Design, Fabrication and Control of a semi-Autonomous Unmanned Underwater Vehicle (USV) for Ocean exploration

Project Title

Design, Fabrication and Control of a semi-Autonomous Unmanned Underwater Vehicle (USV) for Ocean exploration

Project Area of Specialization RoboticsProject Summary

As we are researching so much on space and land but our land contains 71% of water and there is not that much search till now also It take less to communicate with someone at mars as compare to underwater  which take approx. 7 sec for communication so this means we should research on underwater. There are many tasks which are boring or difficult for human beings to do so for those purpose we are going to make an underwater vehicle which is remotely controlled from human and gives a view of underwater. this vehicle can be used for military purpose, underwater cables survey also for different search operations. These small underwater vehicles are used for the communication purpose of large ship through these small underwater vehicles. We can also use it for visualizing underwater species through a camera attach with underwater vehicle. this can also be used for searching operation for many reasons.

Project Objectives

The problem stated above are faced by different departments during different operations like:

• Naval department sometime found problems for the searching operation so they can use this vehicle which was remotely controlled so you can view inside the water without going inside the water.
• Deep water operations have been in many years conducted by scuba divers even at conditions where it is unsafe for human such as extremely low temperatures, mine hunting and so on. Medical literature suggests that there is potential chronic long-term detrimental effect of diving so this project will aid help performing under water tasks.
• It also used as underwater virtual reality for example during shipping for underwater view you use these underwater vehicles for underwater view by using Virtual headset for virtual reality.
• This can also be used for underwater cables checking as sometime cable can damage from whales or sharks so this vehicle can be used for the detection from where the cables are damaged.

Now we are going to operate this vehicle in two different mode

• Through laptop (or remote)
• Semi autonomously (without human control)

But our first aim is to make a body and to use a proper dc machines and propellers to produce much thrust for its up, down and right, left movement after achieving our first goal then we going to make it semi-autonomous.

Project Implementation Method

For the implementation of the project we searched different paper related to this project in which the implementation was done through different approaches for e.g.(some are done by using different sensors ,some uses fuzzy logic and PID controller and some uses a Arduino  dc motors control )

Body Implementation:

The very first task is to build a proper body of our vehicle in which we have to consider many factors like weight, water proofing ,stability etc. so after searching a lot and reading different paper we decided to make a body with the help of PVC pipes the very first advantage of these pipes they are low in weight and we need less thrust to move this type of body.

DC motors and propellers:

Now after making a body our next step is to search on different terms like pressure, thrust and revolution because water pressure changes  1atm after 10 meters depth so after working on these all parameters we need dc motors and propellers of some fixed revolution and size which can produce much thrust to overcome that water pressure for the movement till now we need two dc motors and propellers for forward backward, right and left movement and for upward and downward movement we going to use one dc motor and one propeller (these all dc motor are approximation may change during implementation because of nonlinear behaviour of water).

Installation of camera:

After testing our motors and our vehicle stability next step is to install a camera if we use a waterproof camera than no need of its waterproofing else, we set our camera in waterproof box. Wires of camera are directly attached with laptop.

Mode 1: through mobile

First of all by using Bluetooth module (HC-05) with Arduino and connecting it with mobile phone instead of sending Arduino with vehicle we should make a box which was placed outside the water and the wire should be done with motors to control it.

Installing different sensors:

For measurement of depth we should use a depth sensor also going to using sonar sensor for object detection.

Benefits of the Project

• Naval department sometime found problems for the searching operation so they can use this vehicle which was remotely controlled so you can view inside the water without going inside the water.
• Deep water operations have been in many years conducted by scuba divers even at conditions where it is unsafe for human such as extremely low temperatures, mine hunting and so on. Medical literature suggests that there is potential chronic long-term detrimental effect of diving so this project will aid help performing under water tasks.
• It also used as underwater virtual reality for example during shipping for underwater view you use these underwater vehicles for underwater view by using Virtual headset for virtual reality.
• This can also be used for underwater cables checking as sometime cable can damage from whales or sharks so this vehicle can be used for the detection from where the cables are damaged.

Technical Details of Final Deliverable

Timeline of project:

The final deliverable includes the body of USV with a Raspberry pi attached. Also the sensors which was used to examine the underwater enviroment . A raspberry pi camera was attched with the USV which was used to view underwater and a controller box was attached with it control the USV.

Final Deliverable of the Project Hardware SystemCore Industry SecurityOther Industries Others Core Technology RoboticsOther TechnologiesSustainable Development Goals Life Below WaterRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	53400
Body design	Equipment	1	5000	5000
Arduino	Equipment	1	1000	1000
Raspberry pi 3B	Equipment	1	8000	8000
Bilge pump motor	Equipment	6	3000	18000
Sensors	Equipment	4	1000	4000
Raspberry pi camera	Equipment	1	3000	3000
Motor driver	Equipment	1	400	400
cables(power, communication etc)	Equipment	1	3000	3000
Propellers	Equipment	6	500	3000
controller box	Equipment	1	1000	1000
Misc.	Miscellaneous	1	7000	7000