Hull Design for ROV with Four Thrusters (X4-ROV)

In this research, an X4-ROV consisting of four thrusters is design to develop a small ROV which does not have any rudders for an observation class unmanned underwater vehicle system. Each thruster is arranged at equal intervals to the same plane, and the attitude motions of a roll, a pitch and a yaw, and the translational motion forward are realizable by changing the rotational speeds of four thrusters. In this paper, the construction of an X4-ROV system and the motion method are described, together with the added mass. A torpedo hull shape with four thrusters is draft using solidworks for fabrication of hull (body) shape using a 3d printer. The operator will communicate with ROV via open source platfor

Backstepping and Sliding-Mode Methods for Stabilizing an Underactuated X4-AUV

In this paper, we are interested principally in dynamic modelling of an autonomous underwater vehicle (X4-AUV) while taking into account the high order nonholonomic constraints in order to develop a new control scheme as well as the various physical phenomena, which can influence the dynamic of a swimming structure. We deal with the design of two controllers, based on backstepping and sliding-mode control techniques to stabilize altitude and attitude of an underactuated X4-AUV. The designed controllers are: full backstepping control for attitude and altitude control, and partially slidingmode control for attitude combine with altitude backstepping control. Some numerical simulations are conducted to demonstrate the effectiveness of the proposed controllers

Integral Backstepping Controller for an Underactuated X4-AUV

The autonomous underwater vehicle (AUV) capability has great important tasks for navigating into abyssal zones and dangerous underwater mission. Mostly AUV has six degrees of freedom (DOF) in motion and is classified in an underactuated system. The underactuated system is a system with fewer inputs than DOF. However, stabilizing an underactuated system is difficult tasks because of the nonlinear dynamic and model uncertainties. Thus, our aim is to obtain control algorithms using Integral Backstepping approach in order to stabilize the X4-AUV. The key idea of Integral Backstepping is to design a virtual controller by working together with the integration of tracking error. Numerical simulation results are given to show the validity and the good performances of the proposed method

PSO approach for a controller based-on backstepping method in stabilizing an underactuated X4-AUV

The autonomous underwater vehicle (AUV) mostly has fewer control inputs than the degree of freedoms (DOFs) in motion and be classified into underactuated system. It is a difficult task to stabilize that system because of the highly nonlinear dynamic and model uncertainties, therefore it is usually required nonlinear control method to control this type of system. Conventionally, to control the system, parameters for the controller are selected by the trial-and-error method or manually chosen. It is challenging to get satisfactory responses because manual tuning is not an easy task and consuming much time, especially involve many parameters. It is necessary to select proper parameters because an improper selection of the parameters may jeopardize the system stability and leads to inappropriate responses. Thus, an optimization technique is required in selecting the optimal parameter for the controller. In this paper, the controller based on backstepping method is required for an underactuated X4-AUV system. Three types of controller based on backstepping are designed ; standard backstepping, PID backstepping and integral backstepping. Twelve optimal parameter values are generated for each controller using particle swarm optimization (PSO). All these three controllers show an improvement in term of settling time, and it has rapid responses compare than a controller with manual tuning parameters. The effectiveness of the controllers is verified in a computer simulation using MATLAB software

Design and Development of an X4-ROV

Remotely operated vehicle (ROV) is an unmanned underwater vehicle (UUV) used for conducting underwater task to replace a human diver in the risky job. X4-ROV is a micro observation class ROV to be used mainly for visual observation of underwater structure or environment by utilizing a high definition web camera. The designed vehicle structure was aims towards portability and maneuverability in attitude motions of roll, pitch, and yaw, and the translational motion forward/reverse/lateral. This work explains the use and modification of an open-source platform (OpenROV) into X4-ROV syste

Backstepping and sliding-mode methods for stabilizing an underactuated X4-AUV

In this paper, we are interested principally in dynamic modelling of an autonomous underwater vehicle (X4-AUV) while taking into account the high order nonholonomic constraints in order to develop a new control scheme as well as the various physical phenomena, which can influence the dynamic of a swimming structure. We deal with the design of two controllers, based on backstepping and sliding-mode control techniques to stabilize altitude and attitude of an underactuated X4-AUV. The designed controllers are: full backstepping control for attitude and altitude control, and partially slidingmode control for attitude combine with altitude backstepping control. Some numerical simulations are conducted to demonstrate the effectiveness of the proposed controllers

Design and development of a remotely operated vehicle with new maneuvering method

2519-2526In this paper, a remotely operated vehicle (ROV) consisting of four thrusters is designed and developed called X4-ROV. X4-ROV is a micro observation class ROV to be used mainly for visual observation of underwater structure or environment by utilizing a high definition web camera. The designed vehicle structure was aims towards portability and maneuverability in attitude motions of roll, pitch, and yaw, and the translational motion forward/reverse/lateral. This work explains the use and modification of an open-source platform (OpenROV) into X4-ROV system

Design and development of a remotely operated vehicle with new maneuvering method

In this paper, a remotely operated vehicle (ROV) consisting of four thrusters is designed and developed called X4-ROV. X4-ROV is a micro observation class ROV to be used mainly for visual observation of underwater structure or environment by utilizing a high definition web camera. The designed vehicle structure was aims towards portability and maneuverability in attitude motions of roll, pitch, and yaw, and the translational motion forward/reverse/lateral. This work explains the use and modification of an open-source platform (OpenROV) into X4-ROV system

Preliminary study on the effect of commercially available eye toners on rabbit corneal keratocytes proliferation and migration

Devoid of scientific proofs, the use of commercially available natural product-based eye toners for therapeutic purposes incites controversies surrounding it. This study aims to evaluate the effect of selected commercially available eye toners on in vitro cellular model using rabbits’ corneal keratocytes. The primary cells were cultivated in culture media supplemented with or without eye toners as control. Growth kinetic profile, cells proliferation assay, scratch assay and immunocytochemistry analysis were performed in comparing both culture media. There were no significant differences between control and the commercially available eye toners in the growth kinetics and cell proliferation. Microscopic observation of the scratch assay suggested the eye toners did not promote cells migration as compare to control. However, in the immunohistochemistry study the eye toners are able to sustain the expression of Connexin-43 and Lumican. This preliminary study indicates that the selected eye toners do not promote the proliferation and migration of corneal keratocytes. They are able to maintain the expression of Connexin-43 and Lumican which might have beneficial effect in corneal transparency. Studies with individual element of the eye toners need to be done