Konstrukcija pomorskog robota

Marković, Milan (2017) Konstrukcija pomorskog robota. = Design of marine robot. Master's thesis (Bologna) , Sveučilište u Zagrebu, Fakultet strojarstva i brodogradnje, UNSPECIFIED. Mentor: Crneković, Mladen.

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Abstract (Croatian)

SCUBA(self-contained underwater breathing apparatus) ronjenje, bilo profesionalno ili rekreativno, još uvijek predstavlja jednu od najopasnijih aktivnosti za čovjeka. Opasnosti poput barotraume, dekompresijske bolesti, trovanja kisikom, dušične narkoze, kvara na opremi ili ostale opasnosti koje proizlaze iz podvodne okoline često se nadilaze ronjenjem u paru kako bi se omogućila suradnja pod vodom i eventualna pomoć s opremom, navigacijom ili obraćanjem pozornosti na aktivnosti partnera u ronjenju. Ovim pristupom se često mogu izbjeći ozbiljne posljedice koje znaju proizaći iz ronjenja, poput teških bolesti, ozljeda ili u krajnjem slučaju čak i smrti. U radu će biti opisana konstrukcija autonomnog pomorskog robotskog sustava razvijenog u okviru europskog FP7 projekta „CADDY – Cognitive Autonomous Diving Buddy“ koji može zamijeniti ljudskog partnera – ronioca. Sustav se temelji na tri agenta, dva podvodna koje predstavljaju autonomno podvodno vozilo BUDDY – AUV te podvodno tablet računalo za ronioca i jednog površinskog koji predstavlja autonomno površinsko vozilo PlaDyPOS – ASV. Naglasak ovog rada bit će na konstrukciji elektroničkih i mehaničkih sustava navedenih agenata, bit će opisana osnovna načela upravljanja primijenjena na navedene robote, prikazana integracija komercijalno dostupnih akustičkih, inercijalnih te optičkih senzora u sustav i njegova sposobnost za simbiotsko funkcioniranje između agenata kao i između čovjeka ronioca te robota.

Abstract

SCUBA (self-contained underwater breathing apparatus) diving, professional or recreational, remains one of the most hazardous activities known by man. Hazards like the loss of breathing gas supply, burst eardrum, decompression sickness and nitrogen narcosis and other dangerous events that can occur due to the harsh underwater environment are just a few problems and risks that are commonly reduced by diving in pairs, allowing the divers to cooperate with each other and to react in emergency situation. This approach will often help to avoid serious consequences which can occur during an ordinary dive and could result in injuries, long-term illnesses or even death. This thesis describes the construction of an autonomous marine robotic system developed within an FP7 project “CADDY – Cognitive Autonomous Diving Buddy” that replaces a human dive buddy. The system is based on three agents, two of them underwater a diver with underwater tablet, and an autonomous underwater vehicle BUDDY – AUV and one surface agent an autonomous surface vehicle PlaDyPOS – ASV. In this thesis, focus is put on design of electronic and mechanic systems of mentioned agents, basic principles of control applied on those robots, integration of commercially available acoustic, inertial and optical sensors into the system and its ability for symbiotic link between robots and human divers in the underwater environment.

Item Type: Thesis (Master's thesis (Bologna))
Uncontrolled Keywords: AUV, ASV, pomorski roboti, konstrukcija i izrada, ronilac, interakcija čovjek-robot
Keywords (Croatian): AUV, ASV, marine robot, design and construction, diver, human-robot interaction
Subjects: TECHNICAL SCIENCE > Electrical Engineering > Automation and Robotics
TECHNICAL SCIENCE > Mechanical Engineering > general mechanical engineering (construction)
TECHNICAL SCIENCE > Mechanical Engineering > marine engineering
Divisions: 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation
Date Deposited: 16 May 2017 09:23
Last Modified: 15 Apr 2019 14:31
URI: http://repozitorij.fsb.hr/id/eprint/7764

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