請用此 Handle URI 來引用此文件:
http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/22134
完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 郭振華(Jen-hwa Guo) | |
dc.contributor.author | Sheng-wei Huang | en |
dc.contributor.author | 黄盛煒 | zh_TW |
dc.date.accessioned | 2021-06-08T04:04:19Z | - |
dc.date.copyright | 2018-08-07 | |
dc.date.issued | 2018 | |
dc.date.submitted | 2018-07-31 | |
dc.identifier.citation | [1] J. Morales, J. L. Martinez, A. Mandow, A. J. Garcia-Cerezo, and S. Pedraza, 'Power Consumption Modeling of Skid-Steer Tracked Mobile Robots on Rigid Terrain,' IEEE Transactions on Robotics, vol. 25, pp. 1098-1108, Oct 2009.
[2] A. M. Bradley, M. D. Feezor, H. Singh, and F. Y. Sorrell, 'Power systems for autonomous underwater vehicles,' IEEE Journal of Oceanic Engineering, vol. 26, pp. 526-538, Oct 2001. [3] N. Baldock and M. R. Mokhtarzadeh-Dehghan, 'A study of solar-powered, high-altitude unmanned aerial vehicles,' Aircraft Engineering and Aerospace Technology, vol. 78, pp. 187-193, 2006. [4] D. R. Blidberg, J. Jalbert, and M. D. Ageev, 'Some design considerations for a solar powered AUV; Energy management and its impact on operational characteristics,' in International Symposium On Unmanned Untethered Submersible Technology, 1997, pp. 50-59. [5] J. S. Willcox, 'Oceanographic surveys with autonomous underwater vehicles: Performance metrics and survey design,' M.S. thesis, Massachusetts Institute of Technology, 1998. [6] J. S. Willcox, J. G. Bellingham, Y. W. Zhang, and A. B. Baggeroer, 'Performance metrics for oceanographic surveys with autonomous underwater vehicles,' IEEE Journal of Oceanic Engineering, vol. 26, pp. 711-725, Oct 2001. [7] M. F. Mysorewala, 'Simultaneous robot localization and mapping of parameterized spatio-temporal fields using multi-scale adaptive sampling,' The University of Texas at Arlington, 2008. [8] L. Paull, S. Saeedi, M. Seto, and H. Li, 'AUV Navigation and Localization: A Review,' IEEE Journal of Oceanic Engineering, vol. 39, pp. 131-149, Jan 2014. [9] M. B. Larsen, 'High performance Doppler-inertial navigation-experimental results,' in OCEANS 2000 MTS/IEEE Conference and Exhibition, 2000, pp. 1449-1456. [10] L. Whitcomb, D. Yoerger, and H. Singh, 'Advances in Doppler-based navigation of underwater robotic vehicles,' in 1999 IEEE International Conference on Robotics and Automation, 1999, pp. 399-406. [11] M. V. Jakuba, C. N. Roman, H. Singh, C. Murphy, C. Kunz, C. Willis, et al., 'Long‐baseline acoustic navigation for under‐ice autonomous underwater vehicle operations,' Journal of Field Robotics, vol. 25, pp. 861-879, 2008. [12] S. Smith and D. Kronen, 'Experimental results of an inexpensive short baseline acoustic positioning system for AUV navigation,' in OCEANS'97. MTS/IEEE Conference Proceedings, 1997, pp. 714-720. [13] F. M. Jaffré, T. C. Austin, B. G. Allen, R. Stokey, and C. J. Von Alt, 'Ultra short baseline acoustic receiver/processor,' in Oceans 2005-Europe, 2005, pp. 1382-1385. [14] S. E. Webster, R. M. Eustice, H. Singh, and L. L. Whitcomb, 'Advances in single-beacon one-way-travel-time acoustic navigation for underwater vehicles,' International Journal of Robotics Research, vol. 31, pp. 935-950, Jul 2012. [15] R. M. Eustice, L. L. Whitcomb, H. Singh, and M. Grund, 'Experimental results in synchronous-clock one-way-travel-time acoustic navigation for autonomous underwater vehicles,' in 2007 IEEE International Conference on Robotics and Automation, 2007, pp. 4257-4264. [16] E. Chen, S.-W. Huang, W.-H. Wang, and J.-H. Guo, 'Side scan sonar grid map for Unmanned Underwater Vehicle navigation,' in OCEANS 2011, 2011, pp. 1-8. [17] C. F. Huang, T. C. Yang, J. Y. Liu, and J. Schindall, 'Acoustic mapping of ocean currents using networked distributed sensors,' Journal of the Acoustical Society of America, vol. 134, pp. 2090-2105, Sep 2013. [18] K. Yamaguchi, J. Lin, A. Kaneko, T. Yayamoto, N. Gohda, H.-Q. Nguyen, et al., 'A continuous mapping of tidal current structures in the Kanmon Strait,' Journal of oceanography, vol. 61, pp. 283-294, 2005. [19] J. H. Park and A. Kaneko, 'Assimilation of coastal acoustic tomography data into a barotropic ocean model,' Geophysical Research Letters, vol. 27, pp. 3373-3376, Oct 15 2000. [20] P. Elisseeff, H. Schmidt, M. Johnson, D. Herold, N. R. Chapman, and M. M. McDonald, 'Acoustic tomography of a coastal front in Haro Strait, British Columbia,' Journal of the Acoustical Society of America, vol. 106, pp. 169-184, Jul 1999. [21] X. H. Zhu, A. Kaneko, Q. S. Wu, C. Z. Zhang, N. Taniguchi, and N. Gohda, 'Mapping tidal current structures in Zhitouyang bay, china, using coastal acoustic tomography,' IEEE Journal of Oceanic Engineering, vol. 38, pp. 285-296, Apr 2013. [22] N. Taniguchi and C. F. Huang, 'Simulated tomographic reconstruction of ocean current profiles in a bottom‐limited sound channel,' Journal of Geophysical Research: Oceans, vol. 119, pp. 4999-5016, 2014. [23] A. S. Gadre and D. J. Stilwell, 'Toward underwater navigation based on range measurements from a single location,' in 2004 IEEE International Conference on Robotics and Automation, 2004, pp. 4472-4477. [24] T. L. Song, 'Observability of target tracking with range-only measurements,' IEEE Journal of Oceanic Engineering, vol. 24, pp. 383-387, Jul 1999. [25] J. Kojima, Y. Kato, K. Asakawa, S. Matumoto, S. Takagi, and N. Kato, 'Development of autonomous underwater vehicle'AQUA EXPLORER 2'for inspection of underwater cables,' in OCEANS'97. MTS/IEEE Conference Proceedings, 1997, pp. 1007-1012. [26] J. P. Fish and H. A. Carr, Sound underwater images: a guide to the generation and interpretation of side scan sonar data: Lower Cape Pub Co, 1990. [27] C. Mazel, Side Scan Sonar Record Interpretation, Klein Associates: Undersea Search and Survey Inc., 1985. [28] Z. Reut, N. G. Pace, and M. J. P. Heaton, 'Computer classification of sea beds by sonar,' Nature, vol. 314, pp. 426-428, 1985. [29] A. Nait-Chabane, B. Zerr, and G. L. Chenadec, 'Sidescan sonar imagery segmentation with a combination of texture and spectral analysis,' in OCEANS - Bergen, 2013 MTS/IEEE, 2013, pp. 1-6. [30] M. F. Fallon, M. Kaess, H. Johannsson, and J. J. Leonard, 'Efficient AUV navigation fusing acoustic ranging and side-scan sonar,' in 2011 IEEE International Conference on Robotics and Automation (ICRA), 2011, pp. 2398-2405. [31] J. Aulinas, X. Lladó, J. Salvi, and Y. R. Petillot, 'Feature based slam using side-scan salient objects,' in OCEANS 2010, 2010, pp. 1-8. [32] P. Woock and C. Frey, 'Deep-sea AUV navigation using side-scan sonar images and SLAM,' in OCEANS 2010 IEEE - Sydney, 2010, pp. 1-8. [33] E. Chen and J. H. Guo, 'Real time map generation using sidescan sonar scanlines for unmanned underwater vehicles,' Ocean Engineering, vol. 91, pp. 252-262, Nov 15 2014. [34] M. Nakagami, 'The M-distribution-a general formula of intensity distribution of rapid fading,' Statistical Method of Radio Propagation, pp. 3-36, 1960. [35] S. Kullback and R. A. Leibler, 'On Information and Sufficiency,' Annals of Mathematical Statistics, vol. 22, pp. 79-86, 1951. [36] F.-C. Chiu, J. Guo, Y.-Y. Chang, C.-C. Wang, and J.-P. Wang, 'On the captive model tests for the maneuverability of a highlly maneuverable autonomous underwater vehicle,' in Proc. 18th Conf. on Ocean Engineering in Republic of China, 1996, pp. 1031-1042. [37] K. Nomoto and N. H. Norrbin, 'A Review of Methods of Defining and Measuring the Maneuverability of Ships,' in International Towing Tank Conference, Rome, 1969. [38] L. Landweber and M. Gertler, 'Mathematical formulation of bodies of revolution,' DAVID TAYLOR MODEL BASIN WASHINGTON DC1950. [39] J.-F. Tsai, 'Study on the Resistance and Propulsion Performance of AUV,' in Proc. 18th Conf. on Ocean Engineering in Republic of China, 1996, pp. 1021-1030. [40] R. Thomas, 'Performance evaluation of the propulsion system for the autonomous underwater vehicle C-SCOUT,' Memorial University of Newfoundland, 2003. [41] N. S. Ltd., 'Communication Transducers Model-T235,' ed: Model-T235 datasheet, pp. 43-44. [42] U-blox, 'NEO-6T / LEA-6T product summary,' ed. NEO-6T / LEA-6T Brochure. [43] Y.-W. Li, 'Shallow-water acoustic mapping of ocean currents using a moving ship,' M.S. thesis, National Taiwan University, Institute of Oceanography, College of Science, 2016. [44] B. S. Sharif, J. Neasham, O. R. Hinton, and A. E. Adams, 'A computationally efficient Doppler compensation system for underwater acoustic communications,' IEEE Journal of oceanic engineering, vol. 25, pp. 52-61, 2000. [45] T. Yang, J. Schindall, C.-F. Huang, and J.-Y. Liu, 'Clutter reduction using Doppler sonar in a harbor environment,' The Journal of the Acoustical Society of America, vol. 132, pp. 3053-3067, 2012. [46] W. Munk, P. Worcester, and C. Wunsch, Ocean acoustic tomography: Cambridge University Press, 2009. [47] J. Dunlop, 'Statistical modelling of sidescan sonar images,' in OCEANS '97. MTS/IEEE Conference Proceedings, 1997, pp. 33-38 vol.1. [48] B. Atal and L. Rabiner, 'A pattern recognition approach to voiced-unvoiced-silence classification with applications to speech recognition,' IEEE Transactions on Acoustics, Speech, and Signal Processing, vol. 24, pp. 201-212, 1976. [49] J. E. Bresenham, 'Algorithm for computer control of a digital plotter,' Ibm Systems Journal, vol. 4, pp. 25-30, 1965. [50] L. Matthies and A. Elfes, 'Integration of sonar and stereo range data using a grid-based representation,' in 1988 IEEE International Conference on Robotics and Automation, 1988, pp. 727-733. [51] H. Moravec and A. Elfes, 'High resolution maps from wide angle sonar,' in 1985 IEEE International Conference on Robotics and Automation, 1985, pp. 116-121. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/22134 | - |
dc.description.abstract | 自主式水下無人載具常應用於海洋探測任務之中,如水下海事工程或軍事除雷作業等高風險的任務,本論文根據實際應用需求建立了一套智慧型自主式無人水下載具系統,包含了扁平流線外型、載具耗能預估、單點式聲標定位與流速量測、載具探測空間和時間的誤差。流線外型使得載具具備良好的操控性能和穩定性能,以符合大多數應用的需求。利用載具外型阻力可以估算載具上有限的能源下探測固定一個空間時的空間探測誤差和時間探測誤差,本論文中的載具在不考慮外部水流條件下,最佳探測速度1.26m/s,在2.88Kw-hr的電池容量下,載具可探測路徑長度為86.5公里(約46.71海浬)。載具的定位也對探測任務十分重要,在本論文中使用單點聲標來協助載具的位置推測,藉由具備高精準度的同步時鐘的海洋聲層析設備,在台灣近岸的海灣中進行驗證,確實可以有效的降低載具的定位誤差,定位誤差可以由單純慣性導航的80公尺下降至27.58公尺以內,足以提供再次搜索的定位參考;利用載具上的側掃聲納的掃描線,透過擷取掃描線中的訊號能量、分布參數、分布誤差三種特徵,可以有效的分類海底的底床,由近岸測試結果顯示本論文提出的方法對於泥和沙底質等軟質的海床辨識率可達91.37%,驗證本論文之成果可以應用在實務之中。 | zh_TW |
dc.description.abstract | Autonomous underwater vehicle often used in high-risk tasks such as underwater construction work or military mine hunting. This work builds a flat type autonomous underwater vehicle for this kind of application. This work consists of flat type appearance design, vehicle energy analysis, single-beacon positioning system and target identification system. The flat streamline let vehicle not only had good maneuverability but also had good stability to meets most of applications requirement. The survey space error and temporal error can be identified in limited energy on the vehicle. In this paper, the optimum survey speed is 1.26m/s without considering the current in the field and survey ability is 86.5 kilometers (46.71 nautical mile) long with battery capacity of 2.88Kw-hr. The localization is another key issue in survey job. The AUV is localized by dead-reckoning and measure one way travel time from a beacon. The ocean acoustic tomography beacon with high precision synchronous clock is used in this work to verify in the bay area. The positioning error is reduced from 80 meter to 27.58 meter and good enough for next surveyor reference.. Three features of sidescan signal, which are signal energy, distribution shape parameter and distribution error are used to classify the seafloor. The mud class and sand class recognition rate reach to 91.37%. The results of this work show the feasibility of AUV in maritime engineering and military filed. | en |
dc.description.provenance | Made available in DSpace on 2021-06-08T04:04:19Z (GMT). No. of bitstreams: 1 ntu-107-D99525008-1.pdf: 10439710 bytes, checksum: 068ff1dc81dc7c2a008a4b2516a13aa4 (MD5) Previous issue date: 2018 | en |
dc.description.tableofcontents | 致謝 I
摘要 II Abstract III 目錄 IV 圖目錄 VI 表目錄 X 符號列表 XI 第一章 緒論 1 1-1 前 言 1 1-2 文獻回顧 4 1-3 論文架構 8 第二章 載具探測能量和誤差 9 2-1 載具本體之設計 9 2-2 載具阻力預估和試驗 22 2-3 探測最大範圍 25 2-4 探測誤差 32 第三章 單點聲標定位及測流 38 3-1 擴展型卡曼濾波器 38 3-2 海洋聲層析(OAT)節點 50 3-3 海上實驗 60 第四章 海洋探測實驗 71 4-1 側掃聲納訊號處理 71 4-2 海床分類 74 4-3 佔格模型建圖 81 4-4 實驗與說明 85 第五章 結論與展望 92 參考文獻 95 | |
dc.language.iso | zh-TW | |
dc.title | 海洋探測用自主式水下載具系統設計與驗證 | zh_TW |
dc.title | System Design and Verification of an Autonomous Underwater Vehicle for Ocean Survey | en |
dc.type | Thesis | |
dc.date.schoolyear | 106-2 | |
dc.description.degree | 博士 | |
dc.contributor.oralexamcommittee | 邱逢琛(Feng-chen Chiu),楊文昌(Wen-Chang Yang),黃千芬(Chen-fen Huang),王傑智(Chieh-Chih Wang) | |
dc.subject.keyword | 自主式水下載具,流線扁平型載具,載具能量估測,單聲標定位系統,側掃聲納掃描線海床分類, | zh_TW |
dc.subject.keyword | autonomous underwater vehicle,flat type vehicle,vehicle energy consumption estimation,single beacon positioning system,seafloor classification by sidescan sonar scanline, | en |
dc.relation.page | 98 | |
dc.identifier.doi | 10.6342/NTU201802312 | |
dc.rights.note | 未授權 | |
dc.date.accepted | 2018-08-01 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 工程科學及海洋工程學研究所 | zh_TW |
顯示於系所單位: | 工程科學及海洋工程學系 |
文件中的檔案:
檔案 | 大小 | 格式 | |
---|---|---|---|
ntu-107-1.pdf 目前未授權公開取用 | 10.2 MB | Adobe PDF |
系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。