PRELIMINARY EXPERIMENTAL STUDY ON DESIGNING BALLAST SYSTEM FOR AUTONOMOUS UNDERWATER VEHICLE
DOI:
https://doi.org/10.37875/asro.v10i1.94Abstract
ABSTRACT
Unmanned submarine commonly called Autonomous Underwater Vehicle (AUV) is one type of underwater robots used for underwater mapping. AUV is an underwater vehicle capable of automatically moving in water, controlled by humans on vessel. To build AUV is not easy as many components play important roles in the operation of AUV, one of which is active ballast. Calculations on the making and benchmarks of active ballast systems are still very rare. Active ballast is a set of equipment used to fill its tanks with seawater and to empty sea water from the tanks on submarines. These tanks are intended to balance submarines and for active ballast systems on submarines so as to be able to dive and float as needed. In this paper an experimental study was carried out on a tube resembling AUV with both fresh water and sea water to obtain ballast volume in AUV.
Keywords: AUV, Active ballast, Experimental study
References
[2]Herlambang, T., Djatmiko E.B and Nurhadi H., 2015, “Ensemble Kalman Filter with a Square Root Scheme (EnKF-SR) for Trajectory Estimation of AUV SEGOROGENI ITSâ€, International Review of Mechanical Engineering IREME Journal, Vol. 9, No. 6. Pp. 553-560, ISSN 1970 –8734.Nov.
[3]Ermayanti, E., Aprilini, E., Nurhadi H, and Herlambang T, 2015, “Estimate and Control Position Autonomous Underwater Vehicle Based on Determined Trajectory using Fuzzy Kalman Filter Methodâ€, International Conference on Advance Mechatronics, Intelligent Manufactre, and Industrial Automation (ICAMIMIA)-IEEESurabaya Indonesia, 15 –16 Oct 2015.
[4]Herlambang, T., Djatmiko E.B and Nurhadi H., 2015 “Navigation and Guidance Control System of AUV with Trajectory Estimation of Linear Modellingâ€, Proc. of International Conference on Advance Mechatronics, Intelligent Manufactre, and Industrial Automation, IEEE, ICAMIMIA 2015,Surabaya, Indonesia, pp. 184-187, Oct 15 –17.
[5]Oktafianto, K., Herlambang T, Mardlijahand Nurhadi H., 2015, “Design of Autonomous Underwater Vehcle Motion Control Using Sliding Mode Control Methodâ€, Proc. of International Conference on Advance Mechatronics, Intelligent Manufactre, and Industrial Automation, IEEE, ICAMIMIA 2015,Surabaya, Indonesia, pp. 184-187, Oct 15 –17.
[6]Herlambang, T., Subchan and Nurhadi H., 2018 Position Estimation of ITSUNUSA AUV Based on Determined Trajectory using Kalman Filter (KF), â€, International Conference on Research, Implementation and Education of Mathematics and Science (ICRIEMS), Yogjakarta, 7-8 May 2018
[7]Herlambang, T.,Rahmalia, D and Yulianto, D., 2018, Particle Swarm Optimization (PSO) and Ant Colony Optimization (ACO) for Optimizing PID Parameters on Autonomous Underwater Vehicle (AUV) Control System, Proc. of The Second Internatonal Conference on Combinatorics, Graph Teory and Network Topology, University of Jember-Indonesia, 24-25 Nov 2018
[8]Yang, C. 2007. Modular Modelling and Control for Autonomous Vehicle (AUV). Department of Mechanical Engineering National University of Singapore.
[9]Herlambang, T., Subchan and Nurhadi H., 2018 Design of Motion Control Using Proportional Integral Derivative for UNUSAITS AUV, â€, International Review of Mechanical Engineering IREME Journal, Vol. 12, No. 11. Pp. 553-560, ISSN 1970 –8734.Nov
[10]Herlambang, T., 2017, “Design Control System of Surge, Sway and Yaw Motion in Autonomous Underwater Vehicle using Sliding Mode Control (SMC) Method†Journal Of Mathematics and Its Applications (LIMITS), Vol. 14, No.1, page 53-60, ISSN 2579-8936. Mei..
