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Engineering

Small Scale Unmanned Underwater Remotely Operated Crawler (ROC)

Profile image of Muhammad Nizam KamarudinMuhammad Nizam Kamarudin

2016, Indonesian Journal of Electrical Engineering and Computer Science

https://doi.org/10.11591/IJEECS.V3.I2.PP481-488
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Abstract

This project is describes the development of underwater vehicle which is remotely operated crawler (ROC). The ROC is developed for the implementation of underwater surface floor and used as for rescuing application. This project is aim to reduce the risk the human life and to solve the disability of human to dive to the underwater for rescue and archeologist work in a longer period. Due to the underwater vehicle that can be operated in a larger depth and reducing the liability of the human life. Moreover, the main problem with this ROC application is to travelling under the uneven of the underwater floor and make sure it always have negative buoyant and a good stability to perform at uneven surface of underwater. Furthermore, the ROC need the overcome the obstacle of the underwater surface without any problem. Therefore, the design of ROC is based on four wheel mechanism to maneuver it at the uneven surface. Besides that, the ROC is tethered and control manually by using a joystick controller and the Peripheral Interface Controller (PIC) are used to control this ROC. This method is to fulfill the target of the project that are to develop and fabricate the ROC and to study the performance of the ROC in terms of controllability, stability and maneuverability. As a result, the movement of ROC is analyzing in order to gain the requirement of stability and the buoyancy in the water. Moreover, the development of the ROC can be tested in several experiments which includes overcome obstacle, controllability, and it performances to be operated on the surface floor of underwater. Hence, this project will gives the good impact and benefit related to the underwater industries and can be applied in the rescuing application in the future.

Figures (9)
Table 2. Advantages and Disadvantages between the tire, belt, and omni-wheel. — a iis Commonly all land vehicles or maneuver device that moving on the surface are all using wheels. The wheel is a circle and roundly shape component that has function to rotate in axial bearing of the vehicles. By applying these wheels can enable to moving the heavy object and transport the load at the same time easily. In this application of remotely operated crawler, usually using several types of mechanism which are crawler tires and crawler belt. Table 2 shows some of advantages and disadvantages between the tire, belt, and omni-wheel.
Table 2. Advantages and Disadvantages between the tire, belt, and omni-wheel. — a iis Commonly all land vehicles or maneuver device that moving on the surface are all using wheels. The wheel is a circle and roundly shape component that has function to rotate in axial bearing of the vehicles. By applying these wheels can enable to moving the heavy object and transport the load at the same time easily. In this application of remotely operated crawler, usually using several types of mechanism which are crawler tires and crawler belt. Table 2 shows some of advantages and disadvantages between the tire, belt, and omni-wheel.
Moreover, the frictional force is required to slow the wheel torque in order to decrease the angular velocity. Thus, the overall rolling friction results in a force at the center of the wheel and is parallel to the surface contact and is represented by Equation (1). 3. Modeling of Wheel Mechanism
Moreover, the frictional force is required to slow the wheel torque in order to decrease the angular velocity. Thus, the overall rolling friction results in a force at the center of the wheel and is parallel to the surface contact and is represented by Equation (1). 3. Modeling of Wheel Mechanism
The mechanism of the belting wheel is affected by external force which are gravity, line tension, normal component of reaction and external force to keep velocity. In actual operation of the crawler system, driven motors will be operated and controlled [9, 10]. Then the rotation
The mechanism of the belting wheel is affected by external force which are gravity, line tension, normal component of reaction and external force to keep velocity. In actual operation of the crawler system, driven motors will be operated and controlled [9, 10]. Then the rotation
tata ER RDO SO NET SN Ao ER EEO The first steps in this design this project by implementing the uses of the SolidWorks 2013 software. This software is used as solid modeling and utilizes a parametric features based approach which in three dimension space in order to develop and design the model or assembly parts. Therefore, the user can easily design this project and assemble it part by part effectively. Moreover Simulation Xpress is an analysis tool that has implemented in SolidWorks software package that giving abilities to do some basic stress analysis and many more test analysis on the material part of the design project. Thus, the user can determine whether the material is suitable to use as the analysis test on the material strength can be conducted. 4.2. Fabrication of Mechanical Parts of ROC (Hardware) After confirmed the design process of the ROC, the first part is to fabricate the frame body of the project. The material that has been chosen is 1 inch of hollow type square metal. The metal is chosen because it can withstand the underwater pressure due to its hardness and brittle characteristic. Thus, the frame was develop by weld in order to make the frame structure is strong and solid to handle the pressure of underwater. The cover body for the ROC is a
tata ER RDO SO NET SN Ao ER EEO The first steps in this design this project by implementing the uses of the SolidWorks 2013 software. This software is used as solid modeling and utilizes a parametric features based approach which in three dimension space in order to develop and design the model or assembly parts. Therefore, the user can easily design this project and assemble it part by part effectively. Moreover Simulation Xpress is an analysis tool that has implemented in SolidWorks software package that giving abilities to do some basic stress analysis and many more test analysis on the material part of the design project. Thus, the user can determine whether the material is suitable to use as the analysis test on the material strength can be conducted. 4.2. Fabrication of Mechanical Parts of ROC (Hardware) After confirmed the design process of the ROC, the first part is to fabricate the frame body of the project. The material that has been chosen is 1 inch of hollow type square metal. The metal is chosen because it can withstand the underwater pressure due to its hardness and brittle characteristic. Thus, the frame was develop by weld in order to make the frame structure is strong and solid to handle the pressure of underwater. The cover body for the ROC is a
Figure 3. ROC Design Using SolidWorks
Figure 3. ROC Design Using SolidWorks
Figure 4. Fabrication Process of ROC In order to control the maneuverability of this remotely operated crawler, the electronic configuration control box is needed. In this electronic control box contains the connection of the DC motor, sensors, and the PSC28A control circuit by Cytron [15]. The function of controller circuit of PSC28A is it has built in connection between input of the Play Station 2 (PS2) controller joystick and the output as to control the DC motor to maneuver the ROC. By referring the datasheet of controller circuit, some modification on this connection of circuit need to be done which is by adding the motor driver to control the speed and motion of motor as shown in Figure 5.
Figure 4. Fabrication Process of ROC In order to control the maneuverability of this remotely operated crawler, the electronic configuration control box is needed. In this electronic control box contains the connection of the DC motor, sensors, and the PSC28A control circuit by Cytron [15]. The function of controller circuit of PSC28A is it has built in connection between input of the Play Station 2 (PS2) controller joystick and the output as to control the DC motor to maneuver the ROC. By referring the datasheet of controller circuit, some modification on this connection of circuit need to be done which is by adding the motor driver to control the speed and motion of motor as shown in Figure 5.
Thus, a diagram of design using Solidworks software will be determine the range o measurement of the ROC shown in Figure 6. The good design is important because it can influence and affect the buoyancy of the ROC body. Therefore, if the weight of ROC is greate than the buoyancy force that acting in it, so it will have negative buoyant. Thus, the ROC wil submerge effectively at the bottom of the laboratory test pool. Hence, since to fulfill the requirement in term of the stability and buoyant force in the water the design is been chosen is flat and square shape since it has Table 3 shows a description of details about the features o the designed ROC. =a
Thus, a diagram of design using Solidworks software will be determine the range o measurement of the ROC shown in Figure 6. The good design is important because it can influence and affect the buoyancy of the ROC body. Therefore, if the weight of ROC is greate than the buoyancy force that acting in it, so it will have negative buoyant. Thus, the ROC wil submerge effectively at the bottom of the laboratory test pool. Hence, since to fulfill the requirement in term of the stability and buoyant force in the water the design is been chosen is flat and square shape since it has Table 3 shows a description of details about the features o the designed ROC. =a
5. Conclusion
5. Conclusion

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