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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Main Author: Ayob, Mohammad Afif
Format: Thesis
Language:English
English
Published: 2013
Subjects:
Online Access:http://eprints.uthm.edu.my/1964/1/24p%20MOHAMMAD%20AFIF%20AYOB.pdf
http://eprints.uthm.edu.my/1964/2/MOHAMMAD%20AFIF%20AYOB%20WATERMARK.pdf
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spelling 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
collection UTHM Institutional Repository
language English
English
topic TK Electrical engineering
Electronics Nuclear engineering
TK Electrical engineering
Electronics Nuclear engineering
spellingShingle 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
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