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Testing and technical characteristics of a small overactuated marine platform


Stilinović, Nikola; Mišković, Nikola; Nađ, Đula; Vukić, Zoran
Testing and technical characteristics of a small overactuated marine platform // Proceedings of the 35th international convention on information and communication technology, electronics and microelectronics MIPRO/CTS 2012)
Rijeka: Croatian Society for Information and Communication Technology, Electronics and Microelectronics - MIPRO, 2012. str. 812-816 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Testing and technical characteristics of a small overactuated marine platform

Autori
Stilinović, Nikola ; Mišković, Nikola ; Nađ, Đula ; Vukić, Zoran

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 35th international convention on information and communication technology, electronics and microelectronics MIPRO/CTS 2012) / - Rijeka : Croatian Society for Information and Communication Technology, Electronics and Microelectronics - MIPRO, 2012, 812-816

ISBN
978-1-4673-2577-6

Skup
35th international convention on information and communication technology, electronics and microelectronics (MIPRO/CTS 2012)

Mjesto i datum
Opatija, Hrvatska, 21-25.5.2012

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
GPS unit ; LabVIEW ; compass ; dynamic positioning

Sažetak
The construction of one-man-portable marine vessels presents a challenging task. One such vessel, the marine platform described in this paper, is actuated with four thrusters in an X- shaped configuration which enable motion in surge, sway and yaw degree of freedom. This configuration is highly convenient for dynamic positioning as well as path following. The platform is built in the Laboratory for Underwater Systems and Technologies and it comprises driver electronics for the thrusters, a GPS unit, a compass, batteries and a single board computer used for sensor integration and control. These components enable manual control from the ground station as well as autonomous operation mode. The communication with the ground station is accomplished using a two-way wireless link. This paper focuses on the description of technical characteristics of the components as well as their integration. In addition to that, special attention is given to the control software developed in LabVIEW and its performances. Preliminary test results are given proving the functionality of the described technical system.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika



POVEZANOST RADA


Ustanove
Fakultet elektrotehnike i računarstva, Zagreb