Pramuliasari, Ciko (2019) Model Kinematis Ballast Pada Gerak Autonomous Underwater Vehicle (AUV). Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Teknologi robotika bawah air yang sedang dikembangkan saat ini adalah Autonomous Underwater Vehicle (AUV) merupakan mesin yang beroperasi secara independen didalam air tanpa kendali langsung dari manusia. AUV dapat tenggelam dan mengapung dengan bantuan tangki ballast. Tangki ballast adalah salah satu sistem untuk menjaga keseimbangan posisi. Pada Tugas Akhir ini, dilakukan pembentukan model kinematis yang terdapat sistem ballast. Dimana ballast diasumsikan dalam bentuk balok dan tabung yang memiliki properti berupa baja dan fiber. Desain AUV yang digunakan adalah UNUSAITS AUV dan REMUS. Gerak yang ditinjau hanya 3 DOF yaitu surge, heave, dan yaw karena AUV berkecepatan rendah dan tanpa faktor lingkungan. Dari hasil penelitian menunjukkan bahwa desain UNUSAITS AUV dengan properti baja membutuhkan volume untuk menyelam sebanyak 0,0004875m3, sedangkan properti fiber 0,003402 m3 dan desain REMUS properti baja membutuhkan 0,000710222 m3, sedangkan properti fiber 0,004808098 m3.
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Underwater robotics technology being developed today is an Autonomous Underwater Vehicle (AUV), a machine that operates independently in water without direct control from humans. AUV can sink and float with the support of ballast tanks. Ballast tank is a system to maintain position balance. In this Final Assignment, a kinematic design which contains ballast systems is formed. The ballast systems are assumed to be in the form of beams and tubes that have properties in the form of steel and fiber. The design of AUV used is UNUSAITS AUV and REMUS. The movement reviewed is merely 3 DOF, namely surge, heave, and yaw because AUV is low-speed and without environmental factor. The results of the study show that the UNUSAITS AUV design with steel property requires a volume 0,0004875 m3 for diving, while fiber requires 0,003402 m3 and REMUS design with steel property requires 0,000710222 m3 , while fiber requires 0,004808098 m3.
| Item Type: | Thesis (Other) |
|---|---|
| Additional Information: | RSMa 003 Pra m-1 2019 |
| Uncontrolled Keywords: | AUV, Tangki Ballast, Model Kinematis |
| Subjects: | Q Science > QA Mathematics Q Science > QA Mathematics > QA402 System analysis. Q Science > QA Mathematics > QA911 Fluid dynamics. Hydrodynamics |
| Divisions: | Faculty of Mathematics and Science > Mathematics > 44201-(S1) Undergraduate Thesis |
| Depositing User: | Ciko Pramuliasari |
| Date Deposited: | 26 Oct 2023 02:16 |
| Last Modified: | 26 Oct 2023 02:16 |
| URI: | http://repository.its.ac.id/id/eprint/64297 |
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