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Design and implementation of an energy aware programming framework for autonomous underwater vehicles

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TitleInfo
Title
Design and implementation of an energy aware programming framework for autonomous underwater vehicles
Name (type = personal)
NamePart (type = family)
Woithe
NamePart (type = given)
Hans Christian
NamePart (type = date)
1984-
DisplayForm
Hans Woithe
Role
RoleTerm (authority = RULIB)
author
Name (type = personal)
NamePart (type = family)
Kremer
NamePart (type = given)
Ulrich
DisplayForm
Ulrich Kremer
Affiliation
Advisory Committee
Role
RoleTerm (authority = RULIB)
chair
Name (type = personal)
NamePart (type = family)
Bianchini
NamePart (type = given)
Ricardo
DisplayForm
Ricardo Bianchini
Affiliation
Advisory Committee
Role
RoleTerm (authority = RULIB)
internal member
Name (type = personal)
NamePart (type = family)
Nguyen
NamePart (type = given)
Thu
DisplayForm
Thu Nguyen
Affiliation
Advisory Committee
Role
RoleTerm (authority = RULIB)
internal member
Name (type = personal)
NamePart (type = family)
Schofield
NamePart (type = given)
Oscar
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Oscar Schofield
Affiliation
Advisory Committee
Role
RoleTerm (authority = RULIB)
internal member
Name (type = personal)
NamePart (type = family)
Bellosa
NamePart (type = given)
Frank
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Frank Bellosa
Affiliation
Advisory Committee
Role
RoleTerm (authority = RULIB)
outside member
Name (type = corporate)
NamePart
Rutgers University
Role
RoleTerm (authority = RULIB)
degree grantor
Name (type = corporate)
NamePart
Graduate School - New Brunswick
Role
RoleTerm (authority = RULIB)
school
TypeOfResource
Text
Genre (authority = marcgt)
theses
OriginInfo
DateCreated (qualifier = exact)
2014
DateOther (qualifier = exact); (type = degree)
2014-05
Place
PlaceTerm (type = code)
xx
Language
LanguageTerm (authority = ISO639-2b); (type = code)
eng
Abstract (type = abstract)
Autonomous underwater vehicles (AUVs) have become an indispensable tool for studying the oceans. They allow for the prolonged presence of scientific instruments in the ocean, enabling the collection of samples for several weeks or months at a time for a fraction of the cost of research vessels. These vehicles share common characteristics and constraints with other cyber-physical systems that include concerns for vehicle safety, a limited energy supply, the optimization and trade-off of resources, sporadic communication, and operation in extremely constrained environments. One such AUV is the Slocum Electric Glider. Although AUVs like the Slocum Glider have revolutionized the field of oceanography, many are difficult to program and thus limit their overall utility. A new energy aware, domain specific programming framework for AUVs, called ALGAE (AUV Language for Greater Adaptability and Energy optimization), has been developed on the Slocum Glider. This framework enables scientists to easily create missions that use domain specific features to make trade-offs, such as sacrificing the quality at which the environment is sampled for a gain in vehicle endurance. Novel methods used in the framework make the vehicle a more effective scientific instrument. The system was specifically designed to support a mission critical platform that operates in an extremely constrained environment. In the new infrastructure, missions can be tested in simulation, but more importantly, can be compiled directly for use on the target platform. To evaluate the framework, simulations and field trials off the coast of New Jersey were performed to showcase the practicality of the system. Furthermore, because the framework was designed around a common set of constraints and characteristics, the mechanisms and approaches developed are widely applicable to many autonomous systems.
Subject (authority = RUETD)
Topic
Computer Science
RelatedItem (type = host)
TitleInfo
Title
Rutgers University Electronic Theses and Dissertations
Identifier (type = RULIB)
ETD
Identifier
ETD_5491
PhysicalDescription
Form (authority = gmd)
electronic resource
InternetMediaType
application/pdf
InternetMediaType
text/xml
Extent
xiv, 168 p. : ill.
Note (type = degree)
Ph.D.
Note (type = bibliography)
Includes bibliographical references
Note (type = statement of responsibility)
by Hans Christian Woithe
Subject (authority = ETD-LCSH)
Topic
Underwater gliders--Design and construction
Subject (authority = ETD-LCSH)
Topic
Computing platforms
RelatedItem (type = host)
TitleInfo
Title
Graduate School - New Brunswick Electronic Theses and Dissertations
Identifier (type = local)
rucore19991600001
Location
PhysicalLocation (authority = marcorg); (displayLabel = Rutgers, The State University of New Jersey)
NjNbRU
Identifier (type = doi)
doi:10.7282/T3VT1QC4
Genre (authority = ExL-Esploro)
ETD doctoral
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Rights

RightsDeclaration (ID = rulibRdec0006)
The author owns the copyright to this work.
RightsHolder (type = personal)
Name
FamilyName
Woithe
GivenName
Hans
Role
Copyright Holder
RightsEvent
Type
Permission or license
DateTime (encoding = w3cdtf); (qualifier = exact); (point = start)
2014-04-14 09:54:28
AssociatedEntity
Name
Hans Woithe
Role
Copyright holder
Affiliation
Rutgers University. Graduate School - New Brunswick
AssociatedObject
Type
License
Name
Author Agreement License
Detail
I hereby grant to the Rutgers University Libraries and to my school the non-exclusive right to archive, reproduce and distribute my thesis or dissertation, in whole or in part, and/or my abstract, in whole or in part, in and from an electronic format, subject to the release date subsequently stipulated in this submittal form and approved by my school. I represent and stipulate that the thesis or dissertation and its abstract are my original work, that they do not infringe or violate any rights of others, and that I make these grants as the sole owner of the rights to my thesis or dissertation and its abstract. I represent that I have obtained written permissions, when necessary, from the owner(s) of each third party copyrighted matter to be included in my thesis or dissertation and will supply copies of such upon request by my school. I acknowledge that RU ETD and my school will not distribute my thesis or dissertation or its abstract if, in their reasonable judgment, they believe all such rights have not been secured. I acknowledge that I retain ownership rights to the copyright of my work. I also retain the right to use all or part of this thesis or dissertation in future works, such as articles or books.
Copyright
Status
Copyright protected
Availability
Status
Open
Reason
Permission or license
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Technical

RULTechMD (ID = TECHNICAL1)
ContentModel
ETD
OperatingSystem (VERSION = 5.1)
windows xp
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