Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 201 for “"AUV"”.
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Dynamics of an Autonomous Underwater Vehicle (AUV) towing another AUV
… experienced and acting on it. In this work, only AUVs with symmetrical hulls are considered, where the towing AUV is moving at a constant velocity with a set thrust while the towed AUV has no thrust. The rope system is another important component that needs to be modeled correctly because the rope …
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Maximizing AUV slow speed performance
… speed range is sought. Optimizing Odyssey IIB AUV performance for slower speed operations and extended duration missions necessitates a multi-disciplinary review including control system design, hydrodynamic performance and sensor selection and utilization. Reducing the vehicle controls-fixed …
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Maximizing AUV slow speed performance
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering, 1997.
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Probablistic approaches for intelligent AUV localisation
… for an autonomous underwater vehicle (AUV). After an introduction about robot localisation and specific issues in the underwater domain, the thesis will focus on passive techniques for AUV localisation, highlighting experimental results and comparison among different techniques. Then, …
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Design of an AUV recharging system
The Odyssey AUV Series uses a Lithium-ion Polymer battery which is able to supply the necessary power for a limited mission time. The current method of recharge includes surfacing the AUV, opening the vehicle, removing the battery from the vehicle and recharging the battery. A different approach is …
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Design of an AUV recharging system
… of present Autonomous Underwater Vehicles (AUVs) is limited by their on-board energy storage capability. Research indicates that rechargeable batteries will continue to be the AUV power source of choice for at least the near future. Thus, a need exists in both military and commercial markets …
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An entropic framework for AUV sensor modelling
… mapping from an autonomous underwater vehicle (AUV). The constraints on imaging underwater - vehicle power, vehicle hydrodynamics, computational and telemetry requirements, and typical navigational and attitudinal uncertainties along with the underlying physics of the acoustic sensing modality- …
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An entropic framework for AUV sensor modelling
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering, 1995.
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Propulsion optimization for ABE, an autonomous underwater vehicle (AUV)
The oceanographic community is moving towards unmanned autonomous vehicles to gather data and monitor scientific sites. The mission duration of these vehicles is dependent primarily on the power consumption of the propulsion system, the control system and the sensor packages. A customized …
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Design of control for efficiency of AUV power systems
… for the REMUS 600 Autonomous Underwater Vehicle (AUV) in collaboration with the MIT Lincoln Laboratory. This power system will recharge the lithium ion battery pack of the REMUS 600 and allow the vehicle to travel for 40 consecutive 12-hour missions without returning to recharge. This study …
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Autonomous Underwater Vehicle (AUV) Propulsion System Analysis and Optimization
… for autonomous underwater vehicles (AUV's) that have specific mission scenarios is the propulsive efficiency. The propulsive efficiency affects the amount of power storage required to achieve a specific mission. As the efficiency increases the volume of energy being stored decreases. …
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Real time adaptive control of an Autonomous Underwater Vehicle (AUV)
… maneuver of an Autonomous Underwater Vehicle (AUV) is addressed. The highly nonlinear nature of the vehicle dynamics and the requirement for the fast maneuvering call for robust control techniques. In particular Variable Structure Control (VSC) combined with Adaptive Control (AC) techniques …
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Modular Modification of a Buoyant AUV for Low-Speed Operation
… streamlined autonomous underwater vehicles (AUVs) with a single thruster and stern planes are typically trimmed to be somewhat buoyant or heavy in water. To maintain depth, they must generate a constant hydrodynamic force which requires that they swim at a constant pitch angle. Although tail …
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A Comparative Study of Feature Detection Methods for AUV Localization
<p>Underwater localization is a difficult task when it comes to making the system autonomous due to the unpredictable environment. The fact that radio signals such as GPS cannot be transmitted through water makes autonomous movement and localization underwater even more challenging. One specific …
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State Estimation for Tracking of Tagged Sharks with an AUV
… on an Autonomous Underwater Vehicle (AUV) equipped with a stereo-hydrophone and receiver system that detects acoustic signals transmitted by a tag. The particular hydrophone system used here provides a measurement of relative bearing angle to the tag, but does not provide the sign (+ …
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Developing a Platform for Expanding AUV exploRation to Longer ranges (PEARL)
Autonomous underwater vehicles (AUVs) are often limited in their range and mission time due to their battery capacity. Additionally, the data onboard AUVs usually needs to be downloaded directly, due to their limited data transmission capabilities, requiring time and labor to fish the AUVs out of …
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Adaptive AUV-assisted diver navigation for loosely-coupled teaming in undersea operations
Human divers face immense challenges in the undersea domain due to constraints on life support, sensory input, and mobility. Due to these challenges, even simple tasks are difficult, and navigation between points of interest is key among them. However, humans have progressively utilized creativity, …
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Underwater Pipeline Leakage Detection Using Vision Based Techniques: Semi-AUV (SAUV) Approach
… (ROV) to a Semi-Autonomous Underwater Vehicle (SAUV) using a vision-based control system. The SAUV was used for automatic underwater gas pipeline tracking and leakage detection. the leakages in the pipeline using Computer Vision. The SAUV was designed to operate both manually and automatically in …
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Autonomous underwater data muling using wireless optical communication and agile AUV control
Underwater exploration and surveillance currently relies on subsea cables and tethers to relay data back to the user. The cause for this is that water heavily absorbs most electromagnetic signals, preventing effective radio communication over large distances, and that underwater communication with …
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Adaptive AUV-assisted Diver Navigation for Loosely-Coupled Teaming in Undersea Operations
Human divers face immense challenges in the undersea domain due to constraints on life support, sensory input, and mobility. Due to these challenges, even simple tasks are difficult, and navigation between points of interest is key among them. However, humans have progressively utilized creativity, …
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