DOI: https://doi.org/10.15368/theses.2013.220
Available at: https://digitalcommons.calpoly.edu/theses/1140
Date of Award
12-2013
Degree Name
MS in Electrical Engineering
Department/Program
Electrical Engineering
Advisor
Bridget Benson
Abstract
Underwater remotely operated vehicles are essential tools for marine researchers and workers. Their robust nature allows them to serve a wide range of purposes. For example, they can be used for remote visual inspection of pipelines and can manipulate tools such as screwdrivers and claws. Cameras are the main method for providing operator feedback to the surface as they enable an operator to accurately maneuver or handle objects from thousands of feet away. Although large ROVs have cameras attached to their robotic arms for closer inspection of objects, mini ROVs do not because no camera tool has been specifically designed to support the low-cost, lightweight design of a mini ROV. This thesis discusses the design considerations, component selection, and system prototype (including the use of image processing to improve the underwater image for the operatorʼs viewing) of an affordable camera unit for mini ROV robotic manipulators.