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Title: Swimming control of an underwater vessel with elongated ribbon fin propulsion.
Creator: Uddin, Mohammad Irfan, Curet, Oscar M., Florida Atlantic University, Department of Ocean and Mechanical Engineering, College of Engineering and Computer Science
Abstract/Description: Navigation of unmanned underwater vehicles in coastal zones, tight spaces and close to structures such as ports, ship hulls and pipelines remains a difficult challenge. Currently Autonomous Underwater Vehicles (AUVs) use a variety of techniques for motion control, including single thrusters with diving planes or hydrofoils, robotic wrists, or a moving mass. However, these techniques provide limited maneuverability. The objective of this work was to understand the mechanics of elongated fin...
Show moreNavigation of unmanned underwater vehicles in coastal zones, tight spaces and close to structures such as ports, ship hulls and pipelines remains a difficult challenge. Currently Autonomous Underwater Vehicles (AUVs) use a variety of techniques for motion control, including single thrusters with diving planes or hydrofoils, robotic wrists, or a moving mass. However, these techniques provide limited maneuverability. The objective of this work was to understand the mechanics of elongated fin propulsion for swimming and motion control of underwater vehicles. This bio-inspired propulsion is used by several fishes that swim by undulating a thin and elongated median fin that allow them to perform forward and directional maneuvers. In the first chapter we present the literature review as well as the mathematical formulation using thrust vectoring approach to achieve forward and turning maneuvers. In the second chapter, we used a robotic vessel with elongated fin propulsion to determine the thrust scaling and efficiency. Using precise force and swimming kinematics measurements with the robotic vessel, the thrust generated by the undulating fin was found to scale with the square of the relative velocity between the free streaming flow and the wave speed. In addition, a hydrodynamic efficiency is presented based on propulsive force measurements and a model on the power required to oscillate the fin laterally.
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Date Issued: 2022
PURL: http://purl.flvc.org/fau/fd/FA00014117
Subject Headings: Autonomous underwater vehicles, Biomimetics, Underwater propulsion
Format: Document (PDF)

Title: Developing a high efficiency ring thruster for underwater vehicles.
Creator: Holt, John K., Harbor Branch Oceanographic Institute
Date Issued: 1995
PURL: http://purl.flvc.org/FCLA/DT/3338516
Subject Headings: Underwater vehicles, Submersibles--Design and construction
Format: Document (PDF)

Title: Water, sediment, and organism sampling systems designed for small ROVs.
Creator: Donaldson, P. L., Tusting, Robert F., Harbor Branch Oceanographic Institute
Date Issued: 1997
PURL: http://purl.flvc.org/FCLA/DT/3338520
Subject Headings: Remote submersibles, Remotely operated underwater vehicles, Sampling
Format: Document (PDF)

Title: Mission areas and technology requirements for dual-use AUVapplications.
Creator: White, Dan G., Harbor Branch Oceanographic Institute
Date Issued: 1994
PURL: http://purl.flvc.org/fau/fd/FA00007412
Subject Headings: Submersibles--Automatic control, Underwater vehicles
Format: Document (PDF)

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)

Title: High efficiency, counter-rotating ring thruster for underwater vehicles.
Creator: Holt, John K., White, Dan G., Harbor Branch Oceanographic Institute
Date Issued: 1994
PURL: http://purl.flvc.org/FCLA/DT/3183680
Subject Headings: Submersibles--Design and construction, Underwater vehicles, Propulsion systems
Format: Document (PDF)

Title: Placement and Denoising of Total Magnetic Field Sensors Onboard an AUV in Support of Geophysical Navigation.
Creator: Cracchiolo, Timothy, Beaujean, Pierre-Philippe, Florida Atlantic University, Department of Ocean and Mechanical Engineering, College of Engineering and Computer Science
Abstract/Description: The objective of this thesis is to study the proper placement and denoising of Total Field Magnetometers (TFM) installed on an Autonomous Underwater Vehicle (AUV), in support of a long-term goal to perform geophysical navigation based on total field magnetic sensing. This new form of navigation works by using the magnetic field of the Earth as a source of reference to find the desired heading. The primary tools used in this experiment are a REMUS 100 AUV, a QuSpin scalar magnetometer, and a...
Show moreThe objective of this thesis is to study the proper placement and denoising of Total Field Magnetometers (TFM) installed on an Autonomous Underwater Vehicle (AUV), in support of a long-term goal to perform geophysical navigation based on total field magnetic sensing. This new form of navigation works by using the magnetic field of the Earth as a source of reference to find the desired heading. The primary tools used in this experiment are a REMUS 100 AUV, a QuSpin scalar magnetometer, and a TwinLeaf vector magnetometer. The Earth’s magnetic field was measured over periods of several hours to determine the range of values it provides under natural conditions. Digital filters were created to digitally reduce fluctuations caused by sources of external interference and sources of internal interference. To mitigate the issue of platform based interference, two methods were examined. These methods involved the use of the Tolles-Lawson model and Wavelet Multiresolution Analysis. The Tolles-Lawson model is used to determine the compensation coefficients from a calibration mission to mitigate the effects from the permanently detected magnetic field, the induced magnetic field, eddy currents. and the geomagnetic field. Wavelet multiresolution analysis follows the same basic steps as Fourier transformations and is used to analyze time series with power sources in motion over a frequency spectrum. Several acquisitions were run with the QuSpin in various locations around and along REMUS, and it was concluded that placing the sensor at the very front of the vessel which is approximately 1.8 [m] from the DC motor, with assistance from wavelet analysis was acceptable for the project.
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Date Issued: 2022
PURL: http://purl.flvc.org/fau/fd/FA00013972
Subject Headings: Autonomous underwater vehicles, Magnetometers, Magnetic fields, Remote sensing
Format: Document (PDF)

Title: EXPLORING UNDULATORY SWIMMING BEHAVIORS WITH DEEP REINFORCEMENT LEARNING.
Creator: Alvaro, Alejandro, Verma, Siddhartha, Florida Atlantic University, Department of Ocean and Mechanical Engineering, College of Engineering and Computer Science
Abstract/Description: The capability to navigate in the proximity of solid surfaces while avoiding collision and maintaining high efficiency is essential for the effective design and operation of underwater vehicles. The underlying capability involves a variety of challenges, and a potential approach to overcome such obstacles is to rely on biomimetic or bio-inspired design. Through evolution, organisms have developed methods of locomotion optimized for their specific environment. One of the common forms of...
Show moreThe capability to navigate in the proximity of solid surfaces while avoiding collision and maintaining high efficiency is essential for the effective design and operation of underwater vehicles. The underlying capability involves a variety of challenges, and a potential approach to overcome such obstacles is to rely on biomimetic or bio-inspired design. Through evolution, organisms have developed methods of locomotion optimized for their specific environment. One of the common forms of locomotion found in underwater organisms is undulatory swimming. These undulatory swimmers display different swimming behaviors based on the flow conditions in their environment. These behaviors take advantage of changes in the flow field caused by the presence of obstructions and obstacles upstream or adjacent to the swimmer. For example, a free swimmer in near-proximity to a flat plane can experience changes in lift and drag during locomotion. The reduced drag can benefit the swimmer, however, changes in lift may lead to a collision with obstacles. Despite the abundance of qualitative data from observing these undulatory swimmers, there is a lack of quantitative data, creating a disconnect in understanding how these organisms have evolved to exploit the presence of walls and obstacles. By employing a combination of traditional computational fluid dynamics and novel neural network-based techniques it is possible to emulate the evolution of learned behavior in biological organisms. The current work uses deep reinforcement learning coupled with two-dimensional numerical simulations of self-propelled swimmers to better understand behavior observed in nature.
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Date Issued: 2024
PURL: http://purl.flvc.org/fau/fd/FA00014402
Subject Headings: Reinforcement learning, Computational fluid dynamics, Autonomous underwater vehicles
Format: Document (PDF)

Title: High efficiency hubless ringpropeller for underwater vehicles.
Creator: Holt, John K., Clark, A. M., Harbor Branch Oceanographic Institute
Date Issued: 1997
PURL: http://purl.flvc.org/fau/fd/FA00007417
Subject Headings: Harbor Branch Oceanographic Institution, Submersibles, Underwater vehicles, Propellers--Design and construction
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: Real-Time Localization of a Magnetic Anomaly: A Study of the Effectiveness of a Genetic Algorithm for Implementation on an Autonomous Underwater Vehicle.
Creator: Philippeaux, Harryel Arsene, Dhanak, Manhar R., Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: The primary objective of this research is to investigate the viability of magnetic anomaly localization with an autonomous underwater vehicle, using a genetic algorithm (GA). The localization method, first proposed by Sheinker. et al. 2008, is optimized here for the case of a moving platform. Extensive magnetic field modeling and algorithm simulation has been conducted and yields promising results. Field testing of the method is conducted with the use of the Ocean Floor Geophysics Self...
Show moreThe primary objective of this research is to investigate the viability of magnetic anomaly localization with an autonomous underwater vehicle, using a genetic algorithm (GA). The localization method, first proposed by Sheinker. et al. 2008, is optimized here for the case of a moving platform. Extensive magnetic field modeling and algorithm simulation has been conducted and yields promising results. Field testing of the method is conducted with the use of the Ocean Floor Geophysics Self-Compensating Magnetometer (SCM). Extensive out-of-water field testing is conducted to validate the ability to measure a target signal in a uniform NED frame as well as to validate the effectiveness of the GA. The outcome of the simulation closely matches the results of the conducted field tests. Additionally, the SCM is fully integrated with FAU’s Remus 100 AUV and preliminary in-water testing of the system has been conducted.
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Date Issued: 2017
PURL: http://purl.flvc.org/fau/fd/FA00005948
Subject Headings: Dissertations, Academic -- Florida Atlantic University, Autonomous underwater vehicles, Genetic algorithms., Geomagnetic field, Geomagnetism.
Format: Document (PDF)

Title: A Design Concept for Launch and Recovery of REMUS 100 AUV from WAM-V 16 USV.
Creator: Palmaccio, Brendan, Dhanak, Manhar, Florida Atlantic University, Department of Ocean and Mechanical Engineering, College of Engineering and Computer Science
Abstract/Description: In this thesis, feasibility of a concept for launch and recovery of the Remus AUV from WAM-V USV is investigated. A modular recovery system which can be added to the WAM-V payload tray was designed, and based on a review of previous literature a CONOPS was developed for the launch and recovery process. The first phase of the CONOPS, which pertains to the position of the REMUS initially on the free surface prior to sling engagement is simulated using ANSYS AQWA. Preprocessing for the...
Show moreIn this thesis, feasibility of a concept for launch and recovery of the Remus AUV from WAM-V USV is investigated. A modular recovery system which can be added to the WAM-V payload tray was designed, and based on a review of previous literature a CONOPS was developed for the launch and recovery process. The first phase of the CONOPS, which pertains to the position of the REMUS initially on the free surface prior to sling engagement is simulated using ANSYS AQWA. Preprocessing for the simulation involved simplification of the model in ANSYS SpaceClaim to achieve a proper mesh as well as theoretical calculations of the input parameters for wave environment and point masses etc. The simulation was evaluated by taking into consideration two wave environment scenarios: beam sea’s (-90 degrees) and head seas (0 degrees). The wave environment was based on a linear frequency range for the waves which considered wavelengths that correspond to half and double the length of the WAM-V 16’. The significance of the simulation is characterized through identifying the ideal direction and wave frequency range for recovery based on the RAOs of the two vehicles.
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Date Issued: 2023
PURL: http://purl.flvc.org/fau/fd/FA00014216
Subject Headings: Autonomous underwater vehicles--Design and construction, Marine engineering, Littoral combat ships
Format: Document (PDF)

Title: Modeling the performance of a laser for tracking an underwater dynamic target.
Creator: Dill, Thomas J., von Ellenrieder, Karl, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description: Options for tracking dynamic underwater targets using optical methods is currently limited. This thesis examines optical reflectance intensities utilizing Lambert’s Reflection Model and based on a proposed underwater laser tracking system. Numerical analysis is performed through simulation to determine the detectable light intensities based on relationships between varying inputs such as angle of illumination and target position. Attenuation, noise, and laser beam spreading are included in...
Show moreOptions for tracking dynamic underwater targets using optical methods is currently limited. This thesis examines optical reflectance intensities utilizing Lambert’s Reflection Model and based on a proposed underwater laser tracking system. Numerical analysis is performed through simulation to determine the detectable light intensities based on relationships between varying inputs such as angle of illumination and target position. Attenuation, noise, and laser beam spreading are included in the analysis. Simulation results suggest optical tracking exhibits complex relationships based on target location and illumination angle. Signal to Noise Ratios are a better indicator of system capabilities than received intensities. Signal reception does not necessarily confirm target capture in a multi-sensor network.
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Date Issued: 2014
PURL: http://purl.flvc.org/fau/fd/FA00004279, http://purl.flvc.org/fau/fd/FA00004279
Subject Headings: Acoustic velocity meters, Intelligent control systems, Optical instruments -- Design and construction, Roving vehicles (Astronautics), Target acquisition, Underwater acoustics
Format: Document (PDF)

Title: Variability of cold-water coral mounds in a high sediment input and tidal current regime, Straits ofFlorida.
Creator: Correa, T.B.S., Grasmueck, M., Eberli, G.P., Reed, John K., Verwer, K., Purkis, S.
Date Issued: 2012
PURL: http://purl.flvc.org/fau/fd/FA00007166
Subject Headings: Florida, Straits of, Cold-water corals, Deep sea corals, Submersibles--Automatic control, Underwater vehicles, Great Bahama Bank (Bahamas), Morphology
Format: Document (PDF)

HBOI Faculty Contributions (8)	+ -
FAU Theses and Dissertations (6)	+ -

Underwater vehicles (7)	+ -
Autonomous underwater vehicles (4)	+ -
Submersibles--Design and construction (4)	+ -
Remote submersibles (3)	+ -
Submersibles--Automatic control (3)	+ -

Submersibles (2)	+ -
Acoustic velocity meters (1)	+ -
Autonomous underwater vehicles--Design and construction (1)	+ -
Biomimetics (1)	+ -
Cold-water corals (1)	+ -
Computational fluid dynamics (1)	+ -
Deep sea corals (1)	+ -
Dissertations, Academic -- Florida Atlantic University (1)	+ -
Florida, Straits of (1)	+ -
Genetic algorithms. (1)	+ -
Geomagnetic field (1)	+ -
Geomagnetism. (1)	+ -
Great Bahama Bank (Bahamas) (1)	+ -
Harbor Branch Oceanographic Institution (1)	+ -
Intelligent control systems (1)	+ -
Littoral combat ships (1)	+ -
Magnetic fields (1)	+ -
Magnetometers (1)	+ -
Marine engineering (1)	+ -
Morphology (1)	+ -
Optical instruments -- Design and construction (1)	+ -
Propellers--Design and construction (1)	+ -
Propulsion systems (1)	+ -
Reinforcement learning (1)	+ -
Remote sensing (1)	+ -

article (8)	+ -
Electronic Thesis or Dissertation (6)	+ -

Harbor Branch Oceanographic Institute (7)	+ -
College of Engineering and Computer Science (6)	+ -
Department of Ocean and Mechanical Engineering (6)	+ -
Florida Atlantic University (6)	+ -
Holt, John K. (3)	+ -

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