Maximizing AUV slow speed performance
LeBas, Phillip J.
MetadataShow full item record
A review of the Odyssey IIB autonomous underwater vehicle shows that energy costs associated with vehicle controls can be reduced and operational flexibility improved with relatively simple, low cost improvements. Because the operating speed that minimizes forward drag is not necessarily the same as that required for optimum sensor performance, a variable speed capability extending to the bottom of the vehicle speed range is sought. Optimizing Odyssey IIB AUV performance for slower speed operations and extended duration missions necessitates a multi-disciplinary review including control system design, hydrodynamic performance and sensor selection and utilization. Reducing the vehicle controls-fixed directional instability by adding vertical fixed fins, implementing an actuation filter, and designing a model based adaptive sliding controller improves the variable speed performance and reduces the control actuation necessary to provide the desired performance level with energy savings.
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 September 1997
Suggested CitationThesis: LeBas, Phillip J., "Maximizing AUV slow speed performance", 1997-09, DOI:10.1575/1912/5668, https://hdl.handle.net/1912/5668
Showing items related by title, author, creator and subject.
Workman, Rhea K. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2005-06)This thesis uses trace elements and radiogenic isotope tracers to define elemental abundances in reservoirs of the Earth's mantle, including EM2 (the Enriched Mantle 2), as seen in the Samoan hotspot track, and DMM (the ...
Chen, Changsheng (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1992-06)This thesis consists of two parts: (I) variability of currents and water properties in late spring in the northern Great South Channel and (II) numerical study of stratified tidal rectification over Georges Bank. In part ...
Cherian, Deepak A. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2016-09)Eddies in the ocean move westwards. Those shed by western boundary currents must then interact with continental shelf-slope topography at the western boundary. The presence of other eddies and mean lows complicates this ...