Tyler Paine

Tyler Paine
MSE Student
70 Krieger Hall
[email protected]


I fixed some errors in the derivation of dynamics of underwater vehicles which were present in the original MSE thesis.  The changes are listed in the “Errata” section in the front matter.

Please find my updated  thesis here:


Please let me know if you find more errors, or find parts of the derivation of UUV dynamics confusing.   The intent is to publish the content in other chapters  separately, and those publications will include (hopefully) all the corrections and updates.   The dynamics derivation will likely remain as a chapter of this thesis, and I hope you find it useful.   I plan to keep it updated.


I submitted this thesis in May of 2018.  The original document can be found in the library here: