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Real-Time Localization of a Magnetic Anomaly: A Study of the Effectiveness of a Genetic Algorithm for Implementation on an Autonomous Underwater Vehicle
| Title: | Real-Time Localization of a Magnetic Anomaly: A Study of the Effectiveness of a Genetic Algorithm for Implementation on an Autonomous Underwater Vehicle. |
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| Name(s): |
Philippeaux, Harryel Arsene, author Dhanak, Manhar R., Thesis advisor Florida Atlantic University, Degree grantor College of Engineering and Computer Science Department of Ocean and Mechanical Engineering |
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| Type of Resource: | text | |
| Genre: | Electronic Thesis Or Dissertation | |
| Date Created: | 2017 | |
| Date Issued: | 2017 | |
| Publisher: | Florida Atlantic University | |
| Place of Publication: | Boca Raton, Fla. | |
| Physical Form: | application/pdf | |
| Extent: | 105 p. | |
| Language(s): | English | |
| Summary: | The primary objective of this research is to investigate the viability of magnetic anomaly localization with an autonomous underwater vehicle, using a genetic algorithm (GA). The localization method, first proposed by Sheinker. et al. 2008, is optimized here for the case of a moving platform. Extensive magnetic field modeling and algorithm simulation has been conducted and yields promising results. Field testing of the method is conducted with the use of the Ocean Floor Geophysics Self-Compensating Magnetometer (SCM). Extensive out-of-water field testing is conducted to validate the ability to measure a target signal in a uniform NED frame as well as to validate the effectiveness of the GA. The outcome of the simulation closely matches the results of the conducted field tests. Additionally, the SCM is fully integrated with FAU’s Remus 100 AUV and preliminary in-water testing of the system has been conducted. | |
| Identifier: | FA00005948 (IID) | |
| Degree granted: | Thesis (M.S.)--Florida Atlantic University, 2017. | |
| Collection: | FAU Electronic Theses and Dissertations Collection | |
| Note(s): | Includes bibliography. | |
| Subject(s): |
Dissertations, Academic -- Florida Atlantic University Autonomous underwater vehicles Genetic algorithms. Geomagnetic field Geomagnetism. |
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| Held by: | Florida Atlantic University Libraries | |
| Sublocation: | Digital Library | |
| Persistent Link to This Record: | http://purl.flvc.org/fau/fd/FA00005948 | |
| Use and Reproduction: | Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder. | |
| Use and Reproduction: | http://rightsstatements.org/vocab/InC/1.0/ | |
| Host Institution: | FAU | |
| Is Part of Series: | Florida Atlantic University Digital Library Collections. |
