Design, Development, and Modeling, of a Novel Underwater Vehicle for Autonomous Reef Monitoring

abstract: A novel underwater, open source, and configurable vehicle that mimics and leverages advances in quad-copter controls and dynamics, called the uDrone, was designed, built and tested. This vehicle was developed to aid coral reef researchers in collecting underwater spectroscopic data for the...

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Bibliographic Details
Other Authors:	Goldman, Alex (Author)
Format:	Dissertation
Language:	English
Published:	2020
Subjects:	Robotics Autonomous Vehicle Coral Reef Underwater Vehicle
Online Access:	http://hdl.handle.net/2286/R.I.63091

id	ndltd-asu.edu-item-63091
record_format	oai_dc
spelling	ndltd-asu.edu-item-630912021-01-15T05:01:21Z Design, Development, and Modeling, of a Novel Underwater Vehicle for Autonomous Reef Monitoring abstract: A novel underwater, open source, and configurable vehicle that mimics and leverages advances in quad-copter controls and dynamics, called the uDrone, was designed, built and tested. This vehicle was developed to aid coral reef researchers in collecting underwater spectroscopic data for the purpose of monitoring coral reef health. It is designed with an on-board integrated sensor system to support both automated navigation in close proximity to reefs and environmental observation. Additionally, the vehicle can serve as a testbed for future research in the realm of programming for autonomous underwater navigation and data collection, given the open-source simulation and software environment in which it was developed. This thesis presents the motivation for and design components of the new vehicle, a model governing vehicle dynamics, and the results of two proof-of-concept simulation for automated control. Dissertation/Thesis Goldman, Alex (Author) Das, Jnaneshwar (Advisor) Asner, Greg (Committee member) Marvi, Hamidreza (Committee member) Arizona State University (Publisher) Robotics Autonomous Vehicle Coral Reef Underwater Vehicle eng 84 pages Masters Thesis Computer Science 2020 Masters Thesis http://hdl.handle.net/2286/R.I.63091 http://rightsstatements.org/vocab/InC/1.0/ 2020
collection	NDLTD
language	English
format	Dissertation
sources	NDLTD
topic	Robotics Autonomous Vehicle Coral Reef Underwater Vehicle
spellingShingle	Robotics Autonomous Vehicle Coral Reef Underwater Vehicle Design, Development, and Modeling, of a Novel Underwater Vehicle for Autonomous Reef Monitoring
description	abstract: A novel underwater, open source, and configurable vehicle that mimics and leverages advances in quad-copter controls and dynamics, called the uDrone, was designed, built and tested. This vehicle was developed to aid coral reef researchers in collecting underwater spectroscopic data for the purpose of monitoring coral reef health. It is designed with an on-board integrated sensor system to support both automated navigation in close proximity to reefs and environmental observation. Additionally, the vehicle can serve as a testbed for future research in the realm of programming for autonomous underwater navigation and data collection, given the open-source simulation and software environment in which it was developed. This thesis presents the motivation for and design components of the new vehicle, a model governing vehicle dynamics, and the results of two proof-of-concept simulation for automated control. === Dissertation/Thesis === Masters Thesis Computer Science 2020
author2	Goldman, Alex (Author)
author_facet	Goldman, Alex (Author)
title	Design, Development, and Modeling, of a Novel Underwater Vehicle for Autonomous Reef Monitoring
title_short	Design, Development, and Modeling, of a Novel Underwater Vehicle for Autonomous Reef Monitoring
title_full	Design, Development, and Modeling, of a Novel Underwater Vehicle for Autonomous Reef Monitoring
title_fullStr	Design, Development, and Modeling, of a Novel Underwater Vehicle for Autonomous Reef Monitoring
title_full_unstemmed	Design, Development, and Modeling, of a Novel Underwater Vehicle for Autonomous Reef Monitoring
title_sort	design, development, and modeling, of a novel underwater vehicle for autonomous reef monitoring
publishDate	2020
url	http://hdl.handle.net/2286/R.I.63091
_version_	1719373042075828224

Design, Development, and Modeling, of a Novel Underwater Vehicle for Autonomous Reef Monitoring

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