Michalson, William R.
Autonomous vehicles are increasingly investigated for use in oceanographic studies, underwater surveillance, and search operations. Research currently being done in the area of autonomous underwater craft is often hindered by expense. This project seeks to complete the construction, optimization, and control software development of an inexpensive underwater vehicle. During the course of the project all of the vehicle's mechanical and electrical subsystems were completed. Propeller-driven primary thrusters using a magnetically coupled drive system were optimized and manufactured. A battery powered electrical subsystem was also designed and installed on the vehicle. A simulation of the vehicle's control algorithm was developed in MATLAB and several full vehicle tests were conducted at WPI.
Worcester Polytechnic Institute
Major Qualifying Project
All authors have granted to WPI a nonexclusive royalty-free license to distribute copies of the work, subject to other agreements. Copyright is held by the author or authors, with all rights reserved, unless otherwise noted.
Electrical and Computer Engineering