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Title: A passive platform for tracking underwater vehicles.
Creator: Dufour, Emmanuel R., Florida Atlantic University, Glegg, Stewart A. L.
Abstract/Description: Over recent years, the trend in Autonomous Underwater Vehicle (AUV) design has been to reduce vehicle size and cost. On board navigation systems are both large and expensive so alternate solutions for vehicle positioning are required. The thesis explores the performance of a passive platform, the Ambient Noise Sonar (ANS), in remotely detecting, localizing and tracking submersible vessels. This task is achieved by exploiting communication signatures emitted by the moving submersible. The...
Show moreOver recent years, the trend in Autonomous Underwater Vehicle (AUV) design has been to reduce vehicle size and cost. On board navigation systems are both large and expensive so alternate solutions for vehicle positioning are required. The thesis explores the performance of a passive platform, the Ambient Noise Sonar (ANS), in remotely detecting, localizing and tracking submersible vessels. This task is achieved by exploiting communication signatures emitted by the moving submersible. The utility modem integrated on the AUV can be operated in a PSK and a MFSK mode. It was demonstrated that the ANS successfully tracks AUVs in both cases. First, the thesis presents the sonar beamformer and shows its potential for tracking by using the AUV communication signals. It describes a scheme developed to enhance the processor performance in a multi-target configuration and clutter. Then, it discusses promising tracking results from experiments conducted in summer and fall 1998, off the coast of South Florida.
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Date Issued: 1999
PURL: http://purl.flvc.org/fcla/dt/15671
Subject Headings: Oceanographic submersibles--Automatic control, Underwater acoustics, Acoustical engineering
Format: Document (PDF)

Title: Thrust Response of a Vectored-Thruster Unmanned Underwater Vehicle.
Creator: Ackermann, Lloyd E. J., von Ellenrieder, Karl, Florida Atlantic University
Abstract/Description: Towing tank/water flume experiments are conducted to characterize the dynamics of a Remotely-Piloted Unmanned Underwater Vehicle (RPUUV) propelled by a vectored-thruster system. Force and torque measurements are used to determine the coefficients of drag, lift, yaw-moment and thrust of the vehicle as a function of the vehicle yaw angle and the vectored-thruster rudder angle. Simultaneously, particle Image Velocimetry (PIV) measurements of the propeller inlet flow are also performed to examine...
Show moreTowing tank/water flume experiments are conducted to characterize the dynamics of a Remotely-Piloted Unmanned Underwater Vehicle (RPUUV) propelled by a vectored-thruster system. Force and torque measurements are used to determine the coefficients of drag, lift, yaw-moment and thrust of the vehicle as a function of the vehicle yaw angle and the vectored-thruster rudder angle. Simultaneously, particle Image Velocimetry (PIV) measurements of the propeller inlet flow are also performed to examine the variation of flow conditions at the propeller inlet with rudder angle. The tests are conducted at 0.150 rnls, 0.300 rnls, 0.515 rnls and 0.773 rnls. While the measured drag coefficient is slightly higher than predicted by theory at low Reynolds number (1.44 x10^5 and 2.88 x10^5), the hydrodynamic coefficients data are expected to be useful in predicting the response of vehicles in the field. Additionally, the magnitude of the thrust vector varies nonlinearly with rudder angle and for nonzero rudder angles the thrust vector does not point in the same direction as the thruster axis.
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Date Issued: 2007
PURL: http://purl.flvc.org/fau/fd/FA00012500
Subject Headings: Naval architecture, Oceanographic submersibles--Hydrodynamics, Vibration (Marine engineering)
Format: Document (PDF)

Title: Thermocline tracking using an upgraded ocean explorer autonomous underwater vehicle.
Creator: Clabon, Mathieu., Florida Atlantic University, Dhanak, Manhar R.
Abstract/Description: This thesis addresses the problem of tracking a thermocline---a layer of water showing an intense vertical temperature gradient---with an Autonomous Underwater Vehicle (AUV). One of Florida Atlantic University's Ocean Explorer (OEX) AUV has been upgraded, as part of the work described here, by integration of a standard and convenient software interface, and used in several thermocline survey experiments aimed at gathering oceanographic data relevant to thermoclines. A tool that simulates the...
Show moreThis thesis addresses the problem of tracking a thermocline---a layer of water showing an intense vertical temperature gradient---with an Autonomous Underwater Vehicle (AUV). One of Florida Atlantic University's Ocean Explorer (OEX) AUV has been upgraded, as part of the work described here, by integration of a standard and convenient software interface, and used in several thermocline survey experiments aimed at gathering oceanographic data relevant to thermoclines. A tool that simulates the longitudinal motion of the OEX through a water slice, whose temperature map is read using a simulated temperature and depth sensor, has been developed. Using this tool and information from at-sea experiments, several control methods for the OEX to track a thermocline were analyzed. In particular, two different algorithms were implemented and tested by simulation. Overall, two control algorithms have been validated, and it will soon be possible to provide the AUV with a thermocline tracking capability.
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Date Issued: 2003
PURL: http://purl.flvc.org/fcla/dt/13025
Subject Headings: Thermoclines (Oceanography), Oceanographic submersibles--Computer simulation, Underwater navigation
Format: Document (PDF)

Title: Statistical bounds on handoff probabilities under different fading channel models of mobile communication.
Creator: Laupattarakasem, Pet., Florida Atlantic University, Neelakanta, Perambur S., College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
Abstract/Description: The research envisaged and reported in this thesis refers to finding comprehensive algorithms to determine the handoff probabilities of new and handoff calls encountered in mobile communications. The traditional expressions for these probabilities that are reported in the literature, are deduced only on the basis of call arrival statistics applied to RF links between base station (BS) and the mobile unit (MU). However, such radio links inevitably suffer from fading. These channels are...
Show moreThe research envisaged and reported in this thesis refers to finding comprehensive algorithms to determine the handoff probabilities of new and handoff calls encountered in mobile communications. The traditional expressions for these probabilities that are reported in the literature, are deduced only on the basis of call arrival statistics applied to RF links between base station (BS) and the mobile unit (MU). However, such radio links inevitably suffer from fading. These channels are normally modeled by appropriate probability density functions (pdfs) of the faded signal envelope. Rayleigh, Rician and Nakagami-m distributions are popularly considered in depicting such fading channel characteristics. The traditional (queueing-theoretic) based estimation of handoff probabilities does not account for the hysteresis-specific handoff statistics in the relevant fading channels. This is in contrary to the reality, inasmuch as fading is an inherent part of RF channels in mobile communications. The present study offers a tractable method of combining queuing-theoretic (call arrival) statistics and the hysteresis-crossing statistics of a RSS metric so as to obtain proper expressions for new and handoff call handoff probabilities. The (upper and lower) bound specified spread of the handoff probabilities indicates that care should be exercised in resource allocation efforts with a margin. To the best of the knowledge of the author, this research exercise is new and has not been reported elsewhere in open literature.
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Date Issued: 2003
PURL: http://purl.flvc.org/fcla/dt/13006
Subject Headings: Oceanographic submersibles, Tactile sensors, Robots--Control systems
Format: Document (PDF)

Title: Habitat and fauna of deep-water Lophelia pertusa coral reefs off the southeastern US: Blake Plateau, Straits of Florida, and Gulf of Mexico.
Creator: Reed, John K., Weaver, Doug C., Pomponi, Shirley A.
Date Issued: 2006
PURL: http://purl.flvc.org/FCLA/DT/3172090
Subject Headings: Coral reef ecology, Corals --Habitat --Congresses, Deep sea corals, Oceanographic submersibles, Remote submersibles
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: 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: Automated Launch and Recovery of an Autonomous Underwater Vehicle from an Unmanned Surface Vessel.
Creator: Sarda, Edoardo I, Dhanak, Manhar R., Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: Research on collaboration among unmanned platforms is essential to improve the applications for autonomous missions, by expanding the working environment of the robotic systems, and reducing the risks and the costs associated with conducting manned operations. This research is devoted to enable the collaboration between an Unmanned Surface Vehicle (USV) and an Autonomous Underwater Vehicle (AUV), by allowing the first one to launch and recover the second one. The objective of this...
Show moreResearch on collaboration among unmanned platforms is essential to improve the applications for autonomous missions, by expanding the working environment of the robotic systems, and reducing the risks and the costs associated with conducting manned operations. This research is devoted to enable the collaboration between an Unmanned Surface Vehicle (USV) and an Autonomous Underwater Vehicle (AUV), by allowing the first one to launch and recover the second one. The objective of this dissertation is to identify possible methods to launch and recover a REMUS 100 AUV from a WAM-V 16 USV, thus developing this capability by designing and implementing a launch and recovery system (LARS). To meet this objective, a series of preliminary experiments was first performed to identify two distinct methods to launch and recover the AUV: mobile and semi-stationary. Both methods have been simulated using the Orcaflex software. Subsequently, the necessary control systems to create the mandatory USV autonomy for the purpose of launch and recovery were developed. Specifically, a series of low-level controllers were designed and implemented to enable two autonomous maneuvers on the USV: station-keeping and speed & heading control. In addition, a level of intelligence to autonomously identify the optimal operating conditions within the vehicles' working environment, was derived and integrated on the USV. Lastly, a LARS was designed and implemented on the vehicles to perform the operation following the proposed methodology. The LARS and all subsystems developed for this research were extensively tested through sea-trials. The methodology for launch and recovery, the design of the LARS and the experimental findings are reported in this document.
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Date Issued: 2016
PURL: http://purl.flvc.org/fau/fd/FA00004631, http://purl.flvc.org/fau/fd/FA00004631
Subject Headings: Underwater acoustic telemetry., Fuzzy systems., Nonlinear control theory., Adaptive signal processing., Oceanographic submersibles--Automatic control., Submersibles--Control systems.
Format: Document (PDF)

Title: A high-level fuzzy logic guidance system for an unmanned surface vehicle (USV) tasked to perform an autonomous launch and recovery (ALR) of an unmanned underwater vehicle (UUV).
Creator: Pearson, David, An, Pak-Cheung, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: There have been much technological advances and research in Unmanned Surface Vehicles (USV) as a support and delivery platform for Autonomous/Unmanned Underwater Vehicles (AUV/UUV). Advantages include extending underwater search and survey operations time and reach, improving underwater positioning and mission awareness, in addition to minimizing the costs and risks associated with similar manned vessel operations. The objective of this thesis is to present the design and development a high...
Show moreThere have been much technological advances and research in Unmanned Surface Vehicles (USV) as a support and delivery platform for Autonomous/Unmanned Underwater Vehicles (AUV/UUV). Advantages include extending underwater search and survey operations time and reach, improving underwater positioning and mission awareness, in addition to minimizing the costs and risks associated with similar manned vessel operations. The objective of this thesis is to present the design and development a high-level fuzzy logic guidance controller for a WAM-V 14 USV in order to autonomously launch and recover a REMUS 100 AUV. The approach to meeting this objective is to develop ability for the USV to intercept and rendezvous with an AUV that is in transit in order to maximize the probability of a final mobile docking maneuver. Specifically, a fuzzy logic Rendezvous Docking controller has been developed that generates Waypoint-Heading goals for the USV to minimize the cross-track errors between the USV and AUV. A subsequent fuzzy logic Waypoint-Heading controller has been developed to provide the desired heading and speed commands to the low-level controller given the Waypoint-Heading goals. High-level mission control has been extensively simulated using Matlab and partially characterized in real-time during testing. Detailed simulation, experimental results and findings will be reported in this paper.
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Date Issued: 2014
PURL: http://purl.flvc.org/fau/fd/FA00004315, http://purl.flvc.org/fau/fd/FA00004315
Subject Headings: Adaptive signal processing, Fuzzy sets, Fuzzy systems, Nonlinear control theory, Oceanographic submersibles -- Automatic control, Submersibles -- Control systems, Underwater acoustic telemetry
Format: Document (PDF)

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)

Title: A xenon arc light for the Johnson-Sea-Linksubmersible.
Creator: Vulih, S., Clayton, David L., Tietze, R. C., Harbor Branch Oceanographic Institute
Date Issued: 1982
PURL: http://purl.flvc.org/fau/fd/FA00007142
Subject Headings: Johnson-Sea-Link II (Submarine), Xenon, Arc light, Oceanographic research, Submersibles
Format: Document (PDF)

Title: A Submersible–based data display and data loggingsystem.
Creator: Voyles, Quentin, Clayton, David L., Harbor Branch Oceanographic Institute
Date Issued: 1986
PURL: http://purl.flvc.org/fau/fd/FA00007435
Subject Headings: Harbor Branch Foundation, Oceanographic submersibles, Johnson-Sea-Link II (Submarine), Data loggers, Information display systems
Format: Document (PDF)

Title: High efficiency hubless ringpropeller for underwater vehicles.
Creator: Holt, John K., Clark, A. M., Harbor Branch Oceanographic Institute
Date Issued: 1997
PURL: http://purl.flvc.org/fau/fd/FA00007417
Subject Headings: Harbor Branch Oceanographic Institution, Submersibles, Underwater vehicles, Propellers--Design and construction
Format: Document (PDF)

Title: Remote manipulationsystems for research ROVs.
Creator: Clark, A. M., Schilling, T., Harbor Branch Oceanographic Institute
Date Issued: 1987
PURL: http://purl.flvc.org/fau/fd/FA00007438
Subject Headings: Remote submersibles, Johnson-Sea-Link II (Submarine), Harbor Branch Oceanographic Institution
Format: Document (PDF)

Title: Analysis of a composite fiber wrapped gas cylinder for deep diving submersibles.
Creator: Clark, A. M., Harbor Branch Oceanographic Institute
Date Issued: 1986
PURL: http://purl.flvc.org/fau/fd/FA00007433
Subject Headings: Pressure vessels--Testing, Gas cylinders, Oceanographic submersibles, Johnson-Sea-Link II (Submarine)
Format: Document (PDF)

Title: Distribution and structure of deep-water Oculina varicosa coral reefs off central eastern Florida.
Creator: Reed, John K.
Date Issued: 1980
PURL: http://purl.flvc.org/FCLA/DT/3172849
Subject Headings: Oculinidae --Classification, Scleractinia, Coral reefs and islands, Ocean currents, Oceanographic submersibles
Format: Document (PDF)

Title: Impacts of bottom trawling on a deep-water Oculina coral ecosystem off Florida.
Creator: Reed, John K., Koenig, Christopher C., Shepard, Andrew N.
Date Issued: 2007
PURL: http://purl.flvc.org/FCLA/DT/3172092
Subject Headings: Coral reef ecology, Coral reef ecology --Florida, Trawls and trawling --Environmental aspects, Fishing, Oceanographic submersibles
Format: Document (PDF)

Title: Characterizing magnetic noise of AUV for use in towed magnetometer study of internal waves.
Creator: Tilley, Dylan., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: As part of a project to study internal waves, FAU plans to utilize an AUV to tow a magnetometer to study electromagnetic signatures from internal waves. This research is focused on the electromagnetic noise issues related to using an AUV to tow the magnetic sensor package. There are active sources of electromagnetic noise caused by an AUV that are present in addition to those induced by the Earth's magnetic field and permanent magnets. To characterize the magnetic noise associated with the...
Show moreAs part of a project to study internal waves, FAU plans to utilize an AUV to tow a magnetometer to study electromagnetic signatures from internal waves. This research is focused on the electromagnetic noise issues related to using an AUV to tow the magnetic sensor package. There are active sources of electromagnetic noise caused by an AUV that are present in addition to those induced by the Earth's magnetic field and permanent magnets. To characterize the magnetic noise associated with the AUV magnetometer tow system, the various active source elements were identified, the orientation sensitivity of the sensors being used was determined, and the magnetic anomaly of a similar AUV which may be eventually be used in a magnetic sensing arrangement was measured. The results are used to show the proposed sensing arrangement will likely not achieve the necessary sensitivity to measure subtle internal wave signals.
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Date Issued: 2012
PURL: http://purl.flvc.org/FAU/3352881
Subject Headings: Automatic control, Mathematical models, Electromagnetic measurements, Fluctuations (Physics), Oceanographic submersibles, Underwater acoustics
Format: Document (PDF)

Title: Testing Momentum Enhancement Of Ribbon Fin Based Propulsion Using A Robotic Model With An Adjustable Body.
Creator: English, Ian L., Curet, Oscar M., Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: A robotic ribbon fin with twelve independent fin rays, elastic fin membrane, and a body of adjustable height was developed for this thesis specifically to test the 1990 theory put forth by Lighthill and Blake that a multiplicative propulsive enhancement exists for Gymnotiform and Balisiform swimmers based on the ratio of body and fin heights. Until now, the theory has not been experimentally tested. Proof of such a momentum enhancement could have a profound effect on unmanned underwater...
Show moreA robotic ribbon fin with twelve independent fin rays, elastic fin membrane, and a body of adjustable height was developed for this thesis specifically to test the 1990 theory put forth by Lighthill and Blake that a multiplicative propulsive enhancement exists for Gymnotiform and Balisiform swimmers based on the ratio of body and fin heights. Until now, the theory has not been experimentally tested. Proof of such a momentum enhancement could have a profound effect on unmanned underwater vehicle design and shed light on the evolutionary advantage to body-fin ratios found in nature, shown as optimal for momentum enhancement in Lighthill and Blake’s theory. Thrust tests for various body heights were conducted in a recirculating flow tank at different flow speeds and fin flapping frequencies. When comparing different body heights at different frequencies to a ’no-body’ thrust test case at each frequency no momentum enhancement factor was found. Data in this thesis indicate there is no momentum enhancement factor due to the presence of a body on top of an undulating fin.
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Date Issued: 2016
PURL: http://purl.flvc.org/fau/fd/FA00004682, http://purl.flvc.org/fau/fd/FA00004682
Subject Headings: Animal locomotion, Animal mechanics, Biomechanics, Computers, Special purpose, Oceanographic submersibles, Robotics
Format: Document (PDF)

Title: A robust AUV docking guidance and navigation approach to handling unknown current disturbances.
Creator: Teo, Hoe Eng., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: The main contribution in this thesis is the design of a robust AUV docking guidance and navigation approach that can guide and home an AUV towards an acoustic source located on an oriented bottom-mounted underwater docking station, under presence of unknown current disturbances and in the absence of any form of onboard velocity sensor. A Complementary Filter and various forms of Kalman Filters were separately formulated to estimate the current and vehicle positions with strategic vehicle...
Show moreThe main contribution in this thesis is the design of a robust AUV docking guidance and navigation approach that can guide and home an AUV towards an acoustic source located on an oriented bottom-mounted underwater docking station, under presence of unknown current disturbances and in the absence of any form of onboard velocity sensor. A Complementary Filter and various forms of Kalman Filters were separately formulated to estimate the current and vehicle positions with strategic vehicle manoeuvres. A current compensator uses the estimated current to maintain the desired vehicle course while under current disturbance. Tagaki-Sugeno-Kang Fuzzy Inference System was designed to realize fuzzy docking guidance manoeuvres. Finally, Monte Carlo runs were performed on a designed AUV docking simulator to evaluate the docking robustness against various docking conditions. Simulation results demonstrated robustness in the designed docking guidance and navigation approach.
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Date Issued: 2010
PURL: http://purl.flvc.org/FAU/2683137
Subject Headings: Oceanographic submersibles, Computer simulation, Underwater navigation, Fuzzy systems, Automatic control, Mathematical models
Format: Document (PDF)

FAU Theses and Dissertations (40)	+ -
HBOI Faculty Contributions (21)	+ -
HBOI Technical Reports (4)	+ -

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

Hydrodynamics (5)	+ -
Johnson-Sea-Link II (Submarine) (5)	+ -
Automatic control (4)	+ -
Oceanographic submersibles--Automatic control (4)	+ -
Remote submersibles (4)	+ -
Harbor Branch Oceanographic Institution (3)	+ -
Mathematical models (3)	+ -
Oceanographic submersibles--Mathematical models (3)	+ -
Acoustical engineering (2)	+ -
Computer simulation (2)	+ -
Computer software--Development (2)	+ -
Coral reef ecology (2)	+ -
Electromagnetic measurements (2)	+ -
Fluctuations (Physics) (2)	+ -
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Simulation methods (2)	+ -
Submersibles--Design and construction (2)	+ -
Tactile sensors (2)	+ -
Turbulence--Measurement (2)	+ -
Acoustic models (1)	+ -

Electronic Thesis or Dissertation (40)	+ -
article (21)	+ -
technical report (4)	+ -

Florida Atlantic University (37)	+ -
College of Engineering and Computer Science (29)	+ -
Department of Ocean and Mechanical Engineering (27)	+ -
Harbor Branch Oceanographic Institute (17)	+ -
Smith, Samuel M. (7)	+ -

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