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Title: Hybrid telemanipulation simulation for mission rehearsal and intervention.
Creator: Agba, Emmanuel I., Florida Atlantic University, Wong, Tin-Lup, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: A "hybrid" telerobotic simulation system that is suitable for telemanipulation rehearsal, operator training, human factors study and operator performance evaluation has been developed. The simulator also has the capabilities for eventual upgrade for supervisory control. It is capable of operation in the conventional rate-control, master/slave control and a data driven preprogrammed mode of operation. It has teach/playback capability which allows an operator to generate joint commands for real...
Show moreA "hybrid" telerobotic simulation system that is suitable for telemanipulation rehearsal, operator training, human factors study and operator performance evaluation has been developed. The simulator also has the capabilities for eventual upgrade for supervisory control. It is capable of operation in the conventional rate-control, master/slave control and a data driven preprogrammed mode of operation. It has teach/playback capability which allows an operator to generate joint commands for real time teleoperation. For high-level task execution, the operator selects a specific task from a set of menu options and the simulator automatically generates the required joint commands. The simulator was developed using a three dimensional graphic model of an increasingly popular manipulator, TITAN 7F. A closed-form solution for inverse kinematics of the manipulator was found. Degeneracies from inverse kinematics solutions were observed to exist for certain arm configurations, although the manipulator can physically attain such configurations. An approach based on known facts about the manipulator geometry and physical constraints coupled with heuristics was used to generate physically attainable joint solutions from the inverse kinematics. The conditions that cause solution degeneracy were demonstrated to be related to singularity conditions. A novel object interaction detection strategy was implemented for more realistic telemanipulation. The object detection technique was developed based on the use of superellipsoid, which has a convenient inside-outside function for interference testing. The manipulator, with its end-effector and payloads, if any, were modeled as superquadric ellipsoids. A systematic way of determining transformation matrices between the superquadric manipulator links was developed. The interaction detection technique treats both moving and stationary objects in a consistent manner and has proved to be easy to implement and optimize for real-time applications. The feature has been applied for the simulation of pick-and-place operations and collision detection. It is also used to provide visual feedback as a low-cost force reflection and can be interfaced with a bilateral controller for force reflection simulation.
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Date Issued: 1991
PURL: http://purl.flvc.org/fcla/dt/12278
Subject Headings: Manipulators (Mechanism), Remote control, Vehicles, Remotely piloted, Remote submersibles
Format: Document (PDF)

Title: Determination of Horizontal Motion through Optical Flow Computations.
Creator: Chih-Ho, Yu, Caimi, F. M., Harbor Branch Oceanographic Institute
Date Issued: 1997
PURL: http://purl.flvc.org/fcla/dt/3318842
Subject Headings: Remote submersibles, Remote submersibles --Automatic control, Computer vision, Optical measurements --Remote sensing
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.
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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: Adaptive controller design for an autonomous twin-hulled surface vessel with uncertain displacement and drag.
Creator: Klinger, Wilhelm B., von Ellenrieder, Karl, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: The design and validation of a low-level backstepping controller for speed and heading that is adaptive in speed for a twin-hulled underactuated unmanned surface vessel is presented. Consideration is given to the autonomous launch and recovery of an underwater vehicle in the decision to pursue an adaptive control approach. Basic system identification is conducted and numerical simulation of the vessel is developed and validated. A speed and heading controller derived using the backstepping...
Show moreThe design and validation of a low-level backstepping controller for speed and heading that is adaptive in speed for a twin-hulled underactuated unmanned surface vessel is presented. Consideration is given to the autonomous launch and recovery of an underwater vehicle in the decision to pursue an adaptive control approach. Basic system identification is conducted and numerical simulation of the vessel is developed and validated. A speed and heading controller derived using the backstepping method and a model reference adaptive controller are developed and ultimately compared through experimental testing against a previously developed control law. Experimental tests show that the adaptive speed control law outperforms the non-adaptive alternatives by as much as 98% in some cases; however heading control is slightly sacrificed when using the adaptive speed approach. It is found that the adaptive control law is the best alternative when drag and mass properties of the vessel are time-varying and uncertain.
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Date Issued: 2014
PURL: http://purl.flvc.org/fau/fd/FA00004130, http://purl.flvc.org/fau/fd/FA00004130
Subject Headings: Adaptive control systems, Drag (Aerodynamics), Intelligent control systems, Intelligent control systems, Vehicles, Remotely piloted
Format: Document (PDF)

Title: An advanced submersible handling system.
Creator: Clark, A. M., McCallum, R., Harbor Branch Oceanographic Institute
Date Issued: 1985
PURL: http://purl.flvc.org/FCLA/DT/3183671
Subject Headings: Automatic control, Resonance, Oceanographic submersibles, Remote submersibles, Winches
Format: Document (PDF)

Title: RAM (rotary actuated manipulator).
Creator: Moore, Ellen C.
Date Issued: 1981-02-20
PURL: http://purl.flvc.org/fcla/dt/3358749
Subject Headings: Submersibles, Submersibles--Design and construction, Remote submersibles, Remote submersibles--Automatic control
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: A precision navigation system for autonomous undersea vehicles.
Creator: White, Dan G., Psota, F., Harbor Branch Oceanographic Institute
Date Issued: 1996
PURL: http://purl.flvc.org/FCLA/DT/3351964
Subject Headings: Inertial navigation systems, Submersibles, Submersibles--Automatic control, Inertial navigation, Remote submersibles
Format: Document (PDF)

Title: Development of tools for underwater vehicles.
Creator: Kocak, D. M., Neely, J. W., Harbor Branch Oceanographic Institute
Date Issued: 2000
PURL: http://purl.flvc.org/fau/fd/FA00007154
Subject Headings: Underwater vehicles, Submersibles--Design and construction, Submersibles--Automatic control, Tools, Remote submersibles
Format: Document (PDF)

Title: A study of Internet-based control of processes.
Creator: Popescu, Cristian., Florida Atlantic University, Zhuang, Hanqi, Wang, Yuan, College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
Abstract/Description: In certain applications, one needs to control physical plants that operate in hazardous conditions. In such situations, it is necessary to acquire access to the controller from a different (remote) location through data communication networks, in order to interconnect the remote location and the controller. The use of such network linking between the plant and the controller may introduce network delays, which would affect adversely the performance of the process control. The main theoretical...
Show moreIn certain applications, one needs to control physical plants that operate in hazardous conditions. In such situations, it is necessary to acquire access to the controller from a different (remote) location through data communication networks, in order to interconnect the remote location and the controller. The use of such network linking between the plant and the controller may introduce network delays, which would affect adversely the performance of the process control. The main theoretical contribution of this thesis is to answer the following question: How large can a network delay be tolerated such that the delayed closed-loop system is locally asymptotically stable? An explicit time-independent bound for the delay is derived. In addition, various practical realizations for the remote control tasks are presented, utilizing a set of predefined classes for serial communication, data-acquisition modules and stream-based sockets. Due to the presence of a network, implementing an efficient control scheme is a not trivial problem. Hence, two practical frameworks for Internet-based control are illustrated in this thesis. Related implementation issues are addressed in detail. Examples and case studies are provided to demonstrate the effectiveness of the proposal approach.
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Date Issued: 2003
PURL: http://purl.flvc.org/fcla/dt/13073
Subject Headings: Time delay systems, Process control, Computer networks--Remote access, World Wide Web
Format: Document (PDF)

Title: Simulation, control and optimization of underwater vehicle performance.
Creator: Zipf, David Glenn., Florida Atlantic University, Dunn, Stanley E., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: This project addresses the simulation, control and optimization of underwater vehicle performance. An analytical model of underwater vehicle motion has been developed. This model is based on a set of six degree of freedom nonlinear differential equations of motion. These equations incorporate inertial, hydrodynamic, hydrostatic, gravity and thruster forces to define the vehicle's motion. The forces are calculated and the equations of motion solved using a finite difference method of...
Show moreThis project addresses the simulation, control and optimization of underwater vehicle performance. An analytical model of underwater vehicle motion has been developed. This model is based on a set of six degree of freedom nonlinear differential equations of motion. These equations incorporate inertial, hydrodynamic, hydrostatic, gravity and thruster forces to define the vehicle's motion. The forces are calculated and the equations of motion solved using a finite difference method of integration. An automatic closed loop control strategy has been developed and integrated into the motion model. The controller determines control plane deflection and thruster output based on sensor provided input, maneuver request and control gain constants. The motion model simulates the effects of these controller requests on the vehicle motion. The controller effects are analyzed and an optimal set of control gains is determined. These optimal gains are determined based on a quantitative comparison of a pre-defined Performance Index (PI) function. The PI is a function of critical performance values, i.e., energy consumption, and user defined weighted constants. By employing an iteration technique the PI is minimized to provide an optimal set of control gains.
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Date Issued: 1989
PURL: http://purl.flvc.org/fcla/dt/14534
Subject Headings: Oceanographic submersibles--Automatic control, Oceanographic submersibles--Simulation methods, Vehicles, Remotely piloted
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: Communications for a tethered underwater submersible.
Creator: Vulih, S., Clayton, David L., Harbor Branch Oceanographic Institute
Date Issued: 1980
PURL: http://purl.flvc.org/FCLA/DT/3183665
Subject Headings: Remote submersibles, Radio --Transmitters and transmission, Electric filters, Automatic control, Radio frequency modulation, Signal theory (Telecommunication), Sonar
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.
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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: 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)

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.
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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)

FAU Theses and Dissertations (9)	+ -
HBOI Faculty Contributions (6)	+ -
HBOI Technical Reports (1)	+ -

Remote submersibles (7)	+ -
Remote submersibles -- Design and construction (3)	+ -
Vehicles, Remotely piloted (3)	+ -
Automatic control (2)	+ -
Feedback control systems (2)	+ -

Ocean engineering. (2)	+ -
Remote submersibles--Automatic control (2)	+ -
Remote submersibles--Design and construction. (2)	+ -
Submersibles (2)	+ -
Submersibles--Automatic control (2)	+ -
Submersibles--Design and construction (2)	+ -
Adaptive control systems (1)	+ -
Adaptive control systems. (1)	+ -
Air-supported structures--Design and construction. (1)	+ -
Autonomous robots -- Design and construction (1)	+ -
Biometric identification (1)	+ -
Computer networks--Remote access (1)	+ -
Computer vision (1)	+ -
Differentiable dynamical systems. (1)	+ -
Drag (Aerodynamics) (1)	+ -
Dynamics. (1)	+ -
Electric filters (1)	+ -
Fluid dynamics. (1)	+ -
Fluid mechanics. (1)	+ -
Fracture mechanics (1)	+ -
Inertial navigation (1)	+ -
Inertial navigation systems (1)	+ -
Intelligent control systems (1)	+ -
Manipulation (Mechanism) -- Control (1)	+ -
Manipulators (Mechanism) (1)	+ -

Electronic Thesis or Dissertation (9)	+ -
article (6)	+ -
technical report (1)	+ -

College of Engineering and Computer Science (9)	+ -
Florida Atlantic University (9)	+ -
Department of Ocean and Mechanical Engineering (8)	+ -
Harbor Branch Oceanographic Institute (6)	+ -
Su, Tsung-Chow (3)	+ -

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