Please use this identifier to cite or link to this item: https://scholarbank.nus.edu.sg/handle/10635/48665
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dc.titleModular Dynamic Modeling and Development of Micro Autonomous Underwater Vehicle: Lancelet
dc.contributor.authorCHAO SHUZHE
dc.date.accessioned2013-12-31T18:33:23Z
dc.date.available2013-12-31T18:33:23Z
dc.date.issued2013-08-07
dc.identifier.citationCHAO SHUZHE (2013-08-07). Modular Dynamic Modeling and Development of Micro Autonomous Underwater Vehicle: Lancelet. ScholarBank@NUS Repository.
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/48665
dc.description.abstractA dynamic model of AUV suitable for modular parameter estimation and dynamic modeling is established. The empirical methods for the hydrodynamic coefficients and added mass estimation are summarized, and the relationship between hydrodynamic coefficients and hydrodynamic derivatives is derived. A torpedo shaped micro AUV named Lancelet with a novel multi jet drive propulsion system is developed. The mechanical and electronic systems of the Lancelet are designed and implemented. The performance of the designed propulsion systems is tested, and the Lancelet?s special maneuverability is explored by open loop free swimming trials. A method of combining the empirical and parameter identification methods for accurate estimation of the hydrodynamic parameters of torpedo shaped AUVs is proposed and verified. The standard reference model method is proposed to address the modular dynamic modeling issues of the torpedo shaped AUV with empirical and experimental verification.
dc.language.isoen
dc.subjectMicro autonomous underwater vehicle, multi jet drive propulsion system, hydrodynamic coefficients, parameter identification, modular dynamic modeling
dc.typeThesis
dc.contributor.departmentMECHANICAL ENGINEERING
dc.contributor.supervisorHONG GEOK SOON
dc.description.degreePh.D
dc.description.degreeconferredDOCTOR OF PHILOSOPHY
dc.identifier.isiutNOT_IN_WOS
Appears in Collections:Ph.D Theses (Open)

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