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Dissertations / Theses on the topic 'AUV'

Author: Grafiati

Published: 4 June 2021

Last updated: 25 July 2025

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1

Schultz, James Allen. "Autonomous Underwater Vehicle (AUV) Propulsion System Analysis and Optimization." Thesis, Virginia Tech, 2009. http://hdl.handle.net/10919/33237.

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One of the largest design considerations for autonomous underwater vehicles (AUVâ s) that have specific mission scenarios is the propulsive efficiency. The propulsive efficiency affects the amount of power storage required to achieve a specific mission. As the efficiency increases the volume of energy being stored decreases. The decrease in volume allows for a smaller vehicle, which results in a vehicle that requires less thrust to attain a specific speed. The process of selecting an efficient propulsive system becomes an iterative process between motor, propeller, and battery storage. Optim

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2

Engelhardtsen, Øystein. "3D AUV Collision Avoidance." Thesis, Norwegian University of Science and Technology, Department of Engineering Cybernetics, 2007. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-9534.

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<p>An underlying requirement for any Autonomous Underwater Vehicle (AUV) is to navigate through unknown or partly unknown environments while performing certain user specified tasks. The loss of an AUV due to collision is unjustifiable both in terms of cost and replacement time. To prevent such an unfortunate event, one requires a robust and effective Collision Avoidance System (CAS). This paper discusses the collision avoidance problem for the HUGIN AUVs. In the first part, a complete simulator for the HUGIN AUV is implemented in matlab and simulink. This includes a 6 degrees-of-freedom nonlin

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3

Åkerström, David. "Militärtekniskt perspektiv på AUV." Thesis, Försvarshögskolan, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:fhs:diva-4807.

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Sweden is dependent on secure sea transport. Shorter disruption of imports of fuel and crude oil can be managed with an emergency stock, but a prolonged halt in imports creates problems. For industry, the vulnerability is greater. Fragmented production chains in combination with expenditure reductions in inventory causes a dependency on proper transport of intermediate goods in the manufacturing industry. A lengthy disruption thus involves disruption of production for both domestic consumption and for export goods containing imported parts.In order to secure shipping routes with a limited numb

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4

Brutzman, Donald P. "NPS AUV Integrated Simulation." Thesis, Monterey, Calif. : Naval Postgraduate School, 1992. http://handle.dtic.mil/100.2/ADA248120.

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Thesis (M.S. in Computer Science)--Naval Postgraduate School, March 1992.<br>Thesis Advisor(s): Kanayama, Yutaka ; Zyda, Michael J. "March 1992." Appendix G videotape located at VHS 5000043. Includes bibliographical references (p. 240-247). Also available in print.

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5

Seely, William Forrester. "Development of a Power System and Analysis of Inertial System Calibration for a Small Autonomous Underwater Vehicle." Thesis, Virginia Tech, 2004. http://hdl.handle.net/10919/33850.

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Compared to large vehicles acting individually, platoons of small, inexpensive autonomous underwater vehicles have the potential to perform some missions that are commonly conducted by larger vehicles faster, more efficiently, and at a reduced operational cost. This thesis describes the power system of a small, inexpensive autonomous underwater vehicle developed by the Autonomous Systems Controls Laboratory at Virginia Tech. <p>Reduction in vehicle size and cost reduces the accuracy of navigational sensors, leading to the need for autonomous calibration. Several models of navigational sensor

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6

LeBas, Phillip J. "Maximizing AUV slow speed performance." Springfield, Va. : Available from National Technical Information Service, 1997. http://handle.dtic.mil/100.2/ada339442.

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Thesis (M.S. in Ocean Engineering) Woods Hole Oceanographic Institution and the Massachusetts Institute of Technology, Sept. 1997.<br>DTIC Descriptor(s): Underwater Vehicles, Autonomous Navigation, Optimization, Adaptive Control Systems, Pitch (Motion), Equations Of Motion, Hydrodynamic Characteristics, Performance (Engineering), Theses, Low Velocity, Control Theory, Energy Conservation, Submarine Models. Includes bibliographical references (leaves 101-104). Also available online.

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7

Brunner, Glenn M. "Experimental verification of AUV performance." Thesis, Monterey, California. Naval Postgraduate School, 1988. http://hdl.handle.net/10945/23226.

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Analog Systems, Control Systems, Underwater Vehicles, Adaptive Control Systems, Calibration, Control, Detectors, Diving, Equations, Identification, Input, Least Squares Method, Maneuvers, Models, Performance Tests, Radio Equipment, Recursive Functions, Response, Signals, Theses, Transfer Functions, Vehicles, Vertical Orientation, Water Tanks

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8

LeBas, Phillip J. (Phillip Jude) 1955. "Maximizing AUV slow speed performance." Thesis, Massachusetts Institute of Technology, 1997. http://hdl.handle.net/1721.1/43544.

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9

Phaneuf, Matthew D. "Experiments with the REMUS AUV." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2004. http://library.nps.navy.mil/uhtbin/hyperion/04Jun%5FPhaneuf.pdf.

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10

Lee, Chin Siong. "NPS AUV workbench: collaborative environment for autonomous underwater vehicles (AUV) mission planning and 3D visualization." Thesis, Monterey, California. Naval Postgraduate School, 2004. http://hdl.handle.net/10945/1658.

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Approved for public release, distribution is unlimited<br>alities. The extensible Markup Language (XML) is used for data storage and message exchange, Extensible 3D (X3D) Graphics for visualization and XML Schema-based Binary Compression (XSBC) for data compression. The AUV Workbench provides an intuitive cross-platform-capable tool with extensibility to provide for future enhancements such as agent-based control, asynchronous reporting and communication, loss-free message compression and built-in support for mission data archiving. This thesis also investigates the Jabber instant messaging pr

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Lee, Chin Siong. "NPS AUV workbench : collabroative environment for autonomous underwayer vehicles (AUV) mission planning and 3D visualization /." Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2004. http://library.nps.navy.mil/uhtbin/hyperion/04Mar%5FLee.pdf.

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Thesis (M.S. in Computer Science)--Naval Postgraduate School, March 2004.<br>Thesis advisor(s): Donald P. Brutzman, Curtis L. Blais. Includes bibliographical references (p. 191-195). Also available online.

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12

Miller, Bryan D. "Design of an AUV recharging system." Thesis, Cambridge, Massachusetts, Massachusetts Institute of Technology, 2005. http://hdl.handle.net/10945/37514.

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CIVINS<br>The Odyssey AUV Series uses a Lithium-ion Polymer battery which is able to supply the necessary power for a limited mission time. The current method of recharge includes surfacing the AUV, opening the vehicle, removing the battery from the vehicle and recharging the battery. A different approach is proposed which uses an inductive coupler and power electronics to conduct a battery charge without opening the vehicle or removing the battery.

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13

Miller, Bryan D. (Bryan David). "Design of an AUV recharging system." Thesis, Massachusetts Institute of Technology, 2005. http://hdl.handle.net/1721.1/33561.

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Thesis (Nav. E.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering; and, (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2005.<br>Includes bibliographical references (p. 57-58).<br>The Odyssey AUV Series uses a Lithium-ion Polymer battery which is able to supply the necessary power for a limited mission time. The current method of recharge includes surfacing the AUV, opening the vehicle, removing the battery from the vehicle and recharging the battery. A different approach is proposed which uses an inductive coupler and powe

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14

Maurelli, Francesco. "Probablistic approaches for intelligent AUV localisation." Thesis, Heriot-Watt University, 2014. http://hdl.handle.net/10399/2818.

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This thesis studies the problem of intelligent localisation for an autonomous underwater vehicle (AUV). After an introduction about robot localisation and specific issues in the underwater domain, the thesis will focus on passive techniques for AUV localisation, highlighting experimental results and comparison among different techniques. Then, it will develop active techniques, which require intelligent decisions about the steps to undertake in order for the AUV to localise itself. The undertaken methodology consisted in three stages: theoretical analysis of the problem, tests with a simulatio

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15

Gish, Lynn Andrew. "Design of an AUV recharging system." Thesis, Cambridge, Massaachusetts; Massachusetts Institute of Technology, 2004. http://hdl.handle.net/10945/1476.

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CIVINS<br>Approved for public release; distribution is unlimited<br>The utility of present Autonomous Underwater Vehicles (AUVs) is limited by their on-board energy storage capability. Research indicates that rechargeable batteries will continue to be the AUV power source of choice for at least the near future. Thus, a need exists in both military and commercial markets for a universal, industry-standard underwater AUV recharge system. A novel solution using a linear coaxial wound transformer (LCWT) inductive coupling mounted on the AUV and a vertical docking cable is investigated. The docking

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16

Keegan, John J. "Trajectory planning for the Aries AUV." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2002. http://library.nps.navy.mil/uhtbin/hyperion-image/02Jun%5FKeegan.pdf.

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17

Stoffle, Richard W., Diane E. Austin, Brian K. Fulfrost, III Arthur M. Phillips, and Tricia F. Drye. "Itus, Auv, Te'ek (Past, Present, Future)." Bureau of Applied Anthropology, University of Arizona, 1995. http://hdl.handle.net/10150/303173.

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This report concludes the first four years (1992 -1995) of Southern Paiute involvement in the Glen Canyon Environmental Studies (GCES), a program initiated by the Bureau of Reclamation (BOR) in 1982. Southern Paiutes have conducted ethnographic research and participated in the Congressionally mandated Environmental Impact Study (EIS) of Glen Canyon Dam water release policies on natural and human-made resources found in the Colorado River Corridor. These ethnographic studies have taken place in what is called the Colorado River Corridor which extends 255 miles down stream from Glen Canyon Dam

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18

Singh, Hanumant. "An entropic framework for AUV sensor modelling." Thesis, Massachusetts Institute of Technology, 1995. http://hdl.handle.net/1721.1/11449.

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19

Coe, Ryan Geoffrey. "Improved Underwater Vehicle Control and Maneuvering Analysis with Computational Fluid Dynamics Simulations." Diss., Virginia Tech, 2013. http://hdl.handle.net/10919/23777.

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The quasi-steady state-space models generally used to simulate the dynamics of underwater vehicles perform well in most steady flow scenarios, and are therefore acceptable for modeling today\'s fleet of endurance-focused autonomous underwater vehicles (AUVs). However, with their usage of numerous assumptions and simplifications, these models are not well suited to certain unsteady flow situations and for use in the development of AUVs capable of performing more extreme maneuvers. In the interest of better serving efforts to design a new generation of more maneuverable AUVs, a tool for simulati

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20

Johnson, Jay H. "AUV steering parameter identification for improved control design." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2001. http://handle.dtic.mil/100.2/ADA397498.

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Thesis (M.S. in Mechanical Engineering) Naval Postgraduate School, June 2001.<br>Thesis advisor(s): Healey, Anthony J. "June 2001." Includes bibliographical references (p. 55). Also Available in print.

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21

Good, Michael R. "Design and construction of a second generation AUV." Thesis, Monterey, California. Naval Postgraduate School, 1989. http://hdl.handle.net/10945/26966.

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Approved for public release; distribution is unlimited.<br>The design and construction of an Autonomous Underwater Vehicle (AUV) for use as a research and development testbed at the Naval Postgraduate School (NPS) is presented. Design objectives, analysis and trade-offs are discussed with respect to a generic AUV and specifically detailed for the case of the NPS AUV II. System integration and flexibility is emphasized in the subject vehicle to support presently planned and future research employment. Hull, mobility, sensor, automatic control, and energy subsystemsl are described. Design and fa

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22

Melvin, James E. "AUV fault detection using model based observer residuals." Thesis, Monterey, Calif. : Naval Postgraduate School, 1998. http://bosun.nps.edu/uhtbin/hyperion-image.exe/NPS-ME-98-004.pdf.

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Thesis (M.S. in Mechanical Engineering and Mechanical Engineer) Naval Postgraduate School, June 1998.<br>Title from cover. Thesis advisor(s): Anthony J. Healey. "June 1998."--Cover. "NPS-ME-98-004"--Cover. Includes bibliographical references (p. 117-118). Also available online.

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23

Tan, Wee Kiat. "Horizontal steering control in docking the ARIES AUV." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2003. http://library.nps.navy.mil/uhtbin/hyperion-image/03Dec%5FTan%5FW.pdf.

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Thesis (M.S. in Mechanical Engineering)--Naval Postgraduate School, December 2003.<br>Thesis advisor(s): Fotis Papoulias, Anthony J. Healey. Includes bibliographical references (p. 83). Also available online.

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24

Bertsch, Louis James IV. "EXPLORING TRADE-OFFS IN AUV CONTROLLER DESIGN FOR SHARK TRACKING." DigitalCommons@CalPoly, 2011. https://digitalcommons.calpoly.edu/theses/478.

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This thesis explores the use of an Autonomous Underwater Vehicle (AUV) to track and pursue a tagged shark through the water. A controller was designed to take bearing and range to the shark tag and then control the AUV to pursue it. First, the ability of a particle filter to provide an accurate estimation of the location of the shark relative to the AUV is explored. Second, the ability of the AUV to follow the shark's path through the water is shown. This ability allows for localized environmental sampling of the shark's preferred path. Third, various path weightings are used to optimize t

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Jacobson, Jessica. "Using Single Propeller Performance Data to Predict Counter-Rotating Propeller Performance for a High Speed Autonomous Underwater Vehicle." Thesis, Virginia Tech, 2007. http://hdl.handle.net/10919/32753.

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The use of counter-rotating propellers is often desirable for aerospace and ocean engineering applications. Counter-rotating propellers offer higher peak efficiencies, better off-design performance, and roll control capabilities. But counter-rotating propeller matching is a difficult and complex procedure. Although much research has been done on the design of optimal counter-rotating propeller sets, there has been less focus on predicting the performance of unmatched counter-rotating sets. In this study, it was desired to use off-the-shelf marine propellers to make a counter-rotating pair for

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26

King, Sebastian John. "Applications of Autonomous Systems to Rapid Environmental Assessments." Thesis, The University of Sydney, 2022. https://hdl.handle.net/2123/29786.

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A Rapid Environmental Assessment (REA) is a methodology to quickly analyse a location’s environment and generate an operational view to inform subsequent decision making. Distinct from scientific surveys, REAs facilitate follow–on life–critical operations including amphibious landings and disaster responses, however, existing REA methods are resource intensive, predominantly manual, and risky. Potential solutions centred on autonomous systems are under research, but challenges have hindered their implementation, identified as Human–Robot Collaboration (HRC) issues concerning intuitive interfac

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27

Yang, Rui. "Modélisation et commande robuste appliquée à un robot sous-marin." Thesis, Brest, 2016. http://www.theses.fr/2016BRES0011/document.

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L’utilisation des AUV pour une exploitation durable des ressources océaniques est pertinente. Un robot sous-marin peut être utilisé comme plateforme pour observer, recueillir des informations sur l’environnement marin. Afin d’améliorer la qualité des observations et d’augmenter la capacité de navigation, de nombreuses questions doivent être abordées et examinées simultanément. Nous abordons ici le problème du pilotage de ces robots autonomes.Atteindre la maniabilité nécessaire dépend de deux facteurs clés: un modèle hydrodynamique précis et un système de contrôle performant. Cependant, le coût

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Brown, James P. "Four quadrant dynamic model of the AUV II thruster." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1993. http://handle.dtic.mil/100.2/ADA274899.

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Thesis (M.S. in Mechanical Engineering) Naval Postgraduate School, September 1993.<br>Thesis advisor(s): Anthony J. Healey. "September 1993." Includes bibliographical references. Also available online.

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Blank, Richard P. "A structured programming approach for complex AUV mission control." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1993. http://handle.dtic.mil/100.2/ADA274783.

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30

Ivarsson, Anna. "Conceptual design study of a modular fiber composite AUV." Thesis, KTH, Lättkonstruktioner, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-223388.

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The conceptual design of a modular AUV hull in fiber composite material has been determined. The goal has been to minimize the hull weight. Matrix and fiber materials have been investigated to find a composite combination that reduces the hull weight whilst being resistant to changes in the mechanical properties caused by submersion in water and the operational temperatures. A composite of a PEEK thermoplastic matrix with high strength carbon fibers is picked as the most suitable material option and used for hull calculations. Different composite part manufacturing processes are investigated t

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31

Woodford, Thomas James. "Propulsion optimization for ABE, an Autonomous Underwater Vehicle (AUV)." Thesis, Springfield, Virginia: Available from National Technical Information Service, 1991. http://hdl.handle.net/10945/28475.

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32

Caddell, Tymothy Wayne. "Three-dimensional path planning for the NPS II AUV." Thesis, Monterey, California. Naval Postgraduate School, 1992. http://hdl.handle.net/10945/28609.

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33

Ware, Laura M. (Laura Marie). "Design of control for efficiency of AUV power systems." Thesis, Massachusetts Institute of Technology, 2012. http://hdl.handle.net/1721.1/74915.

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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (p. 71).<br>The MIT Rapid Development Group designed and built an internal combustion hybrid recharging system for the REMUS 600 Autonomous Underwater Vehicle (AUV) in collaboration with the MIT Lincoln Laboratory. This power system will recharge the lithium ion battery pack of the REMUS 600 and allow the vehicle to travel for 40 consecutive 12-hour missions without returning to recharge. This study analyzes the optimizatio

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Nickell, Christopher Lee. "Modular Modification of a Buoyant AUV for Low-Speed Operation." Thesis, Virginia Tech, 2005. http://hdl.handle.net/10919/35029.

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Conventional streamlined autonomous underwater vehicles (AUVs) with a single thruster and stern planes are typically trimmed to be somewhat buoyant or heavy in water. To maintain depth, they must generate a constant hydrodynamic force which requires that they swim at a constant pitch angle. Although tail fins are the typical mechanism for generating this control moment, they become ineffective at low speeds. To enable an existing AUV to travel at lower speeds, one may easily incorporate a modular moving mass actuator. In some cases, it may also be advantageous to include a fixed wing. The

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Sjölander, Erik, and Johan Nordfors. "Avvägningssystem för autonom undervattensfarkost." Thesis, Uppsala universitet, Institutionen för teknikvetenskaper, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-271537.

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This work is focusing on a buoyancy system in anautonomous underwater vehicle, and the purpose is topresent a theoretical proposal on how the system indetail and in general can be changed to improve theaccessibility to its internal components and to make itmore robust. The largest part in this work is to simplify thehydraulic system, not only to make it more accessiblebut also to mitigate the risk of leakage due todifficulty of handling pipes and couplings. To reacha solution, interviews as well as litterature studieshas been made to identify specific problems. Thecollected data has then been

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Kim, Andrew Y. "A Comparative Study of Feature Detection Methods for AUV Localization." DigitalCommons@CalPoly, 2018. https://digitalcommons.calpoly.edu/theses/1852.

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Underwater localization is a difficult task when it comes to making the system autonomous due to the unpredictable environment. The fact that radio signals such as GPS cannot be transmitted through water makes autonomous movement and localization underwater even more challenging. One specific method that is widely used for autonomous underwater navigation applications is Simultaneous Localization and Mapping (SLAM), a technique in which a map is created and updated while localizing the vehicle within the map. In SLAM, feature detection is used in landmark extraction and data association by exa

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Marr, William J. "Using the ST1000/ST725 sonars on the NPS AUV II." Thesis, Monterey, California. Naval Postgraduate School, 1994. http://hdl.handle.net/10945/28634.

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Approved for public release; distribution is unlimited.<br>Autonomous Underwater Vehicles (AUVS) require further technological development in several key areas (including sensor systems) in order to assume a broader role in undersea military and commercial environments. This research was an experimental investigation of the TRITECH ST1000 and ST725 high resolution sonar systems used onboard the NPS AUV II. Test conducted with the ST1000 Profiler proved that the sonar could successfully be used in AUV positioning maneuvers but also revealed the requirement for some form of range dependent gain

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Riling, William D. "A microcomputer-based controller for an Autonomous Underwater Vehicle (AUV)." Thesis, Monterey, California. Naval Postgraduate School, 1990. http://hdl.handle.net/10945/30711.

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Approved for public release, distribution is unlimited<br>Considerations of real-time control problems for an Autonomous Underwater Vehicle (AUV) are addressed in this research. Among these problems is the ability to control the submersible given its highly nonlinear operation environment. In order to account for these variations, robust control techniques must be used. In particular, Variable Structure Control (VSC) with Doyle-Stein Observer has proven to produce optimal results while maintaining a high degree of robustness. This led to the development of a real-time error detector using t

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Davis, Michael H. "Real time Adaptive Control of an Autonomous Underwater Vehicle (AUV)." Thesis, Monterey, California. Naval Postgraduate School, 1989. http://hdl.handle.net/10945/26198.

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Approved for public release; distribution is unlimited.<br>In this research the problem of designing a controller for the dive maneuver of an Autonomous Underwater Vehicle (AUV) is addressed. The highly nonlinear nature of the vehicle dynamics and the requirement for the fast maneuvering call for robust control techniques. In particular Variable Structure Control (VSC) combined with Adaptive Control (AC) techniques seem to yield satisfactory performance in terms of robustness, capability to adjust to different operating conditions, and speed of response. Also linear robust techniques based on

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Zanoni, Fábio Doro. "Modelagem e implementação do sistema de navegação para um AUV." Universidade de São Paulo, 2012. http://www.teses.usp.br/teses/disponiveis/3/3152/tde-23032012-114741/.

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Este trabalho apresenta o estudo e a implementação de um sistema de navegação em tempo-real utilizado para estimar a posição, a velocidade e a atitude de um veículo submarino autônomo. O algoritmo investigado é o do Filtro de Kalman Estendido. Este filtro é freqüentemente usado para realizar a fusão de dados obtidos de diferentes sensores, em uma estimativa estatisticamente ótima, quando se respeita algumas condições. Neste trabalho, fez se a fusão entre os seguintes sensores: unidade de navegação inercial do tipo strapdown, sensor acústico de posicionamento, profundímetro, sensor de velocidad

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Steenson, Leo V. "Experimentally verified model predictive control of a hover-capable AUV." Thesis, University of Southampton, 2013. https://eprints.soton.ac.uk/355697/.

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This work presents the development of control systems that enable a hover-capable AUV to operate throughout a wide speed range. The Delphin2 AUV was built as part of this project and is used to experimentally verify the prototype control systems. This vehicle is over-actuated with; four throughbody tunnel thrusters, four independently-actuated control surfaces and a rear propeller. The large actuator set allows the Delphin2 to operate at low speeds, using the through-body tunnel thrusters, and at high speeds, using the rear propeller and control surfaces. There lies a region between slow and h

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Vendel, Olofsson Billy. "Design and manufacture of structure and hull for large AUV." Thesis, KTH, Marina system, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-234909.

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The main goal with the master thesis was to design and manufacture a frame and hull to a large AUV which KTH will use in research. The general aim for the Maribot LoLo (Long Endurance, Long Range AUV) is to act as an experimental platform and tool for a wide range of research activities, where all four capabilities within the SMaRC area (Autonomy, Perception, Endurance and Communication) can be tested, improved and demonstrated.The frame was designed and shall be built in aluminum profiles from Bosch Rexroth with custom made brackets, manufactured in a corrosion resistant steal. When the frame

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Forney, Christina. "State Estimation for Tracking of Tagged Sharks with an AUV." DigitalCommons@CalPoly, 2011. https://digitalcommons.calpoly.edu/theses/664.

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Presented is a method for estimating the planar position, velocity, and orientation states of a tagged shark. The method is designed for implementation on an Autonomous Underwater Vehicle (AUV) equipped with a stereo-hydrophone and receiver system that detects acoustic signals transmitted by a tag. The particular hydrophone system used here provides a measurement of relative bearing angle to the tag, but does not provide the sign (+ or -) of the bearing angle. A particle filter was used for fusing measurements over time to produce a state estimate of the tag location. The particle filter combi

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Roche, Emilie. "Commande à échantillonnage variable pour les systèmes LPV : application à un sous-marin autonome." Phd thesis, Université de Grenoble, 2011. http://tel.archives-ouvertes.fr/tel-00721970.

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L'utilisation de correcteur discret à période d'échantillonnage variable peut être intéressante dans plusieurs cas, par exemple lorsque la mesure, bien qu'envoyée de façon périodique, est reçue à intervalle variable. C'est le cas en milieu marin lorsque la mesure d'altitude est effectuée avec un capteur à ultrason (la durée du trajet du signal dans l'eau dépend de la distance par rapport au fond). Le délai variable entre deux réceptions de mesures, peut être vu comme une variation de période d'échantillonnage pour le contrôleur. La synthèse de lois de commande discrète à période d'échantillonn

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Duelley, Richard Skyler. "Autonomous Underwater Vehicle Propulsion Design." Thesis, Virginia Tech, 2010. http://hdl.handle.net/10919/34789.

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The goal of this design process was to achieve the most efficient propulsive system for the candidate autonomous underwater vehicle (AUV) as possible. A mathematical approach, using fundamental motor equations and derived quantities, was used to characterize and select an efficient brushless electric motor for the propulsion system. A program developed at MIT, Massachusetts Institute of Technology, called OpenProp versions 1 and 2.3 was utilized to design a custom propeller that maximizes the efficiency of the system. A brushless electric motor was selected for the candidate AUV based on a

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Pawar, Suraj Arun. "Hydrodynamic Design of Highly Loaded Torque-neutral Ducted Propulsor for Autonomous Underwater Vehicles." Thesis, Virginia Tech, 2019. http://hdl.handle.net/10919/86888.

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The design method for marine propulsor (propeller/stator) is presented for an autonomous underwater vehicle (AUV) that operates at a very high loading condition. The design method is applied to Virginia Tech Dragon AUV. It is based on the parametric geometry definition for the propulsor, use of high-fidelity CFD RANSE solver with the transition model, construction of the surrogate model, and multi-objective genetic optimization algorithm. The CFD model is validated using the paint pattern visualization on the surface of the propeller for an open propeller at model scale. The CFD model is then

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47

Briggs, Robert Clayton. "Mechanical Design of a Self-Mooring Autonomous Underwater Vehicle." Thesis, Virginia Tech, 2010. http://hdl.handle.net/10919/36344.

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The Virginia Tech self-mooring autonomous underwater vehicle (AUV) is capable of mooring itself on the seafloor for extended periods of time. The AUV is intended to travel to a desired mooring location, moor itself on the seafloor, and then release the mooring and return to a desired egress location. The AUV is designed to be an inexpensive sensor platform. The AUV utilizes a false nose that doubles as an anchor. The anchor is neutrally buoyant when attached to the AUV nose. When the vehicle moors it releases the false nose, which floods the anchor making it heavy, sinking both the anchor and

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Zinni, Jerome. "Analysis of the DiveTracker acoustical navigation system for the NPS AUV." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1996. http://handle.dtic.mil/100.2/ADA308222.

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Beyazay, Bahadir. "Simulation and modeling of a soft grounding system for an AUV." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1999. http://handle.dtic.mil/100.2/ADA366791.

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Thesis (M.S. in Mechanical Engineering) Naval Postgraduate School, June 1999.<br>"June 1999". Thesis advisor(s): Anthony J. Healey. Includes bibliographical references (p. 79-80). Also avaliable online.

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Butt, Mark-Andrew. "Hydrodynamic improvements for the DOLPHIN, a surface-piercing semi-submersible AUV." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape8/PQDD_0005/MQ42358.pdf.

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