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This work provides a comparison of eight different hydrodynamic damping models for streamlined tail-controlled autonomous underwater vehicles (AUVs). We use an off-line least-squares method and an adaptive identifier method to approximate damping model coefficients and determine if one damping model is preferred over other models. We evaluate the two methods for estimating the parameters of the models...
We describe the principal design elements of the Virginia Tech 690 autonomous underwater vehicle (AUV). The 690 AUV is designed for bathymetric surveys up to 500 m deep. It displaces less than 45 kg (100 lbs) and can operate for up to 24 hours at 4 knots.
This study considers the influences of wake asymmetries and propulsor effects on the forces and moments created by control surfaces. Traditional quasi-steady state-space models developed for autonomous underwater vehicles (AUVs) tend to neglect these effects. Reynolds-averaged Navier-Stokes (RANS) simulations were used to assess the impact of asymmetrical inflow due to forward appendages as well as...
Planar Motion Mechanism (PMM) testing provides a means of determining the performance characteristics (often referred to as control derivatives or maneuvering coefficients) that populate vehicle quasi-steady state-space models. While the general nature of these tests is fairly well established, the details of execution and post processing methods vary between experimenters. This study employs numerical...
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