Current Search: Automatic control -- Mathematical models (x)
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(1 - 4 of 4)
- 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.
Show less - 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
- 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.
Show less - 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)
- Title
- Simulating the dynamic interaction of an AUV and towed magnetometer.
- Creator
- Miller, Lea Gabrielle., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
A magnetometer with a sensitivity of 0.01nT will be towed through the thermocline by a 2.87 meter long, 0.533 meter diameter autonomous underwater vehicle (AUV) to measure the magnetic fluctuations generated by oceanic internal waves. At this point, no research has been found that suggests towed magnetometer measurements have been done using an AUV. Simulations of the AUV, tow cable, and towfish are performed to provide an understanding of the effects of changing different input parameters,...
Show moreA magnetometer with a sensitivity of 0.01nT will be towed through the thermocline by a 2.87 meter long, 0.533 meter diameter autonomous underwater vehicle (AUV) to measure the magnetic fluctuations generated by oceanic internal waves. At this point, no research has been found that suggests towed magnetometer measurements have been done using an AUV. Simulations of the AUV, tow cable, and towfish are performed to provide an understanding of the effects of changing different input parameters, such as towing speed (0.5-2m/s), cable length (5-15m), vehicle trajectory (circle and vertical zig zag maneuvers), and current (0.25-1.25m/s). The AUV-cabletowfish system and equations of motion needed for the simulations are described herein. Results show that a 5m tow cable provides better towfish maneuvering than the longer cable lengths. High towfish pitch angle is decreased by decreasing the distance between CG and CB. Surface currents speed of 0.25m/s change the AUV and towfish circle maneuver to a spiral trajectory, while 1.25m/s current speed cause a zig zag trajectory.
Show less - Date Issued
- 2011
- PURL
- http://purl.flvc.org/FAU/3318670
- Subject Headings
- Automatic control, Mathematical models, Electromagnetic measurements, Fluctuations (Physics), Oceanographic submersibles, Computer simulation
- Format
- Document (PDF)
- Title
- Modeling and control of the "C-Plane" ocean current turbine.
- Creator
- VanZwieten, James H., Florida Atlantic University, Driscoll, Frederick R., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
- Abstract/Description
-
The "C-Plane" is a submerged ocean current turbine that uses sustained ocean currents to produce electricity. This turbine is moored to the sea floor and is capable of changing depth, as the current profile changes, to optimize energy production. A 1/30th scale physical prototype of the C-Plane is being developed and the analysis and control of this prototype is the focus of this work. A mathematical model and dynamic simulation of the 1/30th scale C-Plane prototype is created to analyze this...
Show moreThe "C-Plane" is a submerged ocean current turbine that uses sustained ocean currents to produce electricity. This turbine is moored to the sea floor and is capable of changing depth, as the current profile changes, to optimize energy production. A 1/30th scale physical prototype of the C-Plane is being developed and the analysis and control of this prototype is the focus of this work. A mathematical model and dynamic simulation of the 1/30th scale C-Plane prototype is created to analyze this vehicle's performance, and aid in the creation of control systems. The control systems that are created for this prototype each use three modes of operation and are the Mixed PID/Bang Bang, Mixed LQR/PID/Bang Bang, and Mixed LQG/PID/Bang Bang control systems. Each of these controllers is tested using the dynamic simulation and Mixed PID/Bang Bang controller proves to be the most efficient and robust controller during these tests.
Show less - Date Issued
- 2003
- PURL
- http://purl.flvc.org/fcla/dt/12980
- Subject Headings
- Marine turbines--Automatic control, Ocean energy resources, Marine turbines--Mathematical models
- Format
- Document (PDF)
