Develop A Prototype Of Autonomous Underwater Vehicle.
DEVELOP A PROTOTYPE OF AUTONOMOUS UNDERWATER VEHICLE
MUHAMMAD AWIS JAMALUDDIN B. JOHARI
This Report Is Submitted In Partial Fulfillment Of The Requirements For The Bachelor
Degree of Electronic Engineering (Computer Engineering)
Faculty of Electronic and Computer Engineering
Universiti Teknikal Malaysia Melaka
JUN 2012
iii
For my lovely mum, Jamaliah Binti Amad Saian and dad, Johari B. Padiman thanks for
sacrifice towards my success.For my supervisor, Mr. Ridza Azri Ramlee, thanks for all
your supports To my friends who’s helped me lots, I’ll appreciate very much.
iv
ACKNOWLEDGEMENT
First and foremost, I would like to give Thanks to ALLAH SWT, for helping me.
I would like to express my appreciation to my supervisor, Mr. Ridza Azri Bin Ramlee
for his support and guidance throughout this whole project.
To my beloved parents who always give me support and never tired of
confincing me in order to achieve my determination and finishing my study without any
delay. They always support me and understand me while giving me opportunity in
completing all my projects.
Besides that, I am also thankful to all the lecturers that also giving me some
ideas and knowledge that can be used to accomplish the PSM project. Not forgotten to
my friends who had also helped me in giving their thought, pro and contra of each of the
research and result that had obtained.
Once again for the last time, I would like to express my gratitude to those people
that already mentioned above as well as the BENC’s student Faculty of Electronic and
Computer Engineering who provide many suggestions, information, and criticism and
sustain in this report.
v
ABSTRAK
Projek ini adalah untuk membangunkan prototaip kenderaan air berautonomi.
Robot ini yang akan membantu manusia dalam melaksanakan satu set tugas yang sukar
dan berbahaya yang melibatkan paras air dalam. Salah satu contoh tugas kenderaan air
ini adalah mengambil sampel air di lautan dalam. Menjalankan tugas ini secara manual
adalah sangat berbahaya dan boleh membawa kepada kematian. Oleh itu, teknologi
kenderaan air berautonomi ini akan di bangunkan
Pada masa kini, kenderaan air berautonomi ini boleh dikategorikan sebagai salah
satu teknologi yang boleh dioptimumkan kepada kajian saintifik. unit tentera dan
kenderaan air komersial. Kenderaan ini memerlukan bimbingan autonomi dan sistem
kawalan untuk melaksanakan tugas-tugas di bawah air untuk beroperasi. Merekabentuk,
pemodelan, pengenalan sistem dan kawalan kenderaan merupakan sesuatu yang utama
dalam penyelidikan dan pembangunan ini. Kertas kerja ini adalah berkenaan dengan
pembangunan iaitu dari segi prototaip, rekaan dan pembangunan kenderaan terdiri
daripada melaksanakan sistem mekanikal dan elektronik, serta integrasi semua
subsistem di dalam kenderaan ini. Oleh itu, projek akhir ini akan fokus pada bahagian
utama robot
vi
ABSTRACT
This project is to develop a prototype of Autonomous Underwater Vehicle.
These type of robot that will assist human beings in performing a set of difficult and
dangerous tasks that involve deep water level. One of an example tasks is take sample of
water in deep sea. Performing this task manually is very dangerous and can make death.
Therefore, the Autonomous Underwater is developing.
Nowadays, Autonomous Underwater Vehicles (AUV) can be categorized as one
of technology that can be optimized during scientific. military unit and commercial
underwater vehicle. These vehicles are requiring autonomous guidance and control
systems in order to perform underwater tasks to operate. Designing, modeling, system
identification and control of these vehicles are still major active in these research and
development. This paper is concerned with the development of a prototype AUV. The
designing and development of the vehicle consisted of implementing a mechanical and
electronic system, as well as the integration of all subsystems in this vehicle.
vii
CONTENTS
CHAPTER
DESCRIPTION
PAGE
PROJECT TITLE
i
DECLARATION
ii-iii
DEDICATION
iv
ACKNOWLEDGEMENT
v
ABSTRAK
vi
ABSTRACT
vii
CONTENTS
viii
TABLE LISTS
xii
FIGURE LISTS
xiii
APPENDIX LISTS
xv
viii
I
II
INTRODUCTION
1.0
Overview
1
1.1
Objectives
2
1.2
Problem Statement
2
1.3
Scope of Works
2
1.4
Brief Explanation of Methodology
3
1.5
Report Structure
5
LITERATURE REVIEW
2.0
Introduction
6
2.1
Autonomous Underwater Vehicle
7
2.1.1
2.2
Low Cost Technology
8
2.1.2 High Cost System
8
2.1.3 Complex System
9
2.1.4 Connection Variant
10
Servo Motor
11
2.2.1 Servo Motor Operation
12
2.2.2 Servo Wiring
13
2.2.3 Servo Voltage
13
2.2.4 Servo Current
13
2.2.5 Servo Velocity
14
2.2.6 Servo Selection
14
2.2.7 Servo Motor Tuning
14
2.3
Thruster Motor
16
2.4
RF Transmitter Module
18
2.4.1 Product Specification
18
2.4.2
Antenna
19
2.4.3 Product Layout
19
ix
2.5
2.6
2.7
III
RF Receiver Module
20
2.5.1 Product Specification
21
2.5.2
Antenna
22
2.5.3 Product Layout
22
H-Bridge
23
2.6.1 The Mosfet Configuration
23
2.6.2 Forward Motion
24
2.6.3 Reverse Motion
24
2.6.4
No motion
24
2.6.5 Not Allowed Mode
24
2.6.6 Filtering Noise And Voltage Spikes
25
2.6.7 Under-Voltage Protection
25
Submerse Fundamental
26
METHODOLOGY
3.0
Introduction
28
3.1
Planning Flow Chart
29
3.1.1
3.2
Identify Project Title
31
3.1.2 Collecting Project Information
31
3.1.3 Create and Understand Project Circuit
31
3.1.4 Selecting Projects Component
32
3.1.5 Circuit Testing
32
3.1.6 Design Process
32
Block Diagram
33
3.2.1 Transmitter
34
3.2.2 Receiver
36
3.2.3 Assembling The Remote Control
37
x
3.3
iv
38
3.3.1
38
Circuit Description
3.4
Remote Control Encoder PT2262
39
3.5
Remote Control Decoder Pt2272
41
3.6
Thruster Motor
43
3.7
The Microcontroller
44
3.8
Vehicles Construction
46
RESULT AND DISCUSSION
4.0
4.2
vii
Power Supply
Result
48
4.0.1
Design Process
48
4.0.2
Construction Process
49
Discussion
53
Conclusion and Suggestion
5.0
Introduction
55
5.1
Conclusion
55
5.2
Suggestion
56
REFERENCE
58
xi
LIST OF TABLES
NO
DESCRIPTION
PAGES
Table 1
Type of bilge pump
17
Table 2
Type TX 315 or 433 MHz
18
Table 3
RF_ TX _ 315 and RF _ TX_433 specifications
19
Table 4
RF_TX_315MHz specifications
20
Table 5
RF_TX_433 MHz specifications
20
Table 6
Type TX 315 or 433 MHz
21
Table 7
RF_ TX _ 315 and RF _ TX_433 specifications
21
Table 8
RF_RX_315MHz specifications
22
xii
LIST OF FIGURES
NO
DESCRIPTION
PAGES
Figure 1: Basic block diagram of project
3
Figure 2: Design of project
4
Figure 3: Actual image of the project Hexapod robot
7
Figure 4: Servo motor from Cytron
11
Figure 5: Diagram of pulse widths sent to control servo motor position
12
Figure 6: Closed-loop velocity servo
15
Figure 7: Measuring open-loop characteristic
15
Figure 8: Bilge Pump
16
Figure 9: RF_TX_315MHz
19
Figure 10: RF_TX_433 MHz specifications
20
Figure 11: RF_TX_315MHz
22
Figure 12: H-Bridge Circuit
23
Figure 13: Project methodology flowchart
30
Figure 14: Block diagram of the Autonomous Underwater Vehicles
33
Figure 15: Transmitter circuit
35
xiii
Figure 16: Transmitter PCB track design
35
Figure 17: Receiver circuit
36
Figure 18: Receiver PCB track design
37
Figure 19: Power Supply circuit
39
Figure 20: PT2262 configuration
40
Figure 21: Block diagram PT2262
41
Figure 22: PT2272 configuration
42
Figure 23: Block diagram PT2272
42
Figure 24: Bilge pump that had been modified
43
Figure 25: Dimension of bilge pump
43
Figure 26: The Microcontroller PIC18F4550 pin assignments
45
Figure 27: Full schematic for PIC18F4550
45
Figure 28: Develop a prototype of AUV block diagram
46
Figure 29: The structure of the tailplane
46
Figure 30: Transmitter Circuit
49
Figure 31: Receiver circuit
50
Figure 32: H-bridge motor driver
50
Figure 33: Microcontroller circuit
51
Figure 34: The design of fin
51
Figure 35: The body of the vehicle
52
Figure 36: Actual design of the project
52
Figure 37: Design tailplane
54
Figure 38: Graph aerodynamically of tailplane
54
xiv
LIST OF APPENDIX
NO
DESCRIPTION
PAGES
APPENDIX A
DATASHEET REMOTE CONTROL ENCODER
60
APPENDIX B
DATASHEET REMOTE CONTROL DECODER
63
APPENDIX C
DATASHEET L293D
66
APPENDIX D
DATASHEET SERVO MOTOR C36R
68
APPENDIX E
CODING PIC18F4550
71
1
CHAPTER 1
INTRODUCTION
1.0
Overview
This project is about development of an Autonomous Underwater Vehicle
(AUV). This project will be focusing on designing, modeling, system identification
and control of these vehicles are still major active in these research and development.
This prototype is similarity with submarine but for this prototype, it develop in the
small scale and does not have operator to control.
To monitor this kind of robot is using remote control and use radio frequency
(RF) as medium to communicate. Microcontroller PIC18F4550 is used as brain or
main controller to control thruster and the fin of this vehicle.
2
1.1
Objectives
The objectives of this project are develop a prototype that able to control from
surface of the sea by using wireless communication and able to submerse into the sea
and will go up to the surface after a few minute.
1.2
Problem Statement
In scientific research, the precisely result must be achieve in each of the
experiment that are looking for. It is impossible to diving in deep sea to take some of the
sample creatures or water to doing research on that. For military, intelligent unit is the
backbone for this organization and this unit must have high technologies to bring out
criminal. To overcome all the problem above, this project is the best solution. Otherwise,
this project also can be part of commercialization
1.3
Scope of Works
In this project, the scope of this project is to design the vehicle which has the
capability to submerse and emerge with using the remote control. This project can be
divided into two parts. There are mechanical and electronic. Mechanical part consists of
finding material that were using in this project that is PVC as the hull and balsa wood as
the fin. This is important to make the vehicle float or submerse in the water.
The electronic part is consists of the control circuit to control the rotation of
thruster, servomotor and receiver circuit. The system for the controller of the vehicle
movement is developed using microcontroller. The language for the microcontroller
programming is using C programming. The controller will control four servomotor and
one thruster motor.
3
1.4
Brief Explanation of Methodology
The methodology of this project is made to determine and achieve the project
objective and also to ensure it will not further from project’s scope. Before starts up on
the project, literature review and background study is made. This is to ensure what, why
and how the project is different from other project in previous.
After that, the architecture, concept, requirement and the process of submarine is
study and familiarize. Study on block diagram of the process operation which holds the
input and output, transmitter and receiver module are made and documented. Basically
the controller for this project is PIC18F4550. The inputs that will be using are the
switches that places in remote control, where its control the movement of the vehicle,
while the output will be connected to the servos motor at fin of the vehicle and thruster
motor at the back of the vehicle.
Remote Control
Antenna
Microcontroller
•Controller
•Transmitter
•Receiver
•Convert signal
•Process signal
•Control output
device
Output devices
• Contain servo
and thruster
Figure 1: Basic block diagram of project
Next step for project methodology is the most crucial for underwater vehicle
development. The designing the hull and fin of the vehicles is carefully design and
constructed to make the movements of the underwater vehicles smoothly in water and
look likely a remote control submarine. This part is most crucial because of using
4
mechanical knowledge to achieve this methodology. Stability, buoyancy and
synchronization of all servos motor and thruster motor are still in this major. This is to
ensure the fluidity of the underwater movement to move at all terrain and all direction.
Figure 2:Design of project
After designing the project, the next part is all about the electronic session with
include programming, designing circuit and control the output devices. The output
devices that have in this project is included servo motor and thruster motor. The
servomechanisms that make the underwater vehicle turn left and turn right are actually
generated by PWM signal and this make the underwater vehicle is ideally in movement.
It also supported by thruster motor to make the underwater vehicle forward and reverse.
Finally, the autonomous underwater that have been designed is implementation
the achievement the objective or not and doing some troubleshooting on the vehicle. The
implementation must be done either in lake or pool so that the failure of the vehicle can
be detect or otherwise the concept of the autonomous underwater understands will
achieve only. As general knowledge, water is denser than air, to make it this project
possible the time to spend in this research must have enough time.
5
1.5
Report Structure
This report consists of three chapters which are Introduction, Literature Review,
and Methodology.
In Chapter 1 is Introduction, it had discussed about project background, project
objectives, problem statement, scope of work, short brief of project methodology and
overview the remaining chapters.
In Chapter 2 is Literature Review, it had reviews some references from previous
project, journals, articles, books and datasheet. All the materials was useful to success
this project.
In Chapter 3 is Methodology, it discusses the way to process this project. This
project was divided into two parts which are software development and hardware design.
The details process for the both part will totally present in this chapter.
In Chapter 4 is Result and Discussion, is show the result and discuss the analysis
that already done. This section is important to know whether this project is successful or
otherwise.
In Chapter 5 is Conclusion and Suggestion, is to mention the conclude of all the
effort has been made to do research. In this section also have suggest to improve this
project to the make this project more advance for the future.
6
CHAPTER 2
LITERATURE REVIEW
2.0
Introduction
In this chapter, it will discuss about the research literature, Some concept of a
project is described. This because an understanding of the work will assist in preparing
the project end of this year. The background study or literature review come from
various resources such as:
1. Senior’s past project thesis
2. Books
3. Journals
But in some cases, resources like online article, video and images also contribute to the
better understanding and concrete theory for this project. Its main purpose is to acquire
7
knowledge and ideas about topics that have been issued and knows the strength and
weaknesses of a study of the literature
2.1
Autonomous Underwater Vehicle.
Remote Operated Vehicles (ROV) have been used in the offshore industry since
the late 1960s and are well established and specialized vehicles for deep water
missions[1]. However, their constraints such as the need for a communications harness
and a control platform have limited their use and capabilities., AUVs have stepped to the
forefront of deep water exploration. AUVs are unharness, fully automated submersible
platforms capable of performing underwater tasks and missions with their onboard
sensor navigation and payload equipment. Despite an AUV’s increased complexity,
particularly with respect to its programming, its advantages over an ROV far outweigh
the added complexity of designing and building one.
Today, the AUV industry is growing dramatically with the increase in the
reliability and technical abilities of these vehicles. The goal in underwater robotics at
present is to develop a prototype of AUVs . In order to accomplish this goal, much
research is being carried out worldwide with particular emphasis on the designing
prototype, designing electronic part and the choses of material.
Figure 3:Actual image of the project Hexapod robot
8
2.1.1 Low Cost Systems
The journal that produce by references [2] which build the prototype vehicle
measure approximately 24 inches long (61cm) by 3.5 inches in diameter (8.9 cm),
displacing approximately 7 lbs. (3.3kg) and contained with this main propulsion system,
consisting of the main propulsion motor, motor controller and propeller; power system,
consisting of main battery and DC-DC converters; vehicle control system, consisting of
control fins and fin servos; autopilot system, consisting of the autopilot computer, A/D
converter, sensor conditioning circuits, and orientation sensors; and the structural
system, consisting of the watertight hull and supporting structural components. This
prototype is cost less than RM1000.
Another study done by reference [3] the structure is mainly made of PVC pipe
with 17 cm diameter and 95 cm in length. The advantage of this research is it have the
ballast tubes to guarantee and slightly positive buoyancy of the whole structure. The
other characteristic is it have navigation that can responsible for obstacle and the selfdiagnostic. The cost to build this prototype is $2400 including with the microcontrollerbased architecture [3]. The cost is suitable with material and the system that were build
up.
2.1.2 High Cost Systems
By refer to reference [4] the cost to build this prototype is $5000 even though it
use PVC pipe and use PIC16C76 to control the prototype. The characteristic is also same
with the reference [3] that have depth sensor, compass module and velocimeters and
have additional features with inertial measurement unit. It show that this kind of
prototype the cost is refer to the what of the characteristic of the prototype.
MUHAMMAD AWIS JAMALUDDIN B. JOHARI
This Report Is Submitted In Partial Fulfillment Of The Requirements For The Bachelor
Degree of Electronic Engineering (Computer Engineering)
Faculty of Electronic and Computer Engineering
Universiti Teknikal Malaysia Melaka
JUN 2012
iii
For my lovely mum, Jamaliah Binti Amad Saian and dad, Johari B. Padiman thanks for
sacrifice towards my success.For my supervisor, Mr. Ridza Azri Ramlee, thanks for all
your supports To my friends who’s helped me lots, I’ll appreciate very much.
iv
ACKNOWLEDGEMENT
First and foremost, I would like to give Thanks to ALLAH SWT, for helping me.
I would like to express my appreciation to my supervisor, Mr. Ridza Azri Bin Ramlee
for his support and guidance throughout this whole project.
To my beloved parents who always give me support and never tired of
confincing me in order to achieve my determination and finishing my study without any
delay. They always support me and understand me while giving me opportunity in
completing all my projects.
Besides that, I am also thankful to all the lecturers that also giving me some
ideas and knowledge that can be used to accomplish the PSM project. Not forgotten to
my friends who had also helped me in giving their thought, pro and contra of each of the
research and result that had obtained.
Once again for the last time, I would like to express my gratitude to those people
that already mentioned above as well as the BENC’s student Faculty of Electronic and
Computer Engineering who provide many suggestions, information, and criticism and
sustain in this report.
v
ABSTRAK
Projek ini adalah untuk membangunkan prototaip kenderaan air berautonomi.
Robot ini yang akan membantu manusia dalam melaksanakan satu set tugas yang sukar
dan berbahaya yang melibatkan paras air dalam. Salah satu contoh tugas kenderaan air
ini adalah mengambil sampel air di lautan dalam. Menjalankan tugas ini secara manual
adalah sangat berbahaya dan boleh membawa kepada kematian. Oleh itu, teknologi
kenderaan air berautonomi ini akan di bangunkan
Pada masa kini, kenderaan air berautonomi ini boleh dikategorikan sebagai salah
satu teknologi yang boleh dioptimumkan kepada kajian saintifik. unit tentera dan
kenderaan air komersial. Kenderaan ini memerlukan bimbingan autonomi dan sistem
kawalan untuk melaksanakan tugas-tugas di bawah air untuk beroperasi. Merekabentuk,
pemodelan, pengenalan sistem dan kawalan kenderaan merupakan sesuatu yang utama
dalam penyelidikan dan pembangunan ini. Kertas kerja ini adalah berkenaan dengan
pembangunan iaitu dari segi prototaip, rekaan dan pembangunan kenderaan terdiri
daripada melaksanakan sistem mekanikal dan elektronik, serta integrasi semua
subsistem di dalam kenderaan ini. Oleh itu, projek akhir ini akan fokus pada bahagian
utama robot
vi
ABSTRACT
This project is to develop a prototype of Autonomous Underwater Vehicle.
These type of robot that will assist human beings in performing a set of difficult and
dangerous tasks that involve deep water level. One of an example tasks is take sample of
water in deep sea. Performing this task manually is very dangerous and can make death.
Therefore, the Autonomous Underwater is developing.
Nowadays, Autonomous Underwater Vehicles (AUV) can be categorized as one
of technology that can be optimized during scientific. military unit and commercial
underwater vehicle. These vehicles are requiring autonomous guidance and control
systems in order to perform underwater tasks to operate. Designing, modeling, system
identification and control of these vehicles are still major active in these research and
development. This paper is concerned with the development of a prototype AUV. The
designing and development of the vehicle consisted of implementing a mechanical and
electronic system, as well as the integration of all subsystems in this vehicle.
vii
CONTENTS
CHAPTER
DESCRIPTION
PAGE
PROJECT TITLE
i
DECLARATION
ii-iii
DEDICATION
iv
ACKNOWLEDGEMENT
v
ABSTRAK
vi
ABSTRACT
vii
CONTENTS
viii
TABLE LISTS
xii
FIGURE LISTS
xiii
APPENDIX LISTS
xv
viii
I
II
INTRODUCTION
1.0
Overview
1
1.1
Objectives
2
1.2
Problem Statement
2
1.3
Scope of Works
2
1.4
Brief Explanation of Methodology
3
1.5
Report Structure
5
LITERATURE REVIEW
2.0
Introduction
6
2.1
Autonomous Underwater Vehicle
7
2.1.1
2.2
Low Cost Technology
8
2.1.2 High Cost System
8
2.1.3 Complex System
9
2.1.4 Connection Variant
10
Servo Motor
11
2.2.1 Servo Motor Operation
12
2.2.2 Servo Wiring
13
2.2.3 Servo Voltage
13
2.2.4 Servo Current
13
2.2.5 Servo Velocity
14
2.2.6 Servo Selection
14
2.2.7 Servo Motor Tuning
14
2.3
Thruster Motor
16
2.4
RF Transmitter Module
18
2.4.1 Product Specification
18
2.4.2
Antenna
19
2.4.3 Product Layout
19
ix
2.5
2.6
2.7
III
RF Receiver Module
20
2.5.1 Product Specification
21
2.5.2
Antenna
22
2.5.3 Product Layout
22
H-Bridge
23
2.6.1 The Mosfet Configuration
23
2.6.2 Forward Motion
24
2.6.3 Reverse Motion
24
2.6.4
No motion
24
2.6.5 Not Allowed Mode
24
2.6.6 Filtering Noise And Voltage Spikes
25
2.6.7 Under-Voltage Protection
25
Submerse Fundamental
26
METHODOLOGY
3.0
Introduction
28
3.1
Planning Flow Chart
29
3.1.1
3.2
Identify Project Title
31
3.1.2 Collecting Project Information
31
3.1.3 Create and Understand Project Circuit
31
3.1.4 Selecting Projects Component
32
3.1.5 Circuit Testing
32
3.1.6 Design Process
32
Block Diagram
33
3.2.1 Transmitter
34
3.2.2 Receiver
36
3.2.3 Assembling The Remote Control
37
x
3.3
iv
38
3.3.1
38
Circuit Description
3.4
Remote Control Encoder PT2262
39
3.5
Remote Control Decoder Pt2272
41
3.6
Thruster Motor
43
3.7
The Microcontroller
44
3.8
Vehicles Construction
46
RESULT AND DISCUSSION
4.0
4.2
vii
Power Supply
Result
48
4.0.1
Design Process
48
4.0.2
Construction Process
49
Discussion
53
Conclusion and Suggestion
5.0
Introduction
55
5.1
Conclusion
55
5.2
Suggestion
56
REFERENCE
58
xi
LIST OF TABLES
NO
DESCRIPTION
PAGES
Table 1
Type of bilge pump
17
Table 2
Type TX 315 or 433 MHz
18
Table 3
RF_ TX _ 315 and RF _ TX_433 specifications
19
Table 4
RF_TX_315MHz specifications
20
Table 5
RF_TX_433 MHz specifications
20
Table 6
Type TX 315 or 433 MHz
21
Table 7
RF_ TX _ 315 and RF _ TX_433 specifications
21
Table 8
RF_RX_315MHz specifications
22
xii
LIST OF FIGURES
NO
DESCRIPTION
PAGES
Figure 1: Basic block diagram of project
3
Figure 2: Design of project
4
Figure 3: Actual image of the project Hexapod robot
7
Figure 4: Servo motor from Cytron
11
Figure 5: Diagram of pulse widths sent to control servo motor position
12
Figure 6: Closed-loop velocity servo
15
Figure 7: Measuring open-loop characteristic
15
Figure 8: Bilge Pump
16
Figure 9: RF_TX_315MHz
19
Figure 10: RF_TX_433 MHz specifications
20
Figure 11: RF_TX_315MHz
22
Figure 12: H-Bridge Circuit
23
Figure 13: Project methodology flowchart
30
Figure 14: Block diagram of the Autonomous Underwater Vehicles
33
Figure 15: Transmitter circuit
35
xiii
Figure 16: Transmitter PCB track design
35
Figure 17: Receiver circuit
36
Figure 18: Receiver PCB track design
37
Figure 19: Power Supply circuit
39
Figure 20: PT2262 configuration
40
Figure 21: Block diagram PT2262
41
Figure 22: PT2272 configuration
42
Figure 23: Block diagram PT2272
42
Figure 24: Bilge pump that had been modified
43
Figure 25: Dimension of bilge pump
43
Figure 26: The Microcontroller PIC18F4550 pin assignments
45
Figure 27: Full schematic for PIC18F4550
45
Figure 28: Develop a prototype of AUV block diagram
46
Figure 29: The structure of the tailplane
46
Figure 30: Transmitter Circuit
49
Figure 31: Receiver circuit
50
Figure 32: H-bridge motor driver
50
Figure 33: Microcontroller circuit
51
Figure 34: The design of fin
51
Figure 35: The body of the vehicle
52
Figure 36: Actual design of the project
52
Figure 37: Design tailplane
54
Figure 38: Graph aerodynamically of tailplane
54
xiv
LIST OF APPENDIX
NO
DESCRIPTION
PAGES
APPENDIX A
DATASHEET REMOTE CONTROL ENCODER
60
APPENDIX B
DATASHEET REMOTE CONTROL DECODER
63
APPENDIX C
DATASHEET L293D
66
APPENDIX D
DATASHEET SERVO MOTOR C36R
68
APPENDIX E
CODING PIC18F4550
71
1
CHAPTER 1
INTRODUCTION
1.0
Overview
This project is about development of an Autonomous Underwater Vehicle
(AUV). This project will be focusing on designing, modeling, system identification
and control of these vehicles are still major active in these research and development.
This prototype is similarity with submarine but for this prototype, it develop in the
small scale and does not have operator to control.
To monitor this kind of robot is using remote control and use radio frequency
(RF) as medium to communicate. Microcontroller PIC18F4550 is used as brain or
main controller to control thruster and the fin of this vehicle.
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1.1
Objectives
The objectives of this project are develop a prototype that able to control from
surface of the sea by using wireless communication and able to submerse into the sea
and will go up to the surface after a few minute.
1.2
Problem Statement
In scientific research, the precisely result must be achieve in each of the
experiment that are looking for. It is impossible to diving in deep sea to take some of the
sample creatures or water to doing research on that. For military, intelligent unit is the
backbone for this organization and this unit must have high technologies to bring out
criminal. To overcome all the problem above, this project is the best solution. Otherwise,
this project also can be part of commercialization
1.3
Scope of Works
In this project, the scope of this project is to design the vehicle which has the
capability to submerse and emerge with using the remote control. This project can be
divided into two parts. There are mechanical and electronic. Mechanical part consists of
finding material that were using in this project that is PVC as the hull and balsa wood as
the fin. This is important to make the vehicle float or submerse in the water.
The electronic part is consists of the control circuit to control the rotation of
thruster, servomotor and receiver circuit. The system for the controller of the vehicle
movement is developed using microcontroller. The language for the microcontroller
programming is using C programming. The controller will control four servomotor and
one thruster motor.
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1.4
Brief Explanation of Methodology
The methodology of this project is made to determine and achieve the project
objective and also to ensure it will not further from project’s scope. Before starts up on
the project, literature review and background study is made. This is to ensure what, why
and how the project is different from other project in previous.
After that, the architecture, concept, requirement and the process of submarine is
study and familiarize. Study on block diagram of the process operation which holds the
input and output, transmitter and receiver module are made and documented. Basically
the controller for this project is PIC18F4550. The inputs that will be using are the
switches that places in remote control, where its control the movement of the vehicle,
while the output will be connected to the servos motor at fin of the vehicle and thruster
motor at the back of the vehicle.
Remote Control
Antenna
Microcontroller
•Controller
•Transmitter
•Receiver
•Convert signal
•Process signal
•Control output
device
Output devices
• Contain servo
and thruster
Figure 1: Basic block diagram of project
Next step for project methodology is the most crucial for underwater vehicle
development. The designing the hull and fin of the vehicles is carefully design and
constructed to make the movements of the underwater vehicles smoothly in water and
look likely a remote control submarine. This part is most crucial because of using
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mechanical knowledge to achieve this methodology. Stability, buoyancy and
synchronization of all servos motor and thruster motor are still in this major. This is to
ensure the fluidity of the underwater movement to move at all terrain and all direction.
Figure 2:Design of project
After designing the project, the next part is all about the electronic session with
include programming, designing circuit and control the output devices. The output
devices that have in this project is included servo motor and thruster motor. The
servomechanisms that make the underwater vehicle turn left and turn right are actually
generated by PWM signal and this make the underwater vehicle is ideally in movement.
It also supported by thruster motor to make the underwater vehicle forward and reverse.
Finally, the autonomous underwater that have been designed is implementation
the achievement the objective or not and doing some troubleshooting on the vehicle. The
implementation must be done either in lake or pool so that the failure of the vehicle can
be detect or otherwise the concept of the autonomous underwater understands will
achieve only. As general knowledge, water is denser than air, to make it this project
possible the time to spend in this research must have enough time.
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1.5
Report Structure
This report consists of three chapters which are Introduction, Literature Review,
and Methodology.
In Chapter 1 is Introduction, it had discussed about project background, project
objectives, problem statement, scope of work, short brief of project methodology and
overview the remaining chapters.
In Chapter 2 is Literature Review, it had reviews some references from previous
project, journals, articles, books and datasheet. All the materials was useful to success
this project.
In Chapter 3 is Methodology, it discusses the way to process this project. This
project was divided into two parts which are software development and hardware design.
The details process for the both part will totally present in this chapter.
In Chapter 4 is Result and Discussion, is show the result and discuss the analysis
that already done. This section is important to know whether this project is successful or
otherwise.
In Chapter 5 is Conclusion and Suggestion, is to mention the conclude of all the
effort has been made to do research. In this section also have suggest to improve this
project to the make this project more advance for the future.
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CHAPTER 2
LITERATURE REVIEW
2.0
Introduction
In this chapter, it will discuss about the research literature, Some concept of a
project is described. This because an understanding of the work will assist in preparing
the project end of this year. The background study or literature review come from
various resources such as:
1. Senior’s past project thesis
2. Books
3. Journals
But in some cases, resources like online article, video and images also contribute to the
better understanding and concrete theory for this project. Its main purpose is to acquire
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knowledge and ideas about topics that have been issued and knows the strength and
weaknesses of a study of the literature
2.1
Autonomous Underwater Vehicle.
Remote Operated Vehicles (ROV) have been used in the offshore industry since
the late 1960s and are well established and specialized vehicles for deep water
missions[1]. However, their constraints such as the need for a communications harness
and a control platform have limited their use and capabilities., AUVs have stepped to the
forefront of deep water exploration. AUVs are unharness, fully automated submersible
platforms capable of performing underwater tasks and missions with their onboard
sensor navigation and payload equipment. Despite an AUV’s increased complexity,
particularly with respect to its programming, its advantages over an ROV far outweigh
the added complexity of designing and building one.
Today, the AUV industry is growing dramatically with the increase in the
reliability and technical abilities of these vehicles. The goal in underwater robotics at
present is to develop a prototype of AUVs . In order to accomplish this goal, much
research is being carried out worldwide with particular emphasis on the designing
prototype, designing electronic part and the choses of material.
Figure 3:Actual image of the project Hexapod robot
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2.1.1 Low Cost Systems
The journal that produce by references [2] which build the prototype vehicle
measure approximately 24 inches long (61cm) by 3.5 inches in diameter (8.9 cm),
displacing approximately 7 lbs. (3.3kg) and contained with this main propulsion system,
consisting of the main propulsion motor, motor controller and propeller; power system,
consisting of main battery and DC-DC converters; vehicle control system, consisting of
control fins and fin servos; autopilot system, consisting of the autopilot computer, A/D
converter, sensor conditioning circuits, and orientation sensors; and the structural
system, consisting of the watertight hull and supporting structural components. This
prototype is cost less than RM1000.
Another study done by reference [3] the structure is mainly made of PVC pipe
with 17 cm diameter and 95 cm in length. The advantage of this research is it have the
ballast tubes to guarantee and slightly positive buoyancy of the whole structure. The
other characteristic is it have navigation that can responsible for obstacle and the selfdiagnostic. The cost to build this prototype is $2400 including with the microcontrollerbased architecture [3]. The cost is suitable with material and the system that were build
up.
2.1.2 High Cost Systems
By refer to reference [4] the cost to build this prototype is $5000 even though it
use PVC pipe and use PIC16C76 to control the prototype. The characteristic is also same
with the reference [3] that have depth sensor, compass module and velocimeters and
have additional features with inertial measurement unit. It show that this kind of
prototype the cost is refer to the what of the characteristic of the prototype.