XAUV : modular high maneuverability autonomous underwater vehicle

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009. === Includes bibliographical references (p. 111-115). === The design and construction of a modular test bed autonomous underwater vehicle (AUV) is analyzed. Although a relatively common stacked-hull design i...

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Main Author: Walker, Daniel G. (Daniel George)
Other Authors: Franz Hover and John Leonard.
Format: Others
Language:English
Published: Massachusetts Institute of Technology 2009
Subjects:
Online Access:http://hdl.handle.net/1721.1/46639
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spelling ndltd-MIT-oai-dspace.mit.edu-1721.1-466392019-05-02T15:40:52Z XAUV : modular high maneuverability autonomous underwater vehicle Modular high maneuverability autonomous underwater vehicle Walker, Daniel G. (Daniel George) Franz Hover and John Leonard. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009. Includes bibliographical references (p. 111-115). The design and construction of a modular test bed autonomous underwater vehicle (AUV) is analyzed. Although a relatively common stacked-hull design is used, the state of the art is advanced through an aggressive power plant, with capability to support azimuthing thrusters and a 2DOF front sensor assembly. Through an application of lean principles to developmental hardware, the notion of a delayed differentiation is isolated as a key to minimizing rework and creating essentially transparent electronic hardware. Additionally, the use of bus-modular structural and electronic interconnects facilitates reconfiguration of the vehicle across a large range of components, allowing the rapid development of new sensors, control algorithms, and mechanical hardware. Initial wet tests confirm basic data acquisition capabilities and allowed sensor fusion of scanning sonar returns at the beam level with data from an IMU for an orientation-corrected sonar mosaic. by Daniel G. Walker. S.M. 2009-08-26T17:09:57Z 2009-08-26T17:09:57Z 2009 2009 Thesis http://hdl.handle.net/1721.1/46639 426489394 eng 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 115 p. application/pdf Massachusetts Institute of Technology
collection NDLTD
language English
format Others
sources NDLTD
topic Mechanical Engineering.
spellingShingle Mechanical Engineering.
Walker, Daniel G. (Daniel George)
XAUV : modular high maneuverability autonomous underwater vehicle
description Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009. === Includes bibliographical references (p. 111-115). === The design and construction of a modular test bed autonomous underwater vehicle (AUV) is analyzed. Although a relatively common stacked-hull design is used, the state of the art is advanced through an aggressive power plant, with capability to support azimuthing thrusters and a 2DOF front sensor assembly. Through an application of lean principles to developmental hardware, the notion of a delayed differentiation is isolated as a key to minimizing rework and creating essentially transparent electronic hardware. Additionally, the use of bus-modular structural and electronic interconnects facilitates reconfiguration of the vehicle across a large range of components, allowing the rapid development of new sensors, control algorithms, and mechanical hardware. Initial wet tests confirm basic data acquisition capabilities and allowed sensor fusion of scanning sonar returns at the beam level with data from an IMU for an orientation-corrected sonar mosaic. === by Daniel G. Walker. === S.M.
author2 Franz Hover and John Leonard.
author_facet Franz Hover and John Leonard.
Walker, Daniel G. (Daniel George)
author Walker, Daniel G. (Daniel George)
author_sort Walker, Daniel G. (Daniel George)
title XAUV : modular high maneuverability autonomous underwater vehicle
title_short XAUV : modular high maneuverability autonomous underwater vehicle
title_full XAUV : modular high maneuverability autonomous underwater vehicle
title_fullStr XAUV : modular high maneuverability autonomous underwater vehicle
title_full_unstemmed XAUV : modular high maneuverability autonomous underwater vehicle
title_sort xauv : modular high maneuverability autonomous underwater vehicle
publisher Massachusetts Institute of Technology
publishDate 2009
url http://hdl.handle.net/1721.1/46639
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