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1 edition of Experimental verification of AUV performance found in the catalog.

Experimental verification of AUV performance

Glenn M. Brunner

Experimental verification of AUV performance

by Glenn M. Brunner

  • 94 Want to read
  • 34 Currently reading

Published by Naval Postgraduate School in Monterey, California .
Written in English

    Subjects:
  • Mechanical engineering

  • About the Edition

    System identification for an Autonomous Underwater Vehicle model design is performed using Recursive Least Squares to provide a best fit discretized transfer function between dive plane command signals and vehicle response data. The data was provided by constructing a radio controlled vehicle model and performing vertical plane maneuvers in a water tank. The analog input and output signals were digitized and recorded. The vehicle design, sensor calibration, and resulting responses are discussed. Vertical plane equations of motion were derived and theoretical plant models formulated. Also, analog controller designs were performed based on the theoretical plant models. This study will lead to adaptive model controllers for the future. Keywords: Theses; Performance tests.

    Edition Notes

    StatementGlenn M. Brunner
    ContributionsNaval Postgraduate School (U.S.)
    The Physical Object
    Paginationvii, 143 p. :
    Number of Pages143
    ID Numbers
    Open LibraryOL25462665M

      Experimental Performance Assessment of an Electric UAV with an Alternative Distributed Propulsion Configuration Implemented for Wetland Monitoring. A hierarchical control approach for a quadrotor tail-sitter VTOL UAV and experimental verification. A long range deep diving AUV for ocean monitoring. With Autonomous Underwater Vehicles (AUVs) required over the next decade (Newman et al., ) existing survey-style AUVs need improved utilization factors. Additional control devices to extend operational capability need consideration together with the interchange between AUV control approaches. This paper considers supplementary through-body tunnel thruster control during the .

    However, this improved performance requires intense control actions as a trade‐off, causing the AUV to expend more energy than with the P‐D approach. Path following trials, where the AUV is demanded to follow a set of GPS coordinates at the water surface, are presented. In this paper, a thermo-mechanical coupling analysis model of the spindle-bearing system based on Hertz’s contact theory and a point contact non-Newtonian thermal elastohydrodynamic lubrication (EHL) theory are developed. In this model, the effect of preload, centrifugal force, the gyroscopic moment, and the lubrication state of the spindle-bearing system are considered. According to the.

    1. Introduction. Autonomous underwater vehicle (AUV) [] is an important tool for marine resource exploitation and marine scientific research [2,3,4].As more research interests turn to the cooperative target search, many factors should be considered, such . A humanoid robot is a robot with its body shape built to resemble the human design may be for functional purposes, such as interacting with human tools and environments, for experimental purposes, such as the study of bipedal locomotion, or for other general, humanoid robots have a torso, a head, two arms, and two legs, though some forms of humanoid robots may model only.


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Experimental verification of AUV performance by Glenn M. Brunner Download PDF EPUB FB2

An illustration of an open book. Books. An illustration of two cells of a film strip. Video An illustration of an audio speaker. DTIC ADA Experimental Verification of AUV (Autonomous Underwater Vehicle) Performance.

Item Preview remove-circle. Experimental verification of AUV performance. By Glenn M. Brunner. distribution is identification for an Autonomous Underwater Vehicle model design is performed using Recursive Least Squares to provide a best fit discretized transfer function between dive plane command signals and vehicle response data.

The data was Author: Glenn M. Brunner. BibTeX @MISC{Brunner73experimentalverification, author = {Glenn M. Brunner and Nt Lf>l'ey Knox Library}, title = {EXPERIMENTAL VERIFICATION OF AUV PERFORMANCE}, year.

Experimental verification of our analysis is conducted using the Virginia Tech AUV, shown in Fig. The Virginia Tech AUV Experimental verification of AUV performance book a conventional, streamlined vehicle that is nearly neutrally buoyant, propelled at the stern, and controlled by movable control surfaces at the tail.

It weighs kg and has a total length of 1 by: Abstract • u.s. Go••,m."I ""'''1''' ' Olfte.: IU_IlIf; SECURITY CLASSIFICATION OF THIS PAGE83 APR Author: Glenn M. Brunner and Nt Lf&gt. Abstract: This paper presents experimental results from a number of performance verification sea tests of the MARPOS(R) Doppler-inertial navigation system jointly implemented by Maridan A/S, Denmark, and the Technical University of Denmark for use onboard the MARIDAN series of AUVs.

MARPOS(R) is a dead-reckoning based navigation system, the core of which is a state-of-the-art ring. Healey, F. Papoulias, and R. Cristi, “Design and experimental verification of a model based compensator for rapid AUV depth control,” in Proceedings of the 6th International Symposium on Unmanned Untethered Submersible Technology, pp.

–, Washington, USA, June The paper addresses the problem of autonomous underwater vehicle (AUV) modelling and parameter estimation as a means to predict the dynamic performance of underwater vehicles and thus provide.

L. Steenson, A. Phillips, E. Rogers, M. Furlong, S. TurnockThe performance of vertical tunnel thrusters on an autonomous underwater vehicle operating near the free surface in waves Proceedings of the Second International Symposium on Marine.

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Librivox Free Audiobook. Full text of "NPS AUV Integrated Simulation" See other formats. Part of the Lecture Notes in Computer Science book series (LNCS, volume ) Abstract can greatly improve the performance of many of AUV system. Quantum PSO algorithm and PSO algorithm based on the experimental verification, to prove QPSO algorithm has the certain superiority in the AUV more autonomous learning, in the process of each.

4 Experimental verification. path tracking control of an autonomous underwater vehicle (AUV) under the action of sea currents was researched. the controller proposed in this article. Form the above viewpoint; we began working on a project to improve the UV’s hull form.

Firstly, we focus on the resistance performance of UV within the resistance performance and maneuverability of UV. Using experimental and numerical methods, the relationship between the resistance performance and the UV’s hull form are investigated. Il d (; AD-A Propulsion Optimization for ABE, 11III I I III II j1 an Autonomous Underwater Vehicle (AUV) THOMAS JAMES WOODFORD B.S.

Electrical Engineering University of Virginia () Submitted in partial fulfillment of the. Abstract: This paper presents the experimental evaluation of the alternating landmark navigation (ALN) by multiple autonomous underwater vehicles (AUVs) using latest results of sea experiments and tank tests in terms of accuracy and efficiency.

Self-localization is essential for AUV navigation, and AUVs are typically supported by long base line or super short base line of the support. User Tools. Cart. Sign In. AUV-IITB comprises of highly enthusiastic and hard working technocrats ranging from bright-eyed freshmen to driven senior undergraduates and tech-experienced post-graduates spanning various branches of engineering like Mechanical, Electrical, Software, Aerospace, Material Science and Civil at Indian Institute of Technology Bombay.

A.J. Healey, D.B. Marco, Experimental verification of mission planning by autonomous mission execution and data visualization using the NPS AUV II, in Proceedings of the Symposium on Autonomous Underwater Vehicle Technology, Brunner, Glenn M.

Experimental Verification of AUV Performance. Delaplane, Stephen W. Preliminary Design and Cycle Verification of a Digital Autopilot for Autonomous Underwater Vehicles. Farren, Maureen A. Some Experiments with Underwater Acoustic Returns from Cylinders Relative to Object Identification for AUV Operation.

Hartley, Chet A. The main focus of the study is coordination of the UUV with respect to the global positioning system (GPS) attached at USV and verification of its performance throughout field tests. Waypoint tracking control algorithm was designed and implemented on USV and relative heading, distance control for USV–UUV coordination was implemented to UUV.

tools oriented to the underwater technology education and AUV related platforms which can use easily in a small basin will be one of the best choices. In this paper I will introduce our concept of the AUV based experimental systems as an underwater technology educational tool.

The system is composed of two types "Me ~ SUUMIM.autonomous underwater vehicle based on artificial immune and signal pre-processing Feng Yao, Fei Wang and Mingjun Zhang and non-self discrimination.

Finally, to evaluate the performance of the developed fault detection method, Beaver 2 In experimental verification, experiments.In experimental verification, experiments with different kinds of weak thruster fault are performed on Beaver 2 AUV to demonstrate the effectiveness of the developed fault detection method.

The article is organized as follows. Beaver 2 AUV and experiment setup are described in section “Beaver 2 AUV and experiment setup.”.