Design and development of small size remote operated vehicle (ROV)

Aminudin, Aiman Nasiruddin (2020) Design and development of small size remote operated vehicle (ROV). Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

A Remotely Operated Underwater Vehicle (ROV) is a highly maneuverable underwater robot that can be used to explore ocean depths while being operated by someone at the water surface. Use of cables, or tether, connects the ROV to the station, sending electrical signals to communicate and transmit data to control station or vice versa. There is also an ROV with a compact design and easy to use, that can be deployed immediately on the operation site. This is highly beneficial in emergencies where time is limited, and in areas that are too narrow or difficult to reach by divers. IIUM has made an event to bring together a student from all around Malaysia to introduce students to this fascinating technology so that they can explore career opportunities in this field. It also can support marine engineering early on through fun-filled activities. Therefore, ROV with a small body and mechanical part that can operate at tight space is developed to assist a human in performing a high-risk mission underwater. This project ROV is mainly created for a limited task, which is a pick and place a small object. The custom ROV structure is designed using 3d CAD and 3D printed with millimeter presision. Small brushless motor is used to keep the size small despite this motor characteristic is small and light. Brushless motor also has more control and constand of rotation speed that needed to move the ROV precisely. ROV has 6DOF of freedom movement consist of surge,heave, sway,roll, pitch and yaw. To add the auto correction feature in the ROV, 2 sensor is added. MPU9250 and BMP180 is used to measure attitude of ROV and Depth. For software controller, ESP32 that used FreeRTOS kernel is used to combine all the sensor and data together efficiencly. In this project, a small size ROV that easy to control has been developed. This ROV have meet the best performance of sucker to pick and place a small marble within 6 minutes as clarify in IRC2019 rules. However, experience is the most importance to operate ROV effectively.

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