A Hydrodynamic Analysis And Conceptual Design Study For An External Storage Enclosure System For Unmanned Underwater Vehicles

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A Hydrodynamic Analysis and Conceptual Design Study for an External Storage Enclosure System for Unmanned Underwater Vehicles

Author : Matthew Warren Hait
Publisher :
ISBN 13 :
Total Pages : 253 pages
Book Rating : 4.:/5 (132 download)

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Book Synopsis A Hydrodynamic Analysis and Conceptual Design Study for an External Storage Enclosure System for Unmanned Underwater Vehicles by : Matthew Warren Hait

Download or read book A Hydrodynamic Analysis and Conceptual Design Study for an External Storage Enclosure System for Unmanned Underwater Vehicles written by Matthew Warren Hait and published by . This book was released on 2021 with total page 253 pages. Available in PDF, EPUB and Kindle. Book excerpt: Medium-sized Unmanned Underwater Vehicles (UUV) are limited in their scope of operations, range, and endurance by their relatively small energy storage capacity. The majority of commercially available medium-sized UUVs are incapable of mission operations with durations longer than 30 hours, many unable to achieve 24 hours. The complex integration of control and instrumentation equipment internal to the UUV has a detrimental impact on the location, type and number of sensors installed within UUVs of this size, and are often at the cost of additional energy storage capabilities. This research investigates the hydrodynamic resistance and powering requirements needed to support a conceptually designed rigid multi-bodied UUV built around DARPA's SUBOFF hull from, the goal being to develop new and innovative low-cost methods of modifying commercially available UUVs to enhance range, payload capabilities and sensory performance through the use of novel external enclosure systems. This thesis investigates the impact on the UUV's drag by optimizing the location and size of the spheroidal shaped external mounted equipment bays such that resistance is minimized. Enclosures are capable of extending the sensor and payload capacity or increasing the onboard energy storage via detachable store pods. Energy storage methods, total energy capacity, and the impact of the overall system on range are investigated utilizing the constrained weight and volume of a 3000-meter-deep capable pressure hull. Performance is predicted via Computational Fluid Dynamics using OpenFOAM and is validated using Experimental Fluid Dynamics via model towing resistance. Structural strength was determined by Finite Element Analysis.

Intelligent Robotics and Applications

Author : Honghai Liu
Publisher : Springer Nature
ISBN 13 : 303113835X
Total Pages : 808 pages
Book Rating : 4.0/5 (311 download)

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Book Synopsis Intelligent Robotics and Applications by : Honghai Liu

Download or read book Intelligent Robotics and Applications written by Honghai Liu and published by Springer Nature. This book was released on 2022-08-03 with total page 808 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 4-volume set LNAI 13455 - 13458 constitutes the proceedings of the 15th International Conference on Intelligent Robotics and Applications, ICIRA 2022, which took place in Harbin China, during August 2022. The 284 papers included in these proceedings were carefully reviewed and selected from 442 submissions. They were organized in topical sections as follows: Robotics, Mechatronics, Applications, Robotic Machining, Medical Engineering, Soft and Hybrid Robots, Human-robot Collaboration, Machine Intelligence, and Human Robot Interaction.

Development and Validation of a Conceptual Design Program for Unmanned Underwater Vehicles

Author : Alexander Walter Laun (Ensign.)
Publisher :
ISBN 13 :
Total Pages : 76 pages
Book Rating : 4.:/5 (858 download)

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Book Synopsis Development and Validation of a Conceptual Design Program for Unmanned Underwater Vehicles by : Alexander Walter Laun (Ensign.)

Download or read book Development and Validation of a Conceptual Design Program for Unmanned Underwater Vehicles written by Alexander Walter Laun (Ensign.) and published by . This book was released on 2013 with total page 76 pages. Available in PDF, EPUB and Kindle. Book excerpt: With a renewed focus on the Asia-Pacific region, the United States Navy will increasingly rely on high-endurance unmanned underwater vehicles (UUVs) to support successful operations in a challenging threat environment. Undoubtedly, this naval strategy will necessitate versatile UUV systems that fulfill a broad spectrum of customer-generated requirements. This thesis presents a unique approach to the conceptual design process for UUVs, thereby allowing strategic decision-makers to rapidly explore a given design space. The proposed MA TLAB-based conceptual design program features five primary modules: a mission module, a hull module, a resistance module, a battery module, and a pressure vessel module. The final concept design results from an iterative process that considers the displacement, interior volume, and exterior volume of the total UUV system. To validate the proposed design algorithm, the author applied the best practices of modern naval architecture, marine engineering, ocean engineering, systems engineering, and submersible design. Model test data and computational fluid dynamics (CFD) software were used to validate the empirical equations selected for the resistance module. The pressure vessel module, including a genetic algorithm to generate viable scantlings, was validated by a consideration of manually optimized pressure vessel designs. Ultimately, this thesis demonstrates the sufficiency, reliability, and versatility of the proposed conceptual design program for UUVs.

Computational Hydrodynamics and Control Modeling for Autonomous Underwater Vehicles

Author :
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (946 download)

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Book Synopsis Computational Hydrodynamics and Control Modeling for Autonomous Underwater Vehicles by :

Download or read book Computational Hydrodynamics and Control Modeling for Autonomous Underwater Vehicles written by and published by . This book was released on 2003 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The long term objective of the program is to develop predictive technologies to support virtual design and evaluation of underwater vehicles systems. CFD technologies will be used to protect hydrodynamic models for AUVs and those models will be coupled with control system design and modeling tools to allow vehicle conceptual design to be evaluated within the context of a realistic mission. The objectives of this effort were to compare the forces and moments acting on a maneuvering AUV predicted by computational fluid dynamics (CFD) code with similar data collected aboard an operational AUV. In particular, the multi-block Navier-Stokes flow solver UNCLE (Unsteady Computational of Field Equations) was used in this effort.

A Conceptual Design of a Propulsion System for an Autonomous Underwater Vehicle

Author : Gerald Sedor
Publisher :
ISBN 13 :
Total Pages : 470 pages
Book Rating : 4.:/5 (221 download)

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Book Synopsis A Conceptual Design of a Propulsion System for an Autonomous Underwater Vehicle by : Gerald Sedor

Download or read book A Conceptual Design of a Propulsion System for an Autonomous Underwater Vehicle written by Gerald Sedor and published by . This book was released on 1989 with total page 470 pages. Available in PDF, EPUB and Kindle. Book excerpt:

A Conceptual Design Study of a Hovering System Controller for an Autonomous Underwater Vehicle

Author : Chris A. Thompson
Publisher :
ISBN 13 :
Total Pages : 73 pages
Book Rating : 4.:/5 (227 download)

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Book Synopsis A Conceptual Design Study of a Hovering System Controller for an Autonomous Underwater Vehicle by : Chris A. Thompson

Download or read book A Conceptual Design Study of a Hovering System Controller for an Autonomous Underwater Vehicle written by Chris A. Thompson and published by . This book was released on 1987 with total page 73 pages. Available in PDF, EPUB and Kindle. Book excerpt: An Autonomous Underwater Vehicle (AUV) will have many operational scenarios that will include a transition from cruise to hover over a fixed position in the ocean. While hovering, the AUV must be able to balance the current induced forces a difficult task to accomplish automatically. The magnitude of these forces induced on an example AUV have been estimated for currents from 4 m/s to 1 m/s with the incident current varying from 0 deg to 360 deg. Using the estimated forces, different configurations of thrusters were investigated and the power required for different thruster configurations compared. Three thrusters (two longitudinal, one lateral) can balance the forces exactly and a unique solution was evaluated. With redundant thrusters, more economical schemes can developed using force allocation logic with minimum norm solutions. System horsepower requirements have been estimated and a conceptual model based controller methodology has been proposed. The force allocation logic proposed will now allow for a smooth transition from cruise to hover mode positions. Keywords: Theses; Stationkeeping.

Hydrodynamic Interactions of an Unmanned Underwater Vehicle Operating in Close Proximity to a Moving Submarine

Author : Brady M. Hammond
Publisher :
ISBN 13 :
Total Pages : 98 pages
Book Rating : 4.:/5 (132 download)

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Book Synopsis Hydrodynamic Interactions of an Unmanned Underwater Vehicle Operating in Close Proximity to a Moving Submarine by : Brady M. Hammond

Download or read book Hydrodynamic Interactions of an Unmanned Underwater Vehicle Operating in Close Proximity to a Moving Submarine written by Brady M. Hammond and published by . This book was released on 2021 with total page 98 pages. Available in PDF, EPUB and Kindle. Book excerpt: While the United States Navy has developed a strong arsenal of tools to model the hydrodynamic forces and moments of different vehicles in different conditions, they do not have a model that enables them to understand the forces and moments that an Unmanned Underwater Vehicle (UUV) experiences when operating in close proximity to a moving submarine as a result of the interactions between their potential fields and wakes. The launch and recovery of UUVs from submarines is very challenging because these hydrodynamic interactions make UUVs hard to control near submarines and my even cause collisions between the two vehicles. The mapping of these forces and moments is vital to simulate the motion of the vehicles and enable developers to create UUV control and autonomy systems that are adaptive to these hydrodynamic interactions to further enable UUV launch and recovery. Due to the complex nature of the hydrodynamic interactions, this study used computational fluid dynamics to expand the current understanding of the forces and moments between these two vehicles. A Gaussian process regression model was used to perform an optimal experimental design and map the resulting hydrodynamic interactions based on the UUVs longitudinal position, lateral position, speed, heading angle, UUV diameter, and UUV length. The model was validated using an out of sampling method and was shown to be capable of accurately predicting the hydrodynamic interactions between a submarine and UUV.

The Operation of Autonomous Underwater Vehicles

Author : Chris Carleton
Publisher :
ISBN 13 :
Total Pages : 52 pages
Book Rating : 4.:/5 (318 download)

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Book Synopsis The Operation of Autonomous Underwater Vehicles by : Chris Carleton

Download or read book The Operation of Autonomous Underwater Vehicles written by Chris Carleton and published by . This book was released on 2000 with total page 52 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Deeply Submerged Hydrodynamic, Control, Propulsion, and Dynamic Change Models for Underwater Vehicle Simulation

Author : George D. Watt
Publisher :
ISBN 13 :
Total Pages : 80 pages
Book Rating : 4.:/5 (122 download)

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Book Synopsis Deeply Submerged Hydrodynamic, Control, Propulsion, and Dynamic Change Models for Underwater Vehicle Simulation by : George D. Watt

Download or read book Deeply Submerged Hydrodynamic, Control, Propulsion, and Dynamic Change Models for Underwater Vehicle Simulation written by George D. Watt and published by . This book was released on 2019 with total page 80 pages. Available in PDF, EPUB and Kindle. Book excerpt:

A Systems Architecture Approach to the Design of Autonomous Underwater Vehicles and Their Servicing Platforms

Author : Brendan Kelly Horton
Publisher :
ISBN 13 :
Total Pages : 200 pages
Book Rating : 4.:/5 (126 download)

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Book Synopsis A Systems Architecture Approach to the Design of Autonomous Underwater Vehicles and Their Servicing Platforms by : Brendan Kelly Horton

Download or read book A Systems Architecture Approach to the Design of Autonomous Underwater Vehicles and Their Servicing Platforms written by Brendan Kelly Horton and published by . This book was released on 2020 with total page 200 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous underwater vehicles hold great potential in the realms of industry, military, scientific, and personal usage. The applications of intelligently applied autonomous functionality could improve work performed on subsea infrastructure, commercial shipping lane maintenance, canal and channel observation, search and rescue, military applications, as well as general scientific research. Given such potential, and supposing that existing technological barriers to progress could be overcome, what could a potential system architecture of future autonomous underwater vehicles look like? Fundamentally this thesis asks: “could novel architectures of AUV systems – specifically pairing AUVs to remote service platforms – lead to significant performance increases?” In approaching this subject, a specific case study is leveraged where autonomous underwater vehicles were extensively used: the search for Malaysian Air flight 370. This specific mission profile has been extensively documented by others laying a comprehensive framework. It represents the single largest search and rescue operation ever performed. Within this thesis, whole-system performance metrics of this search and rescue operation are compared against calculated performance metrics of systematically generated possible architectures. In decomposing the system into its functional elements, a deterministic evaluation is executed followed by a probabilistic examination of the system as modeled. The results of the probabilistic model are also interpreted via a Pareto ranking methodology where Pareto surfaces are identified in multidimensional tradespaces. These component cases which comprise the Pareto surface are subsequently removed from the dataset, and the process is run again. This iterative approach demonstrated that the top ten performing architectures were comprised entirely out of architectures with either one or four AUVs. The outputs of these models are subsequently compared against the baseline system used in the search for MH370. Following the analysis, a major fault was identified in the foundations of all of the models surrounding a figure of merit wherein the time to the seafloor was calculated for all architectures. All of the top ten performing design vectors – systems which contained one or four AUVs – were unchanged due to this error. Architectures which were affected by this error -- systems with more than four AUVs -- were impacted negatively. Several methods of re-imagining the error are presented herein as complexities that are inherent in the system, which are not handled by these models. These new emergent complexities were present in the system prior to the model construction, but unaccounted for. Discovery of this faulty assumption laid bare several architectural decisions which are unexplored in this thesis, but could provide the foundation for future work in this space. The outcome of these modeling efforts suggests that pairing an autonomous underwater vehicle with an autonomous service platform can result in increases in all performance metrics. Specific metrics which are improved include daily search area rate, calendar mission completion time, and total project cost. This improvement is specifically calibrated to the case study of MH370, but the performance metrics themselves are not exclusively applicable to search and rescue operations. This model indicates that such a system could accomplish the same mission in less time for half the cost. This thesis presents a vision of future autonomous underwater vehicle systems in which daily operational time, search area rates, calendar mission completion times, and total system costs can all be improved relative to the existing standards. Such improvements are equally applicable to commercial, industrial, military, civilian, and scientific endeavors in which autonomous underwater vehicles could be a potential tool.

Autonomous Underwater Vehicle Design Considering Energy Source Selection and Hydrodynamics

Author : Kieran Thomas Rutherford
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (16 download)

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Book Synopsis Autonomous Underwater Vehicle Design Considering Energy Source Selection and Hydrodynamics by : Kieran Thomas Rutherford

Download or read book Autonomous Underwater Vehicle Design Considering Energy Source Selection and Hydrodynamics written by Kieran Thomas Rutherford and published by . This book was released on 2009 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Six Degree of Freedom Vehicle Controller Design for the Operation of an Unmanned Underwater Vehicle in a Shallow Water Environment

Author : Michael F. Hajosy
Publisher :
ISBN 13 :
Total Pages : 106 pages
Book Rating : 4.:/5 (318 download)

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Book Synopsis Six Degree of Freedom Vehicle Controller Design for the Operation of an Unmanned Underwater Vehicle in a Shallow Water Environment by : Michael F. Hajosy

Download or read book Six Degree of Freedom Vehicle Controller Design for the Operation of an Unmanned Underwater Vehicle in a Shallow Water Environment written by Michael F. Hajosy and published by . This book was released on 1994 with total page 106 pages. Available in PDF, EPUB and Kindle. Book excerpt: Closed loop control of an unmanned underwater vehicle (UUV) in the dynamically difficult environment of shallow water requires explicit consideration of the highly coupled nature of the governing non-linear equations of motion. This coupling between an UUV's six degrees of freedom (6 DOF) is particularly important when attempting complex maneuvers such as coordinated turns (e.g. simultaneous dive and heading change) or vehicle hovering in such an environment. Given the parameter and modelling uncertainties endemic to these equations of motion, then a robust 6 DOF sliding controller employing six-element vector sliding surfaces provides a framework in which satisfactory UUV control can be achieved in shallow water. The vehicle equations of motion are developed and cast in a form that is amenable to non-linear sliding control design. A complete 6 DOF sliding controller with vector sliding surfaces is then formulated via a Lyapunov-like analysis. The sliding controller is then modified via a weighted least-squares approach to work with a particular UUV which has only 4 DOF control authority available. The modified controller is shown to work well for a variety of commanded UUV maneuvers in the presence of significant environmental disturbances and vehicle hydrodynamic parameter uncertainties via numerical simulation. Use of the signals generated by the controller are shown to be of utility in vehicle buoyancy control.

Dynamics and Control of Autonomous Underwater Vehicles with Internal Actuators

Author : Bo Li
Publisher :
ISBN 13 :
Total Pages : 262 pages
Book Rating : 4.:/5 (974 download)

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Book Synopsis Dynamics and Control of Autonomous Underwater Vehicles with Internal Actuators by : Bo Li

Download or read book Dynamics and Control of Autonomous Underwater Vehicles with Internal Actuators written by Bo Li and published by . This book was released on 2016 with total page 262 pages. Available in PDF, EPUB and Kindle. Book excerpt: This dissertation concerns the dynamics and control of an autonomous underwater vehicle (AUV) which uses internal actuators to stabilize its horizontal plane motion. The demand for high-performance AUVs are growing in the eld of ocean engineering due to increasing activities in ocean exploration and research. New generations of AUVs are expected to operate in harsh and complex ocean environments. We propose a hybrid design of an underwater vehicle which uses internal actuators instead of control surfaces to steer. When operating at low speeds or in relatively strong ocean currents, the performances of control surfaces will degrade. Internal actuators work independent of the relative flows, thus improving the maneuvering performance of the vehicle. We develop the mathematical model which describes the motion of an underwater vehicle in ocean currents from first principles. The equations of motion of a body-fluid dynamical system in an ideal fluid are derived using both Newton-Euler and Lagrangian formulations. The viscous effects of a real fluid are considered separately. We use a REMUS 100 AUV as the research model, and conduct CFD simulations to compute the viscous hydrodynamic coefficients with ANSYS Fluent. The simulation results show that the horizontal-plane motion of the vehicle is inherently unstable. The yaw moment exerted by the relative flow is destabilizing. The open-loop stabilities of the horizontal-plane motion of the vehicle in both ideal and real uid are analyzed. In particular, the effects of a roll torque and a moving mass on the horizontal-plane motion are studied. The results illustrate that both the position and number of equilibrium points of the dynamical system are prone to the magnitude of the roll torque and the lateral position of the moving mass. We propose the design of using an internal moving mass to stabilize the horizontal-plane motion of the REMUS 100 AUV. A linear quadratic regulator (LQR) is designed to take advantage of both the linear momentum and lateral position of the internal moving mass to stabilize the heading angle of the vehicle. Alternatively, we introduce a tunnel thruster to the design, and use backstepping and Lyapunov redesign techniques to derive a nonlinear feedback control law to achieve autopilot. The coupling effects between the closed-loop horizontal-plane and vertical-plane motions are also analyzed.

A Computer Assisted Conceptual Design Procedure for Underwater Vehicles

Author : N. P. Kyrtatos
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (131 download)

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Book Synopsis A Computer Assisted Conceptual Design Procedure for Underwater Vehicles by : N. P. Kyrtatos

Download or read book A Computer Assisted Conceptual Design Procedure for Underwater Vehicles written by N. P. Kyrtatos and published by . This book was released on 1993 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

The Hydrodynamics Study on Autonomous Underwater Vehicle (auv)

Author : Mohamad Hanifah Abd Ghani
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (12 download)

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Book Synopsis The Hydrodynamics Study on Autonomous Underwater Vehicle (auv) by : Mohamad Hanifah Abd Ghani

Download or read book The Hydrodynamics Study on Autonomous Underwater Vehicle (auv) written by Mohamad Hanifah Abd Ghani and published by . This book was released on 2009 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Experimental Hydrodynamics and Simulation of Manoeuvring of an Axisymmetric Underwater Vehicle

Author : Farhood Azarsina
Publisher :
ISBN 13 :
Total Pages : 456 pages
Book Rating : 4.:/5 (626 download)

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Book Synopsis Experimental Hydrodynamics and Simulation of Manoeuvring of an Axisymmetric Underwater Vehicle by : Farhood Azarsina

Download or read book Experimental Hydrodynamics and Simulation of Manoeuvring of an Axisymmetric Underwater Vehicle written by Farhood Azarsina and published by . This book was released on 2009 with total page 456 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Control Configured Design for Smooth, Highly-maneuverable, Underwater Vehicles

Author : Anirban Mazumdar
Publisher :
ISBN 13 :
Total Pages : 172 pages
Book Rating : 4.:/5 (933 download)

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Book Synopsis Control Configured Design for Smooth, Highly-maneuverable, Underwater Vehicles by : Anirban Mazumdar

Download or read book Control Configured Design for Smooth, Highly-maneuverable, Underwater Vehicles written by Anirban Mazumdar and published by . This book was released on 2013 with total page 172 pages. Available in PDF, EPUB and Kindle. Book excerpt: We describe the development of a new type of robotic underwater vehicle designed specifically for the inspection of critical infrastructures such as boiling water reactor nuclear power plants. These applications require vehicles that can access confined areas, maneuver precisely, and move easily in several directions. In addition, external appendages such as fins or propellers should be avoided in order to reduce the risk of damage through collisions. We propose a smooth, spheroid shaped vehicle that uses an internal propulsion system to generate and direct water-jets for propulsion and maneuvering. Drawing inspiration from aeronautics and ocean engineering, we treat this system as a control-configured vehicle (CCV) and design the system specifically for superior control performance. Like many modern CCV aircraft, our robot is designed to be open loop unstable in order to avoid bulky external stabilizers. We refer to this new type vehicle as a Control Configured Spheroidal Vehicle (CCSV). An integrated pump-valve maneuvering system is developed by combining powerful centrifugal pumps with compact Coanda-effect valves. This system is used to design and construct a compact, multi-degree-of-freedom (DOF) prototype vehicle. To achieve precision orientation control, high speed valve switching is exploited using a unique Pulse Width Modulation (PWM) control scheme. Dead zones and other complex nonlinear dynamics of traditional propeller thrusters and water jet pumps are avoided with use of integrated pump-valve control. Three simple control algorithms for coordinating valve switching and pump output are presented and are verified through experiments. Planar control is complicated by the presence of hydrodynamic instability. A dynamic control system that augments stability and achieves high maneuverability is outlined and implemented. A nonlinear hydrodynamic model is formulated, and its linearized dynamics are analyzed to attain insights into how physical design parameters, such as jet direction and body shape, influence controllability and stability. The integrated design method is implemented and shown to achieve high maneuverability and stability. Finally, this thesis concludes with a discussion on broader CCSV design approaches. The vehicle open loop dynamics are studied and a plant zero is shown to significantly influence closed loop performance. Jet angle and vehicle shape are explored through the lens of optimizing this plant zero location, and design recommendations are presented for both ideal and practical situations. These lessons can be used to design new CCSV systems for a variety of scales and applications.