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 157 for “"autonomous underwater vehicle"”.
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Autonomous Underwater Vehicle Propulsion Design
… efficient propulsive system for the candidate autonomous underwater vehicle (AUV) as possible. A mathematical approach, using fundamental motor equations and derived quantities, was used to characterize and select an efficient brushless electric motor for the propulsion system. A program …
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XAUV : modular high maneuverability autonomous underwater vehicle
The design and construction of a modular test bed autonomous underwater vehicle (AUV) is analyzed. Although a relatively common stacked-hull design is used, the state of the art is advanced through an aggressive power plant, with capability to support azimuthing thrusters and a 2DOF front sensor …
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Simulations of a self propelled autonomous underwater vehicle
The missions being proposed for autonomous underwater vehicles (AUVs), by both marine scientists and industry, are becoming increasingly complex and challenging. In order to meet these demands the next generation of AUVs will need to be faster, operate for longer and be more manoeuvrable than …
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Adaptive control of a small autonomous underwater vehicle
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1991.
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Acoustic navigation for the autonomous underwater vehicle REMUS
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering, 2000.
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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 …
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A parallel hypothesis method of autonomous underwater vehicle navigation
… presents a parallel hypothesis method for autonomous underwater vehicle navigation that enables a vehicle to expand the operating envelope of existing long baseline acoustic navigation systems by incorporating information that is not normally used. The parallel hypothesis method allows the …
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Modeling and control of a biorobotic autonomous underwater vehicle
Current research into Autonomous Underwater Vehicles (AUVs) has included work on biologically inspired propulsion mechanisms, for instance flapping foils. The first aim of this thesis is to develop an accurate non-linear model of a flapping foil AUV, including the forces and moments due to the …
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A parallel hypothesis method of autonomous underwater vehicle navigation
… presents a parallel hypothesis method for autonomous underwater vehicle navigation that enables a vehicle to expand the operating envelope of existing long baseline acoustic navigation systems by incorporating information that is not normally used. The parallel hypothesis method allows the …
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Modeling and simulation of the autonomous underwater vehicle, Autolycus
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering, 1999.
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Mechanical Design of a Self-Mooring Autonomous Underwater Vehicle
The Virginia Tech self-mooring autonomous underwater vehicle (AUV) is capable of mooring itself on the seafloor for extended periods of time. The AUV is intended to travel to a desired mooring location, moor itself on the seafloor, and then release the mooring and return to a desired egress …
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Autonomous Underwater Vehicle (AUV) Propulsion System Analysis and Optimization
One of the largest design considerations for autonomous underwater vehicles (AUV's) that have specific mission scenarios is the propulsive efficiency. The propulsive efficiency affects the amount of power storage required to achieve a specific mission. As the efficiency increases the volume of …
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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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Autonomous underwater vehicle navigation and mapping in dynamic, unstructured environments
… building 3-D optical and bathymetric maps of underwater terrain using autonomous robots. The maps that are built improve the state of the art in resolution by an order of magnitude, while fusing bathymetric information from acoustic ranging sensors with visual texture captured by cameras. As …
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Real time adaptive control of an Autonomous Underwater Vehicle (AUV)
… a controller for the dive maneuver of an Autonomous Underwater Vehicle (AUV) is addressed. The highly nonlinear nature of the vehicle dynamics and the requirement for the fast maneuvering call for robust control techniques. In particular Variable Structure Control (VSC) combined with …
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Autonomous underwater vehicle navigation and mapping in dynamic, unstructured environments
… building 3-D optical and bathymetric maps of underwater terrain using autonomous robots. The maps that are built improve the state of the art in resolution by an order of magnitude, while fusing bathymetric information from acoustic ranging sensors with visual texture captured by cameras. As …
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Design of a Modular Offshore Autonomous Underwater Vehicle Servicing Platform
… because the primary method of acquisition, Autonomous Underwater Vehicles (AUVs), are limited by battery capacity and must be charged and serviced by crewed support ships. The Platform for Expanding AUV exploRation to Longer ranges (PEARL) hopes to solve this through an autonomous offshore …
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Large scale structure from motion for autonomous underwater vehicle surveys
Our ability to image extended underwater scenes is severely limited by attenuation and backscatter. Generating a composite view from multiple overlapping images is usually the most practical and flexible way around this limitation. In this thesis we look at the general constraints associated with …
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Search methods for an autonomous underwater vehicle using scalar measurements
Thesis (S.M.)--Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Ocean Engineering; and the Woods Hole Oceanographic Institution), 1996.
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Range-Based Autonomous Underwater Vehicle Navigation Expressed in Geodetic Coordinates
… terrestrial applications, GPS is unavailable to autonomous underwater vehicles (AUVs) while submerged due to the rapid attenuation of radio frequency signals in seawater. Underwater vehicles often use other navigation technologies. This thesis describes a range-based acoustic navigation system …
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