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 49 for “"Submersibles"”.
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Technological review of deep ocean manned submersibles
… as well as a glimpse into future manned submersibles and their technologies of choice.
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Fuel-cell propulsion for small manned submersibles.
Thesis (Ocean.E)--Massachusetts Institute of Technology, Dept. of Ocean Engineering, 1979.
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Underwater Acoustic Localisation in the context of Autonomous Submersibles
With the advancement of the field of underwater robotics, the amount of autonomy embodied in the vehicles themselves have considerably increased while making it possible to build and deploy swarms of small autonomous underwater vehicles (AUVs). Apart from the many environ- mental and mechanical …
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Underwater Acoustic Localisation in the context of Autonomous Submersibles
With the advancement of the field of underwater robotics, the amount of autonomy embodied in the vehicles themselves have considerably increased while making it possible to build and deploy swarms of small autonomous underwater vehicles (AUVs). Apart from the many environ- mental and mechanical …
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Predictor displays--theory development and application to towed submersibles
Thesis (Sc. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1991.
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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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Deep submersible logistic support design concept
… of the logistic and operational problems of deep submersibles using a support craft-submersible combination. Shown is an improved vehicle launch and recovery method and a means to transfer personnel, supplies, and services during sea conditions presently detrimental to such operations. The …
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Design and analysis of a Non-Pressurized Manned Submersible
Non-Pressurized Manned Submersibles (NPMS) have proven their utility in warfare for centuries, demonstrating an unmatched combination of simplicity and versatility in both declared conflicts and undeclared, covert operations. Today, the SEAL Delivery Vehicle (SDV) Mk8 Mod1 remains the United States …
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A combined classification and queuing system optimization approach for enhanced battery system maintainability
… wide variety of advanced platforms (e.g., ships, submersibles, aircraft). These platforms undergo unique and extreme mission profiles that necessitate high reliability and maintainability. Battery system failures and non-optimal maintenance strategies have a significant impact on total fleet …
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Vibration Reduction and Energy Harvesting using Motion-Rectified Tuned Mass-Damper-Inerters in Semi-Submersible Offshore Wind Platforms
… particularly floating structures such as semi-submersibles. Vibrations in the pitch and heave directions associated with greater yaw-bearing and tower-base bending moments, respectively, reduce the lifespan of these structures. This paper compares traditional tuned-mass dampers (TMDs) and …
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Multisensor modeling underwater with uncertain information
… aid for remotely operated vehicles and manned submersibles, and world modeling for autonomous vehicles.
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Déjà vu all over again! : the reluctant rise and protracted demise of Scott Lithgow Limited
… no previous experience of building complex semi submersibles was unable to resurrect Scott Lithgow's tarnished reputation in the offshore market. Accordingly. the yard was put on a care and maintenance basis in 1988 from which it never recovered. In considering the complex history of Scotts' and …
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Six degree of freedom vehicle controller design for the operation of an unmanned underwater vehicle in a shallow water environment
Closed loop control of an unmanned underwater vehicle (UUV) in the dynamically difficult environment of shallow water requires explicit consideration of the highly coupled nature of the governing non-linear equations of motion. This coupling between an UUV's six degrees of freedom (6 DOF) is …
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Comparison of neural and control theoretic techniques for nonlinear dynamic systems
This thesis compares classical nonlinear control theoretic techniques with recently developed neural network control methods based on the simulation and experimental results on a simple electromechanical system. The system has a configuration-dependent inertia, which contributes a substantial …
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Search methods for an autonomous underwater vehicle using scalar measurements
The continuing development of the autonomous underwater vehicle as an oceanographic research tool has opened up the realm of scientific possibility in the field of deep ocean research. The ability of a vehicle to travel to the ocean floor untethered, collect data for an extended period of time and …
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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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Underwater optical measurement of position and orientation using a prepared, passive target
In order to provide an accurate and efficient method of docking, station keeping, and navigation for the JASON remotely operated vehicle, an optical tracking method is investigated. The method needs to be accurate enough for underwater control and fast enough to enable timely control. The method …
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Design of a controllable pitch underwater thruster system
Control systems for underwater vehicles have reached the level of sophistication where they are limited by the dynamic performance of the thrust actuators. Standard fixed-pitch propellers have been shown to have very poor dynamic characteristics, particularly at low thrust levels The dynamic …
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Attitude control of an underwater vehicle subjected to waves
This paper presents a method for estimating the spectra of water wave disturbances on five of the six axes of a stationary, slender body underwater vehicle in an inertia dominated wave force regime, both in head seas and in beam seas. Inertia dominated wave forces are typical of those encountered …
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Efficient control based on a verified model for an autonomous underwater vehicle : a case study of Autonomous Benthic Explorer
The Autonomous Benthic Explorer (ABE) is an unmanned underwater vehicle being developed for scientific study of the deep ocean sea:floor. ABE will be completely autonomous from the surface which means that the lifetime of the mission will depend largely on how the vehicle is controlled. An accurate …
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