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 44 for “"Marine Vehicles"”.
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Intent-aware collision avoidance for autonomous marine vehicles
Applications of autonomous marine vehicles in dynamic and uncertain environments continuously grow as research unveils new enabling technology and academic, commercial, and government entities pursue new marine autonomy concepts. The safe operation of these vehicles in the marine domain, which is …
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Multipath arrival tracking for marine vehicles utilizing pattern recognition
… to improper ray path identification and fading. Marine vehicles have the ability to overcome these challenges and increase contact tracking capabilities by taking advantage of the patterns associated with these multipath arrivals. Through the use of pattern recognition, a multipath arrival …
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Adaptive Collaborative Channel Finding Approaches for Autonomous Marine Vehicles
… a body of water, using one or more Autonomous Marine Vehicles (AMVs). A new algorithm called Proposal Based Adaptive Channel Search (PBACS) is presented as a potential solution that improves upon current methods. The empirical performance of PBACS is compared to lawnmower surveying and to …
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Nonlinear Control and Robust Observer Design for Marine Vehicles
A robust nonlinear observer, utilizing the sliding mode concept, is developed for the dynamic positioning of ships. The observer provides the estimates of linear velocities of the ship and bias from the slowly varying environmental loads. It also filters out wave frequency motion to avoid wear of …
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Multi-contact protocol-constrained collision avoidance for autonomous marine vehicles
The field of autonomous collision avoidance has continued to advance in many areas including sensory and perception, navigation, payload integration, and collision avoidance. The advances in collision avoidance, however, have largely focused on iterative changes to the velocity obstacle - an …
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Accelerating Conceptual Design Analysis of Marine Vehicles through Deep Learning
Evaluation of the flow field imparted by a marine vehicle reveals the underlying efficiency and performance. However, the relationship between precise design features and their impact on the flow field is not well characterized. The goal of this work is first, to investigate the …
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Detection of Marine Vehicles in Images and Video of Open Sea
… a new technique for automatic detection of marine vehicles in images and video of open sea. Users of such system include border guards, military, port safety, flow management, and sanctuary protection personnel. The source of images and video is a digital camera or a camcorder which is …
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Object localization and identification for autonomous operation of surface marine vehicles
A method for autonomous navigation of surface marine vehicles is developed A camera video stream is utilized as input to achieve object localization and identification by application of state-of-the-art Machine Learning algorithms. In particular, deep Convolutional Neural Networks are first trained …
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Analysis and modeling of power transmitting systems for advanced marine vehicles
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering, 1995, and Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1995.
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High performance path following for marine vehicles using azimuthing podded propulsion
… offer greater maneuvering possibilities for marine vehicles than conventional shaft and rudder systems. As the propulsion unit rotates about its vertical axis to a specified azimuth angle, the entire thrust of the propeller contributes to the steering moment without relying on lift generation …
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Multi-Fidelity Structural Modeling For Set Based Design of Advanced Marine Vehicles
… that a parametrically-modifiable Advanced Marine Vehicle Structural (AMVS) module (that can be integrated into a larger framework of marine vehicle analysis modules) enables stakeholders, as a group, to complete structurally feasible ship designs using the Set-Based Design (SBD) method. The …
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Prediction of performance and maneuvering dynamics for marine vehicles applied to DDG-1000
Being able to accurately model the performance of ships is an integral part of the ship design process. A considerable amount of money is invested into predicting how a ship will maneuver in a given sea state. Furthermore, it is vital to understand the powering requirements and potential …
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Integrated motion planning and model learning for mobile robots with application to marine vehicles
… for a planar holonomic vehicle such as a marine surface vessel. These predictions lead to a robust motion planning algorithm that nds the optimal motion plan quickly and efficiently. By incorporating model learning into the predictions, the integrated algorithm exhibits emergent active …
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A Rankine panel method as a tool for the hydrodynamic design of complex marine vehicles
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering, 1998.
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The development of advanced multivariable, linear and nonlinear control design methods with applications to marine vehicles
This thesis primarily concerns control and identification of FPSO and Shuttle Tanker vessels, where nonlinear hydrodynamics raise the associated issue of nonlinear control. A 3-DOF model is presented for investigating Dynamic Positioning control, a problem where directional thrusters maintain ship …
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Innovative decision-making methods for the preliminary design and operations of air-cushion and other marine vehicles
… and although they have been used for small-scale marine problems, they haven't been extensively tested in a more general framework. Heuristics include methods such as the Mapping Model and the QuickEst algorithm, which are not found in marine applications. Heuristic methods are divided into …
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Three-dimensional time-optimal path planning in dynamic and realistic environments
Autonomous underwater vehicles (AUVs) are a valuable resource in several oceanic applications such as security, surveillance and data collection for ocean prediction. These vehicles typically travel at speeds comparable to ocean currents, and their movement is significantly affected by these …
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Progressively communicating rich telemetry from autonomous underwater vehicles via relays
… there is an increasing need for autonomous marine vehicles to transmit this data to the surface. Without access to the data acquired by a vehicle, surface operators cannot fully understand the state of the mission. Communicating imagery and high-resolution sensor readings to surface …
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Progressively communicating rich telemetry from autonomous underwater vehicles via relays
… there is an increasing need for autonomous marine vehicles to transmit this data to the surface. Without access to the data acquired by a vehicle, surface operators cannot fully understand the state of the mission. Communicating imagery and high-resolution sensor readings to surface …
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Autonomous cooperation of heterogeneous platforms for sea-based search tasks
Many current methods of search using autonomous marine vehicles do not adapt to changes in mission objectives or the environment. A cellular-decomposition-based framework for cooperative, adaptive search is proposed that allows multiple search platforms to adapt to changes in both mission …
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