Current Search:  Oceanographic submersibles--Design (x)

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A stress analysis of the submersible tracking & communications mast attached to sea diver
Title
A stress analysis of the submersible tracking & communications mast attached to sea diver.
Creator
Bernard, Steven
Date Issued
1977-03-17
PURL
http://purl.flvc.org/fcla/dt/3358606
Subject Headings
Submersibles, Submersibles--Design and construction, Oceanographic submersibles
Format
Document (PDF)
Aluminum hydrocrane for submersible operations
Title
Aluminum hydrocrane for submersible operations.
Creator
Dolan, Robert B.
Date Issued
1976
PURL
http://purl.flvc.org/fcla/dt/3358475
Subject Headings
Submersibles, Oceanographic submersibles, Submersibles--Design and construction
Format
Document (PDF)
experimental investigation of the design and performance of small-diameter tunnel thrusters
Title
An experimental investigation of the design and performance of small-diameter tunnel thrusters.
Creator
Whitney, James Walter, Jr., Florida Atlantic University, Smith, Samuel M., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
Maneuvering thrusters can provide small underwater vehicles with the ability to dynamically control position at low speeds. However, the successful implementation of these thrusters requires an understanding of their dynamic response, as well as a design which meets the specified design requirements. This thesis experimentally investigates the design and dynamic performance of small diameter tunnel thrusters for two small autonomous underwater vehicles. A systematic series of dynamic...
Show moreManeuvering thrusters can provide small underwater vehicles with the ability to dynamically control position at low speeds. However, the successful implementation of these thrusters requires an understanding of their dynamic response, as well as a design which meets the specified design requirements. This thesis experimentally investigates the design and dynamic performance of small diameter tunnel thrusters for two small autonomous underwater vehicles. A systematic series of dynamic experiments were conducted with three working tunnel thruster prototypes that fulfill the operating and design constraints of these vehicles. The results from these experiments are shown to provide an accurate representation of the overall performance and thrust capability of the thrusters tested. Experimental data is compared with simulations utilizing a recently proposed thruster model, and the ability of the model to predict the dynamic response is discussed.
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Date Issued
1998
PURL
http://purl.flvc.org/fcla/dt/15555
Subject Headings
Submersibles--Equipment and supplies, Oceanographic submersibles--Design
Format
Document (PDF)
Optical 2D Positional Estimation for a Biomimetic Station-Keeping Autonomous Underwater Vehicle
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)
Design and implementation of an altitude flight controller for the FAU Ocean Voyager II
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)