Framework for multi-vehicle adaptive sampling of jets and plumes in coastal zones

This thesis presents a framework for the sampling of thermal and effluent jets and plumes using multiple autonomous surface vehicles. The framework was developed with the goal of achieving rapid and accurate in-situ measurement and characterization of these features. The framework is presented as a collection of simulation, estimation and field tools for use within the Mission Oriented Operations Suite (MOOS) and a novel Acoustic Doppler Current Profiling system that is capable of reorientation and real-time feedback. Key features developed within MOOS include a multi-parameter model of thermal and effluent jet and plume fields, online parameter estimation and sensor fusion. Using these tools, a collaborative adaptive sampling strategy is implemented to efficiently sample an industrial jet and plume. The capabilities of this strategy are demonstrated in realistic mission simulations and in field trials using a fleet of autonomous kayaks equipped with environmental sensors.

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2013

Author dc:creator

• Gildner, Matthew Lee

Advisor dc:contributor.advisor

• Nicholas M. Patrikalakis.

• 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/1721.1/80664

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/80664