PROTOTYPING AND STABLIZING OF UNDER-ACTUATED REMOTELY OPERATED VEHICLE
Modelling and control design of Underactuated unmanned underwater Remotely Operated Vehicle (ROV) is a prototype oriented final year project that will address the non-holonomic issue of a UUV and will also provide an efficient control algorithm to stabilize the dive control of under actuated UUV in
2025-06-28 16:34:38 - Adil Khan
PROTOTYPING AND STABLIZING OF UNDER-ACTUATED REMOTELY OPERATED VEHICLE
Project Area of Specialization RoboticsProject SummaryModelling and control design of Underactuated unmanned underwater Remotely Operated Vehicle (ROV) is a prototype oriented final year project that will address the non-holonomic issue of a UUV and will also provide an efficient control algorithm to stabilize the dive control of under actuated UUV in water. The proposed final year project will not only provide simulated results of Fuzzy based PID control design but will also provide a brief but efficient validation of software and hardware results too.
Our main goal to design such an efficient structure or ROV that will stablize it self under water in case of hurdles, but with a little help of actuators working on FUZZY algorithm.
This project will consist of a camera, a temperature sensor, pressure sensor which will give information about specefic regoion under water, so that we can spot fishes and the temperature and presure in which they live.
Project ObjectivesThere will be following learning objectives fulfilled as mentioned below:
LO1: Be able to design the proposed under-actuated remotely operated UUV on solid works
LO2: Be able to derive the state space matrices for the proposed structure
LO3: Be able to simulate the proposed F-PID technique in MATLAB
LO4: Be able to prototype under-actuated remotely operated UUV using Arduino board
LO5: Be able to control the dive control of UUV using proposed Algorithm
LO6: Be able to validate the software hardware results
Project Implementation MethodControl Algorithm Hierarchy And Block Diagram
Methodology:
Unlike ordinary ROVs this prototype will consist of 2 main thrusters for motion in x and y direction. A flap will attach to it by servo motor to control yaw motion and to control the direction and turning. This prototype is more efficient than others because the stability will be provided by the structure itself, no power will be consumed by the ROV to stabilize it self in case of any external disturbance. Due to efficient design the power consumption reduced by 50% as compared to quad thruster ROVs[4], which require 2 extra thrusters in order to stabilize the structure.
It can be uses to discover underwater world.
By using image processing technique it can recognize different species underwater.
The structure will stablize itself without using any power. In case of extreme hurdles and waves, little thrust will be used to stablize it.
Technical Details of Final DeliverableThis project will be prototyped by designing the efficient PVC structure which will stablize it self. One actuator will be responsible for forward and backward direction.
Fin with servo will be responsible for turning motion.
One actuator in centere will be responsible for upward and downward drive.
This prototype will be featured with temperature sensor, pressure sensor, a HD camera, long lasting battery as it only use 2 main thursters.
Final Deliverable of the Project HW/SW integrated systemType of Industry Education Technologies RoboticsSustainable Development Goals Life Below WaterRequired Resources| Item Name | Type | No. of Units | Per Unit Cost (in Rs) | Total (in Rs) |
|---|---|---|---|---|
| Total in (Rs) | 71486 | |||
| Arduino MEGA r3 | Equipment | 1 | 1500 | 1500 |
| Thursters | Equipment | 8000 | 2 | 16000 |
| Underwater LED Lights | Equipment | 1200 | 2 | 2400 |
| Underwater Servo motor | Equipment | 1819 | 1 | 1819 |
| Poly vinyl Chloride Pipes and sheets (BODY) | Equipment | 1 | 2000 | 2000 |
| Laptop: Core i5 4th Generation | Equipment | 1 | 20000 | 20000 |
| Underwater pump and solenoid valve | Equipment | 1 | 1567 | 1567 |
| 64 GB USB | Miscellaneous | 1 | 1800 | 1800 |
| Glue Gun | Equipment | 1 | 800 | 800 |
| Lithium polymer Battery 12v | Equipment | 1 | 2500 | 2500 |
| Jumper Wires | Equipment | 10 | 100 | 1000 |
| Fuel for market surveys | Miscellaneous | 5 | 400 | 2000 |
| Underwater HD Camera | Equipment | 1 | 8000 | 8000 |
| Temperature and pressure sensors | Equipment | 1 | 2500 | 2500 |
| Silicon for waterproofing | Equipment | 5 | 600 | 3000 |
| Lcd Display | Equipment | 1 | 1000 | 1000 |
| Buttons and Switches | Equipment | 6 | 100 | 600 |
| Paints | Miscellaneous | 1 | 1000 | 1000 |
| Stationary, cutter,and tape | Miscellaneous | 1 | 1000 | 1000 |
| Prints and presentations | Miscellaneous | 200 | 5 | 1000 |