Design and development of autonomous underwater vehicle (TUAH 4.0) for underwater monitoring application

Ting, John Gabriel (2019) Design and development of autonomous underwater vehicle (TUAH 4.0) for underwater monitoring application. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Underwater vehicle has been developed and improved for decades in various designs and new innovations. Autonomous underwater vehicle (AUV) is also known as unmanned underwater vehicle is operated with little to no human intervention, conducts mission automatically and returns to a pre-programmed location by using integrated program. Underwater vehicle application and development still not widely apply and studied although Malaysia is a nation which surrounded by seas and full with rivers and lacks. An AUV that can help in underwater monitoring and searching is needed to make the operation easier as well in danger situation underwater. This project is focused on designing a new design of AUV named TUAH 4.0 for underwater monitoring application. TUAH 4.0 is designed using SolidWorks software and undergoes simulation such as center of mass, stress and strain test. A special frame design named X-wing type frame is developed for TUAH 4.0. TUAH 4.0 is operated with 6 thrusters which enable 5 degree of freedom motion. Sensors such as inertia measurement unit and depth sensor are used to control the movement of the TUAH 4.0 as feedback. TUAH 4.0 is controlled by Arduino MEGA and Raspberry PI 3 B+. Experiments are performed to verify the TUAH 4.0’s performance such as speed, heading and depth control. The maximum speed for TUAH 4.0 is 0.53

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