Dynamics and control of multi-tethered buoyant platforms

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My research group studies the dynamics and control of aerial and underwater vehicles; both untethered and tethered. We have investigated systems as varied as towed underwater vehicles, a novel design for a radio telescope, and a paddling underwater robot. We construct computer simulations of these systems and confirm those simulations through experiment. This then allows the simulations to be used to improve the system design. Our interest in tethered systems and structures arises because they are widely used and known to have desirable characteristics such as high payload to weight ratios. In the structural domain, they are known as 'tension structures' and are used in the design of buildings, roofs and towers. More recently, they have attracted the interest of researchers and designers of controllable mechanisms. In particular, when the cable (tether) lengths of the system are actively controlled using winches, they can be used as robots, cranes, and telescope mechanisms. These sytems become especially interesting when multiple cables are used together to stabilize or control a platform. Often, this platform is buoyant, such as in the case of an aerostat or an offshore oil platform.