DEVELOPMENT OF REMOTELY OPERATED UNDERWATER VEHICLE AFIQ FIKRI BIN HAMID UNIVERSITI MALAYSIA PAHANG
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1 DEVELOPMENT OF REMOTELY OPERATED UNDERWATER VEHICLE AFIQ FIKRI BIN HAMID UNIVERSITI MALAYSIA PAHANG
2 DEVELOPMENT OF REMOTELY OPERATED UNDERWATER VEHICLE AFIQ FIKRI BIN HAMID Report submitted in fulfillment of the requirements for the award of degree of Bachelor of Mechatronic Engineering Faculty of Manufacturing Engineering UNIVERSITI MALAYSIA PAHANG JUNE 2013
3 UNIVERSITI MALAYSIA PAHANG BORANG PENGESAHAN STATUS TESIS JUDUL: Saya LANDMARK DETECTION FOR VISION BASED OF AUTONOMOUS GUIDED VEHICLE SESI PENGAJIAN: 2012/2013 AFIQ FIKRI BIN HAMID ( ) mengaku membenarkan tesis (Sarjana Muda/Sarjana /Doktor Falsafah)* ini disimpan di Perpustakaan dengan syarat-syarat kegunaan seperti berikut: 1. Tesis adalah hakmilik Universiti Malaysia Pahang (UMP). 2. Perpustakaan dibenarkan membuat salinan untuk tujuan pengajian sahaja. 3. Perpustakaan dibenarkan membuat salinan tesis ini sebagai bahan pertukaran antara institusi pengajian tinggi. 4. **Sila tandakan ( ) SULIT TERHAD (Mengandungi maklumat yang berdarjah keselamatan atau kepentingan Malaysia seperti yang termaktub di dalam AKTA RAHSIA RASMI 1972) (Mengandungi maklumat TERHAD yang telah ditentukan oleh organisasi/badan di mana penyelidikan dijalankan) TIDAK TERHAD Disahkan oleh: (TANDATANGAN PENULIS) (TANDATANGAN PENYELIA) Alamat Tetap: NO 9, JALAN 1/5A, TAMAN MELATI, SETAPAK, W.P. KUALA LUMPUR. PROF. DR. HAJI ZAHARI BIN TAHA Tarikh: Tarikh: CATATAN: * Potong yang tidak berkenaan. ** Jika tesis ini SULIT atau TERHAD, sila lampirkan surat daripada pihak berkuasa/organisasi berkenaan dengan menyatakan sekali tempoh tesis ini perlu dikelaskan sebagai atau TERHAD. Tesis dimaksudkan sebagai tesis bagi Ijazah doktor Falsafah dan Sarjana secara Penyelidikan, atau disertasi bagi pengajian secara kerja kursus dan penyelidikan, atau Laporan Projek Sarjana Muda (PSM).
4 ii SUPERVISOR S DECLARATION I hereby declare that I have checked this project in my own opinion, this project is adequate in terms of scope and quality for the award of the degree of Bachelor of Mechatronic Engineering. Signature : Name of Supervisor : PROF. DR. HAJI ZAHARI BIN TAHA Position : Date :
5 iii STUDENT S DECLARATION I hereby declare that the work in this project is my own except for quotations and summaries which have been duly acknowledged. The report has not been accepted for any degree and is not concurrently submitted for award of other degree. Signature : Name : AFIQ FIKRI BIN HAMID ID Number : FB09028 Date :
6 viii TABLE OF CONTENTS SUPERVISOR S DECLARATION STUDENT S DECLARATION DEDICATION ACKNOWLEDGEMENTS ABSTRACT ABSTRAK TABLE OF CONTENTS LIST OF TABLES LIST OF FIGURES ii iii iv v vi vii viii xi xii CHAPTER 1 INTRODUCTION 1.1 ROVs Project Background Problem Statement Objectives of Project Project Scopes 4 CHAPTER 2 LITERATURE REVIEW 2.1 Underwater Vehicles Autonomous Underwater Vehicle Remotely Operated Underwater Vehicle ROV Specification Buoyancy Thrust Force Power Consumption Kinematics Two Reference Frame Mathematical Model of ROV Position 11
7 ix 2.4 Dynamics Model of ROV Mass and Inertia Matrix Hydrodynamics Damping Matrix Gravitational and Buoyancy Vector Thrust Mapping Matrix Control Techniques of Underwater Vehicle Related Work 23 CHAPTER 3 METHODOLOGY 3.1 Introduction Flow Diagram ROV Control Methods Remotely Controlled ROV Using PlayStation 2 Controller Autonomously Controlled Using Image Processing Hardware Implementation Control Simulation Using Simulink Image Processing Techniques Image Acquisition Color Filter Crop Feature Blob Filter Center of Gravity VB Script Program Serial Communication Display Variables 36 CHAPTER 4 RESULTS AND DISCUSSION 4.1 Introduction Results and Findings Image Processing Image Acquisition Color Filter Blob Filter Center of Gravity VB Script Program Serial Communication 39
8 x Control System Experiments Surge Heave Yaw Discussions 44 CHAPTER 5 CONCLUSION AND RECOMMENDATIONS 5.1 Introduction Conclusion Future Development 46 REFERENCES 47 APPENDICES A Motor Driver Circuit 48 B Roborealm VB Script Sample Program 49 C Arduino Sample Program 50 D Gantt Chart 55
9 xi LIST OF TABLES Table No. Title Page 3.1 Sony Playstation 2 wiring connection Arduino and motor driver pin configuration Serial communication setting 40
10 xii LIST OF FIGURES FigureNo. Title Page 2.1 The existing underwater vehicle Coordinate reference system for underwater vehicle Transformation from point A to point B of a translated and rotated Reference frame Thrust mapping matrix for L Methodology flow diagram Sony Playstation 2 controller Analog stick bit signal layout Sample of bit signal Arduino Mega 2560 microcontroller board Surge block diagram Heave block diagram Yaw block diagram Color filter module Crop image module Blob filter module Center of gravity module VB script program module Serial communication module Display variables module Yellow lines marking Yellow color filtered Blob Filter 38
11 xiii 4.4 Center of gravity Arduino flowchart Surge test Simulink simulation for surge Heave test Simulink simulation for heave Yaw test Simulink simulation for yaw 43
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