Visual telemetry transmission in marine environment using Robot Operating System platform

Visual telemetry transmission in marine environment using Robot Operating System platform (EN)

Barakou, Stamatina (EL)

Chasapopoulos, Konstantinos (EN)

ntua (EL)

Τζαφέστας, Κωνσταντίνος (EL)

Παπαλάμπρου, Γεώργιος (EL)

Κυριακόπουλος, Κωνσταντίνος (EL)

masterThesis

2019-09-30

2020-04-03T09:33:13Z

Εθνικό Μετσόβιο Πολυτεχνείο--Μεταπτυχιακή Εργασία. Διεπιστημονικό-Διατμηματικό Πρόγραμμα Μεταπτυχιακών Σπουδών (Δ.Π.Μ.Σ.) “Συστήματα Αυτοματισμού” (EL)

This work is part of a feasibility study carried out at the School of Naval Architecture and Marine Engineering/NTUA with main objective to investigate the capability of telemetry transmission between two distant locations in sea environment. In an abstract formulation, the problem at hand is to set up suitable software and hardware components so as to survey an underwater area (local station) and transmit various kinds of information in the form of "messages" to a distant control center (remote station). The local station has to be unmanned and equipped with a group of sensors that gather information regarding the state of the underwater area. In addition, choices for entities like suitable battery power, geographical location and communications must ensure the autonomy and safety of the station. The main feedback comes from an camera imaging system which allows a post-processing application to automatically detect presence of objects of any kind (ie divers, ROVs, shing vessels etc). The chosen platform for the construction and handling of messages is the Robot Operating System (ROS) framework, well established in the academic as well as in the industrial environment. In addition, other mechanisms were set up and co-operated with ROS: a basic image processing application that processes video and pictures that come from the camera sensor initiating the messaging generation process, in the local station side, as well as a data base application that has to collect and store the various types of messages that are received, together with a display environment for monitoring the whole remote operation by a human operator; both in the remote station side.As for the contents of this Thesis, a minimal simulator was set up at the Laboratory of Marine Engineering/NTUA, consisting of two "computing nodes": one laptop named Unit point which corresponds to the local station at sea, and a second laptop, given the name Base point, corresponding to the land-based control center. In between an Ethernet network was set up so as to simulate the link between the two nodes, with varying traffic and connectivity performance.Both computers run Linux operating system. (EN)

Επεξεργασία εικόνας (EL)

Robot Operating System (ROS) (EL)

Image processing (EL)

Εφαρμογή παρακολούθησης (EL)

Web application (EL)

Τηλεμετρία (EL)

Telemetry (EL)

Απομακρυσμένη επικοινωνία (EL)

Θαλάσσιο περιβάλλον (EL)

ROS Communication (EL)

Αγγλική γλώσσα

Συστήματα Αυτοματισμού και Ρομποτικής (EL)

Εθνικό Μετσόβιο Πολυτεχνείο. Σχολή Μηχανολόγων Μηχανικών (EL)

Αναφορά Δημιουργού-Μη Εμπορική Χρήση-Όχι Παράγωγα Έργα 3.0 Ελλάδα

http://creativecommons.org/licenses/by-nc-nd/3.0/gr/

Εθνικό Μετσόβιο Πολυτεχνείο

Ψηφιακό Αποθετήριο της Κεντρικής Βιβλιοθήκης του ΕΜΠ | Dspace@NTUA

Κεντρική Βιβλιοθήκη Ε.Μ.Π.

Ιδρυματικό Αποθετήριο

Μεταπτυχιακές Εργασίες