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Development of a morphing autonomous underwater vehicle for path and station keeping in complex current environments
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)
Design of an Aquatic Quadcopter with Optical Wireless Communications
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)