System Integration for Underwater Operations of the Deep-Towed Vehicle FITS in Tandem with an ROV
| Autor: | Bo-Ren Chen, 陳柏任 |
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| Rok vydání: | 2019 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 107 Under the support of the National Energy Program (NEP), the Institute of Undersea Technology (IUT) at National Sun Yat-sen University has developed some deep-towed vehicles, including the Fiber-optical Instrumentation Towed System (FITS), to conduct seafloor exploration and sampling for gas hydrate investigation since 2012. However, when an interested seafloor feature was found, a deep-towed vehicle is difficult to hover at that location for more detailed investigation or even sampling. A prototype remotely operated vehicle (ROV) with hovering capability was therefore developed by the IUT to carry out detailed observation for interested seafloor features. Preliminary tests for the prototype ROV were carried out in this study. From the test results, we found that the lack of heat sinks for the DC/DC converters in the main housing and sensor housing would cause DC/DC converters overheat and fail. We also found that the ROV control system cannot properly switch off the power supplies to thruster motors and driver instrument in sequence, causing the damage of the thruster drivers. To solve the overheat problem of DC/DC converters, this study designed heat sinks with the considerations of available space in the waterproof housings to dissipate heat away from heat sources. Thermal equilibrium of the heat sink designs was simulated by the use of the SolidWorks software and measured experimentally. On the improvement of the control system for the thruster power supply, a new control circuit was designed and implemented, enabling switch off the power supplies to thruster motors and driver instrument sequentially. Considering that the FITS is ideal to be a depressor in tandem with the ROV for deep-sea observation, the communication system of the FITS was modified to integrate a wide-angle camera and a low-light camera for observing the ROV activities easily. A 30 m tether with negative buoyancy in water connects the ROV to the FITS, in which floats need to be added on the tether to keep it from dragging along the seafloor. Therefore, the static equilibrium equations for the 30 m tether and floats were derived, and accordingly, an optimization technique was employed to determine proper locations at the tether for attaching floats. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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