Nomoto Indices for Constant-Depth Zigzag Manoeuvres of an Autonomous Underwater Vehicle
Why this work is in the frame
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Bibliographic record
Abstract
A two-dimensional simulation code is used to study the characteristics of constant-depth zigzag manoeuvres of the axisymmetric autonomous underwater vehicle (AUV) MUN Explorer. Sea trials data for several manoeuvres with the AUV have been reported during the past four years; however, to obtain a more complete understanding of the vehicle's hydrodynamics, additional towing tank tests and computer simulation were performed. The present work, based on the towing tank test results and sea-trials data, utilizes computer simulations to predict the performance of the MUN Explorer AUV during horizontal zigzag manoeuvres. Next, the Nomoto indices for this AUV during constant-depth zigzag manoeuvres are estimated using the simulation results, and, then, Nomoto's first-order model for the rate of turn of the vehicle during horizontal zigzag manoeuvres in response to a square-wave input for the rudder deflection angle is analytically solved. The paper investigates the validity of the simplified yaw equation to predict a zigzag manoeuvre. Results of this research are a first step to understand the details of zigzag manoeuvres of an AUV such as duration of the first execute, yaw-checking ability, and duration of the overshoot.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it