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 14 of 14 for “"Vehicles, remotely piloted"”.
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Biomimetic oscillating foil propulsion to enhance underwater vehicle agility and maneuverability
Inspired by the swimming abilities of marine animals, this thesis presents "Finnegan the RoboTurtle", an autonomous underwater vehicle (AUV) powered entirely by four flapping foils. Biomimetic actuation is shown to produce dramatic improvements in AUV maneuvering at cruising speeds, while …
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Lossy compression and real-time geovisualization for ultra-low bandwidth telemetry from untethered underwater vehicles
… the study of dynamic processes with multiple vehicles, there is an increasing need to distill large volumes of data from underwater vehicles and deliver it quickly to human operators. While tethered robots are able to communicate data to surface observers instantly, communicating discoveries …
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Adaptive sampling in autonomous marine sensor networks
… approach to behavior-based control of autonomous vehicles using multiple objective functions that allows reactive control in complex environments with multiple constraints, and an approach to cooperative robotics that is a hybrid between the swarm cooperation and intentional cooperation …
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A parallel hypothesis method of autonomous underwater vehicle navigation
… Explorer (ABE) and Sentry autonomous underwater vehicles during operations on the Juan de Fuca Ridge. This algorithm uses a nested architecture to break the navigation solution down into basic building blocks for each type of available external information. The algorithm classifies external …
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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
… this; however, requires an understanding of the vehicles dynamics. In this work, we present the development and analysis of an analytic model of the Sentry AUV. Our goals were to develop a model sufficiently accurate in terms of the mission profile to identify critical vehicle behaviors …
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Development of an actively compliant underwater manipulator
… manipulator for installation on the underwater remotely operated vehicle (ROV) JASON. The goal of this work has been to produce a high fidelity force-controllable manipulator exhibiting no backlash, low stiction/friction, high backdriveability, wide dynamic range, and possessing a large work …
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Cooperative localization for autonomous underwater vehicles
… examine how methods used for cooperating land-vehicles can be transferred to the underwater domain. An algorithm for distributed self-localization, which is designed to take the specific characteristics of the environment into account, is proposed. We also address how correlated position …
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Sparse Bayesian information filters for localization and mapping
This thesis formulates an estimation framework for Simultaneous Localization and Mapping (SLAM) that addresses the problem of scalability in large environments. We describe an estimation-theoretic algorithm that achieves significant gains in computational efficiency while maintaining consistent …
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Propulsion optimization for ABE, an autonomous underwater vehicle (AUV)
… 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 propulsion thruster is …
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Progressively communicating rich telemetry from autonomous underwater vehicles via relays
… 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 observers …
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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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In Service Above Ground Storage Tank Inspection with a Remotely Operated Vehicle (ROV)
… inside the tanks present a problem. To make such remotely operated vehicular systems more flexible and reliable, this study investigates the fundamental requirements and replaces the crawler with a remotely operated submersible.<br/><br/>The critical review of currently available ROVs showed that …