碩士 / 國立中山大學 / 海下科技研究所 / 106 / Tether management system (TMS) is the most common launch and recovery
system for work class remotely operated vehicles (ROVs). But with the heavy weight
of a TMS, A-frames or cranks onboard a small vessel are difficult to handle its launch
and recovery because of limited lift capacity. In addition, the winch in a TMS requires
speed and tension control and water-proof slip ring. Instead of a TMS, some
ROVs are deployed with a depressor that dangles at the end of an umbilical while
being connected to the ROV via a tether, thereby decoupling the ROV from motion
of the surface vessel. Compared with a TMS, a depressor in combination with
an ROV is particularly ideal for small vessel operations. Under the support of the
National Energy Program (NEP), the Institute of Undersea Technology at National
Sun Yat-sen University has developed deep-towed vehicles since 2012, including the
Fiber-optical Instrumentation Towed System (FITS). The FITS has been successfully
operated on the R/V Ocean Researcher III, and it is ideally to act as a depressor
in combination with a mobile underwater vehicle for deep sea observation and sampling
operated on a relatively small vessel. Therefore, the objective of this study
was to design the hardware systems of a deep-sea mobile vehicle that can be integrated
with the FITS, including communications, power and telemetry, sensors
and lighting, and vehicle geometry and stability. Sensors and instruments fitted
with the vehicle include a depth sensor, an altimeter, a gyro compass, cameras,
LED lights, and a pan/tilt unit. Compact layouts for accommodating the main
controller/thruster drivers/communication components in waterproof housings are
designed. 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. We also designed a power switching circuit
for ensuring operational correction and safety of the thruster drivers. To avoid the
uncontrolled thruster actuation when the communication failed during operation, a
watchdog monitoring system was designed to turn off the thrusters when the communication
link fails.
| Identifer | oai:union.ndltd.org:TW/106NSYS5281005 |
| Date | January 2018 |
| Creators | Pei-cheng Wu, 吳培正 |
| 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 | 132 |
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