Optimization of Thruster Configuration for Swimming Robots

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dc.contributor.advisorGhorbel, Fathi Hassanen_US
dc.contributor.committeeMemberDick, Andrewen_US
dc.contributor.committeeMemberClark, John Williamen_US
dc.creatorKharrat, Houssemen_US
dc.date.accessioned2016-02-05T22:24:08Zen_US
dc.date.available2016-02-05T22:24:08Zen_US
dc.date.created2015-05en_US
dc.date.issued2015-02-26en_US
dc.date.submittedMay 2015en_US
dc.date.updated2016-02-05T22:24:08Zen_US
dc.description.abstractThis thesis presents a design method of thruster configuration for swimming robots. This method can be used to analyze and optimize a given set of thruster configurations using three mathematical indices of measure. These indices measure the maneuverability and efficiency performance of a thruster configuration. Two of the three indices are used during the maneuverability evaluation. The first one uses the Manipulability index to evaluate the overall maneuverability and the second uses the linear programming method to evaluate the directional maneuverability with respect to the principal axes of motion. The third index measures the efficiency performance. In addition to their use in analyzing and optimizing a thruster configuration, these indices are shown to be useful in imposing a force and torque distribution. At first a detailed thruster configuration modeling method is presented. Then, the indices of measure are defined and used to evaluate and analyze a set of thruster configurations. Finally a parametric optimization is performed.en_US
dc.format.mimetypeapplication/pdfen_US
dc.identifier.citationKharrat, Houssem. "Optimization of Thruster Configuration for Swimming Robots." (2015) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/88442">https://hdl.handle.net/1911/88442</a>.en_US
dc.identifier.urihttps://hdl.handle.net/1911/88442en_US
dc.language.isoengen_US
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.en_US
dc.subjectThruster configurationen_US
dc.subjectManipulabilityen_US
dc.subjectOptimizationen_US
dc.subjectUnderwater remotely operated vehicleen_US
dc.titleOptimization of Thruster Configuration for Swimming Robotsen_US
dc.typeThesisen_US
dc.type.materialTexten_US
thesis.degree.departmentMechanical Engineeringen_US
thesis.degree.disciplineEngineeringen_US
thesis.degree.grantorRice Universityen_US
thesis.degree.levelMastersen_US
thesis.degree.nameMaster of Scienceen_US
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