Current Search: Submersibles--Design and construction (x)
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Pages
- Title
- Redesign of Johnson-Sea-Link acrylic submersible for manned operation to 3000 ft (914.4 m) ocean depth.
- Creator
- Das, Partha S.
- Date Issued
- 2000-04
- PURL
- http://purl.flvc.org/fcla/dt/3359266
- Subject Headings
- Johnson-Sea-Link II (Submarine), Submersibles, Submersibles--Design and construction
- Format
- Document (PDF)
- Title
- 50° conical opening penetrators for the Johnson-Sea-Link: MK V acrylic pilot sphere.
- Creator
- Olson, Scott
- Date Issued
- 2000-10-23
- PURL
- http://purl.flvc.org/fcla/dt/3359268
- Subject Headings
- Johnson-Sea-Link II (Submarine), Submersibles--Design and construction, Submersibles
- Format
- Document (PDF)
- Title
- The development and use of an equipment retrieval reel.
- Creator
- Holt, John K.
- Date Issued
- 1977-07-01
- PURL
- http://purl.flvc.org/fcla/dt/3358615
- Subject Headings
- Submersibles, Submersibles--Design and construction, Johnson-Sea-Link II (Submarine)
- Format
- Document (PDF)
- Title
- The series II cable cutter.
- Date Issued
- 1976
- PURL
- http://purl.flvc.org/fcla/dt/3359875
- Subject Headings
- Submersibles, Submersibles--Design and construction, Submersibles--United States--Safety measures
- Format
- Document (PDF)
- Title
- Alternaive design of hydraulic manifold housing assembly Johnson-Sea-Link submersible.
- Creator
- Carlton, Dwayne L.
- PURL
- http://purl.flvc.org/fcla/dt/3358744
- Subject Headings
- Johnson-Sea-Link II (Submarine), Submersibles--Design and construction
- Format
- Document (PDF)
- Title
- Johnson-Sea-Link II lock-out chamber penetrator plate strain gage analysis.
- Creator
- Czvekus, William E.
- PURL
- http://purl.flvc.org/fcla/dt/3358784
- Subject Headings
- Submersibles, Submersibles--United States--Safety measures, Submersibles--Design and construction
- Format
- Document (PDF)
- Title
- Design project to increase the speed of the Johnson-Sea-Link submersibles.
- Creator
- Schudel, Gregg William
- Date Issued
- 1980-03
- PURL
- http://purl.flvc.org/fcla/dt/3358628
- Subject Headings
- Submersibles, Johnson-Sea-Link II (Submarine), Submersibles--Design and construction
- Format
- Document (PDF)
- Title
- Cord II a technical summary of an unmanned, tethered observation and rescue submersible.
- Creator
- Schmid, Jonathan D.
- Date Issued
- 1980-09-19
- PURL
- http://purl.flvc.org/fcla/dt/3358742
- Subject Headings
- Submarine rescue vehicles, Submersibles, Remote submersibles, Remote submersibles--Design and construction
- Format
- Document (PDF)
- Title
- Deep ocean ROV operated coring device.
- Creator
- White, Dan G., Tietze, R. C., Jolly, D., Hammond, Don, Harbor Branch Oceanographic Institute
- Date Issued
- 1996
- PURL
- http://purl.flvc.org/FCLA/DT/3351970
- Subject Headings
- Remote submersibles--Design and construction, Remote submersibles--Automatic control, Marine sediments--Sampling
- Format
- Document (PDF)
- Title
- Leveled flight control of an unmanned underwater vehicle operating in a wave induced environment.
- Creator
- Potesta, Joshua J., An, Edgar, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
Autonomous Underwater Vehicle (AUV) depth control methods typically use a pressure sensor to measure the depth, which results in the AUV following the trajectory of the surface waves. Through simulations, a controller is designed for the Ocean Explorer AUV with the objective of the AUV holding a constant depth below the still water line while operating in waves. This objective is accomplished by modeling sensors and using filtering techniques to provide the AUV with the depth below the still...
Show moreAutonomous Underwater Vehicle (AUV) depth control methods typically use a pressure sensor to measure the depth, which results in the AUV following the trajectory of the surface waves. Through simulations, a controller is designed for the Ocean Explorer AUV with the objective of the AUV holding a constant depth below the still water line while operating in waves. This objective is accomplished by modeling sensors and using filtering techniques to provide the AUV with the depth below the still water line. A wave prediction model is simulated to provide the controller with knowledge of the wave disturbance before it is encountered. The controller allows for depth keeping below the still water line with a standard deviation of 0.04 and 0.65 meters for wave amplitudes of 0.1-0.25 and 0.5-2 meters respectively and wave frequencies of 0.35-1.0 𝑟𝑎𝑑⁄𝑠𝑒𝑐, and the wave prediction improves the depth control on the order of 0.03 meters.
Show less - Date Issued
- 2014
- PURL
- http://purl.flvc.org/fau/fd/FA00004149, http://purl.flvc.org/fau/fd/FA00004149
- Subject Headings
- Feedback control systems, Nonlinear control theory, Remote submersibles -- Design and construction, Vehicles, Remotely piloted -- Mathematical models
- Format
- Document (PDF)
- Title
- Feasibility study: Diver heating system for use aboard Johnson-Sea-Link.
- Creator
- Clayton, David L.
- Date Issued
- 1977-03-17
- PURL
- http://purl.flvc.org/fcla/dt/3358609
- Subject Headings
- Submersibles, Johnson-Sea-Link II (Submarine), Submersibles--Design and construction, Submersibles--United States--Safety measures
- Format
- Document (PDF)
- Title
- Dynamics and Control of Autonomous Underwater Vehicles with Internal Actuators.
- Creator
- Li, Bo, Su, Tsung-Chow, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
This dissertation concerns the dynamics and control of an autonomous underwater vehicle (AUV) which uses internal actuators to stabilize its horizontalplane motion. The demand for high-performance AUVs are growing in the field of ocean engineering due to increasing activities in ocean exploration and research. New generations of AUVs are expected to operate in harsh and complex ocean environments. We propose a hybrid design of an underwater vehicle which uses internal actuators instead of...
Show moreThis dissertation concerns the dynamics and control of an autonomous underwater vehicle (AUV) which uses internal actuators to stabilize its horizontalplane motion. The demand for high-performance AUVs are growing in the field of ocean engineering due to increasing activities in ocean exploration and research. New generations of AUVs are expected to operate in harsh and complex ocean environments. We propose a hybrid design of an underwater vehicle which uses internal actuators instead of control surfaces to steer. When operating at low speeds or in relatively strong ocean currents, the performances of control surfaces will degrade. Internal actuators work independent of the relative ows, thus improving the maneuvering performance of the vehicle. We develop the mathematical model which describes the motion of an underwater vehicle in ocean currents from first principles. The equations of motion of a body-fluid dynamical system in an ideal fluid are derived using both Newton-Euler and Lagrangian formulations. The viscous effects of a real fluid are considered separately. We use a REMUS 100 AUV as the research model, and conduct CFD simulations to compute the viscous hydrodynamic coe cients with ANSYS Fluent. The simulation results show that the horizontal-plane motion of the vehicle is inherently unstable. The yaw moment exerted by the relative flow is destabilizing. The open-loop stabilities of the horizontal-plane motion of the vehicle in both ideal and real fluid are analyzed. In particular, the effects of a roll torque and a moving mass on the horizontal-plane motion are studied. The results illustrate that both the position and number of equilibrium points of the dynamical system are prone to the magnitude of the roll torque and the lateral position of the moving mass. We propose the design of using an internal moving mass to stabilize the horizontal-plane motion of the REMUS 100 AUV. A linear quadratic regulator (LQR) is designed to take advantage of both the linear momentum and lateral position of the internal moving mass to stabilize the heading angle of the vehicle. Alternatively, we introduce a tunnel thruster to the design, and use backstepping and Lyapunov redesign techniques to derive a nonlinear feedback control law to achieve autopilot. The coupling e ects between the closed-loop horizontal-plane and vertical-plane motions are also analyzed.
Show less - Date Issued
- 2016
- PURL
- http://purl.flvc.org/fau/fd/FA00004738, http://purl.flvc.org/fau/fd/FA00004738
- Subject Headings
- Dynamics., Remote submersibles--Design and construction., Ocean engineering., Fluid dynamics., Nonlinear control theory., Differentiable dynamical systems.
- 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.
Show less - 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 and Deployment Analysis of Morphing Ocean Structure.
- Creator
- Li, Yanjun, Su, Tsung-Chow, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
As humans explore greater depths of Earth’s oceans, there is a growing need for the installation of subsea structures. 71% of the earth’s surface is ocean but there are limitations inherent in current detection instruments for marine applications leading to the need for the development of underwater platforms that allow research of deeper subsea areas. Several underwater platforms including Autonomous Underwater Vehicles (AUVs), Remote Operated Vehicles (ROVs), and wave gliders enable more...
Show moreAs humans explore greater depths of Earth’s oceans, there is a growing need for the installation of subsea structures. 71% of the earth’s surface is ocean but there are limitations inherent in current detection instruments for marine applications leading to the need for the development of underwater platforms that allow research of deeper subsea areas. Several underwater platforms including Autonomous Underwater Vehicles (AUVs), Remote Operated Vehicles (ROVs), and wave gliders enable more efficient deployment of marine structures. Deployable structures are able to be compacted and transported via AUV to their destination then morph into their final form upon arrival. They are a lightweight, compact solution. The wrapped package includes the deployable structure, underwater pump, and other necessary instruments, and the entire package is able to meet the payload capability requirements. Upon inflation, these structures can morph into final shapes that are a hundred times larger than their original volume, which extends the detection range and also provides long-term observation capabilities. This dissertation reviews underwater platforms, underwater acoustics, imaging sensors, and inflatable structure applications then proposes potential applications for the inflatable structures. Based on the proposed applications, a conceptual design of an underwater tubular structure is developed and initial prototypes are built for the study of the mechanics of inflatable tubes. Numerical approaches for the inflation process and bending loading are developed to predict the inflatable tubular behavior during the structure’s morphing process and under different loading conditions. The material properties are defined based on tensile tests. The numerical results are compared with and verified by experimental data. The methods used in this research provide a solution for underwater inflatable structure design and analysis. Several ocean morphing structures are proposed based on the inflatable tube analysis.
Show less - Date Issued
- 2016
- PURL
- http://purl.flvc.org/fau/fd/FA00004752, http://purl.flvc.org/fau/fd/FA00004752
- Subject Headings
- Air-supported structures--Design and construction., Remote submersibles--Design and construction., Tensile architecture., Fluid mechanics., Structural dynamics., Ocean engineering., Adaptive control systems.
- Format
- Document (PDF)