{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/19227"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/19227","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"Design of Supplementary Thrusting Unit for a Miniature Autonomous Submarine","abstract":"The focus of this work is to design and construct a version of the secondary propulsion units used on US Navy submarines for the Virginia Tech 690 autonomous underwater vehicle. These units were used to demonstrate a control system developed in a separate study which allowed the vehicle to autonomously perform advance maneuvers such as course-keeping, mooring and obstacle avoidance. The study of the miniaturized thrusters prompted an in-depth look into two thruster designs. The first was a retractable rimdriven propeller design which was found to be too power inefficient for implementation. 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