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

Project Title

PROTOTYPING AND STABLIZING OF UNDER-ACTUATED REMOTELY OPERATED VEHICLE

Project Area of Specialization

Robotics

Project Summary

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 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 Objectives

There 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 Method

Control Algorithm Hierarchy And Block Diagram

Methodology:

Benefits of the Project

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 Deliverable

This 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 system

Type of Industry

Education

Technologies

Robotics

Sustainable Development Goals

Life Below Water

Required Resources

If you need this project, please contact me on contact@adikhanofficial.com