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DEVELOPMENT OF REMOTELY OPERATED UNDERWATER VEHICLE MANEUVERS CONTROL SYSTEM

MOHD BADRUN BIN YUSOF

This report is submitted in partial fulfillment of requirements for the Bachelor of

Electronic Engineering (Industrial Electronics) with Honors

Faculty of Electronics and Computer Engineering

Universiti Teknikal Malaysia Melaka

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UNIVERSTI TEKNIKAL MALAYSIA MELAKA

FAKULTI KEJURUTERAAN ELEKTRONIK DAN KEJURUTERAAN KOMPUTER

BORANG PENGESAHAN STATUS LAPORAN PROJEK SARJANA MUDA II

Tajuk Projek :

DEVEPLOMENT OF REMOTELY OPERATED UNDERWATER VEHICLE MANEUVERS CONTROL SYSTEM

Sesi

Pengajian : 1 2 / 1 3

Saya MOHD BADRUN BIN YUSOF mengaku membenarkan Laporan Projek Sarjana Muda ini disimpan di Perpustakaan dengan syarat-syarat kegunaan seperti berikut:

1. Laporan adalah hakmilik Universiti Teknikal Malaysia Melaka.

2. Perpustakaan dibenarkan membuat salinan untuk tujuan pengajian sahaja.

3. Perpustakaan dibenarkan membuat salinan laporan ini sebagai bahan pertukaran antara institusi

pengajian tinggi.

4. Sila tandakan ( ) :

SULIT*

*(Mengandungi maklumat yang berdarjah keselamatan atau kepentingan Malaysia seperti yang termaktub di dalam AKTA RAHSIA RASMI 1972)

TERHAD** **(Mengandungi maklumat terhad yang telah ditentukan oleh organisasi/badan di mana penyelidikan dijalankan)

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“I declare that this report is the result of my own work except that such each summaries and citations I explain the only source”

Signature : ………

Author‟s Name : MOHD BADRUN BIN YUSOF

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“I declare that I have read this thesis and in my opinion this thesis is sufficient in terms

of scopes and quality for award of Bachelor of Electronic Engineering (Industrial

Electronic) with Honors”

Signature : ………

Supervisor‟s Name : AHMAD NIZAM BIN MOHD JAHARI

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v

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vi

ACKNOWLEDGMENT

Alhamdulillah, In the Name of Allah Most Highly and Most Merciful Peace and

Blessing be upon His Prophet Muhammad S.A.W, Thanks God and be grateful, praise

God only in the Lord of Universe. First of all, I would like to offer thanks to God for the

power and assistance, I can also successfully complete the project as specified manner.

While in the process of completing this project, I have met many people who have

helped me until the completion of this thesis. Despite a few problems during the

completion of this project, but I still managed to weather the trials and tribulations that

made me more confident to solve any problems.

In addition, I would like to thank my supervisor, Mr Ahmad Nizam bin Mohd

Jahari because he was providing guidance and advice as well as a complete guide

throughout my completing this project. throughout my completing this project. Without

the help given, I may not be able to meander through the challenges in making this

project.

I also want to thank my friends who have helped me tirelessly. Then, I am also

want to thankful to Mr Shahrieel who is lecture in FKE for the information and guidance

me in design the ROV especially for the waterproof technique. Then, also to whoever

needed or have been involved in the project either directly or not but. May Allah give

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ABSTRACT

This project report describes the development of remotely operated vehicles in

water (ROV) to the control system in terms of how an ROV operating concept works

and components and materials used. ROV is a robotic vehicle that is used at present

specifically to handle the development work on the coast. ROV's creation caused some

problems among humans have a limited ability to perform activities especially in the

water. In addition, the factor of safety to humans when doing work related to oil and gas

which can be harmful to human health. Due to that, ROV was introduced to replace

human services. By the result, my main purpose of doing this project for the design and

development of remotely operated vehicles in water (ROV) to the control system to

facilitate human in doing work related to coastal development. Then, the methodology

used for design this project is to use a control that connects directly to the PIC by using

wire and thus control the motor that serves as the driving ROV movement in underwater.

By using PIC, I will design a program to allow the PIC to read input from the control.

The result of tests performed, the ROV moves forward, backward, left, right, down and

up after controlled by the controller. In addition, it is also waterproof even in the water

completely. A conclusion, the ROV can surely be used in underwater without worrying

for leaking the water and it also function as well to move in underwater by given the

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ABSTRAK

Laporan projek ini menerangkan tentang pembangunan kenderaan dikendalikan

dari jauh di dalam air (ROV) dengan sistem kawalan dari segi konsep operasi bagaimana

sesebuah ROV itu berfungsi dan komponen serta bahan yang digunakan. ROV

merupakan sebuah robot kenderaan yang diguna pada masa kini khususnya untuk

mengendalikan kerja-kerja pembangunan di pesisir pantai. Terciptanya ROV ini

disebabkan beberapa masalah yang timbul antaranya manusia mempunyai kebolehan

yang terhad terutamanya melakukan aktiviti di dalam air. Selain itu, faktor keselamatan

kepada manusia ketika melakukan kerja berkaitan minyak dan gas yang mana boleh

memudaratkan kesihatan manusia. disebabkan itu ROV diperkenalkan untuk

menggantikan khidmat manusia. Oleh itu sebab itu, tujuan utama saya melakukan projek

ini untuk reka dan pembangunan kenderaan dikendalikan dari jauh di dalam air (ROV)

dengan sistem kawalan untuk memudahkan manusia dalam melakukan kerja berkaitan

dengan pembangunan di pesisir pantai. metodologi yang digunakan untuk reka projek ini

adalah dengan menggunakan kawalan yang menghubungkan terus kepada PIC dengan

menggunakan wayar dan seterusnya mengawal pergerakan motor yang berfungsi sebagai

penggerak ROV. dengan menggunakan PIC, saya akan reka satu program untuk

membolehkan PIC membaca input dari kawalan. Hasil dari ujian yang dilakukan, ROV

bergerak ke hadapan, ke belakang, ke kiri, ke kanan, ke bawah dan ke atas setelah

dikawal dengan controller. Di samping itu, ia juga kalis air walaupun dalam air

sepenuhnya. Kesimpulannya, ROV pasti boleh digunakan di dalam air tanpa perlu

bimbang untuk bocor air dan ia juga berfungsi sebagai yang baik untuk bergerak di

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TABLE OF CONTENTS

CHAPTER TITLE PAGE

PROJECT TITLE i

AUTHORIZATION FORM ii

DECLARATION iii

DEDICATION v

ACKNOWLEDGEMENT vi

ABSTRACT vii

ABSTRAK viii

TABLE OF CONTENT ix

LIST OF TABLE xiii

LIST OF FIGURE xiv

LIST OF APPENDICES xvi

1 INTRODUCTION

1.1 Introduction 1

1.2 Problem Statement 2

1.3 Objectives 3

1.4 Scope of the Project 4

2 LITERATURE REVIEW

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xiv

2.1.1 Definition of ROV 5

2.2 What are (ROV) and AUVs? 10

2.2.1 Why used ROV rather than Human 11

2.2.2 The Perfect ROV 12

2.2.3 ROV Classifications 13

2.3 Factors Affecting an Underwater Vehicle 13

2.3.1 Visibility 14

2.3.2 Gravity and Buoyancy 14

2.3.3 Stability 15

2.3.4 Hydrodynamic Damping 15

2.4 ROV Components 16

2.4.1 Joystick or Switch 16

2.4.2 Bilge Pumps 18

2.4.3 Thrusters with Propeller 19

2.4.4 Lightning 20

2.4.5 Camera 21

3 METHODOLOGY

3.1 Fabrication Mechanical Hardware 22

3.1.1 Main Body 23

3.1.2 DC Motor 23

3.1.3 Propeller 24

3.2 Electronic Hardware 24

3.2.1 PIC Microcontroller Circuit 25

3.2.2 Motor Circuit 26

3.2.3 Power Supply 27

3.2.4 Waterproofing 27

3.2.5 Tether 28

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xv

3.3.1 Programming 29

3.3.2 Circuit Design 30

4 RESULT AND ANALYSIS

4.1 ROV Mechanical Hardware Construction 31

4.2 Electronic Hardware – Maneuver System 35

Construction

4.2.1 Controller Circuit 35

4.2.2 Microcontroller Circuit 36

4.2.3 Motor Circuit 38

4.3 Simulation Test 39

4.4 ROV Operation Surface Test 40

4.5 ROV Operation Underwater Test 42

4.6 ROV Performance Analysis 45

4.7 ROV Speed Analysis 47

4.8 ROV Waterproof Analysis 48

5 CONCLUSION AND RECOMMENDATION

5.1 Conclusion 50

5.2 Recommendation and Future Works 51

5.2.1 Body Structure 51

5.2.2 Sensor 52

5.2.3 Arm Robot 52

5.2.4 Bilge Pump 52

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xvi

REFERENCE 54

APPENDICES 56

Appendix A 56

Appendix B 61

Appendix C 65

Appendix D 67

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xvii

LIST OF TABLE

NO TITLE PAGE

2.1 Difference between ROV and AUV 11

4.1 Switch that used in the controller to move the ROV 36

4.2 Result obtained from simulation test of ROV 40

4.3 Troubleshoot the ROV for the first time 41

4.4 Troubleshoot the ROV for the second time 41

4.5 Observation and result ROV in underwater testing 45

4.6 Specification Battery Used in ROV 45

4.7 Specification DC Motor 46

4.8 Result distance and time for ROV movement 47

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xiv

LIST OF FIGURE

NO TITLE PAGE

2.1 Example of ROV used in nowadays 6

2.2 ROV Topside and Bottom Side System Operated from a Ship 7

2.3 Inspection, and Installation using ROV 8

2.4 AUV, UUV and ROV 9

2.5 Underwater vehicle to ROVs 9

2.6 Basic ROVs System Components 10

2.7 Bouyancy effect 14

2.8 Stability Effect 15

2.9 Joystick 16

2.10 Switch 17

2.11 Bilge Pumps 18

2.12 Thrusters connected with propeller 19

2.13 Propeller uses in ROV 19

2.14 ROV Lightning 20

2.15 Camera 21

3.1 Sample of ROV used PVC 23

3.2 DC Motor 23

3.3 Microcontroller PIC16F877A 25

3.4 ROV motor circuit using H-bridge 26

3.5 H-bridge function 26

3.6 Cable Clamp for ROV Waterproof 27

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3.8 Main window to design the program code 29

4.1 A camera in front of ROV 33

4.2 (a) and (b) refer to the dimension for width, height and length 33

for ROV

4.3 Overall view of ROV design from different side 34

4.4 (a) and (b) is the sample of controller circuit 35

4.5 Microcontroller circuit used in ROV 37

4.6 Motor Circuit used in ROV 38

4.7 Microcontroller and Controller circuit 39

4.8 Motor Circuit for Forward, Reverse, Left, Right, Up and Down 39

4.9 Pool for testing the ROV movement 42

4.10 Pool for testing the ROV waterproof 42

4.11 ROV while in the water in top view 44

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xvi

LIST OF APPENDICES

NO. TITLE PAGE

A CCS C programming for ROV 56

B PIC16F877A Data Sheet 61

C Voltage Regulator 7805 Data Sheet 65

D Figures 67

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CHAPTER 1

INTRODUCTION

1.1 Introduction

Nowadays, the use of robotic vehicles for exploration in the water associated with

the rapid development of technology that is increasingly growing from year to year

where, prior to the introduction of robot vehicles for underwater exploration, human

nature is fully utilized to perform a variety of related activity in the water as an example

to explore in the water. However, today, human services are no longer used because as

we know human ability is limited especially related to the underwater and that why

human services was replaced with robot vehicle called as Remotely Operated

underwater Vehicle (ROV). With the ROV, it can replace the services of divers perform

tasks that may pose a risk to humans and it is a mobile robot that is designed especially

for aquaculture. In addition, ROVs are also used to perform underwater research

especially for the scientist‟s research, installation telecommunications cable under the

sea, doing work related to gas and oil and the discovery and development of oil and gas

resources which lie underwater through drilling a well in addition, users can control the

ROV's vehicle while he was on a ship or boat. Besides, most of the ROV in use today

are built with video camera equipment to allow users to see and take diagrams was based

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For this project which is Development of Remotely Operated Underwater Vehicle

Maneuvers Control System, the ROVs are controlled by the human located outside the

sea by using the controller. The controller then connected to the PIC and PIC will

process the data input from controller to produce the data output. The output then

connects to the thrusters that enables the ROV to navigate and transfer in a smooth and

efficient way. All the connection is connected with the wire cable. The high resolution

camera video and also power light was provided in order to enable the person in charge

at the surface will see and hear what has happened under the water. ROV movements

can be controlled by the PIC that limited to dive under the water, move up to surface,

forward, backward, to the right, and to the left by using the thrusters and propellers as

hardware.

1.2 Problem statement

In this part, will describe the problem statement that occurs nowadays and because

of that problem, this project was created. In countries other than Malaysia, they already

know and use this ROV ever since ROVs were first used by the United States Navy in

the 1960s. But recently, this ROV has been used widely in underwater task especially

for the new offshore development. Because of the new offshore was exceed the human

divers ability, then they use the ROV to do their task where their task range from

Inspection of subsea structures, Pipeline and platforms to connecting pipelines in the

sea, Placing underwater manifolds in the sea, and Construction of a sub-sea development

and also the repair and maintenance. In fact, more than half of the ocean structure at

present has never been explored due to the lack of technology where that ocean structure

has the potential for the human to get the raw material especially oil and gas.

Besides that, for the researchers and scientist related to the underwater, they have

to discover and survey the underwater world to do their research because it is their main

objective. But, they have to develop and build new technological device which is ROV

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of the major obstacle is cost to build that device is expensive where the cost to build the

ROV currently in current market value is approximately about RM5000. Among to the

factors that affecting high cost of ROV includes construction costs. Possibility there is

only certain countries that are able to build the ROV and that why it is expensive

because when the need for the ROV are high but the production is low, so the price will

be expensive . In addition, others factor is material and equipment that used to make the

ROV are expensive or difficult to be found, ROV maintenance costs are high, the cost to

employ human to program movements of ROV and etc. One of the main reasons I make

this ROV project is to build and develop the ROV using a low cost. With the

development of low cost ROV, this may be a starting point for this technology was

developed in Malaysia, which we already know the advantages of this ROV is indeed

very good when compared with humans.

ROV is underwater vehicle that can move freely in water under manual control by

consumer. To build ROV, waterproof capability must be assumed as essential point that

must be reached first due to reason that operation of ROV is under water. Structural

ROV body should be fully sealed in order to be watertight so that internal electronic

circuit that placed within him will not be damage because of water. The main accident

that will cause if there is have leak deep water ROV is short circuit. Apart from that,

structure ROV body must be tough enough to hold water pressure and to avoid

occurrence of water leakages.

1.3 Objectives

In countries other than Malaysia, they already know and use this ROV ever since

where the ROVs were first used by the United States Navy in the 1960s. But in

Malaysia, the ROV is still a new technology for Malaysian people to know and learn this

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a) To design and develop of a remotely operated underwater vehicle (ROV)

with maneuvers control system.

b) To design the maneuver control system for ROV by using Programmable

Interface Controller (PIC).

c) To design the develop hardware for the ROV with waterproof.

1.4 Scope of the Project

The scopes of this project are:

a) Research about the Remotely Operated Underwater Vehicle (ROV) by read

others people journal, book, paper, or thesis to more understand how the system

ROV was function and identify how the using of this ROV in others countries.

b) To determine the component that will be used for the ROV where the component

used is Programmable Interface Controller (PIC) Microcontroller as the main

process, motor to move the ROV and controller to control the ROV movement.

c) Design the programming coding for controlling ROV

d) Design the hardware for the ROV with the waterproofing where the ROV have to

seal to make sure it is waterproof.

e) To ensure that ROV‟s operation has good cooperation with surveillance system

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CHAPTER 2

LITERATURE REVIEW

2.1 Introduction

This chapter contains general information and study the literature review about

Development of Remotely Operated Underwater Vehicle Maneuvers Control System

and brief to go into detail about the control system involved in this project. All the

information and the facts were collected from reliable source and elaborated based on

understanding of the review in order take out the basic idea in producing the best

Remotely Operated Underwater Vehicle (ROV) either it is in term of a practical theory

or a valuable prototype.

2.1.1 Definition of ROV

ROV can be defined as an underwater remotely operated vehicle (ROV) is a

mobile robot designed for aquatic work environments. Remote control is usually carried

out through copper work environments. Remote control is usually carried out through

copper or fiber optic cables. A human operator sits in a shore-based station, boat or

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operator can also maneuver the robot. Sophisticated underwater ROVs

incorporate telepresence to give the operator a sense of being in the place of the

[image:22.612.116.524.153.281.2]

machine.[1]

Figure 2.1: Example of ROV used in nowadays

The definition above shows that the concept how the ROV will be function. The

basic ROV will have the remote control that will control by human and that remote

carried out through the wire connect to the ROV system. For example from figure 2.1

above shows example of ROV used in nowadays where they used wired to connect it

with human at above the water. Human just only control it by using controller.

Then, from another source as shown in figure 2.2 below., ROV also can be

defined as An ROV control system includes two discrete structures, a topside and

vehicle or bottom side system connected by an umbilical. The topside system is the user

interface and is made up of a graphical/video display and user controls such as joysticks,

switches, paddles, etc. These user inputs are constructed into a data string that is

transmitted to the vehicle via the umbilical. Any processing of data typically takes place

on the topside controller/processor. The bottom side system receives the user inputs and

executes the command via the various subsystems and components such as

manipulators, thrusters, and cameras. It will relay information back to the topside unit

including sensor data and current component settings (for instance the power setting of a

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From the second source, ROV will have two system which is topside and bottom

side system where the topside system will have user interface and user control such

camera/video and joystick/switch. Then, for the bottom side system will receive

commands from the surface system, carry out the required functions via input/output

capabilities, and the deliver status information back to the surface. Figure below shows

[image:23.612.144.511.214.482.2]

the ROV for topside and bottom side system.

Figure 2.2: ROV Topside and Bottom Side System Operated from a Ship

Because of ROV can be control throughout on ship or boat, it is widely used and

utilized used for the research of subsea and other task like oil and gas extraction,

installation of underwater telecommunication cables, installation of pipelines in the sea,

maintenance in offshore industries and also for military services.

Various duties carried out by offshore industry which requires usage ROV from

drilling exploration (examination subsea, operation valve, riser examination, hydraulic

BOP operation) for field development and production (used at platform and pipeline,

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decommissioning. For example in figure 2.3 below is application of ROV used in

[image:24.612.115.515.133.237.2]

nowadays where it have been used to inspection, installation some work in underwater.

Figure 2.3: Inspection, and Installation using ROV

There are different types of underwater vehicles. One method of categorizing these

vehicles is to identify them as members one of two classes of vehicles; manned and

unmanned systems [3]. As we know, we all familiar with the manned system where this

manned system is basically controlled by man in the vehicle. It can be described simply

as falling into two sub-classes; military submarines and non-military submersibles such

as those operated to support underwater investigations and assessment. The navies of the

world utilize a number of different classes of submarines to conduct their missions.

Unmanned submersibles also fall in to a number of different sub-classes. The

simplest and most easily described are those submersibles that called a Remotely

Operated Vehicle (ROV). An ROV is a tethered vehicle. The tether supplies power and

communication to the ROV and is controlled directly by a remote operator. A second

type of unmanned submersible is an Unmanned Untethered Vehicle (UUV). This

untethered vehicle contains its own onboard power, but is controlled by a remote

operator via some type of a communications link. An AUV is an undersea system

containing its own power and controlling itself while accomplishing a pre-defined task.

A further distinction between the AUV and UUV is that the AUV requires no

communication during its mission whereas the UUV requires some level of

communication for it to complete its assigned mission. Then, figure 2.4 below shown the

fiber optic telepresence

Figure

Figure 2.1: Example of ROV used in nowadays
Figure 2.2: ROV Topside and Bottom Side System Operated from a Ship
Figure 2.3: Inspection, and Installation using ROV

References

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