Framework for multi-vehicle adaptive sampling of jets and plumes in coastal zones
Name
857588174-MIT.pdf
Description
Full printable version
Size
13.36 MB
Format
Adobe PDF
Checksum (MD5)
22b8e9125ab214a4d53de3b35dfbabbd
Author(s)
Gildner, Matthew Lee
Advisor(s)
Nicholas M. Patrikalakis.
Date Issued
2013
Publisher
Massachusetts Institute of Technology
Abstract
This thesis presents a framework for the sampling of thermal and effluent jets and plumes using multiple autonomous surface vehicles. The framework was developed with the goal of achieving rapid and accurate in-situ measurement and characterization of these features. The framework is presented as a collection of simulation, estimation and field tools for use within the Mission Oriented Operations Suite (MOOS) and a novel Acoustic Doppler Current Profiling system that is capable of reorientation and real-time feedback. Key features developed within MOOS include a multi-parameter model of thermal and effluent jet and plume fields, online parameter estimation and sensor fusion. Using these tools, a collaborative adaptive sampling strategy is implemented to efficiently sample an industrial jet and plume. The capabilities of this strategy are demonstrated in realistic mission simulations and in field trials using a fleet of autonomous kayaks equipped with environmental sensors.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2013.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 125-130).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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