Aportacions realitzades al vehicle Guanay II AUV
[ANGLÈS] In recent decades there has been progress in the study of oceans, especially to exploit natural resources (fisheries and oil fields) and to study climate change and the impact of this on the various marine species and ecosystems. This has spawned a whole industry dedicated to satisfying the...
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| Tipo de recurso: | tesis de maestría |
| Fecha de publicación: | 2013 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | catalán |
| OAI Identifier: | oai:upcommons.upc.edu:2099.1/19145 |
| Acceso en línea: | https://hdl.handle.net/2099.1/19145 |
| Access Level: | acceso abierto |
| Palabra clave: | Submersibles Oceanography--Equipment and supplies Robots -- Programming Electronica oceanographic instrumentation navigation oceanography robotics Electrónica instrumentación oceanográfica navegación robótica Vehicles submergibles Oceanografia--Aparells i instruments Robots -- Programació Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Sumario: | [ANGLÈS] In recent decades there has been progress in the study of oceans, especially to exploit natural resources (fisheries and oil fields) and to study climate change and the impact of this on the various marine species and ecosystems. This has spawned a whole industry dedicated to satisfying the demands of maritime technology companies and researchers. This paper focusses on the AUV's, which can arrive in places you could not arrive any other way and are able to study environmental phenomena with a high temporal-spacing resolution. Several AUV's have been built with different specifications and features. Each of them has her own propulsion systems and/or management, according to the requirements desired. This project works on Guanay II AUV model designed and developed by SARTI group from UPC, which has been equipped with new systems and improvements in order to get a better vehicle, more maneuverable and easier operate in field missions. Each of the sections is one of the central issues improved or built. First, improves in software of the vehicle. The software is done using the code object-oriented programming called LabView. This code allows develop a complex visual environment control and monitoring with little time. However, after several field tests, it was found some aspects to improve, for example in control and viewing environment, more intuitive for the user, safer and a better procedure security. Also, new functions added due to the incorporation of new instruments on board. Second, improves in the turning radius of Guanay II. For turning, the vehicle uses two lateral engines. The old drivers only allowed to rotate the motor in one direction, this causes that the turning radius is more than 10 meters. In this paper, has been designed H-bridge control for lateral motors, so to make the turn, can be use one engine in directly and the other in reverse. Has been shown in field trials the great improvement since the vehicle has been rotated about its axis. Another important improvement is the built-in vehicle communications. There is a link on the vehicle, for long distance, via radio modem to transmit telemetry. This system has been supplemented with a new WiFi link. This gives direct access to PC-104 of the Guanay II, allowing correct or modify the software or easily download the stored data, such as laboratory and testing field. Also control system and power management battery has been improved. The vehicle previously had an external connector for connecting or disconnecting the battery which has been changed by a RF system. At the same time has been designed a system for external battery charging, to avoid opening the sealed cylinder and disassemble electronics ever time. Finally, new structural devices have been introduced to adjust buoyancy and ballast. |
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