The relationship between cross-flow at a waterjet inlet and delivered thrust is not fully understood. A direct thrust measurement system was designed for a waterjet propelled, free running USV. To induce sway velocity at the waterjet inlet, which was considered equivalent to the cross flow, circles of varying radii were performed at Reynolds Numbers between 3.48 x 106 and 8.7 x 106 and radii from 2.7 to 6.3 boat lengths. Sway velocities were less than twenty percent of mean forward speed with slip angles that were less than 20°. Thrust Loading Coefficients were compared to sway as a percent of forward speed. In small radius turns, no relationship was seen, while in larger radius turns, peaks of sway velocity corresponded with drops in thrust, but this was determined to be caused by reduced vehicle yaw in these intervals . Decoupling of thrust and yaw rate is recommended for future research. / Thesis (M.S.)--Florida Atlantic University, 2013.

Standard GPS receivers are unable to provide the rate or precision required when used on a small vessel such as an Unmanned Surface Vehicles (USVs). To overcome this, the thesis presents a low cost high rate motion measurement system for an USV with underwater and oceanographic purposes. The work integrates an Inertial Measurement Unit (IMU), a GPS receiver, a flux-gate compass, a tilt sensor and develops a software package, using real time data fusion methods, for an USV to aid in the navigation and control as well as controlling an onboard Acoustic Doppler Current Profiler (ADCP).While ADCPs non-intrusively measure water flow, they suffer from the inability to discriminate between motions in the water column and self-motion. Thus, the vessel motion contamination needs to be removed to analyze the data and the system developed in this thesis provides the motion measurements and processing to accomplish this task. / by Chrystel Gelin. / Thesis (M.S.C.S.)--Florida Atlantic University, 2010. / Includes bibliography. / Electronic reproduction. Boca Raton, Fla., 2010. Mode of access: World Wide Web.

The design, implementation, and testing of an experimental setup intended to evaluate the dynamic maneuvering performance of the Wave Adaptive Modular Vessel (WAM-V) class USV12, a 3.7 meter unmanned surface vehicle (USV) is described. A comprehensive sensor package was designed, fabricated and assembled to record the vehicle's dynamic response to various control inputs. All subsystems were fabricated and installed on a test vehicle, GUSS, and full system, open-loop maneuvering tests were conducted to show validity of data collection technique. Simulations were performed using model parameters found in the literature to create a "simulated experimental" data set, upon which system identification techniques were used to rediscover a suitable model with similar parameterization. Combined, the sensor package and the method for creating this model support future work in the design of automatic control, navigation, and guidance systems for the WAM-V USV12. / by Janine L. Mask. / Thesis (M.S.C.S.)--Florida Atlantic University, 2011. / Includes bibliography. / Electronic reproduction. Boca Raton, Fla., 2011. Mode of access: World Wide Web.

The goal of this thesis is to develop a test platform for measuring surface effect ship (SES) response to wave loads. The platform is designed and built incorporating a self-propelled vehicle with data acquisition and navigation capabilities. Theoretical analysis is performed, various hardware and electronic parts are designed and built and software applications developed. Wave tank experiments are conducted for test platform evaluation and determination of vehicle response to a range of wave conditions. Furthermore, a three-dimensional model of the AIRCAT scale model SES is created. The theoretical analysis shows that the scale effects in some cases are great, so resonance phenomena cannot be observed. The experimental results clearly show that the heave, pitch and aircushion excess pressure fluctuations increase as the air-blower input level increases. The bow skirt arrangement needs improvements and further experimentation is necessary in order to draw conclusions about the wave loads applied on the skirt. / by Nicholas Kouvaras. / Thesis (M.S.C.S.)--Florida Atlantic University, 2010. / Includes bibliography. / Electronic reproduction. Boca Raton, Fla., 2010. Mode of access: World Wide Web.

The primary objective of this research is the development a wind and solar-powered autonomous surface vehicle (WASP) for oceanographic measurements. This thesis presents the general design scheme, detailed aerodynamic and hydrodynamic aspects, sailing performance theory, and dynamic performance validation measurements obtained from a series of experiments. The WASP consists of a 4.2 meter long sailboat hull, a low-Reynolds number composite wing, a 2000 Watt-hour battery reservoir, a system of control actuators, a control system running on an embedded microprocessor, a suite of oceanographic sensors, and power regeneration from solar energy. The vehicle has a maximum speed of five knots and weighs approximately 350 kilograms. Results from four oceanographic missions that were conducted in the Port Everglades Intracoastal Waterway in Dania Beach [sic] Florida are presented. Water temperature, salinity and oxidation-reduction measurements recorded during these missions are also discussed. The combination of a mono-hull and solid wing in an autonomous system is a viable design for a long-range ocean observation platform. The results of four near-shore ocean observation missions illustrate the initial capabilities of the design. Future work aimed to further reduce both the mass of the wing design and the power requirements of the system will increase performance in all operating conditions and should be considered. Furthermore, the progression of the legal framework related to ocean vehicles must be pursued with respect to unmanned autonomous systems. / by Patrick Forde Rynne. / Thesis (M.S.C.S.)--Florida Atlantic University, 2008. / Includes bibliography. / Electronic reproduction. Boca Raton, Fla., 2008. Mode of access: World Wide Web.

Numerical simulations of waterjet inlets have been conducted in order to understand inlet performance during ship turning maneuvers. During turning maneuvers waterjet systems may experience low efficiency, cavitation, vibration, and noise. This study found that during turns less energy arrived at the waterjet pump relative to operating straight ahead, and that the flow field at the entrance of the waterjet pump exhibited a region of both low pressure and low axial velocity. The primary reason for the change in pump inflow uniformity is due to a streamwise vortex. In oblique inflow the hull boundary layer separates when entering the inlet and wraps up forming the streamwise vortex. These changes in pump inflow during turning maneuvers will result in increased unsteady loading of the pump rotor and early onset of pump rotor cavitation. / Includes bibliography. / Dissertation (Ph.D.)--Florida Atlantic University, 2015. / FAU Electronic Theses and Dissertations Collection