• Login
    About WHOAS
    View Item 
    •   WHOAS Home
    • Woods Hole Oceanographic Institution
    • Academic Programs
    • WHOI Theses
    • View Item
    •   WHOAS Home
    • Woods Hole Oceanographic Institution
    • Academic Programs
    • WHOI Theses
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Browse

    All of WHOASCommunities & CollectionsBy Issue DateAuthorsTitlesKeywordsThis CollectionBy Issue DateAuthorsTitlesKeywords

    My Account

    LoginRegister

    Statistics

    View Usage Statistics

    Deeply-towed underwater vehicle systems : a verified analytical procedure for creating parameterized dynamic models

    Thumbnail
    View/Open
    Hover_thesis.pdf (13.01Mb)
    Date
    1989-08
    Author
    Hover, Franz S.  Concept link
    Metadata
    Show full item record
    Citable URI
    https://hdl.handle.net/1912/5390
    Location
    Caribbean Sea
    Mediterranean Sea
    DOI
    10.1575/1912/5390
    Keyword
     Underwater exploration; Vehicles, remotely piloted; Oceanographic submersibles 
    Abstract
    The dynamics of deeply-towed cable/vehicle systems are governed by nonlinear partial differential equations and as a result, trajectory control is generally difficult using the available techniques. This work examines the possibility of utilizing parametric dynamic models in differential equation form, to present a far more tractable controls problem. A learning-model method for generating accurate approximations of this type is used, and the identification process is unique in that an analytically-based model provides the primary data sets, allowing for a priori characterization of system responses without using any real data. The performances of the parametric forms are then verified through comparison of model output against actual sea data obtained during recent cruises in the Caribbean and Mediterranean Seas. The respective merits and limitations of several different model structures are discussed, with respect to both pure performance and identification efficiency.
    Description
    Submitted in partial fulfillment of the requirements for the degree of Master of Science at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution August 1989
    Collections
    • Applied Ocean Physics and Engineering (AOP&E)
    • WHOI Theses
    Suggested Citation
    Thesis: Hover, Franz S., "Deeply-towed underwater vehicle systems : a verified analytical procedure for creating parameterized dynamic models", 1989-08, DOI:10.1575/1912/5390, https://hdl.handle.net/1912/5390
     

    Related items

    Showing items related by title, author, creator and subject.

    • Thumbnail

      Large-area visually augmented navigation for autonomous underwater vehicles 

      Eustice, Ryan M. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2005-06)
      This thesis describes a vision-based, large-area, simultaneous localization and mapping (SLAM) algorithm that respects the low-overlap imagery constraints typical of autonomous underwater vehicles (AUVs) while exploiting ...
    • Thumbnail

      Characterization of underwater target geometry from Autonomous Underwater Vehicle sampling of bistatic acoustic scattered fields 

      Fischell, Erin M. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2015-06)
      One of the long term goals of Autonomous Underwater Vehicle (AUV) minehunting is to have multiple inexpensive AUVs in a harbor autonomously classify hazards. Existing acoustic methods for target classification using ...
    • Thumbnail

      Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle 

      Prestero, Timothy (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2001-09)
      Improving the performance of modular, low-cost autonomous underwater vehicles (AUVs) in such applications as long-range oceanographic survey, autonomous docking, and shallow-water mine countermeasures requires improving ...
    All Items in WHOAS are protected by original copyright, with all rights reserved, unless otherwise indicated. WHOAS also supports the use of the Creative Commons licenses for original content.
    A service of the MBLWHOI Library | About WHOAS
    Contact Us | Send Feedback | Privacy Policy
    Core Trust Logo