0

Full Content is available to subscribers

Subscribe/Learn More  >

Hydrodynamic and Thruster Model Validation for Autonomous Underwater Vehicles

[+] Author Affiliations
M. Chyba, T. Haberkorn, R. N. Smith, S. K. Choi, Scott Weatherwax

University of Hawaii, Honolulu, HI

Paper No. OMAE2007-29061, pp. 325-330; 6 pages
doi:10.1115/OMAE2007-29061
From:
  • ASME 2007 26th International Conference on Offshore Mechanics and Arctic Engineering
  • Volume 4: Materials Technology; Ocean Engineering
  • San Diego, California, USA, June 10–15, 2007
  • Conference Sponsors: Ocean, Offshore and Arctic Engineering Division
  • ISBN: 0-7918-4270-3 | eISBN: 0-7918-3799-8

abstract

From Pontryagin’s Maximum Principle to the Duke Kahanamoku Aquatic Complex; we develop the theory and generate implementable time efficient trajectories for a test-bed autonomous underwater vehicle (AUV). This paper is the beginning of the journey from theory to implementation. We begin by considering pure motion trajectories and move into a rectangular trajectory which is a concatenation of pure surge and pure sway. These trajectories are tested using our numerical model and demonstrated by our AUV in the pool. In this paper we demonstrate that the above motions are realizable through our method, and we gain confidence in our numerical model. We conclude that using our current techniques, implementation of time efficient trajectories is likely to succeed.

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In