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 10 of 10 for “"Unmanned Surface Vehicle"”.
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Modeling, Identification, and Control of an Unmanned Surface Vehicle
… conditions for the Virginia Tech Ribcraft Unmanned Surface Vehicle. The modeling and identification objective is to determine a model which is sufficiently rich to enable effective model-based control design and trajectory optimization, sufficiently simple to allow parameter identification, …
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A Guidance Algorithm for Unmanned Surface Vehicle Exhibiting Sternward Motion
… algorithm that incorporates sternward motion for unmanned surface vehicles. This work is motivated by riverine applications where the operating environment is large and poorly known. We extend a navigation approach for forward path planning into a more versatile framework that includes safe and …
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Mechanical Design of a Sonar Mount for an Unmanned Surface Vehicle
… of research in the use of imaging sonar on surface vehicles. This thesis examines the problem of mounting a sonar on a surface vehicle from a fundamental perspective. It describes the development of a list of customer needs, presents a prototype design, and presents the important analyses …
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Remote depth survey of the Charles River Basin
Unmanned vehicles may provide more time- and cost-effective methods of gathering hydrographic survey data when compared to traditional, manned survey vessels. A remote-controlled unmanned surface vehicle (USV) was outfitted with a depth transducer for the purpose of conducting a depth survey of the …
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Fabrication of a SWATH vessel scale model for seakeeping tests using rapid prototyping methods
… of a Small Waterplane Area, Twin Hull (SWATH) Unmanned Surface Vehicle (USV) that will be used primarily for dynamic seakeeping testing in the MIT Tow Tank. The model represents a design conceived by Stefano Brizzolara, which will be used for launching, recovering, and servicing Unmanned …
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Precision stationkeeping with azimuthing thrusters
Precision positioning of an unmanned surface vehicle (USV) in a nautical environment is a difficult task. With a dual azimuthing thruster scheme, the optimization of thruster outputs uses an online method to minimize the amount of error. It simplifies necessary calculations by the assumption that …
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A new guidance trajectory generation algorithm for unmanned systems incorporating vehicle dynamics and constraints
… algorithm for autonomous guidance and control of unmanned vehicles from a given starting point to a given target location. We build and update incomplete a priori maps of the operating environment in real time using onboard sensors and compute level sets on the map reflecting the minimal cost of …
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Monitoring the Transport of Microorganisms in Aquatic Environments Using Unmanned Surface Vehicles
The majority of the Earths surface is covered with water, and the air-water interface (AWI) acts as the natural boundary between the atmosphere and the water. The AWI is an important ecological zone in natural aquatic habitats that governs transport of material and energy between bodies of water …
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UXS AUTHENTICATION AND KEY EXCHANGE REQUIREMENTS FOR MULTIDOMAIN OPERATION AND JOINT INTEROPERABILITY
… sensor network and the Navy’s Project Overmatch, unmanned systems (UxS) are a shared capability that extends reach and capacity of the military force to enhance tactics in contested spaces. This has increased research into interoperable network frameworks to securely and efficiently C2 distributed …
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Control Design and Model Validation for Applications in Nonlinear Vessel Dynamics
… specifically the autonomous recovery of an unmanned surface vehicle utilizing motion prediction information. The same complexity and chaotic nature that makes the validation of ship motion models difficult can also make the development of reliable, robust controllers difficult as well. This …