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Simulating the dynamic interaction of an AUV and towed magnetometer

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Date Issued:
2011
Summary:
A magnetometer with a sensitivity of 0.01nT will be towed through the thermocline by a 2.87 meter long, 0.533 meter diameter autonomous underwater vehicle (AUV) to measure the magnetic fluctuations generated by oceanic internal waves. At this point, no research has been found that suggests towed magnetometer measurements have been done using an AUV. Simulations of the AUV, tow cable, and towfish are performed to provide an understanding of the effects of changing different input parameters, such as towing speed (0.5-2m/s), cable length (5-15m), vehicle trajectory (circle and vertical zig zag maneuvers), and current (0.25-1.25m/s). The AUV-cabletowfish system and equations of motion needed for the simulations are described herein. Results show that a 5m tow cable provides better towfish maneuvering than the longer cable lengths. High towfish pitch angle is decreased by decreasing the distance between CG and CB. Surface currents speed of 0.25m/s change the AUV and towfish circle maneuver to a spiral trajectory, while 1.25m/s current speed cause a zig zag trajectory.
Title: Simulating the dynamic interaction of an AUV and towed magnetometer.
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Name(s): Miller, Lea Gabrielle.
College of Engineering and Computer Science
Department of Ocean and Mechanical Engineering
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Date Issued: 2011
Publisher: Florida Atlantic University
Physical Form: electronic
Extent: xi, 117 p. : ill. (some col.)
Language(s): English
Summary: A magnetometer with a sensitivity of 0.01nT will be towed through the thermocline by a 2.87 meter long, 0.533 meter diameter autonomous underwater vehicle (AUV) to measure the magnetic fluctuations generated by oceanic internal waves. At this point, no research has been found that suggests towed magnetometer measurements have been done using an AUV. Simulations of the AUV, tow cable, and towfish are performed to provide an understanding of the effects of changing different input parameters, such as towing speed (0.5-2m/s), cable length (5-15m), vehicle trajectory (circle and vertical zig zag maneuvers), and current (0.25-1.25m/s). The AUV-cabletowfish system and equations of motion needed for the simulations are described herein. Results show that a 5m tow cable provides better towfish maneuvering than the longer cable lengths. High towfish pitch angle is decreased by decreasing the distance between CG and CB. Surface currents speed of 0.25m/s change the AUV and towfish circle maneuver to a spiral trajectory, while 1.25m/s current speed cause a zig zag trajectory.
Identifier: 757720095 (oclc), 3318670 (digitool), FADT3318670 (IID), fau:3721 (fedora)
Note(s): by Lea Gabrielle Miller.
Thesis (M.S.C.S.)--Florida Atlantic University, 2011.
Includes bibliography.
Electronic reproduction. Boca Raton, Fla., 2011. Mode of access: World Wide Web.
Subject(s): Automatic control -- Mathematical models
Electromagnetic measurements
Fluctuations (Physics)
Oceanographic submersibles -- Computer simulation
Persistent Link to This Record: http://purl.flvc.org/FAU/3318670
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU