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.
| Identifer | oai:union.ndltd.org:fau.edu/oai:fau.digital.flvc.org:fau_3788 |
| Contributors | Mask, Janine L., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering |
| Publisher | Florida Atlantic University |
| Source Sets | Florida Atlantic University |
| Language | English |
| Detected Language | English |
| Type | Text, Electronic Thesis or Dissertation |
| Format | xiii, 151 p. : ill. (some col.), electronic |
| Rights | http://rightsstatements.org/vocab/InC/1.0/ |
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