Visual telemetry transmission in marine environment using Robot Operating System platform

Barakou, Stamatina; Chasapopoulos, Konstantinos

dc.contributor.author	Barakou, Stamatina	el
dc.contributor.author	Chasapopoulos, Konstantinos	en
dc.date.accessioned	2020-04-03T09:33:13Z
dc.date.available	2020-04-03T09:33:13Z
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/50062
dc.identifier.uri	http://dx.doi.org/10.26240/heal.ntua.17760
dc.description	Εθνικό Μετσόβιο Πολυτεχνείο--Μεταπτυχιακή Εργασία. Διεπιστημονικό-Διατμηματικό Πρόγραμμα Μεταπτυχιακών Σπουδών (Δ.Π.Μ.Σ.) “Συστήματα Αυτοματισμού”	el
dc.rights	Αναφορά Δημιουργού-Μη Εμπορική Χρήση-Όχι Παράγωγα Έργα 3.0 Ελλάδα	*
dc.rights	Αναφορά Δημιουργού-Μη Εμπορική Χρήση-Όχι Παράγωγα Έργα 3.0 Ελλάδα	*
dc.rights	Αναφορά Δημιουργού-Μη Εμπορική Χρήση-Όχι Παράγωγα Έργα 3.0 Ελλάδα	*
dc.rights.uri	http://creativecommons.org/licenses/by-nc-nd/3.0/gr/	*
dc.subject	Τηλεμετρία	el
dc.subject	Απομακρυσμένη επικοινωνία	el
dc.subject	Επεξεργασία εικόνας	el
dc.subject	Θαλάσσιο περιβάλλον	el
dc.subject	Εφαρμογή παρακολούθησης	el
dc.subject	Telemetry	el
dc.subject	Robot Operating System (ROS)	el
dc.subject	ROS Communication	el
dc.subject	Image processing	el
dc.subject	Web application	el
dc.title	Visual telemetry transmission in marine environment using Robot Operating System platform	en
dc.contributor.department	Συστήματα Αυτοματισμού και Ρομποτικής	el
heal.type	masterThesis
heal.classification	Telecommunication	en
heal.language	en
heal.access	free
heal.recordProvider	ntua	el
heal.publicationDate	2019-09-30
heal.abstract	This work is part of a feasibility study carried out at the School of Naval Architecture and Marine Engineering/NTUA with main objective to investigate the capability of telemetry transmission between two distant locations in sea environment. In an abstract formulation, the problem at hand is to set up suitable software and hardware components so as to survey an underwater area (local station) and transmit various kinds of information in the form of "messages" to a distant control center (remote station). The local station has to be unmanned and equipped with a group of sensors that gather information regarding the state of the underwater area. In addition, choices for entities like suitable battery power, geographical location and communications must ensure the autonomy and safety of the station. The main feedback comes from an camera imaging system which allows a post-processing application to automatically detect presence of objects of any kind (ie divers, ROVs, shing vessels etc). The chosen platform for the construction and handling of messages is the Robot Operating System (ROS) framework, well established in the academic as well as in the industrial environment. In addition, other mechanisms were set up and co-operated with ROS: a basic image processing application that processes video and pictures that come from the camera sensor initiating the messaging generation process, in the local station side, as well as a data base application that has to collect and store the various types of messages that are received, together with a display environment for monitoring the whole remote operation by a human operator; both in the remote station side.As for the contents of this Thesis, a minimal simulator was set up at the Laboratory of Marine Engineering/NTUA, consisting of two "computing nodes": one laptop named Unit point which corresponds to the local station at sea, and a second laptop, given the name Base point, corresponding to the land-based control center. In between an Ethernet network was set up so as to simulate the link between the two nodes, with varying traffic and connectivity performance.Both computers run Linux operating system.	en
heal.advisorName	Παπαλάμπρου, Γεώργιος	el
heal.committeeMemberName	Κυριακόπουλος, Κωνσταντίνος	el
heal.committeeMemberName	Τζαφέστας, Κωνσταντίνος	el
heal.academicPublisher	Εθνικό Μετσόβιο Πολυτεχνείο. Σχολή Μηχανολόγων Μηχανικών	el
heal.academicPublisherID	ntua
heal.fullTextAvailability	false