碩士 / 國立成功大學 / 系統及船舶機電工程學系碩博士班 / 101 / To develop the Power/Signal Management System (PSMS) which assist Multi-mode ROV in operating at complex ocean environment. Include six parts: shore-end system, the main structure, power system, propulsion system, communication system and sensors, while the last five parts called depressor. System architecture use modular design to achieve easy portable, easy expansion and convenient replace or repair.
Currently, acoustics-based locating is the main-stream method in underwater environment. However we consider the high cost and inconvenient setting, this study develop a locating method by image recognition. It combined light-source carrier tracking and color-image attenuation calculation to get relative position between depressor and target. The control system uses the fuzzy control method due to the difficulty of establishing a comprehensive mathematical model of the control system in complex underwater environment.
The system tests in towing tank include laying the ROV, power/signal transmission and locating test. To make sure that PSMS is reliable with helping ROV for underwater exploration. And the test verifies the feasibility of image recognition and color-image attenuation calculation apply to underwater tracking and locating.
| Identifer | oai:union.ndltd.org:TW/101NCKU5345016 |
| Date | January 2013 |
| Creators | Chia-KaiLin, 林家凱 |
| Contributors | Chung-Hung Lin, 林忠宏 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 80 |
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