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Title: Fast underwater acoustic data link design via multicarrier modulation and higher-order statistics equalization.
Creator: Bessios, Anthony G., Caimi, F. M., Harbor Branch Oceanographic Institute
Date Issued: 1995
PURL: http://purl.flvc.org/FCLA/DT/3172993
Subject Headings: Wireless communication systems, Digital communications, Remote submersibles, Robotics, Stochastic analysis
Format: Document (PDF)

Title: Investigation of Rotational Deviations on Single Fiducial Tumor Tracking with Simulated Respiratory Motion using Synchrony® Respiratory Motion Tracking for Cyberknife® Treatment.
Creator: Christ, Zachary A., Shang, Charles, Leventouri, Theodora, Florida Atlantic University, Charles E. Schmidt College of Science, Department of Physics
Abstract/Description: It is hypothesized that the uncertainty of the Synchrony® model from the rotation of a geometrically asymmetrical single fiducial shall be non-zero during the motion tracking. To validate this hypothesis, the uncertainty was measured for a Synchrony® model built for a respiratory motion phantom oriented at different yaw angles on a Cyberknife® treatment table. A Mini-ball Cube with three cylindrical GoldMark™ (1mmx5mm Au) numbered fiducials was placed inside a respiratory phantom and used for...
Show moreIt is hypothesized that the uncertainty of the Synchrony® model from the rotation of a geometrically asymmetrical single fiducial shall be non-zero during the motion tracking. To validate this hypothesis, the uncertainty was measured for a Synchrony® model built for a respiratory motion phantom oriented at different yaw angles on a Cyberknife® treatment table. A Mini-ball Cube with three cylindrical GoldMark™ (1mmx5mm Au) numbered fiducials was placed inside a respiratory phantom and used for all tests. The fiducial with the least artifact interference was selected for the motion tracking. A 2cm periodic, longitudinal, linear motion of the Mini-ball cube was executed and tested for yaw rotational angles, 0° – 90°. The test was repeated over 3 nonconsecutive days. The uncertainty increased with the yaw angle with the most noticeable changes seen between20° and 60° yaw, where uncertainty increased from 23.5% to 57.9%. A similar test was performed using a spherical Gold Anchor™ fiducial. The uncertainties found when using the Gold Anchor™ were statistically lower than those found when using the GoldMark™ fiducial for all angles of rotation. For the first time, it is found that Synchrony® model uncertainty depends on fiducial geometry. In addition, this research has shown that tracking target rotation using a single fiducial can be accomplished with the Synchrony® model uncertainty as it is displayed on the treatment console. The results of this research could lead to decreased acute toxicity effects related to multiple fiducials.
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Date Issued: 2018
PURL: http://purl.flvc.org/fau/fd/FA00013041
Subject Headings: Fiducial Markers, Radiosurgery--Quality control, Robotic radiosurgery
Format: Document (PDF)

Title: Study on Reinforced Soft Actuator for Exoskeleton Actuators.
Creator: Shuqir, Mohammad, Engeberg, Erik, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: This thesis concerns the design, construction, control, and testing of soft robotic actuators to be used in a soft robotic exoskeleton; the Boa Exoskeleton could be used for joint rehabilitation including: wrist, elbow and possibly shoulder or any joint that requires a soft body actuator to aid with bending movement. We detail the design, modeling and fabrication of two types of actuators: Fiber-reinforced Actuator and PneuNet Actuator. Fiber-Reinforced actuator was chosen for the exoskeleton...
Show moreThis thesis concerns the design, construction, control, and testing of soft robotic actuators to be used in a soft robotic exoskeleton; the Boa Exoskeleton could be used for joint rehabilitation including: wrist, elbow and possibly shoulder or any joint that requires a soft body actuator to aid with bending movement. We detail the design, modeling and fabrication of two types of actuators: Fiber-reinforced Actuator and PneuNet Actuator. Fiber-Reinforced actuator was chosen for the exoskeleton due to its higher force. The Fiber-Reinforced actuator molds were 3D printed, four models were made. Two materials were used to fabricate the models: Dragon Skin 30A and Sort-A-Clear 40A. Two number of windings: (n=40) and (n=25), actuators wrapped with carbon fiber. An air tank was used to supply pressure. The actuators were studied at different pressures. Pressure-force relation was studied, and a close to linear relationship was found. Boa Exoskeleton was made for wrist. Electromyography (EMG) was used; Four EMG receptors were put around the arm. EMG was utilized to actuate the Boa Exoskeleton and record the muscle movement. Five tests were done on six human subjects to validate the Boa Exoskeleton.
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Date Issued: 2018
PURL: http://purl.flvc.org/fau/fd/FA00013098
Subject Headings: Actuators--Design and construction., Robotic exoskeletons., Actuators--Materials.
Format: Document (PDF)

Title: Mobile docking of REMUS-100 equipped with USBL-APS to an unmanned surface vehicle: a performance feasibility study.
Creator: Miranda, Mario II, Beaujean, Pierre-Philippe, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: The overall objective of this work is to evaluate the ability of homing and docking an unmanned underwater vehicle (Hydroid REMUS 100 UUV) to a moving unmanned surface vehicle (Wave-Adaptive Modular Surface Vehicle USV) using a Hydroid Digital Ultra-Short Baseline (DUSBL) acoustic positioning system (APS), as a primary navigation source. An understanding of how the UUV can rendezvous with a stationary USV first is presented, then followed by a moving USV. Inherently, the DUSBL-APS is...
Show moreThe overall objective of this work is to evaluate the ability of homing and docking an unmanned underwater vehicle (Hydroid REMUS 100 UUV) to a moving unmanned surface vehicle (Wave-Adaptive Modular Surface Vehicle USV) using a Hydroid Digital Ultra-Short Baseline (DUSBL) acoustic positioning system (APS), as a primary navigation source. An understanding of how the UUV can rendezvous with a stationary USV first is presented, then followed by a moving USV. Inherently, the DUSBL-APS is susceptible to error due to the physical phenomena of the underwater acoustic channel (e.g. ambient noise, attenuation and ray refraction). The development of an APS model has allowed the authors to forecast the UUV’s position and the estimated track line of the USV as determined by the DUSBL acoustic sensor. In this model, focus is placed on three main elements: 1) the acoustic channel and sound ray refraction when propagating in an in-homogeneous medium; 2) the detection component of an ideal DUSBL-APS using the Neyman-Pearson criterion; 3) the signal-to-noise ratio (SNR) and receiver directivity impact on position estimation. The simulation tool is compared against actual open water homing results in terms of the estimated source position between the simulated and the actual USBL range and bearing information.
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Date Issued: 2014
PURL: http://purl.flvc.org/fau/fd/FA00004140, http://purl.flvc.org/fau/fd/FA00004140
Subject Headings: Adaptive signal processing, Mobile robots, Underwater acoustic telemetry
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: A transputer-based fault-tolerant robot controller.
Creator: Kulkarni, Shubhada R., Florida Atlantic University, Fernandez, Eduardo B., College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
Abstract/Description: In recent years robots have become increasingly important in many areas. A robotic controller requires high speed and high reliability and its design must continue these two aspects. This thesis presents a design for a Transputer based fault tolerant robot controller. For concreteness, we have designed this controller for a specific robot, the SEDAB, a prototype developed by IBM Corp. This design attempts to satisfy the two requirements of speed and reliability. Speed is achieved by the use...
Show moreIn recent years robots have become increasingly important in many areas. A robotic controller requires high speed and high reliability and its design must continue these two aspects. This thesis presents a design for a Transputer based fault tolerant robot controller. For concreteness, we have designed this controller for a specific robot, the SEDAB, a prototype developed by IBM Corp. This design attempts to satisfy the two requirements of speed and reliability. Speed is achieved by the use of a concurrent structure composed of Transputers. Reliability is provided by a self-testing mechanism and a multiprocessor system architecture. The Occam implementation of the robot processes is described. We have evaluated the reliability of this controller. The reliability study shows that there is a significant increase in the reliability of this controller due to the new architecture and proposed fault detection mechanism. While we have not been able to actually control this robot, we have shown that some scheduling heuristics can be effectively used to provide a higher level of performance.
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Date Issued: 1990
PURL: http://purl.flvc.org/fcla/dt/14616
Subject Headings: Robots--Control systems, Automatic control--Computer programs
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: Development of a graphical user interface for a Stewart platform.
Creator: Subramanian, Chenthilvel Muthukumaran., Florida Atlantic University, Masory, Oren, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: A user friendly graphical interface was developed to control a Stewart platform which is a six degree-of-freedom in-parallel mechanism. The interface allows the user to define the platform motion relative to various coordinate systems: base, platform and joint. The velocity/position reference to the platform's controller can be provided by the following ways: preprogrammed data file, serial communication RS-232, 6 degrees of freedom joystick and soft teach pendant. The platform was designed...
Show moreA user friendly graphical interface was developed to control a Stewart platform which is a six degree-of-freedom in-parallel mechanism. The interface allows the user to define the platform motion relative to various coordinate systems: base, platform and joint. The velocity/position reference to the platform's controller can be provided by the following ways: preprogrammed data file, serial communication RS-232, 6 degrees of freedom joystick and soft teach pendant. The platform was designed to be used as "Space Emulator" and therefore a 6 degrees of freedom force/torque sensor was needed. Two different models of such sensors were designed and analyzed using finite element analysis techniques. Based on the results one particular model was selected, fabricated, instrumented with strain gages and calibrated in order to obtain its stiffness matrix. The effect of drifting of the sensor output due to self heating of the strain gages and the electronic components of the strain gage amplifiers was also studied.
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Date Issued: 1993
PURL: http://purl.flvc.org/fcla/dt/14941
Subject Headings: Robots--Control systems, Robotics--Calibration, Manipulators (Mechanism), Finite element method, Graphical user interfaces (Computer systems)
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 planar cable-driven robotic device for physical therapy assistance.
Creator: Morris, Melissa M., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: The design and construction of a tri-cable, planar robotic device for use in neurophysical rehabilitation is presented. The criteria for this system are based primarily on marketability factors, rather than ideal models or mathematical outcomes. The device is designed to be low cost and sufficiently safe for a somewhat disabled individual to use unsupervised at home, as well as in a therapist's office. The key features are the use of a barrier that inhibits the user from coming into contact...
Show moreThe design and construction of a tri-cable, planar robotic device for use in neurophysical rehabilitation is presented. The criteria for this system are based primarily on marketability factors, rather than ideal models or mathematical outcomes. The device is designed to be low cost and sufficiently safe for a somewhat disabled individual to use unsupervised at home, as well as in a therapist's office. The key features are the use of a barrier that inhibits the user from coming into contact with the cables as well as a "break-away" joystick that the user utilizes to perform the rehabilitation tasks. In addition, this device is portable, aesthetically acceptable and easy to operate. Other uses of this system include sports therapy, virtual reality and teleoperation of remote devices.
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Date Issued: 2007
PURL: http://purl.flvc.org/FAU/FADTsup3358410p
Subject Headings: Medical physics, Robotics, Biomechanics, Physical therapy, Technological innovations, Neural networks (Computer science)
Format: Set of related objects

Title: Object recognition by genetic algorithm.
Creator: Li, Jianhua., Florida Atlantic University, Han, Chingping (Jim), Zhuang, Hanqi, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: Vision systems have been widely used for parts inspection in electronics assembly lines. In order to improve the overall performance of a visual inspection system, it is important to employ an efficient object recognition algorithm. In this thesis work, a genetic algorithm based correlation algorithm is designed for the task of visual electronic parts inspection. The proposed procedure is composed of two stages. In the first stage, a genetic algorithm is devised to find a sufficient number of...
Show moreVision systems have been widely used for parts inspection in electronics assembly lines. In order to improve the overall performance of a visual inspection system, it is important to employ an efficient object recognition algorithm. In this thesis work, a genetic algorithm based correlation algorithm is designed for the task of visual electronic parts inspection. The proposed procedure is composed of two stages. In the first stage, a genetic algorithm is devised to find a sufficient number of candidate image windows. For each candidate window, the correlation is performed between the sampled template and the image pattern inside the window. In the second stage, local searches are conducted in the neighborhood of these candidate windows. Among all the searched locations, the one that has a highest correlation value with the given template is selected as the best matched location. To apply the genetic algorithm technique, a number of important issues, such as selection of a fitness function, design of a coding scheme, and tuning of genetic parameters are addressed in the thesis. Experimental studies have confirmed that the proposed GA-based correlation method is much more effective in terms of accuracy and speed in locating the desired object, compared with the existing Monte-Carlo random search method.
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Date Issued: 1995
PURL: http://purl.flvc.org/fcla/dt/15225
Subject Headings: Genetic algorithms, Robots--Control systems, Computer vision, Quality control--Optical methods
Format: Document (PDF)

Title: An adaptive computed torque controller for the I.B.M. Electric Drive Robot.
Creator: Miller, Lee Wayne., Florida Atlantic University, Pajunen, Grazyna, College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
Abstract/Description: The I.B.M. Electric Drive Robot (E.D.R.) is a six-link manipulator originally controlled by a classical analog P.I.D. controller. Its performance is not satisfactory because of its poor tracking capabilities and a considerable vibration during arm movement. This is the central motivation for designing an adaptive computed torque controller for this system. In order to accomplish this the physical model of the robot is first reparameterized such that it is linear with respect to a set of...
Show moreThe I.B.M. Electric Drive Robot (E.D.R.) is a six-link manipulator originally controlled by a classical analog P.I.D. controller. Its performance is not satisfactory because of its poor tracking capabilities and a considerable vibration during arm movement. This is the central motivation for designing an adaptive computed torque controller for this system. In order to accomplish this the physical model of the robot is first reparameterized such that it is linear with respect to a set of uncertain parameters. Once this is accomplished the adaptive controller is then formulated. Next methods of computer simulation are developed and employed. These simulation results show the superior performance of the proposed scheme over both a classical computed torque controller and the current P.I.D. controller.
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Date Issued: 1990
PURL: http://purl.flvc.org/fcla/dt/14612
Subject Headings: Adaptive control systems--Computer simulation, PID controllers--Computer simulation, Robotics, Manipulators (Mechanism)
Format: Document (PDF)

Title: A simplistic approach to reactive multi-robot navigation in unknown environments.
Creator: MacKunis, William Thomas., Florida Atlantic University, Raviv, Daniel, College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
Abstract/Description: Multi-agent control is a very promising area of robotics. In applications for which it is difficult or impossible for humans to intervene, the utilization of multi-agent, autonomous robot groups is indispensable. This thesis presents a novel approach to reactive multi-agent control that is practical and elegant in its simplicity. The basic idea upon which this approach is based is that a group of robots can cooperate to determine the shortest path through a previously unmapped environment by...
Show moreMulti-agent control is a very promising area of robotics. In applications for which it is difficult or impossible for humans to intervene, the utilization of multi-agent, autonomous robot groups is indispensable. This thesis presents a novel approach to reactive multi-agent control that is practical and elegant in its simplicity. The basic idea upon which this approach is based is that a group of robots can cooperate to determine the shortest path through a previously unmapped environment by virtue of redundant sharing of simple data between multiple agents. The idea was implemented with two robots. In simulation, it was tested with over sixty agents. The results clearly show that the shortest path through various environments emerges as a result of redundant sharing of information between agents. In addition, this approach exhibits safeguarding techniques that reduce the risk to robot agents working in unknown and possibly hazardous environments. Further, the simplicity of this approach makes implementation very practical and easily expandable to reliably control a group comprised of many agents.
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Date Issued: 2003
PURL: http://purl.flvc.org/fcla/dt/13013
Subject Headings: Robots--Control systems, Intelligent control systems, Genetic algorithms, Parallel processing (Electronic computers)
Format: Document (PDF)

Title: Design & performance of a wind and solar-powered autonomous surface vehicle.
Creator: Rynne, Patrick Forde., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: The primary objective of this research is the development a wind and solar-powered autonomous surface vehicle (WASP) for oceanographic measurements. This thesis presents the general design scheme, detailed aerodynamic and hydrodynamic aspects, sailing performance theory, and dynamic performance validation measurements obtained from a series of experiments. The WASP consists of a 4.2 meter long sailboat hull, a low-Reynolds number composite wing, a 2000 Watt-hour battery reservoir, a system of...
Show moreThe primary objective of this research is the development a wind and solar-powered autonomous surface vehicle (WASP) for oceanographic measurements. This thesis presents the general design scheme, detailed aerodynamic and hydrodynamic aspects, sailing performance theory, and dynamic performance validation measurements obtained from a series of experiments. The WASP consists of a 4.2 meter long sailboat hull, a low-Reynolds number composite wing, a 2000 Watt-hour battery reservoir, a system of control actuators, a control system running on an embedded microprocessor, a suite of oceanographic sensors, and power regeneration from solar energy. The vehicle has a maximum speed of five knots and weighs approximately 350 kilograms. Results from four oceanographic missions that were conducted in the Port Everglades Intracoastal Waterway in Dania Beach [sic] Florida are presented. Water temperature, salinity and oxidation-reduction measurements recorded during these missions are also discussed. The combination of a mono-hull and solid wing in an autonomous system is a viable design for a long-range ocean observation platform. The results of four near-shore ocean observation missions illustrate the initial capabilities of the design. Future work aimed to further reduce both the mass of the wing design and the power requirements of the system will increase performance in all operating conditions and should be considered. Furthermore, the progression of the legal framework related to ocean vehicles must be pursued with respect to unmanned autonomous systems.
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Date Issued: 2008
PURL: http://purl.flvc.org/FAU/166455
Subject Headings: Hydrographic surveying, Instruments, Evaluation, Aids to navigation, Equipment and supplies, Testing, Sailboats, Design and construction, Robots, Control systems, Oceanographic instruments, Evaluation
Format: Document (PDF)

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

Title: Design of an Aquatic Quadcopter with Optical Wireless Communications.
Creator: Haller, Patterson, Abtahi, Homayoon, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: With a focus on dynamics and control, an aquatic quadcopter with optical wireless communications is modeled, designed, constructed, and tested. Optical transmitter and receiver circuitry is designed and discussed. By utilization of the small angle assumption, the nonlinear dynamics of quadcopter movement are linearized around an equilibrium state of zero motion. The set of equations are then tentatively employed beyond limit of the small angle assumption, as this work represents an initial...
Show moreWith a focus on dynamics and control, an aquatic quadcopter with optical wireless communications is modeled, designed, constructed, and tested. Optical transmitter and receiver circuitry is designed and discussed. By utilization of the small angle assumption, the nonlinear dynamics of quadcopter movement are linearized around an equilibrium state of zero motion. The set of equations are then tentatively employed beyond limit of the small angle assumption, as this work represents an initial explorative study. Specific constraints are enforced on the thrust output of all four rotors to reduce the multiple-input multiple-output quadcopter dynamics to a set of single-input single-output systems. Root locus and step response plots are used to analyze the roll and pitch rotations of the quadcopter. Ultimately a proportional integral derivative based control system is designed to control the pitch and roll. The vehicle’s yaw rate is similarly studied to develop a proportional controller. The prototype is then implemented via an I2C network of Arduino microcontrollers and supporting hardware.
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Date Issued: 2016
PURL: http://purl.flvc.org/fau/fd/FA00004786, http://purl.flvc.org/fau/fd/FA00004786
Subject Headings: Autonomous robots--Design and construction., Embedded computer systems--Design and construction., Wireless communication systems., Artificial intelligence., Optical pattern recognition., Computer vision.
Format: Document (PDF)

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