Design and Development of an Underactuacted Autonomous Underwater Vehicle (X4-AUV) with Four-Inputs and Six-States
A lot of knowledge deep down the sea still cannot be unfold by researches today as the human cannot stand the underwater pressure after 500 meter depth in average with scuba-dive tool and less than 6000 meter depth in average by using submarine as it will proportionally increase as the depth is in...
| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Language: | English English |
| Published: |
2015
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/10913/ http://umpir.ump.edu.my/id/eprint/10913/1/Design%20and%20Development%20of%20an%20Underactuacted%20Autonomous%20Underwater%20Vehicle%20%28X4-AUV%29%20with%20Four-Inputs%20and%20Six-States.pdf http://umpir.ump.edu.my/id/eprint/10913/7/Design%20and%20Development%20of%20an%20Underactuacted%20Autonomous%20Underwater%20Vehicle%20%28X4-AUV%29%20with%20Four-Inputs%20and%20Six-States-abstract.pdf |
| Summary: | A lot of knowledge deep down the sea still cannot be unfold by researches today as the human cannot stand
the underwater pressure after 500 meter depth in average with scuba-dive tool and less than 6000 meter
depth in average by using submarine as it will proportionally increase as the depth is increase. Invention of Remotely Underwater Vehicle (ROV) has been bring up by the researches in order to encounter the human limitation in this issue but still did not produce the end solution as the user which control the vehicle will lost its connection and control of the vehicle after it reach more 6000 meter depth as the effect of the pressure. The idea of Autonomous Underwater Vehicle (AUV) comes next as the demand of underwater system rises.
This vehicle capable to navigate in abyssal zone without necessitating a tether that limits the range and maneuverability of the vehicle. In this project, an X4-AUV hardware and software systems is developed. The
development of the X4-AUV body is based on ellipsoidal shape where we consider the slenderness ratio in
the design of the body. X4-AUV also equipped with four thrusters where the design is based on the quad rotor
concept. ARDUINO UNO REV-3 will be act as a controller to control the thrusters (motor). The waterproof
temperature sensor will act as location identifier sensor as it will keep transmitting the real time temperature
value to the controller while the LCD shield for ARDUINO will display the value of the temperature
based on the transmitted value. The user will able to continuously identify the location of X4-AUV by serial
communication in ARDUINO software via XBEE wireless communication between ARDUINO located at
X4-AUV controller and at control centre PC. The X4-AUV will able to perform its task as it will move underwater
according to the set of program language coded in the controller.
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