Thesis (Nav.E.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering; and, (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2003. / Vita. / Includes bibliographical references (leaf 60). / This research examines the effect of unsteady motion on the forces and moments experienced by an underwater vehicle in shallow water. The test platform is the REMUS Autonomous Underwater Vehicle developed by the Woods Hole Oceanographic Institution, although the results are made non-dimensional to be applicable to a wide range of similar shaped vehicles. The experimental model was moved in sinusoidal motion at various submergences, speeds, frequencies of oscillation, and amplitudes of oscillation. / by Erik D. Oller. / S.M. / Nav.E.

Thesis (Ocean.E)--Massachusetts Institute of Technology, Dept. of Ocean Engineering, 1979. / MICROFICHE COPY AVAILABLE IN ARCHIVES AND ENGINEERING. / Includes bibliographical references. / Ocean.E

Este trabalho apresenta um estudo sobre os recursos de análise estrutural disponíveis para submersíveis, sugere um critério de projeto estrutural próprio e desenvolve critérios de análise estrutural de submersíveis, após a fase de construção. No estudo dos recursos disponíveis é apresentado e analisado o atual nível de conhecimentos neste campos, a partir do levantamento de informações, muitas vezes restritas e confidenciais. Um critério de projeto é desenvolvido a partir de dados dispersos na bibliografia consultada, aos quais foram adicionados itens resultantes da experiência do autor. Os critérios de análise de submersíveis já construídos são desenvolvidos a partir de modelos analíticos ou de elementos finitos. Nestes, utiliza-se a vantagem da estrutura já estar fabricada, e portanto ser possível a obtenção de informações, que a nível de projeto necessitavam ser admitidas. São ainda desenvolvidos critérios para análise de resultados, com enfoque especial à avaliação de regiões estruturais que necessitem ser modificadas. Ao final são apresentadas as principais conclusões do trabalho e ressaltada a necessidade da continuidade das pesquisas que aprofundem vários aspectos levantados ao longo do texto. / The aim of this thesis work is three fold: to present a comphreensive study on structural analysis tools for submersible vehicles, to introduce a design criteria for new vessels and to develop methods for structural checkings for operating submersibles. In the first part, several data available at present time are discussed and analysed, although many of them are still considered either restricted or even confidential. Based on those data and on author\'s experience a design criteria is developed. Finally, the methods for analyzing operating vessels are obtained, starting from analytical models and also by using the finite element method approach. Those methods are more feasible from the stand point of final results, since all necessary data for the analysis are available. Within this context, the methods for analyzing operating submersibles are also very useful to evaluate structural parts which need either repair work or even modifications to face any new operating condition.

Thesis (M.S. in Computer Science)--Naval Postgraduate School, March 2004. / Thesis advisor(s): Donald P. Brutzman, Curtis L. Blais. Includes bibliographical references (p. 191-195). Also available online.

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

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. Eng.), Memorial University of Newfoundland, 1999. / Bibliography: p. 107-109.