Mechatronic design of autonomous underwater vehicles for confined spaces

In utility piping and fluid transportation pipelines, it is often desired to have a robotic device that can navigate the complex structure to carry inspection to maintain the integrity of these infrastructures. In this work, an attempt to design an untethered micro autonomous underwater vehicle, mAUV, is conducted. The mechanical, electrical, control and perception system are developed through a proposed model-based mechatronic design approach. Key design tools are validated including the measurement of hydrodynamic drag and thruster performance, a visual dynamic software-in-the-loop simulation is developed that incorporates the validated vehicle model, a model-based quaternion error attitude controller is implemented and a structure light perception system and method is proposed.

Level thesis:degree_level

Doctoral

Department dc:contributor.department

Mechanical Engineering

Grantor dc:publisher

Georgia Institute of Technology

Year dc:date.issued

2018

Author dc:creator

• Alsaibie, Ali A.

Advisor dc:contributor.advisor

• Singhose, William E.

Committee members dc:contributor.committeemember

• Youcef-Toumi, Kamal
• Johnson, Eric
• Ferri, Aldo
• Rogers, Jonathan

• AUV
• Mechatronic design
• Underwater vehicles
• Service robotics
• Pipe inspection

Language dc:language.iso

en_US

Handle dc:identifier.uri

http://hdl.handle.net/1853/60770

OAI identifier oai:identifier

oai:repository.gatech.edu:1853/60770