DEPTH POSITIONING CONTROL OF A SPHERICAL UNDERWATER ROBOT VEHICLE (URV)

Underwater Robot Vehicles (URVs) are an underwater system that has its own power and controlled by an onboard computer. URV has been deployed to the numerous duties without human interventions, such as repairing subsea systems and installing networks for scientific research and data collection. I...

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Main Author: JABRALLA, ABDALLA ELTIGANI IBRAHIM
Format: Thesis
Language: English
Institution: Universiti Teknologi Petronas
Record Id / ISBN-0: utp-utpedia.21984 /
Published: 2017
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access: http://utpedia.utp.edu.my/21984/1/2017%20-%20ELECTRICAL%20%26%20ELECTRONIC%20-%20DEPTH%20POSITIONING%20CONTROL%20OF%20A%20SPHERICAL%20UNDERWATER%20ROBOT%20VEHICLE%20%28URV%29%20-%20ABDALLA%20ELTIGANI%20IBRAHIM%20JABRALLA.pdf
http://utpedia.utp.edu.my/21984/
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spelling utp-utpedia.219842021-09-29T09:33:14Z http://utpedia.utp.edu.my/21984/ DEPTH POSITIONING CONTROL OF A SPHERICAL UNDERWATER ROBOT VEHICLE (URV) JABRALLA, ABDALLA ELTIGANI IBRAHIM TK Electrical engineering. Electronics Nuclear engineering Underwater Robot Vehicles (URVs) are an underwater system that has its own power and controlled by an onboard computer. URV has been deployed to the numerous duties without human interventions, such as repairing subsea systems and installing networks for scientific research and data collection. In most of these applications, a stable motion is required for the URV. However, the existing URV designs with the fixed ballast tank which generates an internal dynamic for the water inside the tank, leading to the unstable motion for the URV. It hypothesized that an alternative tank mechanism which has variable ballast can perform better and improve the stability of the URV motion. This work focuses on developing a spherical URV has a variable ballast tank mechanism. The complete modeling system of the URV was built and the dimensions and control system components were defined using Simulink!MATLAB and the characteristic of the system was analyzed using the open loop response. 2017-07 Thesis NonPeerReviewed application/pdf en http://utpedia.utp.edu.my/21984/1/2017%20-%20ELECTRICAL%20%26%20ELECTRONIC%20-%20DEPTH%20POSITIONING%20CONTROL%20OF%20A%20SPHERICAL%20UNDERWATER%20ROBOT%20VEHICLE%20%28URV%29%20-%20ABDALLA%20ELTIGANI%20IBRAHIM%20JABRALLA.pdf JABRALLA, ABDALLA ELTIGANI IBRAHIM (2017) DEPTH POSITIONING CONTROL OF A SPHERICAL UNDERWATER ROBOT VEHICLE (URV). Masters thesis, Universiti Teknologi PETRONAS.
institution Universiti Teknologi Petronas
collection UTPedia
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
JABRALLA, ABDALLA ELTIGANI IBRAHIM
DEPTH POSITIONING CONTROL OF A SPHERICAL UNDERWATER ROBOT VEHICLE (URV)
description Underwater Robot Vehicles (URVs) are an underwater system that has its own power and controlled by an onboard computer. URV has been deployed to the numerous duties without human interventions, such as repairing subsea systems and installing networks for scientific research and data collection. In most of these applications, a stable motion is required for the URV. However, the existing URV designs with the fixed ballast tank which generates an internal dynamic for the water inside the tank, leading to the unstable motion for the URV. It hypothesized that an alternative tank mechanism which has variable ballast can perform better and improve the stability of the URV motion. This work focuses on developing a spherical URV has a variable ballast tank mechanism. The complete modeling system of the URV was built and the dimensions and control system components were defined using Simulink!MATLAB and the characteristic of the system was analyzed using the open loop response.
format Thesis
author JABRALLA, ABDALLA ELTIGANI IBRAHIM
author_sort JABRALLA, ABDALLA ELTIGANI IBRAHIM
title DEPTH POSITIONING CONTROL OF A SPHERICAL UNDERWATER ROBOT VEHICLE (URV)
title_short DEPTH POSITIONING CONTROL OF A SPHERICAL UNDERWATER ROBOT VEHICLE (URV)
title_full DEPTH POSITIONING CONTROL OF A SPHERICAL UNDERWATER ROBOT VEHICLE (URV)
title_fullStr DEPTH POSITIONING CONTROL OF A SPHERICAL UNDERWATER ROBOT VEHICLE (URV)
title_full_unstemmed DEPTH POSITIONING CONTROL OF A SPHERICAL UNDERWATER ROBOT VEHICLE (URV)
title_sort depth positioning control of a spherical underwater robot vehicle (urv)
publishDate 2017
url http://utpedia.utp.edu.my/21984/1/2017%20-%20ELECTRICAL%20%26%20ELECTRONIC%20-%20DEPTH%20POSITIONING%20CONTROL%20OF%20A%20SPHERICAL%20UNDERWATER%20ROBOT%20VEHICLE%20%28URV%29%20-%20ABDALLA%20ELTIGANI%20IBRAHIM%20JABRALLA.pdf
http://utpedia.utp.edu.my/21984/
_version_ 1741195810138226688
score 11.62408

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