Title page for ETD etd-05242007-152820


Type of Document Master's Thesis
Author Geisbert, Jesse Stuart
Author's Email Address jgeisber@vt.edu
URN etd-05242007-152820
Title Hydrodynamic Modeling for Autonomous Underwater Vehicles Using Computational and Semi-Empirical Methods
Degree Master of Science
Department Aerospace and Ocean Engineering
Advisory Committee
Advisor Name Title
Woolsey, Craig A. Committee Chair
McCue-Weil, Leigh S. Committee Member
Neu, Wayne L. Committee Member
Keywords
  • autonomous underwater vehicle
  • CFD
  • USAERO
  • math modeling
  • AUV
Date of Defense 2007-05-10
Availability unrestricted
Abstract
Buoyancy driven underwater gliders, which locomote by modulating their buoyancy and their attitude with moving mass actuators and inflatable bladders, are proving their worth as efficient long-distance, long-duration ocean sampling platforms. Gliders have the capability to travel thousands of kilometers without a need to stop or recharge. There is a need for the development of methods for hydrodynamic modeling. This thesis aims to determine the hydrodynamic parameters for the governing equations of motion for three autonomous underwater vehicles. This approach is two fold, using data obtained from computational flight tests and using a semi-empirical approach. The three vehicles which this thesis focuses on are two gliders (Slocum and XRay/Liberdade), and a third vehicle, the Virginia Tech Miniature autonomous underwater vehicle.
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