Date of Award

Spring 2022

Document Type

Thesis - SCU Access Only

Publisher

Santa Clara : Santa Clara University, 2022.

Departments

Mechanical Engineering; Computer Science and Engineering

First Advisor

Christopher Kitts

Abstract

The ocean provides numerous benefits and resources to Earth, yet over 70 percent of the ocean has yet to be explored. Autonomous Underwater Vehicles (AUVs) provide a platform for scientists to collect data through volumetric and path studies. The Modular Oceanic AUV for Novel Actuation (MOANA) 2.0 has been developed through Santa Clara University’s Robotic Systems Laboratory (RSL) to be used by RSL partners to collect data at areas of interest in different bodies of water as well as support educational activities in the field of marine robotics. The design has been extended by the development of a distributed command and control system that enables the vehicle to perform oceanographic sensing while navigating along a three-dimensional trajectory with active heading and depth control. Additional extensions include a safety system, a surfacing support package, and a graphical user interface (GUI) for goal directed mission specifications. The main mission objectives have been verified through analysis and testing in a small aquatic environment. Future work includes expanded field testing, fine tuning controller gains, and implementing more communication methods and GPS to meet the remaining system requirements through testing in a large body of water.

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