為滿足台灣海域各種複雜環境的作業要求，本研究主要目的在於開發一套適用於複合模式水下載具的中繼電力/訊號管理系統(Power/ Sig¬na¬l Management System，PSMS)，需包含抗環境障礙的高強度結構及纜線、穩固安全且便利的佈放裝置、穩定的電力及訊號供應等多項功能。全系統可分為六大部分：岸端系統、主體結構、電力系統、推進系統、通訊系統、感測系統，除岸端系統外合稱中繼站。整體系統架構採用模組化設計，以達攜帶方便、擴充容易、維修或替換便捷之目的。
目前水下定位主要以聲學為主，考慮其價格高昂且設置不便，本研究開發一套以影像辨識為基礎之水下定位方法。以強光源當做目標物，進行影像追蹤控制搭配色彩衰減計算，取得目標物與中繼站之相對位置，達到相對定位的效果。由於水下環境複雜且不易建構完整的數學模型，控制系統採用模糊控制方法進行演算。
本研究於拖航水槽進行系統測試，其中包含下游ROV的佈放、電力/信號的傳輸，確定中繼系統可安全確實的協助ROV進行水下探測。並且驗證影像辨識及色彩衰減應用於水下追蹤定位之可行性。

To develop the Power/Signal Management System (PSMS) which assist Multi-mode ROV in operating at complex ocean environment. Include six parts: shore-end system, the main structure, power system, propulsion system, communication system and sensors, while the last five parts called depressor. System architecture use modular design to achieve easy portable, easy expansion and convenient replace or repair.
Currently, acoustics-based locating is the main-stream method in underwater environment. However we consider the high cost and inconvenient setting, this study develop a locating method by image recognition. It combined light-source carrier tracking and color-image attenuation calculation to get relative position between depressor and target. The control system uses the fuzzy control method due to the difficulty of establishing a comprehensive mathematical model of the control system in complex underwater environment.
The system tests in towing tank include laying the ROV, power/signal transmission and locating test. To make sure that PSMS is reliable with helping ROV for underwater exploration. And the test verifies the feasibility of image recognition and color-image attenuation calculation apply to underwater tracking and locating.

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