目前各國所發展的小型水下載具，其功能是作水下資源探測或生態觀察與追蹤等任務。在微小水下載具方面，其功能仍停留在動力發展階段。本研究研發以無線遙控方式控制四個動力源的微小水下載具之深度、推進與轉速，並裝置無線微型攝影機進行水下觀測，藉由觀測之影像，傳達給操作者以R/C（Radio Remote Control）無線遙控器控制微小水下載具的運動狀態。本研究著重在探討微小水下載具製作的可行性以及整體系統之整合，首先定義微小水下載具之尺寸與功能評估，挑選合適的微型攝影機、馬達、單晶片與電源，並設計與製作無線搖控模組接收電路。
首先將水下載具之尺寸定義在150×70×70mm左右，微小水下載具之設計是依據內部電子元件之尺寸所建構，並使用FLUENT計算流體力學軟體，探討數值模擬分析與結果，修改出較佳的外形，並進行水下載具內部結構及各組件之設計。為了製作微小水下載具，本論文選擇層加工製程中的SDM（Shape Deposition Manufacturing）製程，使用高分子材料為主要材料以及蠟為支撐材料進行沉積，並搭配高速CNC雕銑機以高速切削（High Speed Cutting）方式加工，可獲得高精度、光滑表面之功能性元件。
本研究成功地研發出，具有觀測能力的無線遙控為小水下載具。組裝完成後之微小水下載具尺寸為14.2cm×7.4cm×5.0cm，重量為233 g，本系統整合可應用在其他相似尺寸的水下載具。

Small-scale underwater vehicles have been mainly developed for underwater exploration or ecological observation and tracking. As the size goes down to meso-scale, due to the limited space, the vehicles have very limited functions and stay wired powered and controlled. In this research, a remote-controlled maneuverable meso-scale underwater vehicle with vision capability was developed. The vehicle equipped a micro wireless video camera and four rotors— two for propulsion and two for depth control. By transmitting the underwater image to the operator, the vehicle can have better movement control and observe the target objects.
The feasibility of system integration and fabrication were investigated. First of all, the size of the meso-scale underwater vehicle was limited within 150mm×70mm×70mm. Suitable micro wireless video camera, motor, single chip, and power source were selected. The I/O circuits of R/C (Radio Remote Control) module were then designed and fabricated. According to the size of selected components, modules, and designed internal circuits, the external shape of the vehicle was determined with the help of FLUENT software for simulation and analysis. Rotors and hull components of the meso-scale underwater vehicle prototype were manufactured by SDM (Shape Deposition Manufacturing) process, a layered manufacturing technique. Three-axis CNC machine was utilized in SDM to define the geometry of each layer after polymer part material or wax support material was cast. At last, the vehicle was assembled and tested to perform moving forward/ backward, turning right/left, climbing/diving, and observing the target.
This research has successfully developed a remote-controlled meso-scale underwater vehicle with vision capability and maneuverability. The assembled prototype is 14.2cm×7.4cm×5.0cm in dimension and weights 233g. The system integration is applicable to other similar scale vehicles.

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