Design of an autonomous underwater vehicle to evaluate the blazed array sonar and simultaneous localization and mapping algorithms
Name
191804037-MIT.pdf
Description
Full printable version
Size
1.14 MB
Format
Adobe PDF
Checksum (MD5)
3ccad1d9df35fd9bb2f43f11926dff79
Author(s)
Uhle, Matthew William
Advisor(s)
John J. Leonard.
Alternative Title
Design of an AUV to evaluate the blazed array sonar and simultaneous localization and mapping algorithms
Date Issued
2007
Publisher
Massachusetts Institute of Technology
Abstract
This thesis has investigated aspects of the design of a new highly maneuverable Autonomous Underwater Vehicle - the XAUV. The overall goal for the design of this vehicle is to create a small, highly maneuverable AUV that can perform autonomous ship hull inspection. Our work towards this goal was targeted to three different aspects: (1) contributions to the conceptual design of the overall vehicle, (2) specification and acquisition of the electronic components of the vehicle, including its main CPU, and (3) mechanical design of selected components, including the ship's hull, servo-controlled fin system, and blazed array sonar nose cone. These contributions have helped to improve and realize the design of the first prototype XAUV, which is expected to be completed in May, 2007, through the work of other members of the design team.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.
Includes bibliographical references (leaf 14).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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