Accession Number : ADA314610

Title :   Search Methods for an Autonomous Underwater Vehicle Using Scalar Measurements.

Descriptive Note : Master's thesis,

Corporate Author : WOODS HOLE OCEANOGRAPHIC INSTITUTION MA

Personal Author(s) : Burian, Erik A.

PDF Url : ADA314610

Report Date : 18 JUL 1996

Pagination or Media Count : 72

Abstract : The continuing development of the autonomous underwater vehicle as an oceanographic research tool has opened up the realm of scientific possibility in the field of deep ocean research. The ability of a vehicle to travel to the ocean floor untethered, collect data for an extended period of time and return to the surface for recovery can make precise oceanographic surveying more economically practical and more efficient. This thesis investigates several scalar parameter searching techniques which have their basis in mathematical optimization algorithms and their applicability for use specifically within the context of autonomous underwater vehicle dynamics. In particular, a modified version of the circular gradient evaluation in the simulated environment of a hydrothermal plume is examined as a test case. Using a priori knowledge of the expected structure of the scalar parameter contour is shown to be advantageous in optimizing the search.

Descriptors :   *UNDERWATER VEHICLES, *OCEANOGRAPHIC DATA, ALGORITHMS, COMPUTERIZED SIMULATION, OPTIMIZATION, OCEAN CURRENTS, THESES, TEMPERATURE GRADIENTS, DATA ACQUISITION, SYSTEMS ANALYSIS, AUTONOMOUS NAVIGATION, SALINITY, HYDROGRAPHY, OCEAN BOTTOM SAMPLING, UNDERWATER NAVIGATION, OCEAN MODELS, OCEAN ENVIRONMENTS, OCEAN BOTTOM TOPOGRAPHY, HYDRODYNAMICS, SONAR TRANSDUCERS, DEEP OCEANS, ACOUSTIC TRACKING, MAGNETIC ANOMALIES, OCEANOGRAPHIC EQUIPMENT, HYDROGRAPHIC SONAR.

Subject Categories : Physical and Dynamic Oceanography
      Submarine Engineering

Distribution Statement : APPROVED FOR PUBLIC RELEASE