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A Mechatronic Description of an Autonomous Underwater Vehicle for Dam Inspection
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Author(s): Ítalo Jáder Loiola Batista (Federal Institute of Education, Science, and Technology of Ceará, Brazil), Antonio Themoteo Varela (Federal Institute of Education, Science, and Technology of Ceará, Brazil), Edicarla Pereira Andrade (Federal Institute of Education, Science, and Technology of Ceará, Brazil), José Victor Cavalcante Azevedo (Federal Institute of Education, Science, and Technology of Ceará, Brazil), Tiago Lessa Garcia (Federal Institute of Education, Science, and Technology of Ceará, Brazil), Daniel Henrique da Silva (Federal Institute of Education, Science, and Technology of Ceará, Brazil), Epitácio Kleber Franco Neto (Federal Institute of Education, Science, and Technology of Ceará, Brazil), Auzuir Ripardo Alexandria (Federal Institute of Education, Science, and Technology of Ceará, Brazil)and André Luiz Carneiro Araújo (Federal Institute of Education, Science, and Technology of Ceará, Brazil)
Copyright: 2014
Pages: 16
Source title:
Robotics: Concepts, Methodologies, Tools, and Applications
Source Author(s)/Editor(s): Information Resources Management Association (USA)
DOI: 10.4018/978-1-4666-4607-0.ch033
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Abstract
Driven by the rising demand for underwater operations concerning dam structure monitoring, Hydropower Plant (HPP), reservoir, and lake ecosystem inspection, and mining and oil exploration, underwater robotics applications are increasing rapidly. The increase in exploration, prospecting, monitoring, and security in lakes, rivers, and the sea in commercial applications has led large companies and research centers to invest underwater vehicle development. The purpose of this work is to present the design of an Autonomous Underwater Vehicle (AUV), focusing efforts on dimensioning structural elements and machinery and elaborating the sensory part, which includes navigation sensors and environmental conditions sensors. The integration of these sensors in an intelligent platform provides a satisfactory control of the vehicle, allowing the movement of the submarine on the three spatial axes. Because of the satisfactory fast response of the sensors, one can determine the acceleration and inclination as well as the attitude in relation to the trajectory instantaneously taken. This vehicle will be able to monitor the physical integrity of dams, making acquisition and storage of environmental parameters such as temperature, dissolved oxygen, pH, and conductivity, as well as document images of the biota from reservoir lake HPPs, with minimal cost, high availability, and low dependence on a skilled workforce to operate it.
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