Nina Mahmoudian

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This paper describes an underwater glider motion control system intended to enhance locomotive efficiency by reducing the energy expended by vehicle guidance. In previous work, the authors derived an approximate analytical expression for steady turning motion by applying regular perturbation theory to a realistic vehicle model. The analysis results(More)
(ABSTRACT) Underwater gliders are highly efficient, winged autonomous underwater vehicles that propel themselves by modifying their buoyancy and their center of mass. The center of mass is controlled by a set of servo-actuators which move one or more internal masses relative to the vehicle's frame. Underwater gliders are so efficient because they spend most(More)
This article compares the three-dimensional angles of the ankle during step turn and straight walking. We used an infrared camera system (Qualisys Oqus ®) to track the trajectories and angles of the foot and leg at different stages of the gait. The range of motion (ROM) of the ankle during stance periods was estimated for both straight step and step turn.(More)
Current off-the-shelf underwater gliders (UGs) are large, heavy, expensive, and difficult to modify, both in hardware and software, which limits their use for multivehicle coordination experiments and deployment in highrisk environments. To address these challenges, the Nonlinear and Autonomous Systems Laboratory (NAS Lab) at Michigan Tech has designed two(More)
An underwater glider named ROUGHIE (Research Oriented Underwater Glider for Hands-on Investigative Engineering) is designed and manufactured to provide a test platform and framework for experimental underwater automation. This paper presents an efficient multi-level motion controller that can be used to enhance underwater glider control systems or easily(More)
Buoyancy-driven underwater gliders (UGs) have proven to be quite effective for long-range, long-term oceanographic sampling. However, current off-the-shelf UGs are large, heavy, expensive, and difficult to modify, both in hardware and software, which prevents their frequent use for lake observations and limits researchers' ability to perform multi-vehicle(More)
Tbis paper presents an architecture for autonomous mobile microgrids to ensure robustness and scalability of such systems for power distribution applications. A schema for development of mobile microgrids is presented based on the feasibility and experimental studies performed using ground robots for establishing microgrids. A microgrid system built with(More)