Thesis (M.S. in Electrical Engineering and Computer Science)--Massachusetts Institute of Technology. / Includes bibliographical references (p. [127]-132). Also available online.

This project proposes the development of an autonomous underwater vehicle that can be used to perform underwater research missions..The vehicle can be pre-programmed to complete a specified mission. Missions may include underwater pipe inspection, a survey of the sea floor or just the transport of given sensors to a certain depth or position and take measurements of underwater conditions. The Mechatronics and Micro Manufacturing group at the CSIR is engaged in developing a portfolio of autonomous vehicles as well as fur- ther research into the development and implementation of such vehicles. Underwater vehicles will form part of the portfolio of autonomous vehicle research. Autonomous underwater vehicles (AUVs) are mostly used for research purposes in oceanographic studies as well as climate studies. These scientists use AUVs to carry a payload of sensors to specified depths and take measurements of underwater conditions, such as water temperature, water salinity or carbon levels as carbon is being released by plankton or other ocean organisms. Very little information is available about what is happening below the surface of the oceans and AUVs are being used to investigate this relatively unknown environment. The area covered by the world's ocean is 361 million km2 with an average depth of 3790 m. The deepest surveyed depth point in the ocean is at a depth of about 11 000 m at the southern end of the Mariana Trench in the Pacific Ocean. This just shows the need for research into this mostly unexplored world. Research and exploration in the oceans can be achieved through the use of autonomous underwater vehicles. A big problem to overcome is the fact that GPS is not available for navigation in an underwater environment. Other sensors need to be found to be used for navigational purposes. The particular vehicle developed for this study will be used to facili- tate further research into underwater vehicle navigation and underwater robotics. / Thesis (M.Sc.Eng.)-University of KwaZulu-Natal, Durban, 2010.

A control scheme is presented for reducing dynamic coupling between an underwater robotic vehicle (URV) and a manipulator. During task execution the torques commanded at the manipulator joints lead to reactions at the junction point of the manipulator and vehicle. These reactions disturb the vehicle position and orientation and are the source of the vehicle-manipulator coupling. In underwater robotic vehicle-manipulator (URVM) applications, the URV serves as a base while the manipulator performs a required task. Therefore, it is necessary to hold the URV as stationary as possible. In the current work, URV thrusters are used to compensate for the dynamic coupling forces. Slotines sliding mode control approach is used to reduce the dynamic coupling present in URVM systems. The articulated body (AB) algorithm is used both for the time-domain simulation of the system and for the dynamic equations within the model-based sliding-mode controller. Finally, the results of time-domain numerical simulation of the proposed control scheme on a URVM system are presented.

Thesis (Ph. D.)--University of Hawaii at Manoa, 2004. / Includes bibliographical references (leaves 140-155). / Also available by subscription via World Wide Web / xiii, 155 leaves, bound ill. 29 cm

Thesis (M.S. in Computer Science)--Naval Postgraduate School, September 2002. / Thesis advisor(s): Don Brutzman, Man-Tak Shing. Includes bibliographical references (p. 259-260). Also available online.

Thesis (Ph. D.)--University of Hawaii at Manoa, 2004. / Includes bibliographical references (leaves 140-155).

Thesis (M.S. in Electrical Engineering and M.S. in Computer Science) Naval Postgraduate School, June 1996. / "June 1996." Thesis advisor(s): Xiaoping Yun, Robert B. McGhee. Includes bibliographical references (p. 155-157). Also available online.

Dissertation (Ph.D. in Computer Science) Naval Postgraduate School, December 1994. / "December 1994." Dissertation supervisor(s): Michael J. Zyda. Appendix G videotape located at VHS 5000052. Includes bibliographical references (p. 238-262). Also available online.

Thesis (M.S. in Applied Science (Physical Oceanography))--Naval Postgraduate School, June 2005. / Thesis Advisor(s): Anthony J. Healey, Edward B. Thornton. Includes bibliographical references (p. 49). Also available online.

Thesis (M.S. in Mechanical Engineering)--Naval Postgraduate School, June 2005. / Thesis Advisor(s): Anthony J. Healey. Includes bibliographical references (p. 79). Also available online.