This is my second presentation, which is about the design and control of an AUV depending on the dynamics analysis.

1. Design and Control of A Surveying AUV By: Ahmed El Sheikh MSc Student, Mechatronics and Robotics Engineering, E-JUST 2010

3. The Objective

4. Dynamics and Modeling of The AUV

5. Control of the AUV

6. Fabrication of The AUV

7. Communication

9. Background cont’ The AUV Mission: Ocean survey and resource assessment, Construction maintenance of undersea structures. In this study, it is sought to design an AUV that will be used in the survey operation in the field of Ocean Mining and Oil Industry.

12. The mechanical design of the AUV.

14. Control of the AUV AUV Control Problems Sliding Control Non-linear Control Adaptive Control Neural Network Control Fuzzy Control The highly nonlinear, time-varying dynamic behavior Uncertainties in hydrodynamic coefficients Disturbances by ocean currents AUV Control Solutions

15. Fabrication of The AUV Section A-A Section A-A

16. Laminar Flow Hull vs. Torpedo body form Laminar Flow Hull Torpedo body form of the Explorer Vehicle

17. Assembly of another AUV

18. Communication

19. Navigation

20. References CMERI, “Fabrication of Autonomous Underwater Vehicle (AUV)”, Technical Report, 2007. J. YUH, “Design and Control of Autonomous Underwater Robots: A Survey”, 2000 Santhakumar, M. and Asokan, T. “Non-linear Adaptive Control System for an Underactuated Autonomous Underwater Vehicle using Dynamic State Feedback”,2009.

21. Thank you for attention