Underwater Tool Design for Depth and Direction Control Applications
Journal Title: Gazi Üniversitesi Fen Bilimleri Dergisi Part C: Tasarım ve Teknoloji - Year 2015, Vol 3, Issue 1
Abstract
Recently, unmanned underwater vehicles (uuvs) are operated in a wide range areas such as observations of underwater movements, determination of salty water layers, demining, maintenance and expertise operations of ship bilges, imaging in dangerous depths, investigation of sinks, execution of some military tasks, regular inspection and mapping of environmental pollution in receiving water bodies such as lake, freshwater resources. This study will contribute to developments of underwater vehicle technology in terms of control methods. Remotely or autonomously operated underwater vehicles (ROV,AUV) should handle basic dynamical behaviors such as standing to a certain angle, diving to a certain depth, docking and cruising. These behaivors are expected to be successful under distortional effects such as underwater flows. For this purpose an experimental underwater vehicle on which desired tests are performed is designed and realized. An experimental tank with distortion effects, on which the vehicle runs is set. Depth is sensed by pressure sensor where steering is determined by an electronic compass. Movements are actuated by 4 thrusters. The vehicle is remotely operated through a cable. The algorithms for the desired movements are established in the Control Programme Interface. Designing stages of the platform is given in the study. The platform will enable students to a portable training set wherein the control method development, software, card design, microcontroller, signal processing, communications, sensors will have applied interactively.
Authors and Affiliations
Mehmet YAKUT, Serhat YILMAZ, Sibel İNCE, Murat OTÇU, Engin AYGÜN
Keywords
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