Robotski sustav za identifikaciju i lokalizaciju brodova u marini

master's thesis

• Title (english): Robotic system for identification and localization of ships in a marina
• Author: Nino Dragičević
• Mentor: Marko Švaco (mentor)
• Mentor: Ante Bakić (komentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2024-07-15, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Posljednjih godina javlja se sve veća potreba za učinkovitim upravljanjem i povećanim nadzorom u različitim sektorima industrije. Brzim razvojem bežičnih tehnologija omogućena je implementacija naprednih sustava za lokalizaciju objekata. Zadatak ovog diplomskog rada je odabrati odgovarajuću bežičnu tehnologiju i razviti sustav za identifikaciju i lokalizaciju brodova u pametnoj marini. Sustav identifikacije osmišljen je za korištenje s autonomnim mobilnim robotom. Pomoću prijamnika montiranog na mobilnog robota prikupljaju se informacije o smjeru dolaska signala s odašiljača koji se nalaze na brodovima, koristeći Bluetooth niske energije. Na temelju informacija o smjeru dolaska signala, uz poznatu poziciju mobilnog robota, vrši se identifikacija brodova. Kombinirajući podatke o smjeru dolaska signala s jednom od metoda mjerenja udaljenosti, moguće je odrediti lokaciju odašiljača na brodovima u odnosu na poziciju mobilnog robota. U uvodu rada objašnjena je problematika i detaljno opisan zadatak, a potom je prezentirana potrebna teorija bežičnih tehnologija i algoritama za traženje smjera signala. Zatim je opisana implementacija sustava koristeći SiliconLabs BRD4191A BLE prijamnik i SiliconLabs BGM220 odašiljače. Naposljetku, prikazani su i komentirani dobiveni rezultati te je donesen prikladan zaključak.

Abstract (english)

In recent years, there has been a growing need for efficient management and increased monitoring in various industrial sectors. The rapid development of wireless technologies has enabled the implementation of advanced object localization systems. The task of this master thesis is to select an appropriate wireless technology and develop a system for the identification and localization of ships in a smart marina. The identification system is designed to be used in combination with an autonomous mobile robot. Using a receiver mounted on the mobile robot, information about the direction of arrival of signals from transmitters located on the ships is collected using Bluetooth Low Energy. Based on the information about the direction of arrival of the signal, along with the known position of the mobile robot, the ships are identified. By combining the direction of arrival data with one of the range finding methods, it is possible to determine the location of the transmitters on the ships relative to the position of the mobile robot. The introduction to the thesis explains the problem and describes the task in detail, followed by a presentation of the necessary theory of wireless technologies and direction- finding algorithms. Then, the implementation of the system using the SiliconLabs BRD4191A BLE receiver and SiliconLabs BGM220 transmitters is described. Finally, the obtained results are presented and commented on, and an appropriate conclusion is drawn.

• Keywords: pametna marina; mobilni robot; Bluetooth niske energije; lokalizacija i identifikacija brodova
• Keywords (english): smart marina; mobile robot; Bluetooth Low Energy; localization and identification of ships
• Language: croatian
• URN:NBN: urn:nbn:hr:235:854505
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-07-10 08:14:57