Dört Serbestlik Dereceli Bir İnsansız Sualtı Aracının 3 Boyutlu Bilgisayar Benzetimi

Öz

Torpido tipi insansız sualtı araçları (İSA) günümüzde, sualtı hareketlerinin izlenmesi, okyanus dibi sıcaklık haritalarının çıkarılması, tuzlu su katmanlarının belirlenmesi gibi uzun menzilli görevleri başarı ile yerine getirmektedir. Kayıp arama ve kurtarma, sünger toplama, mayın temizleme, gemi altı bakımı, gemi altı hasarlarının görüntülenmesine yönelik uzman incelemesi işlemleri, tehlikeli derinliklerde görüntü alma, batıkların incelenmesi gibi detaylı bölgesel araştırmalar ise modüler tip İSA’ları ile sağlanmaktadır. Benzer şekilde, İSA’nın sahil güvenliğini sağlama, askeri birtakım görevleri yerine getirme, baraj tabanlarının temizlenmesi, göl, tatlı su kaynakları, sualtı mağaraları, aktif sualtı volkanları, akarsuların denizlere döküldüğü akarsu ağızları gibi alıcı su ortamlarının düzenli kirlilik analizi ve kirlilik haritalarının çıkarılması gibi toplumsal ve doğal yaşamın güvenliğine yönelik önleyici görevleri bulunmaktadır. Meksika Körfezi’nde yaşanan ham petrol sızıntısının yol açtığı çevre felaketi gözleri sondaj platformlarına çevirmiştir. Platform ayaklarının bakımı, boru hatlarının izlenmesi, sızıntı tespiti, su altında kaynak işlemleri gibi tehlikeli işlemler uzaktan kumandalı İSA ile yapılmaktadır. Bu çalışma, 4 serbestlik derecesine sahip bir İSA’nın bilgisayar destekli 3 boyutlu (3D) modellemesini ve model üzerindeki benzetim uygulamalarını ele almaktadır. Benzetim programları sayesinde, yüksek maliyet ve zaman gerektiren testleri en aza indirgemek, hatalı tasarımların yol açacağı hasar ve kayıpların önüne geçmek mümkündür. İSA ve üzerlerindeki ekipmanlar yüksek maliyetlidir. Bu nedenle kullanıcıların, deniz ortamında araç kullanmadan önce simülatörde eğitime almaları gerekir. İSA’nın modellenmesi ve benzetimi üzerine geliştirilen yazılımlar, sualtı araştırmalarındaki başarımı arttırmada önemli bir rol oynayacaktır.

Anahtar Kelimeler

• 3 Boyutlu Modelleme,Simülasyon,İnsansız Sualtı Aracı,Unity 3D,Autodesk Maya

3D Computer Simulation of a Four DOF Unmanned Underwater Vehicle

Öz

Today, torpedo type unmanned underwater vehicles (UUVs) successfully fulfill long-range tasks such as monitoring underwater movements, extracting ocean bottom temperature maps, and determining saltwater layers. Detailed regional investigations such as lost search and rescue, sponge collection, mine area clearing, under-ship maintenance, under-ship damage inspection, image capture at dangerous depths, and inspecting wrecks are provided with modular type UUVs. Similarly, they are employed for ensuring the coastal guard, performing a number of military tasks, cleaning the dam bases, investigation of underwater caves and active underwater volcanoes. Furthermore, they are frequently used for regular pollution analysis of receiving water bodies such as lakes, freshwater sources, connection of rivers flowing into the seas. The environmental disaster caused by the crude oil spill in the Gulf of Mexico turned the eyes into drilling platforms. Dangerous operations like maintaining feet of platforms, inspection of pipelines, leakage detections and underwater welding operations are done by means of remotely operated vehicles (ROVs). This study deals with computer aided 3D modeling and simulation of an UUV with 4 degrees of freedom. Simulation programs allow to minimize high cost and time-consuming tests and prevent damage and losses caused by faulty designs. For this reason, it is necessary to train the users on simulators before driving in a marine vehicle. The software developed on the modeling and simulation of UUVs will play an important role in increasing the success in underwater research.

Anahtar Kelimeler

• 3D Modelling,Simulation,Unmanned Underwater Vehicle,Unity 3D,Autodesk Maya

Kaynakça

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