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Design and Construction of Autonomous Underwater Vehicles

Spehrband, Poria | 2011

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 41655 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Seif, Mohammad Saeid
  7. Abstract:
  8. In recent years, unmanned vehicles have intensively been developed to reduce human dangers for marine applications. Predicting the hydrodynamic coefficients of an autonomous underwater vehicle is important during the vehicle’s design phase. In other words to design an AUV, one must clarify its maneuverability and controllability based on a mathematical model. The mathematical model contains various hydrodynamic forces and moments expressed collectively in terms of hydrodynamic coefficients. Therefore, the correct values of the coefficients must be known to precisely design the controller of AUVs.SUT-2 is an AUV, being developed by Marine Engineering Laboratory of Sharif University of Technology in Iran. In this thesis, most of investigations and analysis are consequently about this model. First discuss is about the types of unmanned underwater vehicles and their applications, After that it indicates the underwater vehicles Mechanical and electrical parts. This thesis try to present the autonomous control model modulus and elements and commercial software such as "C++, Code vision, MATLAB, Visual Studio" used as control software into SUT-2 and results are valid with model test done into marine engineering lab towing tank and big tank of agronomy institute; results shows good and acceptable coincidence. Also it represents internal computer architecture, related fuzzy logic and its components. After that INS system discusses and the algorithm of the navigation system discussed in brief and finally all of the sensors which could be use in this AUV are introduces. In this thesis finally AUV constructed and tested in Marine engineering Lab and the result shown and using such vehicles are discuss.
  9. Keywords:
  10. Direction Finding ; Localization ; Inertial Navigation System ; Autonomous Underwater Vehicle ; Gyroscope

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