Aji, Haidar Semadhi (2021) Rancang Bangun Autonomous Underwater Vehicle (AUV) Dengan Kemampuan Penjejakan Kabel. Undergraduate thesis, Institut Teknologi Sepuluh Nopember#TEKNIK_ELEKTRO.
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Abstract
Autonomous Underwater Vehicle adalah Perangkat robotic yang dioperasikan di bawah air dengan sistem propulsi, dikendalikan dan dikemudikan oleh computer on board, serta dapat bermanuver secara otomatis. Sehingga alat ini dapat dimanfaatkan untuk proses maintenance secara berkala Saluran Komunikasi Kabel Laut (SKKL) untuk mencegah terjadinya kerusakan yang tidak di inginkan. Oleh karena itu, pada tugas akhir ini merancang dan membangun sebuah Autonomous Underwater Vehicle (AUV) yang mampu menjejaki kabel jaringan komunikasi untuk memonitor keadaan kabel secara otomatis. Pada AUV di sematkan sebuah kamera yang digunakan untuk membantu proses penjejakan pada kabel melalui proses olah citra visual. Pengolahan citra visual dilakukan dengan menggunakan metode thresholding dan contours detection dengan library yang disediakan OpenCV, data yang diperoleh akan di proses untuk menggerakkan motor-motor pada AUV agar dapat bergerak mengikuti arah kabel. Dari hasil pengujian yang dilakukan, Sistem deteksi objek dengan metode pengolahan citra visual menggunakan library OpenCV bekerja dengan baik pada kondisi optimal dengan intensitas cahaya lebih dari 25 lux. Sistem deteksi dapat bekerja secara optimal pada kecepatan 0,27 m/s hingga 0,42 m/s. Pada pengujian kontrol gerak horizontal, didapatkan nilai parameter Overshoot sebesar ±60%, Rise Time sebesar 2s, Settling Time sebesar 16s, dan Steady State Error sebesar ±20%. AUV dapat melakukan penjejakan pada lintasan lurus dan berliku sepanjang 2 meter dengan intensitas cahaya terang sebesar ±493 lux, cahaya redup ±107 lux dan intensitas cahaya gelap sebesar ±25 lux dengan bantuan sorot LED dengan intensitas cahaya sebesar ±773 lux. Persentase keberhasilan dari percobaan penjejakan pada lintasan lurus dan lintasan berliku dengan uji coba sebanyak tiga kali sebesar 75%.
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Autonomous Underwater Vehicle is a robotic device that is operated underwater with a propulsion system, controlled and steered by an on-board computer, and can maneuver automatically. So that this tool can be used for the periodic maintenance process of the Marine Cable Communication Channel (SKKL) to prevent unwanted damage. Therefore, in this final project to design and build an Autonomous Underwater Vehicle (AUV) which is able to track the communication network cable to monitor the condition of the cable automatically. In the AUV, a camera is attached which is used to assist the tracking process on the cable through the visual image processing process. Visual image processing is carried out using thresholding and contours detection methods with the library provided by OpenCV, the data obtained will be processed to drive the motors on the AUV so that they can move in the direction of the cable. From the results of the tests carried out, the object detection system with visual image processing methods using the OpenCV library works well in optimal conditions with light intensity of more than 25 lux The detection system can work optimally at speeds of 0.27 m/s to 0.42 m/s. In the horizontal motion control test, the Overshoot parameter value is ±60%, Rise Time is 2s, Settling Time is 16s, and Steady State Error is ±20%. The AUV can track on a straight and winding path of 2 meters with a bright light intensity of ±493 lux, a dim light of ±107 lux and a dark light intensity of ±25 lux with the help of an LED beam with a light intensity of ±773 lux. The percentage of success of tracking experiments on a straight track and a winding track with three trials is 75%.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Uncontrolled Keywords: | Saluran Komunikasi Kabel Laut, AUV, thresholding, contours detection, Marine Cable Communication Channels, AUV, thresholding, contours detection |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ211.415 Mobile robots T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7878 Electronic instruments U Military Science > UG1242 Drone aircraft--Control systems. (unmanned vehicle) |
| Divisions: | Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | Haidar Semadhi Aji |
| Date Deposited: | 18 Aug 2021 05:16 |
| Last Modified: | 18 Aug 2021 05:16 |
| URI: | http://repository.its.ac.id/id/eprint/87064 |
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