{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/84915"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/84915","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"Dynamics of a Small Autonomous Underwater Vehicle That Tows a Large Payload","abstract":"This thesis presents the derivation of the dynamic model of an autonomous underwater vehicle that tows a large payload. Our analysis is motivated by the fact that the payload is so large that it cannot be modeled by simply appending its dynamics to the dynamics of the autonomous underwater vehicle. Hence, the coupling between the vehicle and payload must be fully modeled. Furthermore, several approximation techniques based on analytic and empirical formulations are investigated for computing the hydrodynamic coefficients of the vehicle. 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Our analysis is motivated by the fact that the size of the object is so large that it will have a substantial impact on the motion of the vehicle, and likewise the vehicle will have a substantial impact on the object, requiring that the interaction between the two bodies to be fully modeled. The fluid forces and moments acting on the vehicle are approximated using techniques from hydrodynamic theory and experimental results. The accuracy of the approximation is assessed by comparing of the estimated forces and moments with those seen in high-fidelity simulations."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Master of Science"]},{"key":"dc:format.medium","label":"Dc Format Medium","values":["ETD"]},{"key":"dc:title","label":"Title","values":["Dynamics of a Small Autonomous Underwater Vehicle That Tows a Large Payload"]}]}],"canonical_facts":{"dc:contributor.committeechair":["Stilwell, Daniel J."],"dc:contributor.committeemember":["Baumann, William T.","Brizzolara, Stefano"],"dc:contributor.department":["Electrical Engineering"],"dc:creator":["Kepler, Michael Eugene"],"dc:date.accessioned":["2018-08-25T08:00:14Z"],"dc:date.available":["2018-08-25T08:00:14Z"],"dc:date.issued":["2018-08-24"],"dc:description.abstract":["This thesis presents the derivation of the dynamic model of an autonomous underwater vehicle that tows a large payload. 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Our analysis is motivated by the fact that the size of the object is so large that it will have a substantial impact on the motion of the vehicle, and likewise the vehicle will have a substantial impact on the object, requiring that the interaction between the two bodies to be fully modeled. The fluid forces and moments acting on the vehicle are approximated using techniques from hydrodynamic theory and experimental results. 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