Annisa Sucianti Nurliany

Bio: Annisa Sucianti Nurliany is an academic researcher from Sultan Ageng Tirtayasa University. The author has an hindex of 1, co-authored 1 publications receiving 10 citations.

Design of a Low Cost Remotly Operated Vehicle with 3 Dof Navigation

Abstract: One type of underwater robot is the ROV (Remotely Operated Vehicle) whose movements are controlled directly by humans from the water surface. In this paper, ROV prototype has been designed and tested with three DoF (Degrees of Freedom) and controlled by a joystick which is connected with UTP (Unshielded Twisted Pair) cables as data transmission between joystick with a microcontroller embedded in the robot. This prototype has 3 thrusters with 3 degrees of freedom, 1 rotational motion (heave) and 2 translational motion (yaw and surge), with direction of movement up, down, forward, backward, turn right, and turn left. Speed mode setting when forward movement on PWM (Pulse Width Modulation) 75% = 0,037 m/s, 90% = 0.053 m/s and 100% = 0,071 m/s, while the reverse speed by 75% = 0,034 m/s, 90% = 0.045 m/s and 100% = 0.059 m/s, when the ROV moves up is 0,042 m/s, down 0.032 m/s, turn right 9 o/s and turn left 15 o/s set with fixed PWM value, is 100%.

Remotely operated underwater vehicle

Abstract: Proyek miniatur kapal selam merupakan proyek yang sangat menarik. Miniatur kapal selam yang prinsip kerjanya mirip dengan kapal selam yang sesungguhnya ini dapat menjadi suatu tahap awal untuk pengembangan kapal selam tanpa awak yang dapat digunakan untuk penelitian dan pekerjaan bawah laut. Remotely Operated Underwater Vehicle (ROUV) adalah sebuah underwater vehicle yang dapat dikontrol dari jarak jauh. ROUV ini dapat menyelam menggunakan prinsip kerja kapal selam yaitu dengan menggunakan ballast. Sebagai penggerak ROUV digunakan pompa air. ROUV ini dikontrol secara wireless menggunakan modul RF TXE-433-KH dan RXD-433-KH dari Linx Technologies. Sebagai pengontrolnya digunakan mikrokontroler AT89S51. ROUV ini dilengkapi dengan sebuah kamera CCTV wireless dan LED sebagai sumber penerangan di dalam air. ROUV ini memiliki fitur Missing Pulse Failsafe dan Battery Failsafe yang dapat membuat ROUV mengapung secara otomatis bila kehilangan sinyal atau baterei melemah. ROUV dapat menyelam dan bergerak di dalam air dengan baik. Jangkauan sinyal modul RF Linx pada saat dioperasikan di air adalah hingga kedalaman 1,9 m dan jarak terjauhnya adalah 14,5 m. Sedangkan jangkauan sinyal CCTV wireless adalah 4,3 m. Dari pengujian sinyal RF di medium air ternyata perambatan gelombangnya lebih pendek daripada di medium udara. Modul RF Linx ternyata tidak cocok untuk transmisi data kecepatan tinggi.

FIToplankton: Wireless Controlled Remotely-operated Underwater Vehicle (ROV) for Shallow Water Exploratio

Abstract: Remotely Operated Vehicle (ROV) for underwater exploration is typically controlled using umbilical cable connected to ground control station. Unfortunately, while it’s used for power distribution and data transmission, it also obstruct the movement of ROV especially for shallow water (<50 cm). This paper proposed an alternative method for controlling ROV using wireless remote control system. This work also aims to explore the possibility of using RF wireless technology between 420-450 MHz as underwater communication system. Furthermore, the control system was used to manage actuators i.e. DC motor and bilge pump for maneuvring and picking small size cargo. To help the ROV to hold on a desired, Inertial Measurement Unit (IMU) is installed on board ROV within maximum deviation 0.2 m/s2. The prototype of the system has been successfully implemented and evaluated to confirm the functionality and the feasibility of the proposed approach.

Controller design for underwater robotic vehicle based on improved whale optimization algorithm

Abstract: This paper presents the impact of introducing a two-controller on the linearized autonomous underwater vehicle (AUV) for vertical motion control. These controllers are presented to overcome the sensor noise of the AUV control model that effect on the tolerance and stability of the depth motion control. Linear quadratic Gaussian (LQG) controller is cascaded with AUV model to adapt the tolerance and the stability of the system and compared with FOPID established by the improved whale optimization algorithm (IWOA) to identify which controlling method can make the system more harmonize and tolerable. The developed algorithm is based on improving the original WOA by reshaping a specific detail on WOA to earn a warranty that the new IWOA will have values for the update position lower than the identified lower-bound (LB), and upper-bound (UB). Furthermore, the algorithm is examined by a set of test functions that include (unimodal, multimodal and fixed dimension multimodal functions). The privileges of applying IWOA are reducing the executing time and obtaining the semi-optimal objective function as compared with the original WOA algorithm and other popular swarm-intelligence optimization algorithms.

Generalized method of designing unmanned remotely operated complexes based on the system approach

Abstract: Self-propelled underwater systems belong to the effective means of marine robotics. The advantages of their use include the ability to perform underwater work in real time with high quality and without risk to the life of a human operator. At present, the design of such complexes is not formalized and is carried out separately for each of the components – a remotely operated vehicle, a tether-cable and cable winch, a cargo device and a control and energy device. As a result, the time spent on design increases and its quality decreases. The system approach to the design of remotely operated complexes ensures that the features of the interaction of the components of the complex are taken into account when performing its main operating modes. In this paper, the system interaction between the components of the complex is proposed to take into account in the form of decomposition of “underwater tasks (mission) – underwater technology of its implementation – underwater work on the selected technology – task for the executive mechanism of the complex” operations. With this approach, an information base is formed for the formation of a list of mechanisms of the complex, the technical appearance of its components is being formed, which is important for the early design stages. Operative, creative and engineering phases of the design of the complex are proposed. For each phase, a set of works has been formulated that cover all the components of the complex and use the author's existence equations for these components as a tool for system analysis of technical solutions. The perspective of the scientific task of the creative phase to create accurate information models of the functioning of the components of the complex and models to support the adoption of design decisions based on a systematic approach is shown. The obtained results form the theoretical basis for finding effective technical solutions in the early stages of designing remotely operated complexes and for automating the design with the assistance of modern applied computer research and design packages.