M.E. 530.650 Dynamics and Control of Marine Vehicles

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Course Homepage

Instructor:

Louis L. Whitcomb, Assistant Professor
Department of Mechanical Engineering
G.W.C. Whiting School of Engineering
The Johns Hopkins University

office: 123 Latrobe Hall, phone: 410-516-6724
lab: 017 Latrobe Hall, phone: 410-516-6446
Course Homepage: http://robotics.me.jhu.edu/~llw/courses/me530646
email: llw@jhu.edu
Office Hours: By appointment.

Course Meetings:

Lectures: Thursdays, 5:00PM, Room 217 Maryland Hall, and other times as arranged in class.

Course Description

Seminar on the dynamics, navigation, and control of marine vehicles. Topics include finite-dimensional approximate dynamical models, navigational techniques, and control methods for surface and underwater vehicles, and historical overview of . Emphasis on underwater robotic vehicles.

Course work includes lectures, problem sets, and student presentations.

The course is open to upper-level undergraduates with the permission of the instructor.

Texts

The reserve reading list available in PDF format. Click here to download.

Syllabus

We hope to cover a variety of topics, including some or all of the following:

  1. Vehicle coordinate systems
  2. Vehicle dynamics
  3. Map Coordinates: XY, LL, UTM, WGS, 
  4. Heading and Attitude Sensing: Magnetic, Rate sensors, Gyro (mechanical, fiber optic gyro (FOG), ring-laser gyro (RLG) ), and North-seeking gyros.
  5. Long-Baseline Acoustic Navigation.
  6. USBL
  7. Doppler
  8. INS 
  9. Loran
  10. GPS
  11. Terrain Relative Navigation
  12. Vision-Based Navigation
  13. Gravity-Based Navigation
  14. Acoustic Communication.
  15. Vehicle Control: Heading/speed control, dynamic positioning.
  16. Topics in Sonar.

This page was last updated on Friday, July 12, 2002 02:07:25 PM by Louis Whitcomb

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