ETD

Archivio digitale delle tesi discusse presso l'Università di Pisa

Tesi etd-03032008-152912


Tipo di tesi
Tesi di laurea specialistica
Autore
CALABRO', VINCENZO
URN
etd-03032008-152912
Titolo
ROV Control and Archaeological Applications
Dipartimento
INGEGNERIA
Corso di studi
INGEGNERIA DELLA AUTOMAZIONE
Relatori
Relatore Prof. Caiti, Andrea
Relatore Ing. Scaradozzi, David
Relatore Ing. Pollini, Lorenzo
Parole chiave
  • Kalman
  • ROV
  • Lyapunov
  • USBL
  • Fuzzy
Data inizio appello
07/05/2008
Consultabilità
Non consultabile
Data di rilascio
07/05/2048
Riassunto
This thesis presents the work done in two years to make progress in the ROV assisted archaeological exploration of undewater sites. The Venus Project is briefly introduced and both missions (Pianosa, Sesimbra) explained with some detail. In
Chapter n.1 ROV and its equipment is presented in order to evaluate the possibility of this complex system to aquire different kind of data. Chapter n.2,3,4 make explanation of reference frames, earth model and strap-down navigation.
Chapter n.5 is related to the ROV Kinematics and data fusion to improve assisted navigation. Chapter n.6 complete the treatment of ROV and its mathematical description and illustrate some dynamic control Lyapunov-based. Image processing,
distortion estimation and mosaicing algorithm is presented in the Chapter n.7.
Data format and GIS system used for Venus Project’s missions are included in the
last chapter.
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