A Low Cost 4 DOF Remotely Operated Underwater Vehicle Integrated With IMU and Pressure Sensor

This paper presents the development of low cost Remotely Operated Underwater Vehicle (ROV) for underwater activities. In underwater industries, the constraint issues to the divers are the dangerous environment and depth pressurized that affect human bodies. Otherwise high cost is needed for each underwater task. Many industries are involved on robot development in order to reduce human works as well as increase productivity, efficiency and monitoring. Therefore, ROV is designed in order to replace the divers itself. The micro ROV was design based in three goals maneuverability, performance and future industrial implementation (ability to carry payload) with minimum cost. The Peripheral Interface Controller (PIC) is used to control the movement of this ROV. Standard test method for pressure testing, buoyancy and controlling efficiencies are considered on testing the ROV. In this project the focus will be in controlling an ROV in a multiaxis motion in order to maintain its desired position. The verified algorithms will then be tested on the actual prototype micro ROV. This project will give much benefit for related underwater industries by looking at ROV's features with needed minimum cost of implementation

Modelling and Analysis of All Terrain Vehicle (ATV) using System Identification for Yaw Stability

This paper presents the modelling and analysis of path-following planning motion of an All-Terrain Vehicle (ATV) using system identification technique in term of yaw stability. The modelling is based on the single track and established by using Newtonian equation motion. Mathematical modelling is constructed in form of state space equation with the parameters used are measured through physical measurement of prototype ATV. Based on this model selection, the open loop system is simulated and the result will be validated by using system identification. Inertial Measurement Unit (IMU) sensor is used to collect and measure the data for the path-following planning. The analysis results for yaw stability of prototype ATV are validated by system identification method with step response approach. Both of the simulated and measured data is compared and the data is estimated to get the best fit for yaw estimation by using complimentary filter technique. From the result, the best fit for yaw estimation is 91.96% and considered as stabilized at steering angle 450

Design And Development Of Auto Depth Control Of Remotely Operated Vehicle Using Thrusters System

Remotely Operated Vehicles are underwater robots designed specifically for surveillance, monitoring and collecting data for underwater activities. In the underwater vehicle industries, the thruster is an important part in controlling the direction, depth and speed of the ROV. However, there are some ROVs that cannot be maintained at the specified depth for a long time because of disturbance. This paper proposes an auto depth control using a thruster system. A prototype of a thruster with an auto depth control is developed and attached to the previously fabricated UTeM ROV. This paper presents the operation of auto depth control as well as thrusters for submerging and emerging purposes and maintaining the specified depth. The thruster system utilizes a microcontroller as its brain, a piezoresistive strain gauge pressure sensor and a DC brushless motor to run the propeller. Performance analysis of the auto depth control system is conducted to identify the sensitivity of the pressure sensor, and the accuracy and stability of the system. The results show that the thruster system performs well in maintaining a specified depth as well as stabilizing itself when a disturbanceoccurs even with a simple proportional controller used to control the thruster, where the thruster is an important component of the ROV

Problem Identification for Underwater Remotely Operated Vehicle(ROV): A Case Study

This paper investigates and describes problem identification of Unmanned Underwater Remotely Operated Vehicle (ROV). The following is the problem identification that found after research done on several literature reviews and study cases. In this paper, the major problem statements will be discussed in details such as control system, underactuated condition, pose recovery or station keeping, coupling issues and communication technique. ROV is one of the Unmanned Underwater Vehicle (UUV) tethered with umbilical cable and remotely operated by a vehicle operator’s. Control system of ROV is a bit complex because of the unknown non-linear hydrodynamics effects, parameters uncertainties and the lack of a precise model of the ROV dynamics and parameters. Conventional controller cannot dynamically compensate for unmodeled vehicle hydrodynamic forces or unknown disturbances. Underactuated condition is defined as one having less control inputs than degree of freedom, so how the ROV want to maintain a certain point or depth following mission when one or more of thrusters malfunction also an issue to be highlighted. Pose recovery or station keeping will be one of the issues in ROV design. This station keeping approach is used to maintain a position in relation to another moving ROV as the ROV tries to remain stationary at the desired depth with present the environmental disturbances such as wind, waves, current and unexpected environmental disturbances. Coupling issue between the tether and cable with ROV body will be one problem in stabilizing the ROV itself as it double the vehicle load. . The underwater vehicle size, weight and operating depth, as well as the underwater vehicle motors, subsystems, and payload, all combine to determine the ROV’s cable design. In underwater, the inability of wireless communication system fails to work very well to transmit the video stream even in short distance is another issue to be covered. This statement proved by Underwater Technology Research Group student’s project. The experiment sets upthree types of sensor using wireless communication system for higher frequency such as video stream, data transfer and GPS

Control of Automatic Food Drive-Through System using Programmable Logic Controller (PLC)

This project is about automatic control for food drive through system controlled via Programmable Logic Controller (PLC) and this system consists of food drive through with two lanes and no human operator is required to operate this food drive through. The difference of this automatic control drive through system compared with the current drive through system is the current system required a few operators to operate the system. This automatic control drive through system is fully operated by machine, like order and payment machine and conveyor which deliver the food while human only needed and involved only to prepare the food. Since there are two lanes involved in this system, the machine installed has two order and payment machines, two ticket verification machines, two conveyors which connect to the kitchen and four sensors to detect the vehicles

Dynamic line rating for grid transfer capability optimization in Malaysia

This paper details a case study on the implementation of dynamic line rating (DLR) to enhance the ampacity rating of Malaysia’s grid. Utilizing heat balance equations endorsed by the Institute of Electrical and Electronics Engineering (IEEE 738) and the International Council on Large Electric Systems (CIGRE technical brochure 601), the ampacity rating of a Zebra-type aluminum cable steel reinforced (ACSR) conductor on a 275 kV transmission line has been assessed. Real-time weather conditions and conductor temperatures, measured hourly by the DLR sensor over the course of a year, were incorporated into the ampacity calculation to determine the available margin. The weather parameters were analyzed based on the monsoon seasons. A comparative analysis between various methods outlined in the standards and the estimated ampacity rating derived from both standards is presented. According to both standards, the findings indicate that DLR surpasses static line rating (SLR), highlighting the presence of untapped ampacity for grid optimization. Remarkably, CIGRE TB 601 exhibits a higher ampacity rating margin than the IEEE 738 standard, with a percentage difference of 16.20. The study concludes that the conductor is underutilized and proposes optimization through the integration of real-time weather conditions data into the heat balance equations

Modelling and analysis of all terrain vehicle (ATV) using system identification for yaw stability

This paper presents the modelling and analysis of path-following planning motion of an All-Terrain Vehicle (ATV) using system identification technique in term of yaw stability. The modelling is based on the single track and established by using Newtonian equation motion. Mathematical modelling is constructed in form of state space equation with the parameters used are measured through physical measurement of prototype ATV. Based on this model selection, the open loop system is simulated and the result will be validated by using system identification. Inertial Measurement Unit (IMU) sensor is used to collect and measure the data for the path following planning. The analysis results for yaw stability of prototype ATV are validated by system identification method with step response approach. Both of the simulated and measured data is compared and the data is estimated to get the best fit for yaw estimation by using complimentary filter technique. From the result, the best fit for yaw estimation is 91.96% and considered as stabilized at steering angle of 45°

Comparison of Depth Control from Surface and Bottom Set point of an Unmanned Underwater Remotely Operated Vehicle using PID Controller

This paper investigates the depth control of an Unmanned Underwater Remotely Operated Vehicle (ROV) based on ballast tank system using conventional PID controller. The PID Controller is applied to control the depth of the ROV from two different reference points, from the surface and from the seafloor. The concept of ballast tank system selected is piston tank type. Two different sensors are selected, which is pressure sensor for measurement from the surface, and sonar sensor for measurement from the bottom. Control method from both references point are investigated and compared to find out which feedback reference points are more appropriate in different conditions. The implementation phase will be verified through MATLAB Simulink platform. The verified algorithms will then be tested on the actual prototype ROV. And also the prospect of automated the vertical movement of a ROV

Lightning surge on the DC and AC side of solar PV system

The solar PV has become an alternative solution in Malaysia to generate electricity. Unfortunately the solar PV installed in Malaysia is attracted to the lightning strike. There were two points that have high possibilities of being strike by the lightning; on the DC side between the solar PV and inverter and on the AC side, between the inverter and the substation. Therefore, this study was performed to analyse the effects of lightning strike at these two different points at the solar PV farm without any lightning protection system (LPS)