رباتهای دریایی AUV و Rov

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سلام دوستان گروه مهندسی یک مدیر خوب دارند که آدمو میکشونه اینجا
دوستان عزیزم سعی میکنم اطلاعات جامعی در اختیار شما عزیزان قرار بدهم تا بتوانید یک پایان نامه جذاب و شیک را بتوانید ارائه دهید
اطلاعات بنده از چند دانشگاه است بخصوص کتابخانه مرجع دانشگاه صنعتی
اصفهان البته بنده در مقطع کارشناسی برای رشته ای مهندسی مکانیک
طراحی جامدات- سیالات و مهندسی هوا فضا مطلب را باز میکنم.
چون مطالب را باید تایپ کنم شاید مبحث زیاد طول بکشد اما اگر عمری بود
با شما عزیزان تمام میکنیم مطلب را سعی میکنم بجای فرموله کردن مطالب بیشتر از توضیحات استفاده کنم شما اگر خواستید پایان نامه بزنید
از همان فرمول های طراحی اجزا و مکانیک سیالات یک و دو البته کنترل
و.. استفاده کنید.بحث گسترده است من خلاصه نویسی میکنم جایی که شما بتوانید هر چقدر خواستید در پایان نامه مانور کنید و گسترش بدهید
هردو ربات را در یک پایان نامه استفاده نکنید این فضا را بدوستان هم بدهید
بتواند آن یکی را استفاده کند مطالب مشترک البته حدود هفتاد درصد است
بین ربات با نقش اپراتور و ربات بصورت اتوماتیک هر دو دریایی

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http://explorations.ucsd.edu/Features/Landslides/images/lbl_auv_300_dpi.jpg

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PANTHER PLUS is a cost effective 1000m rated work tool. The control system is a standard SEAEYE product and thus fully field proven throughout the range of SEAEYE vehicles. SEAEYE’s own brand of 316 stainless steel metal shelled connectors are generally used throughout.
PANTHER PLUS incorporates the very latest carbon fibre composite material technology. Buoyancy is provided by light weight, immensely strong carbon fibre pods and some syntactic foam is also used. All vehicle electronics are housed within the carbon-fibre pods. Composite material technology provides the strength required without the attendant problems of weight, corrosion and maintenance.
The use of modern CAD techniques, coupled with the latest composite material technology, allows the PANTHER PLUS design to weigh approximately sixty percent less than ROV systems with a similar performance envelope. This in turn requires smaller, lighter and less expensive launch and deployment systems. SEAEYE SM5 brushless DC thrusters are used throughout. Seaeye brushless DC units are fully field proven with hundreds in use worldwide. Our brushless technology ensures small, efficient, powerful thruster units. PANTHER PLUS provides the user with maximum payload availability and volume.
The video system includes four simultaneous TV channels using fibre optic multiplexers and two fibre optic paths in both the tether and armoured umbilical cable. This provides for two piloting cameras and two boom cameras, or a rear facing camera and a manipulator camera; such is the flexibility of this system.
The polypropylene chassis is unencumbered with hydraulic pumps, valve chests, filters and piping. Thus PANTHER has a relatively low drag co-efficient, minimising the need for under slung tooling packages. PANTHER is able to carry sonars, two multi-function manipulators, stills camera, various video cameras, inspection/survey equipment and customised tooling. Dual scanning profiling sonars for trench applications, pipe-trackers and cable trackers may also be carried. The SEAEYE comprehensive video overlay is standard.
PANTHER’s performance and capabilities are aimed specifically at operations which would normally require much larger, heavier and more expensive vehicle systems. Easy access is provided for interfacing various equipment carried by the vehicle for offshore tasks.
PANTHER PLUS SPECIFICATIONS

VEHICLE
Length: 1750mm.
Width: 1060mm.
Height: 1217mm.
Weight: 470Kg.
Payload: 98Kg.
Depth rating: 1000m.
Fwd thrust: 220Kg.
Lat thrust: 170Kg.
Vertical thrust: 75Kg.

Propulsion: 10 SEAEYE SM5 brushless DC thrusters providing full three dimensional control of the vehicle. Configuration is two vertical and eight vectored horizontal units. 3 kts fwd; 1.6 kts lateral.
Electronics: Vehicle electronics are contained within a rugged, environmentally sealed atmospheric housing made from Carbon-fibre composite material. The pods contain both water and vacuum alarm systems. Pods are fully protected by GRP covers.
Video system: Four simultaneous video channels via fibre optical systems are standard. Optical multiplexers are sited within the vehicle unit with their de-multiplexers sited in the surface JB.
Pan & Tilt: Two axis SEAEYE PT02 electrical pan and tilt unit.
Lighting: Two individually controlled lighting channels. Each channel is fitted with two SEAEYE 150 watt lamp units.
Navigation: Flux-gate compass with solid state rate sensor for enhanced azimuth stability.
Electronic depth Sensor: Honeywell PPT-R with " 0.1% (" 2m) accuracy of fsd.
Automatic Pilot: Full automatic pilot is provided for depth and heading.
Tether: 150m tether capacity using oil-filled terminations at both vehicle and TMS.
Surface unit: Housed in a portable steel enclosure. Contains both vehicle and TMS control electronics and TMS control functions.
Width: 500mm.
Height: 375mm.
Depth: 490mm.
Weight: 30Kg.
Controller: Small self-contained hand control unit containing all vehicle control functions, on a 6m flying lead.
Surface PSU: Power Supply Unit, mounted in a steel cabinet and supplied with three phase AC power. Integrated isolation transformer. Power dissipation: 14 kva.
Height: 1300mm.
Width: 600mm.
Depth: 460mm.
Weight: 207Kg.

PANTHER PLUS T.M.S. SPECIFICATIONS
Construction: All steel construction with polypropylene tether bobbin and baffles. All steel components are galvanised and two-part epoxy painted in white. All fasteners are of stainless steel. The T.M.S. frame is designed to allow the use of camera booms and pipe-tracking equipment.
Dimensions:
Length: 1700 mm.
Width : 1400 mm.
Height: 2180 mm. (To top of lift pin.)
Weight: 1800 kg. (Including base vehicle and tether.)
Depth rating: 1500 metres.
Baling system
All polypropylene construction with central boss being constructed of aluminium, hard anodised. Motor drive for the baling arm is provided by a SEAEYE thruster motor utilising a hard rubber universal coupling to baling arm gearbox. A tether level wind is also incorporated into the baling mechanism.
T.M.S. Control Bottle
Hard anodised aluminium cylinder with piston sealed ends. SEAEYE metal shelled connectors are used throughout.
T.M.S. Surface Control Unit
Integrated into the Surface Distribution Unit, it provides "IN & OUT" control of the tether, via a front panel toggle switch, IN, OUT and OFF; biased to OFF. Video overlay provides a digital counter, which displays the number of turns of the baling arm. Providing precise information as to the number of turns of the baling arm, both IN and OUT.
Oil filled junction box
A hard anodised oil filled and compensated vessel providing a central termination point for armoured down umbilical, tether cable and TMS electronics pod. This unit allows fast and simple electrical re-termination in the field should this become necessary.
Down Umbilical
1600m of 32mm OD contra-helically wound double armoured umbilical, armour being of galvanised steel. Surface end to be terminated into winch/slipring unit of clients choice. TMS end is mechanically terminated into lifting device with certificate of conformity. Electrical termination terminated into metal shelled connectors. Includes 25m armoured deck cables.
Tether cable ROV213
150m polyurethane sheathed tether with oil-filled terminations at both ends. This method ensures a fast turn round time in the event of tether damage. This cable may also be used as the ‘free swimming’ umbilical.
OD: 20.6mm
Sheathing: Polyurethane.
Break strain: 1500Kg.
Weight in air: 520Kg/Km.
Weight in seawater: 175Kg/Km.
Minimum bend radius: 200mm. (Dynamic.)