2026-09-19T11:32:54Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/89692022-01-13T07:54:39Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
James G. Bellingham.
Kreamer, William Ryan, 1976-
Massachusetts Institute of Technology. Dept. of Ocean Engineering.
Massachusetts Institute of Technology. Department of Ocean Engineering
2005-09-27T19:33:52Z
2005-09-27T19:33:52Z
2000
2000
http://hdl.handle.net/1721.1/8969
47046398
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering, 2000.
Includes bibliographical references (leaves 84-86).
In this thesis, I designed and tested a supervisory control scheme for the Odyssey II-class Autonomous Underwater Vehicles that relies on a very-low-data-rate acoustic communication link. A human supervisor communicates with the AUV over a combination radio/acoustic network. The supervisor radios commands from shore to data repeater nodes moored at strategic locations on the ocean surface. Utility Acoustic Modems mounted on the moorings rebroadcast the binary data into the sea in the 12-17 kHz frequency band. The moving AUV detects the transmission, decodes the message, and carries out the command contained within. The operator's commands are implemented in the context of a behavior-based layered control software architecture. The supervisory control scheme was tested and verified during the Synaptic Internal Tide Experiment, which took place in Monterey Bay during August and September, 1999.
by William Ryan Kreamer.
S.M.
86 leaves
5753243 bytes
5753005 bytes
application/pdf
application/pdf
eng
Massachusetts Institute of Technology
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http://dspace.mit.edu/handle/1721.1/7582
Ocean Engineering.
Supervisory control of an autonomous underwater vehicle using an acoustic communication link
Thesis
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