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 134 for “"maneuverability"”.
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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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Maneuverability and heading control of compliant biomimetic swimming devices
… these applications also require high levels of maneuverability and closed-loop control. However, maneuverability and heading control are two areas that are relatively unexplored with regard to such devices. Therefore, in order to study maneuverability and control, this thesis outlines a simple …
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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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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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Analysis of the operational impacts of alternative propulsion configurations on submarine maneuverability
In an effort to develop submarine designs that deliver reduced size submarines with equivalent capabilities of the current USS VIRGINIA (SSN-774 Class) submarine, a joint Navy/Defense Advanced Research Projects Agency (DARPA) called the Tango Bravo (TB) program was initiated in 2004 to overcome …
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A contact-implicit direct trajectory optimization scheme for the study of legged maneuverability
For legged robots to move safely in unpredictable environments, they need to be manoeuvrable, but transient motions such as acceleration, deceleration and turning have been the subject of little research compared to constant-speed gait. They are difficult to study for two reasons: firstly, the way …
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Modifiable Stability and Maneuverability of High Speed Unmanned Underwater Vehicles (UUVs) Through Bioinspired Control Fins
… vehicle stability changed, thereby affecting the maneuverability. As fins were placed forward on the vehicle, maneuverability increased, with effects tapering off at 0.2 BL ahead of the vehicle's center of buoyancy. This investigation explored how rigid underwater vehicles could benefit from added …
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Modifiable stability and maneuverability of high speed unmanned underwater vehicles (UUVs) through bioinspired control fins
… of the vehicle changed, thereby affecting the maneuverability. As fins were placed further forward on the vehicle, maneuverability increased, with effects tapering off at 0.2 BL ahead of the vehicle's center of buoyancy. This investigation explored how rigid underwater vehicles could benefit …
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Design and control of an high maneuverability remotely operated vehicle with multi-degree of freedom thrusters
… < 1Okg, low cost, unmanned submersible. High maneuverability in the ROV as achieved through a high thrust-to- mass ratio in all directions. One identified solution is moving the primary thrusters in both the pitch and yaw directions. The robot is propelled by a pair of 2 DOF thrusters, and is …
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Low-Speed Maneuverability, High-Speed Roll-Stability, and Brake Type Performance of Heavy Truck 33-ft Double Trailers
… and Safety (CVeSS) at Virginia Tech on the maneuverability, roll-stability, and brake type performance of 33-ft double trailers. Little literature exists for 33-ft doubles because they are uncommon on the U.S. roads due to current federal restrictions limiting long-combination vehicles to …
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Using Biomimetics to Improve the Maneuvering Performance of the Expendable Mobile Antisubmarine Warfare Training Target (EMATT)
Using Biomimetics to improve the maneuverability of torpedo shaped Unmanned Underwater Vehicles (UUVs) is a continued topic of study that is rapidly evolving to increase the agility of these vehicles. MIT Sea Grant continues to study the hydrodynamic effects of UUVs and implement biomimetic methods …
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Mechanics of Flapping Flight: Analytical Formulations of Unsteady Aerodynamics, Kinematic Optimization, Flight Dynamics and Control
… considered for both aerodynamic performance and maneuverability. For each case, an infinite-dimensional optimization problem is formulated using the calculus of variations to relax any unnecessary constraints induced by approximating the problem as a finite-dimensional one. As such, theoretical …
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An experimental study of the one Atmosphere Diving Suit (ADS) and data analysis of military diving
… unique challenges and limitations. Current ADS maneuverability, specifically that associated with joint rotation, lacks natural movement and range of motion, rendering most normal underwater tasks more challenging and taxing on the operator. Concerns about the lack of maneuverability and …
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Development and analysis of active rear axle steering for 8x8 combat vehicle
… controllers are assessed on ability to increase maneuverability at low speed, increase stability at higher speeds, avoiding rollover and ability to dampen the effects of external disturbances. The two controllers that are proposed to improve the lateral vehicle dynamics include a feed-forward …
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FILM EVAPORATION MEMS THRUSTER ARRAY FOR MICROPROPULSION
… tradeoffs between useful payload mass and maneuverability. This is also an issue with available attitude control systems which are either quickly saturated reaction wheels or movable high drag surfaces with long response times. What is needed is a low mass low power self-contained …
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Localization of Dynamic Acoustic Sources with a Maneuverable Array
… with each is designed to exploit array maneuverability for improved localization and detection performance.</p><p>In the first application considered, passive broadband source localization is accomplished via time delay estimation (TDE). Conventional TDE methods, such as the generalized …
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Design synthesis of articulated heavy vehicles with active trailer steering systems
… and complex configurations, AHVs have poor maneuverability at low speeds, and low lateral stability at high speeds. Various passive trailer steering and ATS systems have been developed for improving the low-speed maneuverability. However, they often have detrimental effects on the high-speed …
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Steady and unsteady dynamics of an azimuthing podded propulsor related to vehicle maneuvering
… field, dynamic force phenomena applicable to maneuverability of both large and small scale vehicles are investigated. These include quasi-steady vectored maneuvering forces, of importance to all maneuvering vehicles or ships, as well as unsteady or transient maneuvering forces, which have more …
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Fast interceptor of a dynamic object
… model uncertainty, with respect to the vehicle's maneuverability, as well as uncertainty in the estimation of the object's future trajectory and position. This problem involves the tracking of the dynamic object in a cluttered environment and the accurate estimation of its future position in the …
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