Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering, 2000. / Includes bibliographical references (leaves 84-86). / In this thesis, I designed and tested a supervisory control scheme for the Odyssey II-class Autonomous Underwater Vehicles that relies on a very-low-data-rate acoustic communication link. A human supervisor communicates with the AUV over a combination radio/acoustic network. The supervisor radios commands from shore to data repeater nodes moored at strategic locations on the ocean surface. Utility Acoustic Modems mounted on the moorings rebroadcast the binary data into the sea in the 12-17 kHz frequency band. The moving AUV detects the transmission, decodes the message, and carries out the command contained within. The operator's commands are implemented in the context of a behavior-based layered control software architecture. The supervisory control scheme was tested and verified during the Synaptic Internal Tide Experiment, which took place in Monterey Bay during August and September, 1999. / by William Ryan Kreamer. / S.M.
| Identifer | oai:union.ndltd.org:MIT/oai:dspace.mit.edu:1721.1/8969 |
| Date | January 2000 |
| Creators | Kreamer, William Ryan, 1976- |
| Contributors | James G. Bellingham., Massachusetts Institute of Technology. Dept. of Ocean Engineering., Massachusetts Institute of Technology. Dept. of Ocean Engineering. |
| Publisher | Massachusetts Institute of Technology |
| Source Sets | M.I.T. Theses and Dissertation |
| Language | English |
| Detected Language | English |
| Type | Thesis |
| Format | 86 leaves, 5753243 bytes, 5753005 bytes, application/pdf, application/pdf, application/pdf |
| Rights | M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission., http://dspace.mit.edu/handle/1721.1/7582 |
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