Ciencias Exactas y Ciencias de la Salud
Permanent URI for this collectionhttps://hdl.handle.net/11285/551039
Pertenecen a esta colección Tesis y Trabajos de grado de las Maestrías correspondientes a las Escuelas de Ingeniería y Ciencias así como a Medicina y Ciencias de la Salud.
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- Inspection Operations in Fish Net Cages through a Hybrid Underwater Intervention System using Deep Learning(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2023-11-01) López Barajas, Salvador; Gómez Espinosa, Alfonso; emimmayorquin; Sanz Valero, Pedro José; González García, Josué; School of Engineering and Sciences; Campus Querétaro; Marín Prades, RaúlNet inspection in net cages is a daily task for divers at the fish farms. This task represents a high cost for fish farms and is a high risk activity for the divers. Net cages are basically big structures with a depth of more than 20m and around 25m diameter. The total inspection surface can be more than 1500 $m^{2}$, which means that this activity is time-consuming. Considering that divers have limited time underwater, this activity represents a significant area for improvement. Additionally, a net pen is a harsh environment with hundreds of fish swimming, fish morts and ocean currents as some of the phenomena to consider. Some works have addressed this problem using underwater robots equipped with sensors such as USBL or DVL, and applying different control theories to offer a solution to this problem. A platform for net inspection is proposed in this Thesis. This platform includes a surface vehicle, ground station and an underwater vehicle embedded with artificial intelligence and control trajectories. The underwater robot used is the BlueROV2 on its heavy configuration, some localization techniques are used to control the position of the robot such as a monocular camera at the surface vehicle using an ArUco code and object detection. Computer vision is also implemented in this work, a Convolutional Neural Network was trained in order to predict the distance between the net and the robot. Finally, some experimental results about the hole detection and position algorithm, the net distance estimation and the inspection trajectories are also presented that demonstrate the robustness, usability, and viability. The experimental validation took place in the CIRTESU tank, which has dimensions of 12x8x5 meters, at Universitat Jaume I.
- Design and construction of the hull of an autonomous underwater vehicle with biomimetic profile and development of instrumentation and control system(Instituto Tecnológico y de Estudios Superiores de Monterrey) Naula Duchi, Edisson Andres; 891214; Garza Castañón, Luis EduardoSeabed research has motivated the development of Underwater Vehicles (UVs). Study of marine life can be performed using Autonomous Underwater Vehicles (AUVs) but most of the development has been restricted to conventional propulsion systems based on jet or propeller thrust generation. These systems are limited in their deployment due to the excessive noise that tends to scare fishes and other forms of marine life during exploration. Moreover, the appearance of these vehicles can be disruptive to the marine environment. Nowadays, the relatively high-cost of fuel and rules of environmental protection have encouraged researchers to find more eco-friendly solutions. This work proposes a novel design of an AUV based on biomimicking the anatomy and swimming mechanics of tuna and dolphin. Simulation and construction of a prototype were performed to test and verify the successful integration of the components. Moreover, numerical simulation was developed to assess the effect of the propulsion system under hydrodynamic conditions to evaluate the feasibility of the design.