Earticle

초록

영어

This paper proposes a water quality monitoring system of underwater robot with self-test and diagnosis capability. The system consists of underwater robot, water quality data collection module, self-test and diagnosis module, wireless communication module, and shore-based facility. The measurement results from each sensor of water quality data collection module are transmitted to the built-in micro-processor of the underwater robot. And the self-test and diagnosis module based on DSP connects with the built-in microprocessor through RS232. The self-test and diagnosis module conducts wavelet transform for the sensor information, generating extreme points of the wavelet transform, which are used to detect the abnormal state of the current system. The threshold method is introduced to reduce the influence of the noise. The disturbance of the noise can be alleviated by setting threshold for high frequency parameters of the wavelet transform. The exceptional information was detected by the self-test module and the water quality data information was transmitted to the shore- based facility through the wireless communication module. The shore-based facility can process, analyze and determine the collected information, and then give feedback to the underwater robot. The feasibility of the system design and the rationality of the water quality parameter measurement results were verified by experiments and on-site tests.

목차

Abstract
 1. Introduction
 2. The Overall Design Scheme
 3. Hardware System Design
  3.1. Brief Introduction
  3.2. Self-test and Diagnosis Module Based on DSP
 4. Software System Design
  4.1. Software Data Flow
  4.2. Wireless Communication Protocol
  4.3. Self-test and Diagnosis Algorithm Based on Wavelet Transform
  4.4. Denoising Algorithm for Abrupt Change Signal
 5. Experimental Results and Analysis
  5.1. Water Quality Parameters Measured in Normal Condition
  5.2. Water Quality Parameters Measured in Abnormal Condition
 6. Conclusion
 Acknowledgement
 References

키워드

저자

• Lizhong Xu [ College of Computer and Information Engineering of Hohai University, Nanjing, 211100, China ]
• Hui Gu [ College of Computer and Information Engineering of Hohai University, Nanjing, 211100, China ]
• Chenming Li [ College of Computer and Information Engineering of Hohai University, Nanjing, 211100, China ]
• Aiye Shi [ College of Computer and Information Engineering of Hohai University, Nanjing, 211100, China ]
• Jie Shen [ College of Computer and Information Engineering of Hohai University, Nanjing, 211100, China ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605