TMS Design and analysis of ITB ultra deep ROV

1042-1048ITB Ultra deep ROV have the operating depth until 3000 msw (meters salt water). With this very long distance, need some consideration to support the ROV can work effectively. By the very long cable it is very hard to handle directly on free swimming mode. TMS (Tethered Management System) is one of additional system to support on the ROV operation especially for handling the umbilical. This system designed to handling cable tension, power, communication, sea current and effectively operation procedures. This system is depend on the ROV system configuration and also the platform where the ROV will be deploy. This paper will present the general design of ITB Ultra deep ROV TMS and the step by step design aspect to support the ROV operation

Design and analysis of laminar hull SWATH based unmanned surface vehicle

214-221Unmanned Surface Vehicle (USV) was one of unmanned solution for marine application. There’s a lot of technology behind the research and development of unmanned surface vehicle. USV offer some advantages for routine marine Patrol operation. For the future, with additional payload sensor for surveillance and high performance communication, this vehicle expected to replace the Navy patrol on sea area. USV that’s has been developed on Center for Unmanned System Studies (CentrUMS)-ITB was based on SWATH (Small Wetted Area Twin Hull) technology. SWATH technology offers some advantages for as a surface vehicle. One of the most important of SWATH design is on the hull design. This statement based on the fact that’s the most resistance for SWATH type vehicle on twin submerged underwater hull. For higher efficiency and long endurance, laminar hull became one of most solution. All aspect of design consideration that’s involved on this Laminar Hull of this vehicle will be described on this paper

Design of SHRIMP ROV for surveillance and mine sweeper

332-337Unmanned Underwater Vehicle (UUV) is developed for various applications from civil until military requirement. One of the most important UUV missions is surveillance including mapping of marine resources and monitoring of the sea environment to prevent the destructive activities. Underwater security becomes more crucial for the country that’s have thousands island.  The study comprises the design of special Unmanned Underwater Vehicle, the SHRIMP-ROV (Remotely Operated Vehicle). This UUV has special configuration and mechanism that can be functioned as a surveillance agent (observation UUV) and as minesweeper agent. The detail idea, design background and step by step of design methods were observed in this study

Vision based distance measurement system using single laser pointer design for underwater vehicle

324-331As part of a continuous research and development of underwater robotics technology at ITB, a vision- based distance measurement system for an Unmanned Underwater vehicle (UUV) has been designed. The proposed system can be used to predict horizontal distance between underwater vehicle and wall in front of vehicle. At the same time, it can be used to predict vertical distance between vehicle and the surface below it as well. A camera and a single laser pointer are used to obtain data needed by our algorithm. The vision-based navigation consists of two main processes which are the detection of a laser spot using image processing and the calculation of the distance based on laser spot position on the image

Design and simulation analysis of flying trimaran USV

569-574The coverage area and cruising speed are important design aspects of an unmanned surface vehicle (USV). Some conventional USVs have generally a constraint on maximum speed. This fact motivates the development of approaches for effective hull design in some earlier USVs developed at the Center for Unmanned System Studies–Institut Teknologi Bandung. The design approach with the new propulsion system and control surface is featured in the present USV. This paper presents the design and operation analysis of flying catamaran USV. The design was focused on the propulsion and distribution of hydrodynamic and aerodynamic loads on the vehicle wherein computational fluid dynamics method was used as the main analysis tool

Design and testing of underwater thruster for SHRIMP ROV-ITB

338-345Shrimp ROV is the most recent underwater vehicle that has been developed at Center for Unmanned System Studies (CentrUMS)-ITB. This type of vehicle is typically designed for environmental or scientific surveillance mission as well as for Small Observation ROV with military functions. One of them is Minesweeper ROV. The present study consists  the thruster design of ITB SHRIMP-ROV as its main propulsion device. In the thruster design, we used and applied Finite Element Analysis for calculating structural strength and Computational Fluid Dynamics (CFD) for identification of fluid characteristic on thruster. All the testing at this stage is performed in the laboratory

Hardware-In-the-loop simulation platform for the design, testing and validation of autonomous control system for unmanned underwater vehicle

575-580Significant advances in various relevant science and engineering disciplines have propelled the development of more advanced, yet reliable and practical underwater vehicles. A great array of vehicle types and applications has been produced along with a wide range of innovative approaches for enhancing the performance of unmanned underwater vehicle (UUV). These recent advances enable the extension of UUVs’ flight envelope comparable to that of manned vehicles. For undertaking longer missions, therefore more advanced control and navigation will be required to maintain an accurate position over larger operational envelope particularly when a close proximity to obstacles (such as manned vehicles, pipelines, underwater structures) is involved. In this case, a sufficiently good model is prerequisite of control system design. System evaluation and testing of unmanned underwater vehicles in certain environment can be tedious, time consuming and expensive. This paper, focused on developing dynamic model of UUV for the purpose of guidance and control. Along with this a HILS (Hardware-In-the-Loop Simulation) based novel framework for rapid construction of testing scenarios with embedded systems has been investigated. The modeling approach is implemented for the AUV Squid, an autonomous underwater vehicle that was designed, developed and tested by research team at Center for Unmanned System Studies at InstitutTeknologi Bandung

Design and analysis of modular composites drybox hull of hybrid autonomous underwater vehicle

563-568Present study consists the design method for modular composite hull of a hybrid autonomous underwater vehicle. Step by step method to design the modular composite drybox hull is described and discussed. FEA (Finite Element Analysis) for material strength analysis was used to design and estimate composition <span style="mso-bidi-font-size:12.0pt; mso-fareast-language:KO" lang="EN-GB">of <span style="mso-bidi-font-size: 12.0pt" lang="EN-GB">each layer of composites structure. Overall proposed design method lead to the identification of the most efficient number of layers and acceptable safety factor for the composites drybox. </span