Hansen, Germán M. (2017) Diseño conceptual de un sistema de flotabilidad para el control de profundidad de un vehículo robótico subacuático. / Conceptual design of a buoyancy system for depth control of an robotic subaquatic vehicle. Proyecto Integrador Ingeniería Mecánica, Universidad Nacional de Cuyo, Instituto Balseiro.
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| PDF (Tesis) Español 9Mb |
Resumen en español
La traslación en el eje vertical de vehículos robóticos subacuáticos (UUVs, por sus siglas en inglés: unmanned underwater vehicles) presenta una oportunidad para optimizar el diseño de los mismos a los requerimientos que les impone el ambiente donde funcionan. En particular, en este trabajo se lleva a cabo el diseño conceptual y el desarrollo de un dispositivo experimental de validación para un sistema de variación de flotabilidad para el control de profundidad de un UUV pensado para la inspección visual de componentes sumergidos en reactores nucleares. Se diseña y construye un prototipo que utiliza un mecanismo de tuerca-husillo para actuar un pistón, controlando la entrada o salida de agua en un lastre de volumen variable, modificando de esta manera la masa del vehículo. Se varia entonces la fuerza aplicada al mismo, controlando indirectamente su profundidad. Dicha profundidad es medida con un sensor de presión. Se caracteriza el prototipo construido y se lo somete a diferentes pruebas experimentales. Se evalúan los resultados de dichos experimentos, con lo que se concluye que el sistema diseñado permite el control de profundidad del vehículo.
Resumen en inglés
The translation in the vertical axis of unmanned underwater vehicles (UUVs) presents an opportunity to improve their design, in order to fulfill the requirements that are imposed by the environment in which they operate. In particular, this work carries out the conceptual design and the development of a validation device for a variable buoyancy system to control the depth of an UUV, which is intended to accomplish visual inspections of submerged objects in nuclear reactors. A prototype is designed and constructed. It uses a spindle screw in order to move a piston, controlling the entrance or expulsion of water from a variable ballast, modifying the mass of the vehicle. Therefore, the applied force on it is varied, indirectly controlling its depth. Such depth is measured with a pressure sensor. The prototype is then characterized and tested. Results of those tests are evaluated leading to the conclusion that the designed system enables the vehicle's depth control.
| Tipo de objeto: | Tesis (Proyecto Integrador Ingeniería Mecánica) |
|---|---|
| Palabras Clave: | Nuclear reactors; Reactores nucleares; Underwater; Subacuático; [Unmanned underwater vehicles; Vehículos robóticos subacuáticos; Variable ballast; Lastre de volumen variable; Depth control; Control de profundidad] |
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| Materias: | Ingeniería mecánica Ingeniería mecánica > Robótica |
| Divisiones: | Gcia. de área de Energía Nuclear > Gcia. Instituto Balseiro |
| Código ID: | 627 |
| Depositado Por: | Tamara Cárcamo |
| Depositado En: | 11 Oct 2017 15:43 |
| Última Modificación: | 13 Oct 2017 14:12 |
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