2006-03-012024-05-15https://scholars.lib.ntu.edu.tw/handle/123456789/665831摘要：本計畫之目標為建立港灣構造物檢測維護與水下作業之機器人系統，以及研發水下作業自動化系統技術。 本計畫將研究具備下列功能之水下機器人系統： 1.具有洋流中動態定位的能力; 2.具有自動導航及位置、姿態控制的功能; 3.具有高解析度以及影像資料蒐集能力； 4.可彈性配掛不同的探測儀器，以支援不同的任務; 5.具有大範圍及長時間在水下工作的能力; 6.操作人員可以藉由人機介面直接控制機器人系統的運動。 根據上述目標，本計畫擬研究下列必要課題： 1.港灣檢測與工之水下機器人系統之規劃 2.機構設計及控制系統設計之研究 3.人機介面及監控系統設計之研究 4.水下機器人動態定位系統設計之研究 5.水下機器人系統之測試與評估 本計畫第一年期已完成：運動數學模式之建立，系統運動模擬計算程式之撰寫與試算，及載具系統原型的初步設計與性能分析。已著手進行系統原型的初步設計，並進行外殼、支架之製作組裝。本期計畫將執行控制方法與模擬驗證、自主式水下拖曳載具本體設計與製作，建立載具深度與姿勢控制的理論方法，並藉由模擬予以驗證。 <br> Abstract: The goal of the research is to study the system design issues of an underwater robot for the inspection of underwater structure. The technical requirements for the design and the operational procedure of this underwater robot will be investigated. Functional Requirements: In this work, we will study the underwater robotic system that have the following functions: 1.Dynamic positioning in water currents. 2.Navigation and control of its own position and posture. 3.Imaging of underwater structure using on board sensors. 4.Flexibility in choosing payload equipments. 5.Ability to work long-range and long-time. 6.Interface is friendly to the operator. The approach and research topics corresponding to the above objectives are as follows: 1.Design issues for the underwater robotic system. 2.Design issues for the control system. 3.Design issues for the man-machine interfaces. 4.Design Issues for the navigation system. 5.System integration and evaluation. The analysis and design methodology developed for this project will lead to deeper understanding of robotics systems that are efficient for harbor structure inspection. The advantages are expected that, in addition to safer and less expensive than divers, this robot can be more effective than divers for the harbor inspection tasks. This is the second year proposal. In the last fiscal year, the following topics have been covered: 1. mathematical modeling; 2. development of simulation software; and 3. system design and performance prediction. In the second year, motion and trajectory controllers will be established and analyzed. Initial design and manufacturing of vehicle components will be carried out.水下載具水下技術機器人underwater vehicleunderwater technologyrobotics