Dynamic leveling control of a wireless self-balancing ROV using fuzzy logic controller
A remotely operated vehicle (ROV) is essentially an underwater mobile robot that is controlled and powered by an operator outside of the robot working environment. Like any other marine vehicle, ROV has to be designed to float in the water where its mass is supported by the buoyancy forces due to...
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my-uthm-ep.19642021-10-14T05:45:21Z Dynamic leveling control of a wireless self-balancing ROV using fuzzy logic controller 2013-01 Ayob, Mohammad Afif TK Electrical engineering. Electronics Nuclear engineering TK2000-2891 Dynamoelectric machinery and auxiliaries. Including generators, motors, transformers A remotely operated vehicle (ROV) is essentially an underwater mobile robot that is controlled and powered by an operator outside of the robot working environment. Like any other marine vehicle, ROV has to be designed to float in the water where its mass is supported by the buoyancy forces due to the displacement of water by its hull. Vertically positioning a mini ROV in centimetres resolution underwater and maintaining that state requires a distinctive technique partly because of the pressure and buoyancy exerted by the water towards the hull and partly because of the random waves produced by the water itself. That being said, the aim of the project is to design and develop a wireless self-balancing buoyancy system of a mini ROV using fuzzy logic controller. A liquid level sensor has been implemented to provide feedback to the Arduino microcontroller. A user-friendly graphical user interface (GUI) has been developed for real-time data monitoring as well as controlling the vertical position of the ROV. At the end of the project, the implemented fuzzy control system shows enhanced and better performance when compared with one without a controller, a proportional-derivative (PD) controller, and a proportionalintegral-derivative (PID) controller. 2013-01 Thesis http://eprints.uthm.edu.my/1964/ http://eprints.uthm.edu.my/1964/1/24p%20MOHAMMAD%20AFIF%20AYOB.pdf text en public http://eprints.uthm.edu.my/1964/2/MOHAMMAD%20AFIF%20AYOB%20WATERMARK.pdf text en validuser mphil masters Universiti Tun Hussein Malaysia Fakulti Kejuruteraan Elektrik dan Elektronik |
institution |
Universiti Tun Hussein Onn Malaysia |
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UTHM Institutional Repository |
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English English |
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TK Electrical engineering Electronics Nuclear engineering TK Electrical engineering Electronics Nuclear engineering |
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TK Electrical engineering Electronics Nuclear engineering TK Electrical engineering Electronics Nuclear engineering Ayob, Mohammad Afif Dynamic leveling control of a wireless self-balancing ROV using fuzzy logic controller |
description |
A remotely operated vehicle (ROV) is essentially an underwater mobile robot that is
controlled and powered by an operator outside of the robot working environment.
Like any other marine vehicle, ROV has to be designed to float in the water where its
mass is supported by the buoyancy forces due to the displacement of water by its
hull. Vertically positioning a mini ROV in centimetres resolution underwater and
maintaining that state requires a distinctive technique partly because of the pressure
and buoyancy exerted by the water towards the hull and partly because of the random
waves produced by the water itself. That being said, the aim of the project is to
design and develop a wireless self-balancing buoyancy system of a mini ROV using
fuzzy logic controller. A liquid level sensor has been implemented to provide
feedback to the Arduino microcontroller. A user-friendly graphical user interface
(GUI) has been developed for real-time data monitoring as well as controlling the
vertical position of the ROV. At the end of the project, the implemented fuzzy
control system shows enhanced and better performance when compared with one
without a controller, a proportional-derivative (PD) controller, and a proportionalintegral-derivative
(PID)
controller. |
format |
Thesis |
qualification_name |
Master of Philosophy (M.Phil.) |
qualification_level |
Master's degree |
author |
Ayob, Mohammad Afif |
author_facet |
Ayob, Mohammad Afif |
author_sort |
Ayob, Mohammad Afif |
title |
Dynamic leveling control of a wireless self-balancing ROV using fuzzy logic controller |
title_short |
Dynamic leveling control of a wireless self-balancing ROV using fuzzy logic controller |
title_full |
Dynamic leveling control of a wireless self-balancing ROV using fuzzy logic controller |
title_fullStr |
Dynamic leveling control of a wireless self-balancing ROV using fuzzy logic controller |
title_full_unstemmed |
Dynamic leveling control of a wireless self-balancing ROV using fuzzy logic controller |
title_sort |
dynamic leveling control of a wireless self-balancing rov using fuzzy logic controller |
granting_institution |
Universiti Tun Hussein Malaysia |
granting_department |
Fakulti Kejuruteraan Elektrik dan Elektronik |
publishDate |
2013 |
url |
http://eprints.uthm.edu.my/1964/1/24p%20MOHAMMAD%20AFIF%20AYOB.pdf http://eprints.uthm.edu.my/1964/2/MOHAMMAD%20AFIF%20AYOB%20WATERMARK.pdf |
_version_ |
1747830888028176384 |