碩士 / 國立中山大學 / 海下科技研究所 / 106 / Autonomous Underwater Vehicles (AUVs) are ideal for large-scale ocean surveys. In addition, surveys in areas hazardous or regions difficult to access with surface vessels are usually performed by using the AUVs. The Institute of Undersea Technology at National Sun Yat-sen University has been developing an AUV prototype since 2010. The AUV prototype, which was equipped with miniature thrusters, a depth sensor, an altimeter, and a magnetic compass, was built for developing
a general-purpose low-level controller and used as a testbed for evaluating control performance on auto altitude. The experimental results of auto altitude control demonstrated excellent tracking performance of the AUV prototype. Based on the knowledge and experience gained from the AUV prototype, a new AUV is currently under development. The new AUV is designed to serve as a testbed, which is capable of integrating different sensors and instruments for conducting specific experiments or tests such as sonar performance testing, underwater laser-line seafloor scanning, and navigation performance testing. The objective of this study is to design the hardware architecture of the AUV testbed which consists of a main control processor, power supply system, communication system, propulsion system, and mechanical layout configuration. The sensors integrated into the AUV testbed include a depth meter, an altimeter, a gyro, a Doppler velocity log, an acoustic modem, a GPS/RF module, an USBL transponder. Compact layouts for accommodating the main controller/thruster drivers/communication components in waterproof housings are designed. In addition, junction boxes are designed for accessing sensors connected to the system with serial or Ethernet port, providing great flexibility to replace various sensors for conducting different underwater tests. The frame structure of the vehicle is also designed for accommodating all system components including sensors, waterproof housings, thrusters, the viewing system, buoyancy material, and payload, making the vertical separation of the centers of buoyancy and gravity as far as possible for achieving high submerged stability.
| Identifer | oai:union.ndltd.org:TW/106NSYS5281002 |
| Date | January 2018 |
| Creators | Yu-ming Su, 蘇于銘 |
| Contributors | Hsin-Hung Chen, 陳信宏 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 139 |
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