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master's thesis
Upravljački sustav autonomne robotske jedrilice
2021. urn:nbn:hr:179:624038
Tramontana, Fabijan
University of Split
Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture
Department of Electronics and Computing

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Tramontana, F. (2021). Upravljački sustav autonomne robotske jedrilice (Master's thesis). Split: University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:179:624038

Tramontana, Fabijan. "Upravljački sustav autonomne robotske jedrilice." Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, 2021. https://urn.nsk.hr/urn:nbn:hr:179:624038

Tramontana, Fabijan. "Upravljački sustav autonomne robotske jedrilice." Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, 2021. https://urn.nsk.hr/urn:nbn:hr:179:624038

Tramontana, F. (2021). 'Upravljački sustav autonomne robotske jedrilice', Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, accessed 06 November 2024, https://urn.nsk.hr/urn:nbn:hr:179:624038

Tramontana F. Upravljački sustav autonomne robotske jedrilice [Master's thesis]. Split: University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture; 2021 [cited 2024 November 06] Available at: https://urn.nsk.hr/urn:nbn:hr:179:624038

F. Tramontana, "Upravljački sustav autonomne robotske jedrilice", Master's thesis, University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, Split, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:179:624038

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Metadata
TitleUpravljački sustav autonomne robotske jedrilice
Title (english)Autonomous robotic sailboat control system
AuthorFabijan Tramontana
MentorDamir Krstinić (mentor)
GranterUniversity of Split
Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture
(Department of Electronics and Computing)
Split
Defense date and country2021-07-16, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Electronics
Abstract
Upravljački sustav autonomne robotske jedrilice je sustav koji samostalno, bez interakcije s korisnikom, preko mikroračunala komunicira s okolinom pomoću prikladnih senzora. Korišteni senzori sustavu daju informaciju o stanju okoline kako bi gibanje jedrilice bilo u skladu sa zahtjevima korisnika. S obzirom da je zadatak diplomskog rada da jedrilica samostalno obiđe tri geografske točke i vrati se u početnu, korišten je GPS senzor na temelju čijih očitanja sustav prepoznaje gdje se nalazi u prostoru i je li dosegao jednu od točaka. Također, da bi se jedrilica gibala po točno zadanom kursu do slijedeće točke, korištena je inercijska mjerna jedinca koja ima ulogu kompasa te daje informaciju o trenutnom usmjerenju, potrebnu za ispravno upravljanje motorom kormila. Nadalje, za pravilno upravljanje motor jedra, korištena su očitanja analognog enkodera koji ima ulogu vjetrokaza. U slučaju da se sustav pronađe u nepovoljnoj situaciji, moguće je prebacivanje na manualnu kontrolu čime se upravljanje čitavim sustavom predaje isključivo korisniku.
Abstract (english)
The autonomous robotic sailboat control system is a system that communicates independently with the environment via microcomputers, without interaction with the user, using appropriate sensors. The sensors used give the system information about the state of the environment so that the movement of the sailboat is in line with user requirements. Since the task of this graduate thesis is for the sailboat to independently visit three geographical points and return to the starting point, a GPS sensor was used, based on whose readings the system recognizes where it is in space and whether it has reached one of the points. Also, for the sailboat to move at the exact set course to the next point, an inertial measurement unit was used, which acts as a compass and provides information on the current direction, necessary for proper control of the rudder motor. Furthermore, for proper control of the sail motor, readings of an analog encoder acting as a wind vane were used. In case the system is found in an unfavorable situation, it is possible to switch to manual control, which leaves the management of the entire system exclusively to the user.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:179:624038
Study programmeTitle: Electronics and Computer Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektronike i računalnog inženjerstva (magistar/magistra inženjer/inženjerka elektronike i računalnog inženjerstva)
Type of resourceText
File originBorn digital
Access conditionsAccess restricted to authenticated users
Terms of useLicence In copyright icon
Created on2021-11-30 11:41:48