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Variable Speed Hydrodynamic Model of an Auv Utilizing Cross Tunnel Thrusters


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This research presents the first accurate three and six Degree of Freedom (DOF) models of the small diameter REMUS 100 with cross-tunnel thrusters (CTT). These are the first known hydrodynamic models to explicitly consider the impact on navigation of forward and aft CTTs. The models presented in this research provide an alternative method to test new docking strategies and provide a better understanding of a torpedo-shaped Autonomous Underwater Vehicles (AUV) dynamics. Future AUV missions will have AUVs operating in cluttered and dynamic areas using CTTs. This sort of operating environment requires torpedo-shaped vehicles, such as the REMUS 100, to maneuver efficiently at slow speeds. The variable-speed CTT models in this thesis were originally developed to improve the understanding of vehicle control during docking missions. Sub-sea docking stations provide AUVs the ability to remain on station for extended periods of time. The extended missions allowed by an AUV with docking capabilities greatly improve and increase AUVs civilian and military applications by decreasing operational costs and increasing on-station time.This thesis provides the first variable speed models with CTTs that can be used to developand critique new docking strategies. Installing and extracting a docking system for testing is time consuming and expensive. The models created are valuable because they save time and resources. These models also provide a cost-effective method for validating control strategies and vehicle dynamics. This thesis provides experimental verification of the new models and a discussion of the models capabilities and limitations.



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