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CORD II - an ROV system for use in high current conditions
Title
CORD II - an ROV system for use in high current conditions.
Creator
Clayton, David L., Prentice, Jeffrey R., Tietze, R. C.
Date Issued
1983
PURL
http://purl.flvc.org/fcla/dt/3358782
Subject Headings
Remote submersibles, Remote submersibles--Design and construction, Underwater exploration
Format
Document (PDF)
Modern power distribution and conversion in undersea systems
Title
Modern power distribution and conversion in undersea systems.
Creator
Tusting, Robert F., Taylor, Lawrence D.
Date Issued
1991
PURL
http://purl.flvc.org/FCLA/DT/3351947
Subject Headings
Remote submersibles--Design and construction, Submersibles--Design and construction, Power systems, Electric current converters
Format
Document (PDF)
Underwater marketplace: ROV tooling
Title
Underwater marketplace: ROV tooling.
Creator
Kocak, D. M., Harbor Branch Oceanographic Institute
Date Issued
1999
PURL
http://purl.flvc.org/fau/fd/FA00007455
Subject Headings
Submersibles, Remote submersibles, Underwater vehicles, Submersibles--Design and construction
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)
RAM (rotary actuated manipulator)
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)
Cord II a technical summary of an unmanned, tethered observation and rescue submersible
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)
Deep ocean ROV operated coring device
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)
Leveled flight control of an unmanned underwater vehicle operating in a wave induced environment
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)
Development of tools for underwater vehicles
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)
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)
Dynamics and Control of Autonomous Underwater Vehicles with Internal Actuators
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)
Design and Deployment Analysis of Morphing Ocean Structure
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)