POLLUTANT GASES TRACKING USING UNMANNED SURFACE VEHICLE (USV) BASED ON STEREO GAS SENSOR AND ANEMOMETER

Naufaldi, Yusuf Aditama (2024) POLLUTANT GASES TRACKING USING UNMANNED SURFACE VEHICLE (USV) BASED ON STEREO GAS SENSOR AND ANEMOMETER. Masters thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Air pollution has become a pressing global issue. Unmanned Surface Vehicles (USVs) offer an innovative solution for tracking and monitoring pollutant gas emissions in various water environments. USVs (Unmanned Surface Vehicle) or Unmanned Surface Vehicles are ships or boats operated without human crew on the water surface. USVs are controlled automatically through advanced navigation and propulsion systems. The implementation of a sensor fusion system on this Unmanned Surface Vehicle (USV) has obtained data on testing the Compass sensor with a variation of errors and a fairly good sensor response. This is evidenced by the error value showing a positive number which means the ship is turning to the left, then the left motor will work to return the ship's position to the
initial position (straight). In the wind sensor test, the response is accurate, proven by the negative ship heading value indicating that the wind is coming from the right side of the ship and the left motor will work to position the ship to move towards the direction of the wind. The gas sensor test also has an accurate response, proven by the error value obtained showing a positive value which means gas is detected on the right sensor and therefore the left motor works to move the ship to approach the detected gas source. The wind and gas sensor tests also show varying values. When this USV has not detected gas, the wind sensor will work first to move the ship with the assumption that the direction of the wind is bringing the gas source. When the ship moves using the wind sensor and detects gas, the wind sensor will turn off and switch to the gas sensor. With evidence that when the USV detects gas, the error value on the wind will be smaller than the error value on the gas sensor. In the experiment on this differential steering system, the conclusion is obtained in replacing the values of KP, KI,and KD. In this wind sensor test, the KP value is varied by 3.0 and 1.5 to obtain a significant response. When the wind sensor at the KP value of 3.0 has a more responsive sensor response compared to the KP value of 1.5 and in the
Compass sensor test on the variation of KP values of 3.0 and 1.5, a different response is obtained. When nthis compass sensor is at the KP value of 1.5, there is a fairly slow sensor response compared to the KP value of 3.0, as evidenced by the heading value that is quite fluctuating compared to the sensor response at the KP value of 3.0. The gas localization experiment conducted without a wind sensor exhibited a generally lower success rate compared to the experiment that utilized a wind sensor. This was particularly evident under turbulent air conditions and at greater distances. The absence of wind data made it difficult to quantify the exact impact of wind on localization accuracy; however, these results indicate that wind, even when not directly measured, has a significant influence on the performance of the gas localization system.

Item Type:	Thesis (Masters)
Uncontrolled Keywords:	Pollution, USV, Response, Gas, and Sensor Polusi, USV, Respon, Gas, dan Sensor
Subjects:	T Technology > TD Environmental technology. Sanitary engineering > TD420 Water pollution T Technology > TD Environmental technology. Sanitary engineering > TD883.5 Air--Pollution
Divisions:	Faculty of Marine Technology (MARTECH) > Marine Engineering > 36202-(S1) Undergraduate Thesis
Depositing User:	Naufaldi Yusuf Aditama
Date Deposited:	09 Aug 2024 02:41
Last Modified:	09 Aug 2024 02:41
URI:	http://repository.its.ac.id/id/eprint/113286

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