Dissertation
Dissertation > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot

A Research on the Sample Technology of Autonomous Underwater Vehicle

Author YangJianTao
Tutor XuGuoHua
School Huazhong University of Science and Technology
Course Marine Engineering
Keywords Autonomous Underwater Robot Independent sampling Gravity sample grab Control technologies Self-locking technology
CLC TP242
Type Master's thesis
Year 2011
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Marine resources is an important material foundation for the implementation of the sustainable development strategy in China. Reconnaissance the submarine geological structure and geological studies, exploration and exploitation of seabed resources, seafloor sediment sampling and analysis. Only by mastering the the original marine resources, information and data to a more effective and rational use of marine resources. Seabed sampling is mainly dependent on a variety of large-scale research ship its carrying hydraulic grab and tubular sampler to carry out sampling operations a huge project. Miniaturization, convenient, economical sampling system will be more and more attention. AUV is an important member of the deep-sea submersible, also known as underwater robots, widely used in all aspects of undersea exploration, undersea energy development. Sampling system equipped with independent sampling in AUV operations, both the seabed sampling miniaturization, the commercialization of innovative research, and also the extension the AUV operating capacity of a very useful research topic. In this paper, the \) studied the development of the current domestic and international seabed sampling technology, stupendous status quo for the current seabed sampling, to explore and study the importance and feasibility of the AUV deep-sea sampling. (2) for the specific requirements of the underwater autonomous sampling system, in terms of miniaturization, low power consumption, reliability analysis and research. And complete the system design of the program. (3) to conduct an in-depth study of the structural design of the sampling system, sampling methods. Including gravity sampling Grab development, cable selection and development of underwater winch. (4) to conduct an in-depth study of the sampling system control. The undersea environment is quite bad, the sampling system controller shall AUV heeling, trim degree, size as well as the current wave flow to determine whether sampling or stop sampling. At the same time, the winch to grab control must be stable and reliable, in order to complete the sampling process. (5) after the completion of the sampling system developed in the laboratory, pool, a large number of tests, and participated in two sea trials to prove that its development is successful. Finally, a brief summary of the contents of the study of underwater autonomous sampling system and the results achieved, as the pre-research topics, in order to provide innovative and feasible method to solve the operational problems of small and independent. Also summed up some of the areas for improvement, and made some suggestions for follow-up research and improvement.

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