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Robot Positioning System: Underwater Ultrasonic Measurement
Mälardalen University, School of Innovation, Design and Engineering.
Mälardalen University, School of Innovation, Design and Engineering.
2009 (English)Independent thesis Advanced level (degree of Master (One Year)), 30 credits / 45 HE creditsStudent thesis
Abstract [en]

This document provides a description about how the problem of the detection of thecenter of a defined geometry object was solved.This named object has been placed in an experimental environment surrounded bywater to be explored using microwaves under the water, to try to find a possibletumor. The receiver antenna is fixed in the tip of the tool of an ABB robot.Due to this working method, it was necessary to locate the center of this object tomake correctly the microwave scanning turning always around the actual center. Thiswork not only consist in give a hypothetic solution to the people who gave us theresponsibility of solve their problem, it is also to actually develop a system whichcarries out the function explained before.For the task of measuring the distance between the tip of the tool where themicrowave antenna is, ultrasonic sensors has been used, as a complement of acomplete system of communication between the sensor and finally the robot handler,using Matlab as the main controller of the whole system.One of these sensors will work out of water, measuring the zone of the object which isout of the water. In the other hand, as the researching side of the thesis, a completeultrasonic sensor will be developed to work under water, and the results obtained willbe shown as the conclusion of our investigation.The document provides a description about how the hardware and software necessaryto implement the system mentioned and some equipment more which were essentialto the final implementation was developed step by step.

Place, publisher, year, edition, pages
2009. , p. 137
Keywords [en]
ultrasound, ultrasonic, robot, positioning, sensor, underwater
Keywords [es]
ultrasonido, robot, posicionamiento, sensor, sumergido, agua
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:mdh:diva-5817OAI: oai:DiVA.org:mdh-5817DiVA, id: diva2:214383
Presentation
ADA, Högskoleplan 1, Rosenhill, Västerås (English)
Uppsok

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Available from: 2009-05-28 Created: 2009-05-05 Last updated: 2009-05-28Bibliographically approved

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fulltext(9603 kB)444 downloads
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Type fulltextMimetype application/pdf

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Salido Monzú, DavidRoldán Sánchez, Oliver
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CiteExportLink to record
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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
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