Date of Award

5-2024

Document Type

Thesis

Degree Name

Master of Science (MS)

Department

Ocean Engineering and Marine Sciences

First Advisor

Stephen Wood, Ph.D., P.E.

Second Advisor

Ronnal Reichard, Ph.D.

Third Advisor

Ilya Mingareev, Ph.D.

Fourth Advisor

Richard B. Aronson, Ph.D.

Abstract

This research created a Test and Evaluation (T&E) model for midwater Autonomous Underwater Vehicle (AUV) capture. The creation of this model will allow for a better assessment of the feasibility of midwater AUV capture. To achieve this, the T&E model was exposed to various flow conditions to assess stability. Capturing an AUV in midwater, the area below the wave-affected zone to the sea floor, has many benefits for an AUV and its mission. AUVs basing missions from a midwater dock will not be affected by wave motions. A midwater dock can be transported to any mission site and deployed with similar operating procedures to surface docking stations.

For this project, requirements and specifications were given by the Naval Surface Warfare Center, Carderock Division (NSWCCD). The main requirements of this project were to create a docking station that measured 12 ft in length, 1ft tall and 1ft wide, 200 lbs in water, and eight onboard thrusters. Each thruster was required to be independently controlled and set up to maintain the pitch and yaw angles of the docking station. The main objective given by NSWCCD was to examine the motions, limitations, and power requirements of the dock when subjected to ocean currents. The unit was tested at NSWCCD’s Circulating Water Channel (CWC) to do this. At this testing facility, the unit was exposed to different flow velocities, allowing the unit to try and maintain different yaw angles while stabilizing the pitch. Information about the time it takes to move to a position and the accuracy of the position will be measured with an underwater motion capture system.

Testing revealed the unit could maintain its yaw position at all current speeds. The unit was stable in pitch and yaw, with ample thrust available from the onboard thrusters. This research indicated that capturing an AUV in the midwater would be feasible with additional control system development and advanced tuning profiles.

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