Dynamic leveling control of a wireless self-balancing rov using fuzzy logic controller

A remotely operated vehicle (ROV) is essentially an underwater mobile robot that is controlled and powered by an operator outside of the robot working environment. Like any other marine vehicle, ROV has to be designed to float in the water where its mass is supported by the buoyancy forces due to th...

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Bibliographic Details
Main Author:	Ayob , Mohammad Afif
Format:	Thesis
Published:	2013
Subjects:	TC Hydraulic engineering. Ocean engineering
Online Access:	http://eprints.uthm.edu.my/3688/ http://eprints.uthm.edu.my/3688/1/MOHAMMAD_AFIF_BIN_AYOB.pdf

id	uthm-3688
recordtype	eprints
spelling	uthm-36882016-06-28T02:24:03Z Dynamic leveling control of a wireless self-balancing rov using fuzzy logic controller Ayob , Mohammad Afif TC Hydraulic engineering. Ocean engineering A remotely operated vehicle (ROV) is essentially an underwater mobile robot that is controlled and powered by an operator outside of the robot working environment. Like any other marine vehicle, ROV has to be designed to float in the water where its mass is supported by the buoyancy forces due to the displacement of water by its hull. Vertically positioning a mini ROV in centimetres resolution underwater and maintaining that state requires a distinctive technique partly because of the pressure and buoyancy exerted by the water towards the hull and partly because of the random waves produced by the water itself. That being said, the aim of the project is to design and develop a wireless self-balancing buoyancy system of a mini ROV using fuzzy logic controller. A liquid level sensor has been implemented to provide feedback to the Arduino microcontroller. A user-friendly graphical user interface (GUI) has been developed for real-time data monitoring as well as controlling the vertical position of the ROV. At the end of the project, the implemented fuzzy control system shows enhanced and better performance when compared with one without a controller, a proportional-derivative (PD) controller, and a proportional-integral-derivative (PID) controller. 2013-01 Thesis NonPeerReviewed application/pdf http://eprints.uthm.edu.my/3688/1/MOHAMMAD_AFIF_BIN_AYOB.pdf Ayob , Mohammad Afif (2013) Dynamic leveling control of a wireless self-balancing rov using fuzzy logic controller. Masters thesis, Universiti Tun Hussein Onn Malaysia. http://eprints.uthm.edu.my/3688/
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Tun Hussein Onn Malaysia
building	UTHM Institutional Repository
collection	Online Access
topic	TC Hydraulic engineering. Ocean engineering
spellingShingle	TC Hydraulic engineering. Ocean engineering Ayob , Mohammad Afif Dynamic leveling control of a wireless self-balancing rov using fuzzy logic controller
description	A remotely operated vehicle (ROV) is essentially an underwater mobile robot that is controlled and powered by an operator outside of the robot working environment. Like any other marine vehicle, ROV has to be designed to float in the water where its mass is supported by the buoyancy forces due to the displacement of water by its hull. Vertically positioning a mini ROV in centimetres resolution underwater and maintaining that state requires a distinctive technique partly because of the pressure and buoyancy exerted by the water towards the hull and partly because of the random waves produced by the water itself. That being said, the aim of the project is to design and develop a wireless self-balancing buoyancy system of a mini ROV using fuzzy logic controller. A liquid level sensor has been implemented to provide feedback to the Arduino microcontroller. A user-friendly graphical user interface (GUI) has been developed for real-time data monitoring as well as controlling the vertical position of the ROV. At the end of the project, the implemented fuzzy control system shows enhanced and better performance when compared with one without a controller, a proportional-derivative (PD) controller, and a proportional-integral-derivative (PID) controller.
format	Thesis
author	Ayob , Mohammad Afif
author_facet	Ayob , Mohammad Afif
author_sort	Ayob , Mohammad Afif
title	Dynamic leveling control of a wireless self-balancing rov using fuzzy logic controller
title_short	Dynamic leveling control of a wireless self-balancing rov using fuzzy logic controller
title_full	Dynamic leveling control of a wireless self-balancing rov using fuzzy logic controller
title_fullStr	Dynamic leveling control of a wireless self-balancing rov using fuzzy logic controller
title_full_unstemmed	Dynamic leveling control of a wireless self-balancing rov using fuzzy logic controller
title_sort	dynamic leveling control of a wireless self-balancing rov using fuzzy logic controller
publishDate	2013
url	http://eprints.uthm.edu.my/3688/ http://eprints.uthm.edu.my/3688/1/MOHAMMAD_AFIF_BIN_AYOB.pdf
first_indexed	2018-09-05T11:07:31Z
last_indexed	2018-09-05T11:07:31Z
_version_	1610765463239786496

Dynamic leveling control of a wireless self-balancing rov using fuzzy logic controller

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