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    Wafiq Novlist
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    This document describes the method and sensors used to control an remotely operated vehicle (ROV) for underwater research. It focuses on using an inertial measurement unit sensor and pressure sensor connected to a Pixhawk controller board to maintain balance and depth control as the ROV is remotely controlled via joystick. A PID controller is used for movement, supplemented with fuzzy logic control to better handle dynamic changes. A table lists 8 sensors that will be deployed on the eROV for tasks like navigation, water quality monitoring, underwater imaging, and depth measurement.

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    This document describes the method and sensors used to control an remotely operated vehicle (ROV) for underwater research. It focuses on using an inertial measurement unit sensor and pressure sensor connected to a Pixhawk controller board to maintain balance and depth control as the ROV is remotely controlled via joystick. A PID controller is used for movement, supplemented with fuzzy logic control to better handle dynamic changes. A table lists 8 sensors that will be deployed on the eROV for tasks like navigation, water quality monitoring, underwater imaging, and depth measurement.

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    © All Rights Reserved
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    10 views2 pages

    Wafiqqurochman Tugas3 PDF

    Uploaded by

    Wafiq Novlist
    This document describes the method and sensors used to control an remotely operated vehicle (ROV) for underwater research. It focuses on using an inertial measurement unit sensor and pressure sensor connected to a Pixhawk controller board to maintain balance and depth control as the ROV is remotely controlled via joystick. A PID controller is used for movement, supplemented with fuzzy logic control to better handle dynamic changes. A table lists 8 sensors that will be deployed on the eROV for tasks like navigation, water quality monitoring, underwater imaging, and depth measurement.

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    of 2

    Fig. 1.

    Plant consept

    Method

    This research focuses on balance and depth control by controlling attitude on ROV. Using the
    IMU sensor in PIXHAWK and a pressure sensor connected on PIXHAWK. the process of
    direct control of the surface using a joystick controlled by humans then the data is sent to
    pixhawk as the main control through raspberry as an intermediary and also later as the main
    processing place for additional sensors and cameras

    To control rov need to use a controller so that rov can be controlled properly.
    the controller used is PID and Fuzzy. by Using PID controller to evaluate output in ROV, so
    that the ROV movement does not experience a change in attitude due to the movement or
    burden of the balance of the ROV itself. Then the addition of Fuzzy Control is done so that the
    controls performed are better because fuzzy controls will help the PID to control changes that
    occur due to dynamic interference.
    TABLE 1. SENSOR COLLECTION WILL BE DEPLOYED ON EROV

    No. Sensor Type


    1 Automatic Heading ImpactSubsea ISM3D
    Reference System
    (AHRS)
    2 Altimeter Tritech Digital Altimeter LRPA200
    3 Side Scan Sonar Tritech SeaKing ROV/AUV DST
    4 Water Quality YSI EXO2 with sensors: Conductivity,
    Sensors #1 Temperature, Turbidity, pH, Dissolved
    Oxygen Optical, ORP, Depth (non-
    vented, 0 to 250m).
    5 Water Quality YSI EXO2 with sensors: Nitrate,
    Sensors #2 fDOM, Chlorophyll, Chloride,
    Ammonium, Bluegreen, Algae
    Phycocyanin (PC), Blue-green Algae
    Phycoerythrin (PE)
    6 Underwater Vision PATZ camera: Kongsberg OE14-
    Camera 222/223 - 2000 msw model
    7 Spectral Camera Cubert S685
    8 Pressure Sensor Bar30 High-Resolution 300m
    Depth/Pressure Sensor
    Fig. 2. Design of eROV with 2 hulls and 6 thrusters

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