headings
Biometric identification, Feedback control systems, Oceanographic submersibles -- Design and construction, Optical pattern recognition, Remote submersibles -- Design and construction
Format
Document (PDF)