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dc.contributor.advisorStahl, Annette
dc.contributor.authorUr, Thomas Norum
dc.date.accessioned2019-09-11T11:42:34Z
dc.date.available2019-09-11T11:42:34Z
dc.date.created2017-06-12
dc.date.issued2017
dc.identifierntnudaim:16550
dc.identifier.urihttp://hdl.handle.net/11250/2616106
dc.description.abstractThis thesis describes the development, implementation and testing of a full scale underwater camera system for surveillance purposes in aquaculture. The mechanical development was carried out using Solidworks, and the software implementation is basedon ROS (Robotic Operating System), in which several open source libraries have beenincorporated. A mathematical model of the camera system has been derived as well as a simulation tool in Matlab for simulation. Suspended from a single rope, the camera system is equipped with a water jet propulsion system that allows the yaw (heading) to be controlled by the use of a PID controller. A gimbal inspired mechanism enables control of the camera pitch (tilt). Experiments at a full scale fish farm facility yields promising results for the yaw-control, whereas the pitch control needs to be further developed.en
dc.languageeng
dc.publisherNTNU
dc.subjectKybernetikk og robotikk, Robotsystemeren
dc.titleStabilization of underwater cameraen
dc.typeMaster thesisen
dc.source.pagenumber49
dc.contributor.departmentNorges teknisk-naturvitenskapelige universitet, Fakultet for informasjonsteknologi og elektroteknikk,Institutt for teknisk kybernetikknb_NO


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