A strip theory approximation for wave forces on submerged vehicles in finite depth water

Autonomous Underwater Vehicles (AUV's) are becoming of increasing use in shallow waters for oceanographic data collection, coastal mapping, and military operations such as mine surveillance along enemy coastlines. Currently the control of AUV's in shallow water is very limited, largely due to a lack of knowledge of vessel forces in shallow water, especially in the presence of surface wave effects. The limitations of current control systems do not afford enough confidence to operate the vehicles in very close proximity to shore or in large waves because the control in the horizontal plane is not adequately reliable enough to prevent bottoming and free surface broaching. Current control system parameters are altered through trial and error to enable reasonable vehicle behavior in shallow water but the control of the vehicle is limited because a thorough understanding of wave forces on these vehicles is non existent. The development of a good analytical tool which adequately models wave forces and moments on an AUV in shallow water waves will enable the development of control systems which will be better able to maneuver the vehicle in shallower water and larger waves than the conditions in which AUV's are currently used.

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Mechanical Engineering

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2005

Author dc:creator

• Rybka Jan A. (Jan Andrzej)

Advisor dc:contributor.advisor

• Jerome Milgram.

• Ocean Engineering.
• Mechanical Engineering.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/33590

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/33590