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Title: Data and information communication through piping network.
Creator: El Moutia, Elhoussain., Florida Atlantic University, Cuschieri, Joseph M., Smith, Samuel M.
Abstract/Description: The purpose of this thesis is to investigate the ability of using piping networks as a communication channel using power line communication transceivers. Two ways by which a piping network is able to propagate waves are investigated. The first wave propagation method is through the pipe shell. Using structural waves and PZT type transducers, data packets are sent and received through the propagation of structural waves in the pipe shell. However, because of the dispersive behavior of quasi...
Show moreThe purpose of this thesis is to investigate the ability of using piping networks as a communication channel using power line communication transceivers. Two ways by which a piping network is able to propagate waves are investigated. The first wave propagation method is through the pipe shell. Using structural waves and PZT type transducers, data packets are sent and received through the propagation of structural waves in the pipe shell. However, because of the dispersive behavior of quasi flexural radial waves, the data packets are distorted. The second wave propagation method explored is acoustic waves in the enclosed fluid. The data packets are sent and received along the piping network using three types of hydrophones. The reliability of this method depends mostly on the sensitivity of the hydrophones.
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Date Issued: 1997
PURL: http://purl.flvc.org/fcla/dt/15392
Subject Headings: Piping, Telecommunication systems
Format: Document (PDF)

Title: Development and analysis of real time software for autonomous underwater vehicles.
Creator: Flanigan, Thomas Christopher., Florida Atlantic University, Smith, Samuel M.
Abstract/Description: Any Autonomous Underwater Vehicle (AUV) software system is expected to be dynamic due to changes in mission goals, addition of new hardware, implementation of new algorithms, etc. Thus, for a successful AUV program, it is important to have a carefully and properly designed software architecture that is flexible enough to accommodate future changes. The AUV program in the Ocean Engineering Department of Florida Atlantic University has undergone significant development over the past one and a...
Show moreAny Autonomous Underwater Vehicle (AUV) software system is expected to be dynamic due to changes in mission goals, addition of new hardware, implementation of new algorithms, etc. Thus, for a successful AUV program, it is important to have a carefully and properly designed software architecture that is flexible enough to accommodate future changes. The AUV program in the Ocean Engineering Department of Florida Atlantic University has undergone significant development over the past one and a half years to achieve a flexible software system. This flexible architecture should also help in performing diverse kinds of AUV missions with minimal reconfiguration. The focus of this thesis work is to perform m evaluation of the past and present software systems used in our AUVs, and to describe the implementation details that were necessary for the migration of the past software system to a newer, more flexible and powerful software architecture. Another purpose of the thesis is also to describe the design philosophy behind the new architecture and its impact on the AUV program.
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Date Issued: 2002
PURL: http://purl.flvc.org/fcla/dt/12947
Subject Headings: Oceanographic submersibles--Automatic control, Real-time control
Format: Document (PDF)

Title: Modular application server design for AUV data network access and distributed processing.
Creator: Delarue, Alexandre G., Florida Atlantic University, Smith, Samuel M.
Abstract/Description: Autonomous Underwater Vehicles (AUV) collect a large volume of scientific data in every mission, using the onboard sensors, and store them in log files. The accessibility of these data is limited. Specific tools are required to extract the data to be processed on the user workstation with the installed analysis tools and scripts. The objective is to standardize and simplify the way data can be retrieved and processed from anywhere by anybody. The design of a server that manages the access to...
Show moreAutonomous Underwater Vehicles (AUV) collect a large volume of scientific data in every mission, using the onboard sensors, and store them in log files. The accessibility of these data is limited. Specific tools are required to extract the data to be processed on the user workstation with the installed analysis tools and scripts. The objective is to standardize and simplify the way data can be retrieved and processed from anywhere by anybody. The design of a server that manages the access to the data and to the applications that process them has been considered. Everything can then be done through the use of a single Java client executed on any Java compliant computer. Analysis tools are downloaded on the fly when needed and do not require any installation. New tools can be integrated into the application server in the form of plugins developed with an appropriate Java Library.
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Date Issued: 2000
PURL: http://purl.flvc.org/fcla/dt/12676
Subject Headings: Submersibles--Data processing, Java (Computer program language), Client/server computing
Format: Document (PDF)

Title: Pattern-oriented design of a dynamically reconfigurable software architecture for AUV high-level control.
Creator: Dupire, Benoit Francois., Florida Atlantic University, Smith, Samuel M.
Abstract/Description: The Morpheus, the latest generation of AUV developed at Florida Atlantic University was designed to be as modular as possible, and to handle longer, more complicated missions. The software must now reflect this improvement: it should be as dynamic as possible, must adapt to the different missions and emphasize flexibility and scalability. It must allow for complex behaviors, failure detection and handling and multiple cooperative missions. On the other hand, the new high-level controller has...
Show moreThe Morpheus, the latest generation of AUV developed at Florida Atlantic University was designed to be as modular as possible, and to handle longer, more complicated missions. The software must now reflect this improvement: it should be as dynamic as possible, must adapt to the different missions and emphasize flexibility and scalability. It must allow for complex behaviors, failure detection and handling and multiple cooperative missions. On the other hand, the new high-level controller has to remain accessible to the non expert user. To achieve these goals, a new architecture, based on the Convenient Hierarchical Autonomous State Machine formalism, was implemented using Python. The system is modeled as a set of concurrent processes communicating through shared memory to accommodate a variety of sensor payloads from one mission to the next. New control tools can be integrated dynamically into the architecture in the form of modules implementing new behaviors.
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Date Issued: 2001
PURL: http://purl.flvc.org/fcla/dt/12789
Subject Headings: Submersibles--Automatic control, Software configuration management
Format: Document (PDF)

Title: A convenient state machine formalism for high-level control of autonomous underwater vehicles.
Creator: Girard, Anouck Renee., Florida Atlantic University, Smith, Samuel M.
Abstract/Description: Recent successes in Autonomous Underwater Vehicle (AUV) technology have generated demand for broader, more general use of these vehicles, along with demand for longer, more complicated missions. However, AUVs are becoming more complex, and hence more difficult to program, test and maintain. A discrete event system would provide conditional execution for mission management, failure detection, and resource allocation techniques. The goal of this thesis is to provide a convenient formalism for...
Show moreRecent successes in Autonomous Underwater Vehicle (AUV) technology have generated demand for broader, more general use of these vehicles, along with demand for longer, more complicated missions. However, AUVs are becoming more complex, and hence more difficult to program, test and maintain. A discrete event system would provide conditional execution for mission management, failure detection, and resource allocation techniques. The goal of this thesis is to provide a convenient formalism for discrete event systems that reduces the apparent complexity of the system while maintaining its robust capabilities. The chosen formalism allows the convenient representation of hierarchies of concurrent hierarchical state machines. The formal semantics of the model are discussed, along with complete data structures and algorithms. As an example, a complete design of the navigator state machine is provided.
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Date Issued: 1998
PURL: http://purl.flvc.org/fcla/dt/15549
Subject Headings: Submersibles, Oceanographic submersibles
Format: Document (PDF)

Title: A fuzzy logic based flight control system for the FAU "Ocean Voyager" autonomous underwater vehicle.
Creator: Anderson, Donald Taylor., Florida Atlantic University, Smith, Samuel M.
Abstract/Description: The development of a Flight Control System for a non-linear six degree of freedom model of an Autonomous Underwater Vehicle is described. Heading, pitch and depth are regulated by three independent Fuzzy Logic Controllers (FLCs). Numerical methods are used to tune rule bases to control tables that are based on the minimum time characteristics of the model. Setpoint errors are eliminated using fuzzily constrained integrators. A scheme to vary control policy with forward speed is also detailed....
Show moreThe development of a Flight Control System for a non-linear six degree of freedom model of an Autonomous Underwater Vehicle is described. Heading, pitch and depth are regulated by three independent Fuzzy Logic Controllers (FLCs). Numerical methods are used to tune rule bases to control tables that are based on the minimum time characteristics of the model. Setpoint errors are eliminated using fuzzily constrained integrators. A scheme to vary control policy with forward speed is also detailed. System stability is evaluated using cell-to-cell mapping. A variable structure fuzzy heading controller is designed for an unstable non-linear model of an Unmanned Underwater Vehicle. Scheduling of scaling parameters accommodates changes in forward speed as predicted by thruster RPM and angular distance turned. This FLC combines bang-bang and linear type control to respond more rapidly and robustly than a gain scheduled linear PID controller.
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Date Issued: 1993
PURL: http://purl.flvc.org/fcla/dt/14899
Subject Headings: Fuzzy sets, Submersibles--Control systems, Oceanographic submersibles--Automatic control
Format: Document (PDF)

Title: Cell-state-space-based fuzzy logic controller automatic design and optimization for high-order systems.
Creator: Song, Feijun., Florida Atlantic University, Smith, Samuel M., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: Recent advances in computer engineering make the computational approaches to controller design for high order systems practical. In this dissertation, a series of computational methods based on cell state space for the design and optimization of Takagi-Sugeno (TS) type Fuzzy Logic Controllers (FLCs) are presented. The approaches proposed in this research can be classified into two categories: feed forward design and feedback design. An Optimal Control Table (OCT) based on cell state space is...
Show moreRecent advances in computer engineering make the computational approaches to controller design for high order systems practical. In this dissertation, a series of computational methods based on cell state space for the design and optimization of Takagi-Sugeno (TS) type Fuzzy Logic Controllers (FLCs) are presented. The approaches proposed in this research can be classified into two categories: feed forward design and feedback design. An Optimal Control Table (OCT) based on cell state space is used in all the feed forward design approaches. An FLC can be trained by Least Mean Square (LMS) algorithm with an OCT serving as the training set. For high order systems, due to physical memory limit, the cell resolution is generally low. A specially modified k-d tree representation of cell space is proposed to save the memory while keeping the cell resolution as high as possible. The control command for a point that is not a cell center is approximated by interpolating an OCT. All these commands can be used as training data to train an FLC. An iterative feedback design approach named Incremental Best Estimate Directed Search (IBEDS) is proposed to further optimize a training set. It is a kind of globally directed random search method. The general philosophy is that since the best possible performance of an FLC largely depends on the quality of the training set, if the training set is optimized, an FLC trained by the set would also be optimized. Based on IBEDS, two other feedback FLC design algorithms are also proposed. In one algorithm, subtractive clustering method is used to extract the structure of an FLC from an OCT. The coefficients of the FLC obtained are then optimized with IBEDS. The other algorithm applies IBEDS to three system models and finds the training set that has the worst performance for all the models. This training set is further optimized to improve robustness of a trained FLC.
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Date Issued: 1999
PURL: http://purl.flvc.org/fcla/dt/12608
Subject Headings: Fuzzy logic, Automatic control, Fuzzy systems
Format: Document (PDF)

Title: Design and implementation of an altitude flight controller for the FAU Ocean Voyager II.
Creator: White, Kevin Andrew., Florida Atlantic University, Smith, Samuel M., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: Autonomous underwater vehicle (AUV) missions are generally of a multi-tasked nature, i.e., there are usually several criteria which need to be met concurrently during the course of a mission. An example is the bottom altitude tracking mission proposed by the University of South Florida. They have developed a bottom classification and albedance package (BCAP) which will be used to record data to ground-truth oceanographic satellites. Two criteria needed for this mission are vehicle safety and...
Show moreAutonomous underwater vehicle (AUV) missions are generally of a multi-tasked nature, i.e., there are usually several criteria which need to be met concurrently during the course of a mission. An example is the bottom altitude tracking mission proposed by the University of South Florida. They have developed a bottom classification and albedance package (BCAP) which will be used to record data to ground-truth oceanographic satellites. Two criteria needed for this mission are vehicle safety and motion stability of the recording sensors. This thesis will respectively compare the results of three bottom altitude tracking controllers: a linear modification of an existing depth controller, a TSK fuzzy logic controller, and a behavior based decision controller. Aspects analyzed for meeting the criteria were the ability of the auv to avoid collisions with bottom, the ability of the auv to maintain a desired altitude above the sea floor, and the ability of the auv to keep the amount of blur in a picture taken by a downward looking camera under one pixel. From simulation and real world testing, final results indicate the behavioral based decision controller was proven to be the most robust and the only controller tested to be able to handle multi-criteria.
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Date Issued: 1996
PURL: http://purl.flvc.org/fcla/dt/15236
Subject Headings: Remote submersibles, Underwater navigation, Underwater exploration, Altitudes--Measurement, Oceanographic submersibles--Design
Format: Document (PDF)

Title: Docking the Ocean Explorer Autonomous Underwater Vehicle using a low-cost acoustic positioning system and a fuzzy logic guidance algorithm.
Creator: Kronen, David Mitchell., Florida Atlantic University, Smith, Samuel M., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: Having the ability to dock an Autonomous Underwater Vehicle (AUV) can significantly enhance the operation of such vehicles. In order to dock an AUV, the vehicle's position must be known precisely and a guidance algorithm must be used to drive the AUV to its dock. This thesis will examine and implement a low cost acoustic positioning system to meet the positioning requirements. At-sea tests will be used as a method of verifying the systems specifications and proper incorporation into the AUV....
Show moreHaving the ability to dock an Autonomous Underwater Vehicle (AUV) can significantly enhance the operation of such vehicles. In order to dock an AUV, the vehicle's position must be known precisely and a guidance algorithm must be used to drive the AUV to its dock. This thesis will examine and implement a low cost acoustic positioning system to meet the positioning requirements. At-sea tests will be used as a method of verifying the systems specifications and proper incorporation into the AUV. Analyses will be run on the results using several methods of interpreting the data. The second portion of this thesis will develop and test a fuzzy logic docking algorithm which will guide the AUV from a location within the range of the sonar system to the docking station. A six degree of freedom simulation incorporating the Ocean Explorer's hydrodynamic coefficients will be used for the simulation.
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Date Issued: 1997
PURL: http://purl.flvc.org/fcla/dt/15502
Subject Headings: Oceanographic submersibles, Acoustical engineering, Underwater acoustics, Fuzzy algorithms
Format: Document (PDF)

Title: Automatic design of nonlinear controllers with optimal global performance using best estimate-directed search and continued propagation cell mapping.
Creator: Rizk, Charbel George., Florida Atlantic University, Smith, Samuel M., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: The problem at hand is developing a controller design methodology that is generally applicable to autonomous systems with fairly accurate models. The controller design process has two parts: synthesis and analysis. Over the years, many synthesis and analysis methods have been proposed. An optimal method for all applications has not yet been found. Recent advances in computer technology have made computational methods more attractive and practical. The proposed method is an iterative...
Show moreThe problem at hand is developing a controller design methodology that is generally applicable to autonomous systems with fairly accurate models. The controller design process has two parts: synthesis and analysis. Over the years, many synthesis and analysis methods have been proposed. An optimal method for all applications has not yet been found. Recent advances in computer technology have made computational methods more attractive and practical. The proposed method is an iterative computational method that automatically generates non-linear controllers with specified global performance. This dissertation describes this method which consists of using an analysis tool, continued propagation cell mapping (CPCM), as feedback to the synthesis tool, best estimate directed search (BEDS). Optimality in the design can be achieved with respect to time, energy, and/or robustness depending on the performance measure used. BEDS is based on a novel search concept: globally directing a random search. BEDS has the best of two approaches: gradient (or directed) search and random search. It possesses the convergence speed of a gradient search and the convergence robustness of a random search. The coefficients of the best controller at the time direct the search process until either a better controller is found or the search is terminated. CPCM is a modification of simple cell mapping (SCM). CPCM maintains the simplicity of SCM but provides accuracy near that of a point map (PM). CPCM evaluates the controller's complete and global performance efficiently and with easily tunable accuracy. This CPCM evaluation guarantees monotonic progress in the synthesis process. The method is successfully applied to the design of a TSK-type fuzzy logic (FL) controller and a Sliding Mode-type controller for the uncertain non-linear system of an inverted pendulum on a cart for large pole angles (+/-86 degrees). The resulting controller's performance compares favorably to other established methods designed with dynamic programing (DP) and genetic algorithms (GA). When CPCM is used as feedback to BEDS, the resulting design method quickly and automatically generates non-linear controllers with good global performance and without much a priori information about the desired control actions.
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Date Issued: 1997
PURL: http://purl.flvc.org/fcla/dt/12523
Subject Headings: Nonlinear control theory, Cellular mappings, Fuzzy logic
Format: Document (PDF)

Title: Implementation of the Ocean Explorer AUV dock for use with the Morpheus AUV.
Creator: Lambiotte, Joseph Clayton, Jr., Florida Atlantic University, Smith, Samuel M., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: This report highlights important aspects of previous work with the Ocean Explorer (OEX) autonomous underwater vehicle (AUV) docking system as a background. This includes short baseline navigation, the Tracking Controller, Mechanical aspects of the dock, and results of testing of the docking system for the OEX Details of the Morpheus AUV are then given along with the major concerns faced in trying to adapt the OEX dock to the Morpheus. Using computer simulation, the reaction of the Morpheus...
Show moreThis report highlights important aspects of previous work with the Ocean Explorer (OEX) autonomous underwater vehicle (AUV) docking system as a background. This includes short baseline navigation, the Tracking Controller, Mechanical aspects of the dock, and results of testing of the docking system for the OEX Details of the Morpheus AUV are then given along with the major concerns faced in trying to adapt the OEX dock to the Morpheus. Using computer simulation, the reaction of the Morpheus when it impacts the dock is explored and the results of at sea testing (the collision of the vehicle and the dock) is discussed. A stinger strength analysis of the docking components is included and finally, suggestions for future work including modifications of the existing dock as well as another docking scheme are presented.
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Date Issued: 2001
PURL: http://purl.flvc.org/fcla/dt/12735
Subject Headings: Oceanographic submersibles--Computer simulation, Underwater navigation
Format: Document (PDF)

Title: A feasibility study on using LonWorks Power Line Transceivers for underwater communications.
Creator: Powell, Jennifer Cairns., Florida Atlantic University, Smith, Samuel M., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: This project consisted of a feasibility study to ascertain whether or not an inexpensive acoustic modem for an Autonomous Underwater Vehicle (AUV) could be developed using low cost commercially available products. Our AUV's at Florida Atlantic University currently use LonWorks for their internal control networks, so we have plenty of experience with their parts. The LonWorks Power Line Transceivers are capable of generating a signal that can be sent to a transducer for communication through...
Show moreThis project consisted of a feasibility study to ascertain whether or not an inexpensive acoustic modem for an Autonomous Underwater Vehicle (AUV) could be developed using low cost commercially available products. Our AUV's at Florida Atlantic University currently use LonWorks for their internal control networks, so we have plenty of experience with their parts. The LonWorks Power Line Transceivers are capable of generating a signal that can be sent to a transducer for communication through the water. The PLT-30 Power Line Transceiver generates a direct sequence spread spectrum signal (DSSS) that offers many useful operating features; such as anti-jam, interference rejection and covert communications, low intercept probability, and most importantly, multipath protection. After numerous tests, however, the system was incapable of establishing reliable acoustic communications. We conclude that the PLT-30 Power Line Transceiver use as an underwater acoustic modem is not a viable approach. As an alternative method, communication through an electric current field was tested in a salt-water pool. The initial test produced a 100% success rate.
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Date Issued: 2000
PURL: http://purl.flvc.org/fcla/dt/12695
Subject Headings: Local area networks (Computer network), Underwater acoustics
Format: Document (PDF)

Title: An experimental investigation of the design and performance of small-diameter tunnel thrusters.
Creator: Whitney, James Walter, Jr., Florida Atlantic University, Smith, Samuel M., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: Maneuvering thrusters can provide small underwater vehicles with the ability to dynamically control position at low speeds. However, the successful implementation of these thrusters requires an understanding of their dynamic response, as well as a design which meets the specified design requirements. This thesis experimentally investigates the design and dynamic performance of small diameter tunnel thrusters for two small autonomous underwater vehicles. A systematic series of dynamic...
Show moreManeuvering thrusters can provide small underwater vehicles with the ability to dynamically control position at low speeds. However, the successful implementation of these thrusters requires an understanding of their dynamic response, as well as a design which meets the specified design requirements. This thesis experimentally investigates the design and dynamic performance of small diameter tunnel thrusters for two small autonomous underwater vehicles. A systematic series of dynamic experiments were conducted with three working tunnel thruster prototypes that fulfill the operating and design constraints of these vehicles. The results from these experiments are shown to provide an accurate representation of the overall performance and thrust capability of the thrusters tested. Experimental data is compared with simulations utilizing a recently proposed thruster model, and the ability of the model to predict the dynamic response is discussed.
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Date Issued: 1998
PURL: http://purl.flvc.org/fcla/dt/15555
Subject Headings: Submersibles--Equipment and supplies, Oceanographic submersibles--Design
Format: Document (PDF)

Title: High performance and robust control.
Creator: Xu, Min., Florida Atlantic University, Smith, Samuel M., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: It is desirable to have robust high performance nonlinear control with a model-free design approach for the real time automatic control of practical industrial processes. The field has seen the application of Sliding Mode Controllers (SMCs). SMCs are nonlinear robust controllers, however most design approaches related to SMCs are model-based approaches. PID controllers and some Fuzzy Logic Controllers (FLCs) are model-free controllers, however their robustness is not integrated into their...
Show moreIt is desirable to have robust high performance nonlinear control with a model-free design approach for the real time automatic control of practical industrial processes. The field has seen the application of Sliding Mode Controllers (SMCs). SMCs are nonlinear robust controllers, however most design approaches related to SMCs are model-based approaches. PID controllers and some Fuzzy Logic Controllers (FLCs) are model-free controllers, however their robustness is not integrated into their design parameters directly. This dissertation presents two new types of robust high performance nonlinear controllers with model-free design approaches. One introduces fuzzy logic to a model-free SMC which is a simple saturation function incorporating three design parameters. Due to the interpolative nature of fuzzy control, a TSK type FLC with the model-free SMCs as its rule's consequents will produce a controller with a nonlinear sliding curve and a nonlinear boundary layer. We call this controller a Fuzzy Sliding Controller (FSC). The other uses a new type of Variable Structure Controller (VSC), which intentionally switches from one controller to another controller during a step response. In conventional approaches to VSC, the control surface does not change its shape during a step response. The new type of VSC intentionally changes the shape of the control surface during the step response. This technique is analogous to that technique employed in image processing called "morphing" where a given image gradually changes over time to the image of a different entity. In order to avoid confusion with the conventional approach to a VSC, we use the term "Morphological" Controller (MC) for the VSC of the new type. The performance and robustness with respect to parameter variations, disturbances and slow sample rates of the proposed controllers are studied in detail with a DC motor and an Inverted Pendulum System. As a means to verify the proposed controllers in practical cases, we design the model-free SMC, the FSC and the MC for the highly nonlinear and uncertain dynamics of an Autonomous Underwater Vehicle, Ocean Voyager II. It is shown that the proposed controllers are high performance and high robustness controllers.
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Date Issued: 1996
PURL: http://purl.flvc.org/fcla/dt/12446
Subject Headings: Nonlinear control theory, Automatic control, Feedback control systems, Feedforward control systems
Format: Document (PDF)

Title: Combination of anti-optimization and fuzzy-set-based analysis for structural optimization under uncertainty.
Creator: Fang, Jianjie, Smith, Samuel M., Elishakoff, Isaac
Abstract/Description: An approach to the optimum design of structures, in which uncertainties with a fuzzy nature in the magnitude of the loads are considered, is proposed in this study. The optimization process under fuzzy loads is transformed into a fuzzy optimization problem based on the notion of Wemers' maximizing set by defining membership functions of the objective function and constraints. In this paper, Werner's maximizing set is defined using the results obtained by first conducting an optimization...
Show moreAn approach to the optimum design of structures, in which uncertainties with a fuzzy nature in the magnitude of the loads are considered, is proposed in this study. The optimization process under fuzzy loads is transformed into a fuzzy optimization problem based on the notion of Wemers' maximizing set by defining membership functions of the objective function and constraints. In this paper, Werner's maximizing set is defined using the results obtained by first conducting an optimization through anti-optimization modeling of the uncertain loads. An example of a ten-bar truss is used to illustrate the present optimization process. The results are compared with those yielded by other optimization methods.
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Date Issued: 1998
PURL: http://purl.flvc.org/fau/fd/FAUIR000069
Format: Citation

FAU Theses and Dissertations (14)	+ -
FAU College Collections (1)	+ -

Automatic control (2)	+ -
Fuzzy logic (2)	+ -
Nonlinear control theory (2)	+ -
Oceanographic submersibles (2)	+ -
Oceanographic submersibles--Automatic control (2)	+ -

Oceanographic submersibles--Design (2)	+ -
Underwater acoustics (2)	+ -
Underwater navigation (2)	+ -
Acoustical engineering (1)	+ -
Altitudes--Measurement (1)	+ -
Cellular mappings (1)	+ -
Client/server computing (1)	+ -
Feedback control systems (1)	+ -
Feedforward control systems (1)	+ -
Fuzzy algorithms (1)	+ -
Fuzzy sets (1)	+ -
Fuzzy systems (1)	+ -
Java (Computer program language) (1)	+ -
Local area networks (Computer network) (1)	+ -
Oceanographic submersibles--Computer simulation (1)	+ -
Piping (1)	+ -
Real-time control (1)	+ -
Remote submersibles (1)	+ -
Software configuration management (1)	+ -
Submersibles (1)	+ -
Submersibles--Automatic control (1)	+ -
Submersibles--Control systems (1)	+ -
Submersibles--Data processing (1)	+ -
Submersibles--Equipment and supplies (1)	+ -
Telecommunication systems (1)	+ -

Electronic Thesis or Dissertation (14)	+ -
article (1)	+ -

Smith, Samuel M. (15)	+ -
Florida Atlantic University (14)	+ -
College of Engineering and Computer Science (8)	+ -
Department of Ocean and Mechanical Engineering (8)	+ -
Anderson, Donald Taylor. (1)	+ -

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