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.
Results
Showing 1 to 20 of 76 for “"autonomous underwater vehicle (AUV)"”.
-
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 …
-
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 …
-
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 …
-
Dynamics of an Autonomous Underwater Vehicle (AUV) towing another AUV
… proposes a method to simulate the dynamics of an autonomous underwater vehicle towing another autonomous underwater vehicle of equivalent size using a marine cable in the vertical and horizontal plane. There is a coupling effect between the two vehicles because the towed vehicle is of equivalent …
-
Design of an Autonomous Underwater Vehicle (AUV) charging system for underway, underwater recharging
… robotics have enabled the rapid proliferation of Autonomous Underwater Vehicles (AUVs) throughout the marine environment. As autonomy algorithms increase in robustness, complexity, and reliability, so too does the ability of AUVs to perform an even-increasing array of complex missions. Maritime …
-
Autonomous Underwater Vehicle (AUV) path planning and adaptive on-board routing for adaptive rapid environmental assessment
In shallow water, a large part of underwater acoustic prediction uncertainties are induced by sub-meso-to-small scale oceanographic variabilities. Conventional oceanographic measurements for capturing such ocean-acoustic environmental variabilities face the classical conflict between resolution and …
-
Control Design for Long Endurance Unmanned Underwater Vehicle Systems
… a technique for robust controller design for an autonomous underwater vehicle (AUV) that explicitly handles the trade-off between reference tracking, agility, and energy efficient performance. AUVs have many sources of modeling uncertainty that impact the uncertainty in maneuvering performance. A …
-
Target tracking onboard an autonomous underwater vehicle : determining optimal towed array heading in an anisotropic noise field
… that an anisotropic noise field poses for underwater target tracking, we conduct an onboard estimation of the horizontal noise directionality in the real-time processing suite of an autonomous underwater vehicle (AUV) towing a horizontal line array. The estimation of the noise …
-
Real time active sonar simulation in a deep ocean environment
… deep ocean where it could take 2-3 hours for an autonomous underwater vehicle (AUV) to get to a specific depth and where power is very limited. A new module called uSimActiveSonar has been developed in order to simulate an active sonar system with hydrophone data acquisition. This has been done …
-
Multiple Robot Boundary Tracking with Phase and Workload Balancing
… the effectiveness of the controller in an Autonomous Underwater Vehicle (AUV) under ice edge sampling application. Successful results from experimentation with three iRobot(R) Creates are also presented.
-
Detection, classification and localization of seabed objects with a virtual time reversal mirror
… is sampled by a receiving array towed behind an Autonomous Underwater Vehicle (AUV). The recorded signals are then processed to simulate onboard the AUV, the time reversed transmissions which serve to localize the origin of the scattered field on the seabed and estimate the position of the …
-
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 …
-
Creation and deployment of the NEREUS autonomous underwater chemical analyzer and Kemonaut, an odyssey class submarine
… a stand-alone instrument or onboard the Kemonaut autonomous underwater vehicle (AUV). Kemonaut is an Odyssey class AUV with increased payload carrying capacity and dynamic stability, and is intended for freshwater and coastal marine applications to depths of 300 meters. The NEREUS-Kemonaut system …
-
Stochastic Motion Planning for Applications in Subsea Survey and Area Protection
… path planning and cooperative control for autonomous vehicles. The objective of our work is to closely and rigorously incorporate classication and detection performance into path planning algorithms, which is not addressed with typical approaches found in literature. We present novel path …
-
Probablistic approaches for intelligent AUV localisation
… the problem of intelligent localisation for an autonomous underwater vehicle (AUV). After an introduction about robot localisation and specific issues in the underwater domain, the thesis will focus on passive techniques for AUV localisation, highlighting experimental results and comparison …
-
Bearing Estimation for Underwater Acoustic Source Using Autonomous Underwater Vehicle
… in detecting sources of acoustic noise using an autonomous underwater vehicle (AUV) in real world environments. The initial part of this thesis describes the developments made for redesigning an acoustic sensing system that can be used to estimate the relative bearing between a source of acoustic …
-
Design of control for efficiency of AUV power systems
… hybrid recharging system for the REMUS 600 Autonomous Underwater Vehicle (AUV) in collaboration with the MIT Lincoln Laboratory. This power system will recharge the lithium ion battery pack of the REMUS 600 and allow the vehicle to travel for 40 consecutive 12-hour missions without returning …
-
Using Negative Information in simultaneous localization and mapping
The problem of autonomous navigation is one of efficiently utilizing available information from sensors and intelligently processing that information to determine the state of the robot and its environment. This thesis explores a topic often ignored in the Simultaneous Localization And Mapping …
-
Numerical and experimental analysis of initial water impact of an air-dropped REMUS AUV
… UnitS) is a small, man-portable, torpedo shaped Autonomous Underwater Vehicle (AUV) that is normally operated from small boats for a variety of scientific, industrial, and military applications. Finite-element method software and computer aided drafting tools were used to create a simplified …
-
An entropic framework for AUV sensor modelling
… We focus on fine-scale acoustic mapping from an autonomous underwater vehicle (AUV). The constraints on imaging underwater - vehicle power, vehicle hydrodynamics, computational and telemetry requirements, and typical navigational and attitudinal uncertainties along with the underlying physics of …
Page 1 of 4