• Login
    View Item 
    •   SMARTech Home
    • Georgia Tech Theses and Dissertations
    • Georgia Tech Theses and Dissertations
    • View Item
    •   SMARTech Home
    • Georgia Tech Theses and Dissertations
    • Georgia Tech Theses and Dissertations
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Mechatronic design of autonomous underwater vehicles for confined spaces

    Thumbnail
    View/Open
    ALSAIBIE-DISSERTATION-2018.pdf (34.45Mb)
    Date
    2018-11-05
    Author
    Alsaibie, Ali A.
    Metadata
    Show full item record
    Abstract
    In utility piping and fluid transportation pipelines, it is often desired to have a robotic device that can navigate the complex structure to carry inspection to maintain the integrity of these infrastructures. In this work, an attempt to design an untethered micro autonomous underwater vehicle, mAUV, is conducted. The mechanical, electrical, control and perception system are developed through a proposed model-based mechatronic design approach. Key design tools are validated including the measurement of hydrodynamic drag and thruster performance, a visual dynamic software-in-the-loop simulation is developed that incorporates the validated vehicle model, a model-based quaternion error attitude controller is implemented and a structure light perception system and method is proposed.
    URI
    http://hdl.handle.net/1853/60770
    Collections
    • Georgia Tech Theses and Dissertations [23877]
    • School of Mechanical Engineering Theses and Dissertations [4086]

    Browse

    All of SMARTechCommunities & CollectionsDatesAuthorsTitlesSubjectsTypesThis CollectionDatesAuthorsTitlesSubjectsTypes

    My SMARTech

    Login

    Statistics

    View Usage StatisticsView Google Analytics Statistics
    facebook instagram twitter youtube
    • My Account
    • Contact us
    • Directory
    • Campus Map
    • Support/Give
    • Library Accessibility
      • About SMARTech
      • SMARTech Terms of Use
    Georgia Tech Library266 4th Street NW, Atlanta, GA 30332
    404.894.4500
    • Emergency Information
    • Legal and Privacy Information
    • Human Trafficking Notice
    • Accessibility
    • Accountability
    • Accreditation
    • Employment
    © 2020 Georgia Institute of Technology