碩士 / 國立臺灣科技大學 / 機械工程系 / 95 / Small-scale underwater vehicles have been mainly developed for underwater exploration or ecological observation and tracking. As the size goes down to meso-scale, due to the limited space, the vehicles have very limited functions and stay wired powered and controlled. In this research, a remote-controlled maneuverable meso-scale underwater vehicle with vision capability was developed. The vehicle equipped a micro wireless video camera and four rotors— two for propulsion and two for depth control. By transmitting the underwater image to the operator, the vehicle can have better movement control and observe the target objects.
The feasibility of system integration and fabrication were investigated. First of all, the size of the meso-scale underwater vehicle was limited within 150mm×70mm×70mm. Suitable micro wireless video camera, motor, single chip, and power source were selected. The I/O circuits of R/C (Radio Remote Control) module were then designed and fabricated. According to the size of selected components, modules, and designed internal circuits, the external shape of the vehicle was determined with the help of FLUENT software for simulation and analysis. Rotors and hull components of the meso-scale underwater vehicle prototype were manufactured by SDM (Shape Deposition Manufacturing) process, a layered manufacturing technique. Three-axis CNC machine was utilized in SDM to define the geometry of each layer after polymer part material or wax support material was cast. At last, the vehicle was assembled and tested to perform moving forward/ backward, turning right/left, climbing/diving, and observing the target.
This research has successfully developed a remote-controlled meso-scale underwater vehicle with vision capability and maneuverability. The assembled prototype is 14.2cm×7.4cm×5.0cm in dimension and weights 233g. The system integration is applicable to other similar scale vehicles.
| Identifer | oai:union.ndltd.org:TW/095NTUS5489127 |
| Date | January 2007 |
| Creators | Rui-Dong Chang, 張瑞東 |
| Contributors | Yih-Lin Cheng, 鄭逸琳 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 136 |
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