The Bridge - Issue 3, 2023 - 30

Graduate Research SP
TLIGHT
Matthew Coleman
Theta Delta
Naval Postgraduate School, M.S. Student in Electrical Engineering
RESEARCH TOPIC
Modeling and Implementation of Spherical UUV Platform Control System for
Littoral and Confined Space Operations
Unmanned underwater vehicles (UUVs) offer a unique opportunity to safely
explore areas too dangerous for human divers. The purpose of this research was
to model and implement a robust closed-loop control method for the Wreck
Interior Exploration Vehicle (WIEVLE), a novel UUV conceptualized, built, and tested
exclusively on the Naval Postgraduate School campus. This work builds on previous
open-loop testing and experimentation by a capstone Systems Engineering team
of students in 2020. Expanding on their work, a MATLAB/Simulink simulation
was created to test the proposed control scheme. Further, an implementation
was attempted using a drone autopilot adapted for underwater use. In the future,
additional components can be integrated with the COTS solution for use. Also, a
Robot Operating System (ROS) network architecture can be implemented through
an additional Simulink controller and sent to Gazebo simulation software to be
tested on a model WIEVLE, shifting the vehicle classification from a UUV to an
Autonomous Underwater Vehicle, able to follow position commands and explore
environments autonomously. Once the project has matured to physical testing,
the ROS network architecture will remain valid, and the Gazebo simulation can be
substituted with a physical WIEVLE.
(1) Possible Commercial-off-the-shelf
solution adapting a Pixhawk Autopilot
to underwater use via ARDUSUB.
(2) Physical WIEVLE Disassembled.
(3) WIEVLE SolidWorks Model.
LEARN MORE
www.navy.mil/Press-Office/News-Stories/Article/3236018/fellowship-connects-nps-information-warfare-students-to-niwc-pacific-needs/
MORE FOCUS ON STUDENTS!
* Access To Funds:
* ComSoc Student
Travel Grants
* ComSoc Student
Competition
* Scholarships and Awards
Join Now: comsoc.org/membership
THE BRIDGE
* Networking Opportunities
With Experts, Practitioners
and Academics
* IEEE ComSoc School Series
* Local Student Branch
Chapter, Chapter, Section
and Region activities
* Student Membership is
only $1 USD annually

https://www.navy.mil/Press-Office/News-Stories/Article/3236018/fellowship-connects-nps-information-warfare-students-to-niwc-pacific-needs/ https://www.comsoc.org/membership

The Bridge - Issue 3, 2023

Table of Contents for the Digital Edition of The Bridge - Issue 3, 2023