{"id":{"repo_id":"cape-town","oai_identifier":"oai:open.uct.ac.za:11427/13311"},"canonical_url":"https://search.dev.ndltd.org/etd/cape-town/oai:open.uct.ac.za:11427/13311","repository":{"repo_id":"cape-town","name":"University of Cape Town","base_url":"https://open.uct.ac.za/oai/request"},"display":{"title":"Modelling and design of an autonomous sailboat for ocean observation","abstract":"This study presents various aspects of the development of an autonomous sailboat for ocean observation, with specific focus on modelling and simulation. The potential value of such platforms for ocean observation is well established, with there being a number of expected advantages over existing solutions. A comprehensive literature review is presented, revealing that the modelling of sailboats is an existing field but that the modelling of small autonomous platforms appears to have been limited. This study develops three and four degree of freedom models of a small autonomous J-Class style sailboat. The sailboat is a prototype platform which is developed from its existing state as part of the study. Both models are validated against data logged during field tests, showing broad agreement with some limitations being noted. Results of simulations of the models are used to draw a number of conclusions regarding the appropriate design of the platform's wing-sail, the wing-sail's control requirements in diffirent wind conditions, potential modifications of the platform's design, and the control of its heading while sailing. Results are also used to inform the proposal of a novel 'variable draft sailing spar' as an alternative autonomous sailboat design.","abstract_html":"This study presents various aspects of the development of an autonomous sailboat for ocean observation, with specific focus on modelling and simulation. The potential value of such platforms for ocean observation is well established, with there being a number of expected advantages over existing solutions. A comprehensive literature review is presented, revealing that the modelling of sailboats is an existing field but that the modelling of small autonomous platforms appears to have been limited. This study develops three and four degree of freedom models of a small autonomous J-Class style sailboat. The sailboat is a prototype platform which is developed from its existing state as part of the study. Both models are validated against data logged during field tests, showing broad agreement with some limitations being noted. Results of simulations of the models are used to draw a number of conclusions regarding the appropriate design of the platform's wing-sail, the wing-sail's control requirements in diffirent wind conditions, potential modifications of the platform's design, and the control of its heading while sailing. Results are also used to inform the proposal of a novel 'variable draft sailing spar' as an alternative autonomous sailboat design.","abstract_has_math":false,"creators":["Kilpin, Geoffrey"],"institution":"Department of Electrical Engineering","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":null,"school":null,"contributors":[],"advisors":["Verrinder, Robyn"],"committee_chairs":[],"committee_members":[],"year":2014,"date_issued":"2014","date_published":"2014","updated_at":"2026-07-22T22:23:38Z","subjects":[],"languages":["eng"],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/11427/13311","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Verrinder, Robyn"]},{"key":"dc:creator","label":"Author","values":["Kilpin, Geoffrey"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2015-07-03T07:55:09Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2015-07-03T07:55:09Z"]},{"key":"dc:date.issued","label":"Date","values":["2014"]},{"key":"dc:publisher.department","label":"Dc Publisher Department","values":["Department of Electrical Engineering"]},{"key":"dc:publisher.institution","label":"Dc Publisher Institution","values":["University of Cape Town"]},{"key":"dc:type","label":"Dc Type","values":["Master Thesis"]},{"key":"dc:type.qualificationlevel","label":"Dc Type Qualificationlevel","values":["Masters"]},{"key":"dc:type.qualificationname","label":"Dc Type Qualificationname","values":["MSc (Eng)"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["eng"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/11427/13311"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Includes bibliographical references."]},{"key":"dc:description.abstract","label":"Abstract","values":["This study presents various aspects of the development of an autonomous sailboat for ocean observation, with specific focus on modelling and simulation. The potential value of such platforms for ocean observation is well established, with there being a number of expected advantages over existing solutions. A comprehensive literature review is presented, revealing that the modelling of sailboats is an existing field but that the modelling of small autonomous platforms appears to have been limited. This study develops three and four degree of freedom models of a small autonomous J-Class style sailboat. The sailboat is a prototype platform which is developed from its existing state as part of the study. Both models are validated against data logged during field tests, showing broad agreement with some limitations being noted. Results of simulations of the models are used to draw a number of conclusions regarding the appropriate design of the platform's wing-sail, the wing-sail's control requirements in diffirent wind conditions, potential modifications of the platform's design, and the control of its heading while sailing. 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