DESIGN AND CONSTRUCTION OF GROUND CONTROL STATION (GCS) AND REMOTELY OPERATED VEHICLE (ROV) FOR EXPLORATION OF OBJECT IN WATER

Afany, Muhamad Khilfy (2022) DESIGN AND CONSTRUCTION OF GROUND CONTROL STATION (GCS) AND REMOTELY OPERATED VEHICLE (ROV) FOR EXPLORATION OF OBJECT IN WATER. Tugas Akhir thesis, University of Technology.

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Abstract

ABSTRACT The ROV robot vehicle is one of the categories of diving robots used for underwater monitoring and exploration. This research resulted in an ROV vehicle weighing 5 kg. The ROV in this study serves to explore underwater objects by utilizing a camera mounted on the vehicle. The ROV rides are equipped with GCS and are connected via the RS485 communication protocol and a 12 meter long cable. The GCS in this study consisted of a control box containing a control lever, a 4.3-inch TFT LCD, a 16x2 LCD and a series of switches and cable connecting sockets. The data received by the microcontroller is then acquired using LabView2016 and produces a GUI that contains data on the degree of slope of the vehicle to the x and y axes as well as the status of the leak sensor readings. In order to acquire video data sent by the vehicle, the author uses a USB capture card device and connects it to a laptop via a USB cable. To increase the stability of the vehicle when performing vertical movements (up and down), this study used 3 motors with additional 3 leaf propellers and a nozzle nozzle to increase the suction and thrust of the propellers. The ROV vehicle is capable of diving and moving to a depth of 2.4 meters. PID control with parameters Kp 16.33, Ki 5.44, and Kd 10.00 produces diving motion and holding depth with an error value of -7 degrees to the pitch axis. Keywords: ROV rides, GCS, LabView2016, PID

Item Type: Thesis (Skripsi, Tugas Akhir or Kerja Praktek) (Tugas Akhir)
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Fakultas Sains Dan Teknologi > S1 Teknik Elektro
Depositing User: Kaprodi Teknik Elektro
Date Deposited: 04 Oct 2022 02:31
Last Modified: 04 Oct 2022 02:31
URI: http://eprints.uty.ac.id/id/eprint/10512

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