Ocean Engineering Commons^™

Project Thetis: A Low-Cost, Low-Profile Inertial Data Logger, Braidan Duffy

Theses and Dissertations

This thesis details the design, testing, calibration, and verification of a nine degree of freedom inertial measurement data logger for use with floating bodies. The instrument was conceived to address limitations of equipment used in classes within the Ocean Engineering department at Florida Institute of Technology. By meeting with several stakeholders and end users, a series of stakeholder requirements, capabilities, and component-level requirements were de- veloped that informed the design constraints. There were several hardware iterations of the board, culminating in Revision F5 which was extensively tested and proven. The design was inspected after testing concluded to determine which capabilities …

Sensor Updates For Bigheaded Carp-Tracking Autonomous Boat, Jordan Kaufmann

Honors College Theses

Bigheaded carp are an invasive species that overpopulate and compete with the native species of Kentucky Lake as well as many other North American aquatic ecosystems. The movement patterns of Bigheaded carp are being studied nationwide by the United States Geological Survey and multiple universities. These studies ultimately seek to control their spread and reduce or reverse the ecosystem destabilization caused by this invasive species. Such studies are currently conducted manually on Kentucky Lake by graduate students affiliated with the Murray State University (MSU) Biology Department and Hancock Biological Station, and these manual studies are an arduous and time-consuming effort. …

Developing A Miniature Smart Boat For Marine Research, Michael Isaac Eirinberg

Computer Engineering

This project examines the development of a smart boat which could serve as a possible marine research apparatus. The smart boat consists of a miniature vessel containing a low-cost microcontroller to live stream a camera feed, GPS telemetry, and compass data through its own WiFi access point. The smart boat also has the potential for autonomous navigation. My project captivated the interest of several members of California Polytechnic State University, San Luis Obispo’s (Cal Poly SLO) Marine Science Department faculty, who proposed a variety of fascinating and valuable smart boat applications.

Active Blade Pitch And Hull-Based Structural Control Of Floating Offshore Wind Turbines, Eben Lenfest

Electronic Theses and Dissertations

Floating offshore wind turbines (FOWTs) have the potential to bring renewable energy to waters too deep for traditional offshore wind turbines while still being able to harness strong coastal winds in areas near population centers. However, these floating wind turbines come at a higher capital cost relative to fixed foundations and are more susceptible to vibrations induced by waves. Advances in control technologies offer the potential to reduce fatigue loads due to these vibrations, extending the life of the platform and thereby spreading the capital costs of the turbine over a longer period of time. One such advance is in …

Nonlinear Model Predictive Control Of Wave Energy Converter, Isha Malekar

Dissertations, Master's Theses and Master's Reports

In this report model predictive control (MPC) is applied to a simulated, spherical, point absorber wave energy converter to maximize energy extraction. Constraints are applied to the buoy's displacement and the power take-off (PTO) generator force. The WEC's "truth” model uses nonlinear Froude-Krylov (FK) hydrostatic and hydrodynamic forces. This is in contrast with previous studies where linear approximations are used in the form of a hydrostatic stiffness force and a wave excitation force. The nonlinear forces become significant when the vertical displacement of the buoy exceeds about 40% of the buoy's radius. Two versions of MPC are compared where optimal …

Marine Gastrobot Final Design Report, Wesley B. Williams, Eric Kane Dreischerf, Tommy Nicholas Yath

Mechanical Engineering

The Marine Gastrobot sponsored by Dr. Christopher Kitts of the Cal Poly Center for Applications in Biotechnology was a research and development effort intended to explore the use of microbial fuel cell technology as a power source for underwater robots. Our team Ocean Locomotion succeeded in developing a first iteration of an underwater robotic platform suitable for microbial fuel cell integration. The primary feature of the design is its sinusoidal fin propulsion intended for benthic exploration with limited risk of entanglement. During the course of development, Ocean Locomotion explored the use of low power actuation methods and determined their limited …

Behavioral Responses Of Sub-Adult Atlantic Sturgeon (Acipenser Oxyrinchus Oxyrinchus) To Electromagnetic And Magnetic Fields Under Laboratory Conditions, Andrew Mcintyre Iii

Theses and Dissertations

Electromagnetic fields (EMF) produced by high voltage (HV), submarine transmission cables leading from offshore wind energy generation facilities could affect foraging or migratory behaviors of electro-receptive fishes, including endangered Atlantic Sturgeon. However, no published studies have quantitatively evaluated the possible behavioral effects of EMF exposure on sturgeon during residence in coastal waters. This study evaluated behavioral responses by sub-adult Atlantic Sturgeon to electromagnetic and magnetic fields under controlled laboratory conditions. Fabricated EMF generators were used to emulate a range of field EMF conditions that migratory fishes could encounter in proximity to submarine HV sources. Sensor arrays and digital video recorders …

Electromechanics Of An Ocean Current Turbine, Vasileios Tzelepis

University of New Orleans Theses and Dissertations

The development of a numeric simulation for predicting the performance of an Ocean Current Energy Conversion System is presented in this thesis along with a control system development using a PID controller for the achievement of specified rotational velocity set-points. In the beginning, this numeric model is implemented in MATLAB/Simulink® and it is used to predict the performance of a three phase squirrel single-cage type induction motor/generator in two different cases. The first case is a small 3 meter rotor diameter, 20 kW ocean current turbine with fixed pitch blades, and the second case a 20 …

Developing And Testing An Anguilliform Robot Swimming With Theoretically High Hydrodynamic Efficiency, John B. Potts Iii

University of New Orleans Theses and Dissertations

An anguilliform swimming robot replicating an idealized motion is a complex marine vehicle necessitating both a theoretical and experimental analysis to completely understand its propulsion characteristics. The ideal anguilliform motion within is theorized to produce ``wakeless'' swimming (Vorus, 2011), a reactive swimming technique that produces thrust by accelerations of the added mass in the vicinity of the body. The net circulation for the unsteady motion is theorized to be eliminated.

The robot was designed to replicate the desired, theoretical motion by applying control theory methods. Independent joint control was used due to hardware limitations. The fluid velocity vectors in the …

Advances In Autonomous-Underwater-Vehicle Based Passive Bottom-Loss Estimation By Processing Of Marine Ambient Noise, Lanfranco Muzi

Dissertations and Theses

Accurate modeling of acoustic propagation in the ocean waveguide is important to SONAR-performance prediction, and requires, particularly in shallow water environments, characterizing the bottom reflection loss with a precision that databank-based modeling cannot achieve. Recent advances in the technology of autonomous underwater vehicles (AUV) make it possible to envision a survey system for seabed characterization composed of a short array mounted on a small AUV. The bottom power reflection coefficient (and the related reflection loss) can be estimated passively by beamforming the naturally occurring marine ambient-noise acoustic field recorded by a vertical line array of hydrophones. However, the reduced array …

Hydromodus: An Autonomous Underwater Vehicle, Alex Kost, Anu Mahinkanda, Jordan Read

Electrical Engineering

Hydromodus is a student-led multidisciplinary project conceived by Jordan Read designed to provide a low-cost modular hardware and software solution for researchers and scientists. For the scope of the Senior Project class, it is designed to be a baited remote underwater vehicle (BRUV), but the platform is highly modifiable and open-source.

Evaluation Of Ocean-Energy Conversion Based On Linear Generator Concepts, Michael Allen Stelzer

Electrical & Computer Engineering Theses & Dissertations

A turbine generator is a device that converts mechanical rotation into electrical energy. Unfortunately, the primary driving force that has been used to provide this rotation has, thus far, been fossil fuels. Although fossil fuels have proven to be a reliable resource to continually supply the growing demand for electrical power, they are not without their financial and environmental drawbacks. With the continuously increasing demand for energy, it is hypothesized that the world may, in time, exhaust this precious natural resource and/or inflict permanent environmental damage upon our planet.

However, motions that occur in nature, such as ocean waves, can …

Wave Energy Converter Performance Modeling And Cost Of Electricity Assessment, Dmitri Jarocki

Master's Theses

California is experiencing a rapid increase in interest for the potential of converting ocean waves into clean electricity. Numerous applications have been submitted for the permitting of such renewable energy projects; however the profitability, practicability, and survivability have yet to be proven. Wave energy conversion technology has steadily matured since its naissance in the 1970’s, several wave energy power installations currently exist, and numerous plans for commercial power plant are in the works on the shores of multiple continents. This study aims to assess the economic viability of two proposed commercial wave energy power plant projects on the Central California …

Biology-Inspired Adaptive And Nonlinear Robust Control Of Bauv Using Pectoral-Like Fins, Subramanian Ramasamy

UNLV Theses, Dissertations, Professional Papers, and Capstones

Aquatic animals have splendid ability to move smoothly through water using variety of oscillating fins. Presently researchers are involved in developing biorobotic autonomous underwater vehicles (BAUVs) which have the ability to swim like marine animals. Multiple oscillating fins (dorsal, caudal, pectoral, pelvic, etc.) can be mounted on BAUVs to generate control forces for propulsion and maneuvering. In this research work, control of the BAUVs using pectoral fins alone is considered. The oscillating pectoral fins produce unsteady periodic forces. The control of motion of an BAUV in yaw and dive planes are considered.