本研究以客製化小型ROV為基礎，目的是將推進系統、姿態與深度感測系統及攝影鏡頭，三者進行內部系統整合及技術提升，結合人因工程設計方法，優化使用者操作介面，使系統介面符合水下考古人員的作業需求，提升工作效率，並先以成大拖航水槽為測試水域，測試水下載具程式優化後的操作性、穩定性及攝影，另外，我們會以實際水域進行現場實測，搭配水下攝影量測技術，嘗試建立實地水域之3D模型。
水下載具ROV的縱搖與橫搖姿態控制不易，為了克服此項問題，搭配深度航向感測器新增系統的自動定深與路徑推測功能，另針對原有設計之ROV進行改良，包括程式優化、艙間與推進系統佈置、重心及浮心調整及感測系統，並以人因工程設計方法整合人機介面，新增搖桿與把手控制方法，讓不同的使用者能夠選用適合自己的操控方式。
根據不同控制方法與學習時間試驗結果顯示，把手控制器有助於降低使用者的學習時間，且如果使用者平常對控制器的使用頻率較高，也有降低學習時間的效果。經過改良設計後的介面使小型ROV能貼近水下考古的作業需求，我們也執行了兩次岸邊測試與一次外海測試，在試驗中發現問題並嘗試解決，其中ROV抗流與定位控制的問題，仍需在未來改善。

Based on the customized small-ROV, the purpose of this research is to integrate the propulsion system, attitude sensing system, depth sensing system and photographic lens into the internal system and and improve the technology. Combing human factors engineering design methods to optimize user interface, so that the system interface will meet the operational requirements of underwater archaeologists and improve work efficiency. And we take place the experiment to test the the operation, stability and photography after program optimization in NCKU towing tank. Additionally, we will conduct the field test in saline waters and try to build a 3D model of the water area in the field with the underwater photogrammetry.

It is not easy to control the pitch and roll attitude of the ROV. In order to overcome this problem, the automatic depth and path prediction function of the system will be added with the depth and attitude sensor. Improvements on the ROV, including program optimization, cabin and propulsion system layout, center of gravity and center of buoyancy adjustment and sensing system. The human-machine interface is integrated with the human factor engineering design method, and the gamepad and joystick are added for different users to choose suitable control methods.

According to the results in this research, the gamepad can help reduce the learning time. And if the user uses the controller more frequently, it will also reduce the learning time. Consequently, the modified interface allows the small ROV to meet the operational requirements of underwater archaeology. We have also conducted two nearshore tests and one offshore test, in which we found problems and tried to solve them. Nevertheless, the choking and positioning control still need to be improved in the future.

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