Tri, Susanto (2019) Rancang Bangun Metode Tracking Object Pada Underwater Remotely Operated Vehicle. Masters thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Underwater Remotely Operated Vehicle (ROV) adalah robot yang memiliki kemampuan beroperasi di dalam air. Penggunaan underwater ROV dapat membantu pekerjaan manusia antaralain dalam bidang inspeksi lambung kapal, pengelasan dalam air. Dalam bidang perikanan, underwater ROV biasanya digunakan untuk pelestarian terumbu karang. Dalam bidang rescue, underwater ROV digunakan untuk mencari korban yang tenggelam diperairan. underwater ROV ini sering digunakan untuk menggantikan penyelam dalam melakukan pencarian korban. Hal ini dilakukan karna penyelam memiliki keterbatasan penglihatan ketika berada di dalam air. Instansi pemerintah dan swasta menggunakan teknologi underwater ROV ini dengan tujuan yang berbeda.
Tujuan dari penelitian ini adalah membuat rancang bangun metode tracking object pada underwater ROV. Penelitian ini dilakukan pengolahan citra yang dimediakan pada underwater ROV menggunakan raspberry sebagai processor, Arduino Mega sebagai kontrol pada underwater ROV dan Open CV sebagai pengolahan citra. Underwater ROV dapat melakukan pencarian korban berdasarkan warna yang telah ditetapkan. Ketika warna telah ditetapkan, underwater ROV tersebut mengikuti pergerakan objek tersebut.
Rata-rata dalam waktu sekitar 1 detik underwater ROV sudah dapat mengikuti pergerakan objek pada kondisi air jernih. Pengujian yang dilakukan dengan deteksi warna HSV mendapatkan kesalahan deteksi sebesar 44.83% dan jika dibandingkan dengan deteksi RGB memiliki nilai kesalahan sebesar 62.41%. ================================================================================================
Underwater Remotely Operated Vehicle (ROV) is a robot which has the ability to operate in the water. The operation of underwater ROV can help human's work, such as, in the inspection of ship hulls sector , it can be used for welding in water. In the fishery's sector, underwater ROV is usually used for the preservation of coral reefs. In the rescue's sector , the ROV underwater is used to look for victims who drown in the waters. underwater ROV is often used to replace divers in searching for victims. It's because divers have limited vision when they are in the water. Government and private agencies use this underwater ROV technology with different objectives.
The purpose of this research is to make the design of the object tracking method in the underwater ROV. This research carried out image processing provided in the underwater ROV using raspberry as a processor, Arduino Mega as a controller on underwater ROV and Open CV as image processing. Underwater ROV can search victims based on the colors has been set. It follows the movement of the object.
On the average for about 1 second the underwater ROV is able to follow the movement of objects in clear water conditions. In the experiment was performed with HSV color detection get a detection error of 44.83% and when compared with RGB detection it has an error value of 62.41%.
| Item Type: | Thesis (Masters) |
|---|---|
| Additional Information: | RTE 629.892 Tri r-1 2018 |
| Uncontrolled Keywords: | kamera, objek, Underwater ROV, tracking object |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TJ Mechanical engineering and machinery > TJ211.4 Robot motion T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control. |
| Divisions: | Faculty of Electrical Technology > Electrical Engineering > 20101-(S2) Master Thesis |
| Depositing User: | tri susanto |
| Date Deposited: | 10 Aug 2021 06:44 |
| Last Modified: | 10 Aug 2021 06:44 |
| URI: | http://repository.its.ac.id/id/eprint/60856 |
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