Evaluation of Universal Docking Solutions for Autonomous
Underwater Vehicles
Name
pryal-pryal-smme-meche-2025-thesis.pdf
Description
Thesis PDF
Size
9.09 MB
Format
Adobe PDF
Checksum (MD5)
ed3b6eafa46a9ab9736e9bb8883800a0
Author(s)
Pryal, Erik Jeffrey
Advisor(s)
MacLean, Christopher
Ricard, Michael J.
Skufca, Danielle
Date Issued
May 2025
Publisher
Massachusetts Institute of Technology
Abstract
Due to their energy-constrained nature, Autonomous Underwater Vehicles (AUVs) need effective docking and charging stations to extend their mission durations. However, diverse AUV designs challenge the universal compatibility of docking stations. This study provides a framework for understanding what makes a docking station universal and offers two potential solutions: the Tapered Funnel Docking Station and the Magnetic Hub Docking Station. The Tapered Funnel features a conical entry that progressively narrows to accommodate various AUV diameters. The Magnetic Hub passively secures the AUV using magnetic forces and an external appendage guided into position by a square duct. MATLAB simulations evaluate these two charging station designs for compatibility with AUVs, alignment capabilities, and docking efficacy under realistic conditions. Both designs are tested through Monte Carlo simulations to address varying AUV approach conditions, showcasing their potential as universally feasible solutions. Future exploration into material durability, sensor integration, and power transfer efficiency will refine these designs for field applicability. This research lays the groundwork for universal docking standards and proposes adaptable solutions to alleviate operational limitations in underwater missions.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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