Real Time Orientation Control And Analysis Of A Remotely Operated Vehicle Using Interface Of MATLAB And Microcontroller

Tan , Chong Kai (2010) Real Time Orientation Control And Analysis Of A Remotely Operated Vehicle Using Interface Of MATLAB And Microcontroller. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This thesis presents the design and development of real time interface communication system of Remotely Operated Vehicle (ROV). Communication interface is to transmit and receive the data from source to destination to perform the tasks or motions in real time. Interface communication of ROV is based on the connection between Microcontroller PIC16F877A and Matrix Laboratory (MATLAB) to perform in real time orientation control and analysis. Universal Serial Bus - Recommended Standard 232 (USB-RS232) is used as an interface cable to join the connection by transferring and receiving the data to ROV and MATLAB. The data transferring and receiving are executed in series connection. Programmable Integrated Chip (PIC) uses Analog Digital Converter (DAC) to receive data from accelerometer and convert the data to digital before transmits to MATLAB. PIC collects the data of X-axis, Y-axis and Z-axis from accelerometer sensor in ROV, which represent the current position or angle of ROV. MATLAB receive and display the data through Graphical User Interface (GUI), the data will save in .mat format for further analysis. Based on the setting, the motors will perform accordingly to balance and stabilize the ROV in real time. The validation of interface communication is identified by collect 100 times data sets from accelerometer in 3-axes for different angles or degrees. The accuracy and precision of based on the data transfer from accelerometer is identified. The error percentages for each axis are less than 5% from the measured voltages. Therefore, MATLAB GUI performs the valid and acceptable data for ROV in real time operation.

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