Irawanto, Zulis (2023) Sistem Pengukuran Berbasis Optik Digital Sudut Lebar untuk Gerakan Manuver Model Kapal. Masters thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Pada eksperimen manuver model kapal, sistem pelacakan gerak yang akurat diperlukan untuk melacak lintasan model kapal. Beberapa sistem komersial untuk pelacakan gerak telah terbukti handal, namun secara umum harganya relatif mahal. Ada beberapa penelitian tentang optik digital berbiaya rendah untuk pengukuran gerak dalam eksperimen hidrodinamika, namun umumnya dilakukan pada model tertambat dengan gerakan translasi terbatas, sedangkan percobaan manuver memerlukan suatu sistem pengukuran yang mampu menjangkau area lintasan yang luas. Penelitian ini menawarkan sistem pengukuran optik digital berbiaya murah dengan menggunakan lensa sudut lebar untuk menangkap area lintasan yang luas pada eksperimen manuver. Tetapi penggunaan jenis lensa tersebut menimbulkan distorsi gambar yang serius. Sebuah metode koreksi diterapkan untuk mengatasi distorsi gambar. Penelitian ini bertujuan untuk menganalisis kinerja metode koreksi distorsi, serta akurasi pengukuran pada metode yang diusulkan. Gerakan model kapal direkam menggunakan sebuah kamera video yang dipasang dalam arah perspektif di atas kolam eksperimen. Kamera dikalibrasi dalam dua tahap menggunakan toolbox Bouguet. Beberapa model distorsi dianalisa untuk mendapatkan model optimal untuk mengoreksi kesalahan pengukuran akibat distorsi lensa. Untuk estimasi pose kamera, pola kisi disusun pada permukaan kolam eksperimen. Gerakan model kapal diukur berdasarkan posisi target LED yang dipasang pada model, yang dideteksi berdasarkan warnanya pada rangkaian gambar video. Beberapa eksperimen manuver dilakukan untuk menguji akurasi sistem pengukuran. Dengan menggunakan model distorsi radial orde 6 dikombinasi dengan distorsi tangensial pada kalibrasi kamera Yi 4K, pengukuran memiliki kesalahan dalam arah X dan Y sebesar 0,093% dan 0,176%, dan memiliki presisi pada titik pusat gambar yaitu 1 piksel mewakili jarak sebenarnya sebesar 4,96 mm untuk arah x, dan 6,64 mm untuk arah y. Pada pengukuran diameter putaran manuver, metode yang diusulkan telah divalidasi dengan sistem yang sudah terverifikasi, yaitu Qualisys. Hasil kedua sistem pengukuran memiliki perbedaan 1,99%. Berdasarkan kriteria klasifikasi akseptabilitas, hasil pengukuran dengan kesalahan di bawah 5% dikategorikan sangat baik.
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In ship maneuvering experiments, an accurate motion-tracking system is required to track the trajectory of the ship model. Some commercial systems for motion tracking have proven to be reliable; however, they are relatively costly. Most studies on low-cost digital optics for motion measurement in hydrodynamic experiments were conducted on moored models with restricted translational motion. In contrast, maneuvering experiments require a measurement system that can cover a wide trajectory area. This research proposes a low-cost motion tracking system using a wide-angle camera lens for measuring the trajectory of the ship model in maneuvering experiments. However, using this type of lens causes significant image distortion. A correction method is required to fix the image distortion. This research aims to analyze the performance of the distortion correction approach and the measurement accuracy of the proposed method. The motion of the ship model is recorded using a video camera mounted in perspective over the experimental basin. The camera was calibrated in two steps using Bouguet's toolbox. Several distortion models were investigated to obtain the optimum model for correcting measurement errors due to lens distortion. For camera pose estimation, a grid pattern was arranged on the water surface of the basin. The motion of the ship model was measured based on the position of LED targets on the model, which were detected by their color in image sequences. Several maneuver experiments were carried out to investigate the accuracy of the system. Using the 6th-order radial distortion model combined with the tangential distortion model in the Yi 4K camera calibration, the measurement errors in the X and Y directions are 0.093% and 0.176%, and the measurement precision at the image's center point is 1 pixel representing the actual distance of 4.96 mm in the x direction and 6.64 mm in the y direction. The proposed method has been validated against the verified Qualysis system in measuring turning diameter, and the results of both systems differ by 1.99%. According to the acceptability classification criteria, the proposed method with a MAPE of less than 5% is categorized as excellent.
| Item Type: | Thesis (Masters) |
|---|---|
| Uncontrolled Keywords: | kamera, koreksi distorsi, lensa sudut lebar, manuver, motion tracking, optik digital, camera, distortion correction, wide-angle lens, maneuver, motion tracking, digital optics. |
| Subjects: | Q Science > QC Physics > QC100.5 Measuring instruments (General) T Technology > TA Engineering (General). Civil engineering (General) > TA1637 Image processing--Digital techniques T Technology > TA Engineering (General). Civil engineering (General) > TA593.35 Instruments, cameras, etc. V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM161 Ships--Hydrodynamics |
| Divisions: | Faculty of Marine Technology (MARTECH) > Marine Engineering > 36101-(S2) Master Theses |
| Depositing User: | Zulis Irawanto |
| Date Deposited: | 02 Aug 2023 04:16 |
| Last Modified: | 02 Aug 2023 04:16 |
| URI: | http://repository.its.ac.id/id/eprint/99462 |
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