Position calculator for an underwater mobile robot | |
| Author | Tran Duc Thien |
| Call Number | AIT Thesis no.ISE-03-41 |
| Subject(s) | Mobile robots Remote submersibles Ships Dynamic positioning systems |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Abstract | The purpose of this thesis is design a local positioning system in order to determine the position of robot when it is working in underwater environment. This system uses ultrasonic wave transmission as a mean for calculation the distance between robot and beacons. To do this task four underwater ultrasonic transceiver sensors are used. Local positioning system (LPS) indicates the current position in three-dimensional space of underwater mobile robot by using the concept of Global positioning system (GPS). Since LPS system is expected for local propose is the cause of ultrasonic wave is used to be the medium instead of radio wave. The LPS system has pour transceiver, in which one is mounted on robot and other three one are set at three beacons of system. Micro-controller 8-bit MC68HC11 is programmed to calculate the traveling time of ultrasonic wave. These times are transferred to PC via RS232 p01t of micro-controller and serial p01t of PC. They act as input of calculation position program that written by Visual Basic, run in PC. This Visual Basic program is link with AutoCAD application so the current position of robot is shown out as text and graphic. |
| Year | 2003 |
| Corresponding Series Added Entry | Thesis ; no. ISE-03-41 |
| Type | Thesis |
| School | School of Advanced Technologies (SAT) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Afzulpurkar, Nitin V.;Bohez, Erik L.J. ; |
| Scholarship Donor(s) | Petro Vietnam Corporation; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2003 |