Akademik Veri Yönetim Sistemi
AUVSI & ONR’s RoboSub Competition Journal Paper, cilt.17, 2014 (Hakemli Dergi)
AUVTECH Vehicle is
an Autonomous Underwater Vehicle (AUV) developed by a team of students at
Istanbul Technical University. The vehicle is designed for the aim of
completing unique underwater missions which involves the observation of aquatic
life, undersea terrain shifts and geological transformations by its autonomy.
The autonomy is provided by embedded intelligent system that can
autonomously
navigate beneath the surface of water based on inputs from image processing and
digital signal processing. Therefore, it is able to fulfill predetermined task
without any human control and to react against unexpected situation by its
artificial intelligence. The embedded system receives input data from its
precise sensors like Inertial Measurement Unit, hydrophones and pressure sensor
for odometry and from two cameras for image processing. After the data is
transformed into information, the system makes decision about actuation,
maneuver, running tool and carries out the task by the support of the hardware.
The electronic circuits which comprise the embedded system and the electronic
equipment controlled by it are settled on easy moving polycarbonate board to
allow for a fast response against hazard. The actuation is provided by
thrusters. Pneumatic system is utilized for a special mission such as throwing
torpedo, dropping marker or using any additional tool. The main hull is made of
polycarbonate, which gives transparent scene. So it allows viewing the working component
directly. Polycarbonate is used for the frame to combine the components together
and to provide stability and hydrodynamics. This study includes the growing up
process of AUVTECH vehicle