Global ETD Search
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Showing 1 to 6 of 6 for “"Oceanographic submersibles"”.
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Hybrid state estimators for the control of remotely operated underwater vehicles
This paper explores the use of 'hybrid' state estimators to increase the accuracy and flexibility of acoustic position measurement systems used in the control of underwater vehicles. Two different approaches to extend the range of acoustic position measurement systems are explored. The first …
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The design of a surface launch and recovery fender for DSRV "Alvin"
Surface recovery of small submersibles could be made safer for personnel and hardware with the installation on the submersible of an inflatable, pneumatic bumper which acts also as main surface buoyancy. Tne use of such a bumper in the recovery of DSRV ALVIN by her catamaran mother ship, LULU, is …
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Incorporating thruster dynamics in the control of an underwater vehicle
The dynamics of an underwater vehicle are greatly influenced by the dynamics of the thrusters. Precise control, for example to perform repeatable survey or coordinated vehicle/manipulator control, should incorporate knowledge of thruster dynamic behavior. An energy-based lumped parameter model of …
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Modeling and control of an autonomous underwater vehicle with combined foil/thruster actuators
The Sentry AUV represents a radical departure from conventional AUV design, particularly with respect to actuation. The vehicle's combined foil/thruster actuators have the potential to produce a vehicle both maneuverable in the veritical plane and efficient in forward flight, well suited to survey …
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Deeply-towed underwater vehicle systems : a verified analytical procedure for creating parameterized dynamic models
The dynamics of deeply-towed cable/vehicle systems are governed by nonlinear partial differential equations and as a result, trajectory control is generally difficult using the available techniques. This work examines the possibility of utilizing parametric dynamic models in differential equation …
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Spectral feature classification of oceanographic processes using an autonomous underwater vehicle
… AUVs are advantageous compared with traditional oceanographic platforms. Based on the mingled spectrum principle, a parametric tool for designing an AUVbased spectral classifier is developed. An AUV's controllable speed tunes the separability between the mingled spectra of different processes. …