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Call number: LD2668 .T4 1979 P32 / Master of Science

published_or_final_version / Electrical Engineering / Master / Master of Philosophy

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This thesis presents the method of state diagram synthesis and the development of a computer program for designing fluidic sequential feedback • control circuits of the fundamental mode. A paper on state diagram synthesis was authored by Chen and Lee, presented in Detroit and published as ASME paper 73-WA/Flcs-2 in 1973. Hypothetical systems are illustrated by using series of events characterized by the piston positions of some double-acting pneumatic cylinders. In these systems , an action can only begin when the previous action has been completed. Every extension or retraction of a piston is memorized and manifested by a flip-flop element in the feedback circuit. If different combina- tions of control signals result from different combinations of feedback signals, the logic design is straightforward. Otherwise secondary variables are needed to differentiate between repeated appearances of some ambiguous input combinations. A secondary variable is obtained as the output of a fluidic flip-flop with set and reset inputs. When a sufficient number of secondary variables are obtained, they are combined with the feedback signals. Considerations of these variables and their associated logic complementary "don't-care" conditions leads to a set of simplified control equations. The complete process of the circuit design, using state diagram synthesis, has been programmed for a digital computer. After the control equations are obtained , one can take the signal transmission characteristics into account in order to build a hazard-free circuit.

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The main contribution in this thesis is the design of a robust AUV docking guidance and navigation approach that can guide and home an AUV towards an acoustic source located on an oriented bottom-mounted underwater docking station, under presence of unknown current disturbances and in the absence of any form of onboard velocity sensor. A Complementary Filter and various forms of Kalman Filters were separately formulated to estimate the current and vehicle positions with strategic vehicle manoeuvres. A current compensator uses the estimated current to maintain the desired vehicle course while under current disturbance. Tagaki-Sugeno-Kang Fuzzy Inference System was designed to realize fuzzy docking guidance manoeuvres. Finally, Monte Carlo runs were performed on a designed AUV docking simulator to evaluate the docking robustness against various docking conditions. Simulation results demonstrated robustness in the designed docking guidance and navigation approach. / by Hoe Eng Teo. / Thesis (M.S.C.S.)--Florida Atlantic University, 2010. / Includes bibliography. / Electronic reproduction. Boca Raton, Fla., 2010. Mode of access: World Wide Web.

As part of a project to study internal waves, FAU plans to utilize an AUV to tow a magnetometer to study electromagnetic signatures from internal waves. This research is focused on the electromagnetic noise issues related to using an AUV to tow the magnetic sensor package. There are active sources of electromagnetic noise caused by an AUV that are present in addition to those induced by the Earth's magnetic field and permanent magnets. To characterize the magnetic noise associated with the AUV magnetometer tow system, the various active source elements were identified, the orientation sensitivity of the sensors being used was determined, and the magnetic anomaly of a similar AUV which may be eventually be used in a magnetic sensing arrangement was measured. The results are used to show the proposed sensing arrangement will likely not achieve the necessary sensitivity to measure subtle internal wave signals. / by Dylan Tilley. / Vita. / Thesis (M.S.C.S.)--Florida Atlantic University, 2012. / Includes bibliography. / Electronic reproduction. Boca Raton, Fla., 2012. Mode of access: World Wide Web.