Development of a mini Underwater Vehicle using Multicore Microcontroller

• Main Authors: Shih-hong Ko, 柯仕鴻
• Other Authors: Ru-min Chao
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/50226386985293207227

碩士 === 國立成功大學 === 系統及船舶機電工程學系碩博士班 === 96 === In this paper, we use PropellerTM that is a microcontroller containing eight operation cores, and is made by Parallax Company U.S.A., to build an mini AUV. We also integrate many MEMS sensors such as compass module, two-axis accelerometer and underwater pressure sensor with the mini AUV. We also designed and fabricated two AUV's hull, whose length are 8 and 9 inches and displacement are 450 and 700 cubic centimeters respectively. The mini AUV can also communicate with a remote computer by radio, and the remote computer's software is written in NI LabVIEW programming language. Finally, we can monitor the status and control the motion of mini AUVs through the remote monitoring interface. We also completed some tests for mini AUV's reaction time, sensors, motors and motion characteristic. By using the mini AUV, in addition to completing pressure and temperature measurement in the water, the AUV also have abilities to move forward, move back, dive and float in the water, and basic autonomous abilities such as changing the depth of vehicle and move around the tank.