Sharkbait - A self-stabilising underwater drone : Evalution of response time, propulsion and steering in a underwater environment

Detta är en Kandidat-uppsats från KTH/Skolan för industriell teknik och management (ITM); KTH/Skolan för industriell teknik och management (ITM)

Sammanfattning: This projects purpose was to build an underwater remote operated vehicle with software controlled self-stabilisation for evaluation of the response time, propulsion and steering to see what could be achieved. A prototype was constructed and tested in dry conditions at first. The prototype features an Arduino and a Raspberry Pi as control units, controlling six thrusters. With the help of a controller the user can manoeuvre the vehicle and when exposed to unexpected forces sensors detect this allowing the software to counteract it. Due to risk of massive electrical failure as a result of failed waterproofing tests underwater were postponed until the end. Unfortunately this made full optimisation of the software difficult. The results in a dry enviroment were positive, the system was able to fully perform the desired outputs at the thrusters, the PID controller kicked in when it detected a disturbance in its position. Testing the propulsion system in the water gave positive results as well, the propeller held and the motor kept working while submerged. The response time performed adequately at an average of 50ms.

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