Evaluation of Universal Docking Solutions for Autonomous Underwater Vehicles

Due to their energy-constrained nature, Autonomous Underwater Vehicles (AUVs) need effective docking and charging stations to extend their mission durations. However, diverse AUV designs challenge the universal compatibility of docking stations. This study provides a framework for understanding what makes a docking station universal and offers two potential solutions: the Tapered Funnel Docking Station and the Magnetic Hub Docking Station. The Tapered Funnel features a conical entry that progressively narrows to accommodate various AUV diameters. The Magnetic Hub passively secures the AUV using magnetic forces and an external appendage guided into position by a square duct. MATLAB simulations evaluate these two charging station designs for compatibility with AUVs, alignment capabilities, and docking efficacy under realistic conditions. Both designs are tested through Monte Carlo simulations to address varying AUV approach conditions, showcasing their potential as universally feasible solutions. Future exploration into material durability, sensor integration, and power transfer efficiency will refine these designs for field applicability. This research lays the groundwork for universal docking standards and proposes adaptable solutions to alleviate operational limitations in underwater missions.

Name thesis:degree_name

Master

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Mechanical Engineering

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2025

Author dc:creator

• Pryal, Erik Jeffrey

Advisors dc:contributor.advisor

• MacLean, Christopher
• Ricard, Michael J.
• Skufca, Danielle

Statement dc:rights

• In Copyright - Educational Use Permitted
• Copyright retained by author(s)

Licence dc:rights.uri

• https://rightsstatements.org/page/InC-EDU/1.0/

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/163537

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/163537