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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: Hydrodynamic analysis of an underwater body including free-surface effects.
Creator: Puaut, Christophe., Florida Atlantic University, Ananthakrishnan, Palaniswamy, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: Boundary integral algorithms are developed to analyze three-dimensional inviscid fluid-body interactions, including the nonlinear free-surface effects. Hydrodynamic coefficients are computed for various body geometries, some corresponding to that of small underwater vehicles, in deep waters and near the free surface. The fully nonlinear unsteady wave-radiation problem corresponding to forced submerged-body oscillations and forward translation are solved using the mixed Eulerian-Lagrangian...
Show moreBoundary integral algorithms are developed to analyze three-dimensional inviscid fluid-body interactions, including the nonlinear free-surface effects. Hydrodynamic coefficients are computed for various body geometries, some corresponding to that of small underwater vehicles, in deep waters and near the free surface. The fully nonlinear unsteady wave-radiation problem corresponding to forced submerged-body oscillations and forward translation are solved using the mixed Eulerian-Lagrangian formulation (Longuet-Higgins and Cokelet, 1976). By implementing the leading-order free-surface conditions on the calm surface, linear time-domain solutions are also obtained. The nonlinear and linear results are compared to quantify the nonlinear free-surface effects. Linear frequency-domain analysis of the wave-body interactions is also carried out using a boundary-integral method based on the simple-source distribution (Yeung, 1974). The linear time-domain and the latter frequency-domain results are also compared for a validation of the algorithms.
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Date Issued: 2001
PURL: http://purl.flvc.org/fcla/dt/12845
Subject Headings: Boundary element methods, Oceanographic submersibles, Hydrodynamics
Format: Document (PDF)

Title: Simulation, control and optimization of underwater vehicle performance.
Creator: Zipf, David Glenn., Florida Atlantic University, Dunn, Stanley E., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: This project addresses the simulation, control and optimization of underwater vehicle performance. An analytical model of underwater vehicle motion has been developed. This model is based on a set of six degree of freedom nonlinear differential equations of motion. These equations incorporate inertial, hydrodynamic, hydrostatic, gravity and thruster forces to define the vehicle's motion. The forces are calculated and the equations of motion solved using a finite difference method of...
Show moreThis project addresses the simulation, control and optimization of underwater vehicle performance. An analytical model of underwater vehicle motion has been developed. This model is based on a set of six degree of freedom nonlinear differential equations of motion. These equations incorporate inertial, hydrodynamic, hydrostatic, gravity and thruster forces to define the vehicle's motion. The forces are calculated and the equations of motion solved using a finite difference method of integration. An automatic closed loop control strategy has been developed and integrated into the motion model. The controller determines control plane deflection and thruster output based on sensor provided input, maneuver request and control gain constants. The motion model simulates the effects of these controller requests on the vehicle motion. The controller effects are analyzed and an optimal set of control gains is determined. These optimal gains are determined based on a quantitative comparison of a pre-defined Performance Index (PI) function. The PI is a function of critical performance values, i.e., energy consumption, and user defined weighted constants. By employing an iteration technique the PI is minimized to provide an optimal set of control gains.
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Date Issued: 1989
PURL: http://purl.flvc.org/fcla/dt/14534
Subject Headings: Oceanographic submersibles--Automatic control, Oceanographic submersibles--Simulation methods, Vehicles, Remotely piloted
Format: Document (PDF)

Title: The R/V Seaward Johnson: a new state-of-the art submersible support ship.
Creator: Cook, Roger W., Jones, Robert S., Prentice, Jeffrey R.
PURL: http://purl.flvc.org/fcla/dt/3357465
Subject Headings: Oceanographic submersibles, Deep-sea research vessels, Manned exploration devices
Format: Document (PDF)

Title: Color variation and associated behavior in the epinepheline groupers, Mycteroperca microlepis (Goode and Bean) and M. phenax Jordan and Swain.
Creator: Gilmore, R. G., Jones, Robert S., Harbor Branch Oceanographic Institute
Date Issued: 1992
PURL: http://purl.flvc.org/FCLA/DT/3171645
Subject Headings: Groupers, Epinephelus, Marine animals, Animal behavior, Oceanographic submersibles
Format: Document (PDF)

Title: Lipogramma flavescens, a new gram-mid fish from the Bahama Islands, with descriptions and distributional notes on L. evides and L. anabantoides.
Creator: Gilmore, R. G., Jones, Robert S., Harbor Branch Oceanographic Institute
Date Issued: 1988
PURL: http://purl.flvc.org/FCLA/DT/3172764
Subject Headings: Fishes --Anatomy, Coral reef fishes, Fish --Names, Rotenone, Oceanographic submersibles
Format: Document (PDF)

Title: Chlorophyll distribution in continental shelf sediments off West Palm Beach, Florida and west end, Bahamas.
Creator: Heffernan, John J., Gibson, R. A., Harbor Branch Oceanographic Institute
Date Issued: 1983
PURL: http://purl.flvc.org/FCLA/DT/3173005
Subject Headings: Marine sediments, Continental shelf, Chlorophyll, Pigments Analysis, Oceanographic submersibles
Format: Document (PDF)

Title: In situ observations on three species of largefinned deep-sea squids.
Creator: Vecchione, M., Roper, C. F. E., Widder, Edith A., Frank, Tamara M., Harbor Branch Oceanographic Institute
Date Issued: 2002
PURL: http://purl.flvc.org/FCLA/DT/3171653
Subject Headings: Squids, Giant squids, Oceanography --Observations, Oceanographic submersibles, Marine biology
Format: Document (PDF)

Title: Reevaluation of stalked aplysinid sponges, with description of a new species from the upper Bahamian slope.
Creator: Maldonado, Manuel, Young, Craig M., Harbor Branch Oceanographic Institute
Date Issued: 1998
PURL: http://purl.flvc.org/FCLA/DT/3171650
Subject Headings: Sponges, Sponges --Bahamas, Sponges --Anatomy, Morphology (Animals), Oceanographic submersibles
Format: Document (PDF)

Title: An ultrastructural investigation of spermatogenesis in the holopelagic polychaetes Vanadis formosa and Krohnia lepidota (Polychaeta: Alciopidae).
Creator: Rice, Stanley A., Eckelbarger, Kevin J., Harbor Branch Oceanographic Institute
Date Issued: 1989
PURL: http://purl.flvc.org/FCLA/DT/3171559
Subject Headings: Spermatogenesis, Cell membranes, Cell division, Chromosomes, Oceanographic submersibles
Format: Document (PDF)

Title: Temporal and spatial variation in habitat characteristics of tilefish (Lopholatilus chamaeleonticeps) off the east coast of Florida.
Creator: Able, Kenneth W., Grimes, Churchill B., Jones, Robert S., Twichell, David C., Harbor Branch Oceanographic Institute
Date Issued: 1993
PURL: http://purl.flvc.org/FCLA/DT/3172857
Subject Headings: Tilefish, Marine sediments --Florida, Carbonates, Sidescan sonar, Oceanographic submersibles
Format: Document (PDF)

Title: Three new species of prayine siphonophore (Calycophorae, Prayidae) collected by a submersible, with notes on related species.
Creator: Pugh, P. R., Harbison, G. R., Harbor Branch Oceanographic Institute
Date Issued: 1987
PURL: http://purl.flvc.org/FCLA/DT/3172777
Subject Headings: Siphonophora, Marine animals, Animals --Classification, Hydrozoa, Oceanographic submersibles
Format: Document (PDF)

Title: Feeding behavior by Asteroporpa annulata, a gorgonocephalid brittlestar with unbranched arms.
Creator: Hendler, Gordon, Miller, John E., Harbor Branch Oceanographic Institute
Date Issued: 1984
PURL: http://purl.flvc.org/FCLA/DT/3171637
Subject Headings: Marine ecology, Marine animals --Food, Fishes, Plankton, Oceanographic submersibles
Format: Document (PDF)

Title: Design of an adaptive nonlinear controller for an autonomous underwater vehicle equipped with a vectored thruster.
Creator: Morel, Yannick., Florida Atlantic University, Leonessa, Alexander, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: The tasks Autonomous Underwater Vehicles (AUVs) are expected to perform are becoming more and more challenging. Thus, to be able to address such tasks, we implemented a high maneuverability propulsion system: a vectored thruster. The design of a vehicle equipped with such a propulsion system will be presented, from a mechanical, electronic and software point of view. The motion control of the resulting system is fairly complex, and no suitable controller is available in the literature....
Show moreThe tasks Autonomous Underwater Vehicles (AUVs) are expected to perform are becoming more and more challenging. Thus, to be able to address such tasks, we implemented a high maneuverability propulsion system: a vectored thruster. The design of a vehicle equipped with such a propulsion system will be presented, from a mechanical, electronic and software point of view. The motion control of the resulting system is fairly complex, and no suitable controller is available in the literature. Accordingly, we will present the derivation of a novel tracking controller, whose adaptive properties will compensate for the lack of knowledge of the system's parameters. Computer simulations are provided and show the performance and robustness of the proposed control algorithm to external perturbations, unmodelled dynamics and dynamics variation. We finally illustrate the advantage of using an adaptive controller by comparing the presented controller to a Proportional Integral Derivative controller.
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Date Issued: 2002
PURL: http://purl.flvc.org/fcla/dt/12986
Subject Headings: Hydrodynamics, Nonlinear control theory, Adaptive control systems, Oceanographic submersibles
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: 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: Hydrodynamics and control of an autonomous underwater vehicle equipped with a vectored thruster.
Creator: Le Page, Yann Georges., Florida Atlantic University, Holappa, Kenneth W., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: In this study, a laminar flow hull shape is implemented on an Autonomous Underwater Vehicle (AUV), with boundary layer suction at the aft end of the hull to prevent separation. The hull shape has the largest diameter of the vehicle near the aft end of the hull resulting in an accelerating flow over the majority of the hull's surface. The problem of axially symmetrical flow around the AUV is solved using a potential flow analysis. A finite difference algorithm evaluates the stream function,...
Show moreIn this study, a laminar flow hull shape is implemented on an Autonomous Underwater Vehicle (AUV), with boundary layer suction at the aft end of the hull to prevent separation. The hull shape has the largest diameter of the vehicle near the aft end of the hull resulting in an accelerating flow over the majority of the hull's surface. The problem of axially symmetrical flow around the AUV is solved using a potential flow analysis. A finite difference algorithm evaluates the stream function, leading to the computation of fluid velocity and pressure fields. The boundary layer characteristics are analyzed to predict the risk of separation. The numerical results are compared with laboratory measurements of the flow using a Particle Image Velocimetry system. Fuzzy Logic Sliding Mode Controllers are implemented to control the vectored thruster vehicle, and are simulated using a six-degree of freedom dynamic model of the vehicle.
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Date Issued: 2000
PURL: http://purl.flvc.org/fcla/dt/15766
Subject Headings: Boundary layer, Laminar flow, Hydrodynamics, Oceanographic submersibles--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: A force sensor system for the real time measurement of thrust on an AUV.
Creator: Larroque-Lahitette, Gilles., Florida Atlantic University, Holappa, Kenneth W., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: When a control system for an Autonomous Underwater Vehicle (AUV) requires thrust, it is common to apply a simplified model to estimate the force generated. Even though this model takes into account several parameters, it will never recover the real value. Our challenge is to directly measure the force, in real time, from the tunnel thrusters used in the positioning control of the Mini AUV known as Morpheus. Therefore, a force sensor system has been designed, optimized, machined and tested,...
Show moreWhen a control system for an Autonomous Underwater Vehicle (AUV) requires thrust, it is common to apply a simplified model to estimate the force generated. Even though this model takes into account several parameters, it will never recover the real value. Our challenge is to directly measure the force, in real time, from the tunnel thrusters used in the positioning control of the Mini AUV known as Morpheus. Therefore, a force sensor system has been designed, optimized, machined and tested, that supports the thruster assembly. The sensor implements strain gages to measure the deformation in a beam. To optimize the capabilities of the sensor, a finite elements analysis has been run. The sensor has been fabricated and tested to determine the static and dynamic characteristics. This thesis discusses the design implementation, optimization, fabrication and testing of the force sensor. The discussion begins with an overview of the problem, then explains the fabrication, optimization, testing and concludes with recommendation for future work.
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Date Issued: 2001
PURL: http://purl.flvc.org/fcla/dt/12745
Subject Headings: Oceanographic submersibles, Tactile sensors, Robots--Control systems
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)

FAU Theses and Dissertations (40)	+ -
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Oceanographic submersibles (40)	+ -
Oceanographic submersibles--Computer simulation (8)	+ -
Underwater navigation (8)	+ -
Submersibles (7)	+ -
Underwater acoustics (6)	+ -

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