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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Main Authors:	Ayob, Mohammad Afif, Hanafi, Dirman, Johari, Ayob
Format:	Conference or Workshop Item
Published:	2012
Subjects:	TC Hydraulic engineering. Ocean engineering
Online Access:	http://eprints.uthm.edu.my/5866/ http://eprints.uthm.edu.my/5866/4/7_x.pdf

id	uthm-5866
recordtype	eprints
spelling	uthm-58662014-11-04T07:15:19Z Dynamic leveling control of a wireless self-balancing ROV using fuzzy logic controller Ayob, Mohammad Afif Hanafi, Dirman Johari, Ayob 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 ofwater by its hull. Vertically positioning a mini ROV in centimeters resolution underwater and maintaining that state requires a distinctive technique partly because of the pressure 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 the fuzzy logic controller for a wireless self-balancing buoyancy system of a mini ROV. A liquid level sensor had been implemented to provide feedback to the controller. A user-friendly graphical user interface (GU I) had 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 and a proportional-derivative (PD) controller. 2012 Conference or Workshop Item PeerReviewed application/pdf http://eprints.uthm.edu.my/5866/4/7_x.pdf Ayob, Mohammad Afif and Hanafi, Dirman and Johari, Ayob (2012) Dynamic leveling control of a wireless self-balancing ROV using fuzzy logic controller. In: 5th International Conference on Postgraduate Education (ICPE-5 2012), Universiti Teknologi Malaysia, Skudai, 18-19 December 2012. http://eprints.uthm.edu.my/5866/
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 Hanafi, Dirman Johari, Ayob 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 ofwater by its hull. Vertically positioning a mini ROV in centimeters resolution underwater and maintaining that state requires a distinctive technique partly because of the pressure 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 the fuzzy logic controller for a wireless self-balancing buoyancy system of a mini ROV. A liquid level sensor had been implemented to provide feedback to the controller. A user-friendly graphical user interface (GU I) had 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 and a proportional-derivative (PD) controller.
format	Conference or Workshop Item
author	Ayob, Mohammad Afif Hanafi, Dirman Johari, Ayob
author_facet	Ayob, Mohammad Afif Hanafi, Dirman Johari, Ayob
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	2012
url	http://eprints.uthm.edu.my/5866/ http://eprints.uthm.edu.my/5866/4/7_x.pdf
first_indexed	2018-09-05T11:21:11Z
last_indexed	2018-09-05T11:21:11Z
_version_	1610766323152846848

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

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