Development of a buoyancy control device for autonomous underwater vehicle

The development of Autonomous Underwater Vehicle (AUV) or known as unmanned underwater vehicle increase exponentially in these recent years. This is due to the increase of demand in many applications such as prospecting on the seafloor and other underwater tasks without human interference and supe...

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Main Authors:	Syafie, Lia Safiyah, Zainal Abidin, Zulkifli, Alang Rashid, Nahrul Khair
Format:	Conference or Workshop Item
Language:	English English
Published:	Institute of Electrical and Electronics Engineers Inc. 2016
Subjects:	TK7800 Electronics. Computer engineering. Computer hardware. Photoelectronic devices
Online Access:	http://irep.iium.edu.my/53946/ http://irep.iium.edu.my/53946/ http://irep.iium.edu.my/53946/ http://irep.iium.edu.my/53946/13/53946.pdf http://irep.iium.edu.my/53946/19/53946_Development%20of%20a%20buoyancy_SCOPUS.pdf

id	iium-53946
recordtype	eprints
spelling	iium-539462017-06-09T04:55:03Z http://irep.iium.edu.my/53946/ Development of a buoyancy control device for autonomous underwater vehicle Syafie, Lia Safiyah Zainal Abidin, Zulkifli Alang Rashid, Nahrul Khair TK7800 Electronics. Computer engineering. Computer hardware. Photoelectronic devices The development of Autonomous Underwater Vehicle (AUV) or known as unmanned underwater vehicle increase exponentially in these recent years. This is due to the increase of demand in many applications such as prospecting on the seafloor and other underwater tasks without human interference and supervision. This vehicle can be used to perform underwater missions such as surveys, monitoring, image capturing and other applications. In achieving given tasks, AUVs must capable to control its depth level. Thus, a buoyancy control device (BCD) is developed to assist AUV in controlling its depth level. This paper is focusing in developing a volume based BCD. A pair of rubber bellow is simulated as the main hardware to vary the volume of BCD while keeping a constant mass. To execute this method, an input (depth level) is required from user through a Graphical User Interface (GUI) provided. Water level transducer is used to measure the current level of the BCD and compare with the user input. By this comparison, BCD will compensate with water density, in order to achieve positive, negative or neutral buoyancy based on the desired input value. This system is a close loop system with a Proportional Integral Derivatives (PID) controller integrated for the controller. PID controller will continuously calculates the error value as the difference between the desired (user input) and the actual value measured. PID controller is designed to reduce the oscillation occurred in the system during autonomous adjustments with a suitable gain values. This paper proved that by controlling the volume of the bladder, depth level of BCD also can be controlled accordingly with 47% maximum and 2% minimum error occurred. Institute of Electrical and Electronics Engineers Inc. 2016 Conference or Workshop Item NonPeerReviewed application/pdf en http://irep.iium.edu.my/53946/13/53946.pdf application/pdf en http://irep.iium.edu.my/53946/19/53946_Development%20of%20a%20buoyancy_SCOPUS.pdf Syafie, Lia Safiyah and Zainal Abidin, Zulkifli and Alang Rashid, Nahrul Khair (2016) Development of a buoyancy control device for autonomous underwater vehicle. In: 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications (IEEE USYS 2016), 13th-14th December 2016, USM Pulau Pinang. http://oes.ieeemy.org/ 10.1109/USYS.2016.7893923
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English
topic	TK7800 Electronics. Computer engineering. Computer hardware. Photoelectronic devices
spellingShingle	TK7800 Electronics. Computer engineering. Computer hardware. Photoelectronic devices Syafie, Lia Safiyah Zainal Abidin, Zulkifli Alang Rashid, Nahrul Khair Development of a buoyancy control device for autonomous underwater vehicle
description	The development of Autonomous Underwater Vehicle (AUV) or known as unmanned underwater vehicle increase exponentially in these recent years. This is due to the increase of demand in many applications such as prospecting on the seafloor and other underwater tasks without human interference and supervision. This vehicle can be used to perform underwater missions such as surveys, monitoring, image capturing and other applications. In achieving given tasks, AUVs must capable to control its depth level. Thus, a buoyancy control device (BCD) is developed to assist AUV in controlling its depth level. This paper is focusing in developing a volume based BCD. A pair of rubber bellow is simulated as the main hardware to vary the volume of BCD while keeping a constant mass. To execute this method, an input (depth level) is required from user through a Graphical User Interface (GUI) provided. Water level transducer is used to measure the current level of the BCD and compare with the user input. By this comparison, BCD will compensate with water density, in order to achieve positive, negative or neutral buoyancy based on the desired input value. This system is a close loop system with a Proportional Integral Derivatives (PID) controller integrated for the controller. PID controller will continuously calculates the error value as the difference between the desired (user input) and the actual value measured. PID controller is designed to reduce the oscillation occurred in the system during autonomous adjustments with a suitable gain values. This paper proved that by controlling the volume of the bladder, depth level of BCD also can be controlled accordingly with 47% maximum and 2% minimum error occurred.
format	Conference or Workshop Item
author	Syafie, Lia Safiyah Zainal Abidin, Zulkifli Alang Rashid, Nahrul Khair
author_facet	Syafie, Lia Safiyah Zainal Abidin, Zulkifli Alang Rashid, Nahrul Khair
author_sort	Syafie, Lia Safiyah
title	Development of a buoyancy control device for autonomous underwater vehicle
title_short	Development of a buoyancy control device for autonomous underwater vehicle
title_full	Development of a buoyancy control device for autonomous underwater vehicle
title_fullStr	Development of a buoyancy control device for autonomous underwater vehicle
title_full_unstemmed	Development of a buoyancy control device for autonomous underwater vehicle
title_sort	development of a buoyancy control device for autonomous underwater vehicle
publisher	Institute of Electrical and Electronics Engineers Inc.
publishDate	2016
url	http://irep.iium.edu.my/53946/ http://irep.iium.edu.my/53946/ http://irep.iium.edu.my/53946/ http://irep.iium.edu.my/53946/13/53946.pdf http://irep.iium.edu.my/53946/19/53946_Development%20of%20a%20buoyancy_SCOPUS.pdf
first_indexed	2023-09-18T21:16:19Z
last_indexed	2023-09-18T21:16:19Z
_version_	1777411586393112576

Development of a buoyancy control device for autonomous underwater vehicle

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