Saputra, Fadlila Rizki (2018) Autonomous Surface Vehicle sebagai Alat Pemantau Lingkungan. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Polusi lingkungan seperti gas dan cairan limbah banyak terdapat pada sungai, danau, serta pantai di sekitar area industri. Polusi tersebut dapat membahayakan kesehatan, sehingga diperlukan sebuah alat untuk pemantau kondisi udara dan air di sekitar perairan tersebut. Autonomous Surface Vehicle (ASV) merupakan robot kapal yang dapat bergerak secara otomatis dari suatu titik ke titik lain dengan menggunakan metode waypoint. ASV dilengkapi dengan Global Positioning System (GPS), sensor gas MQ-7 untuk karbon monoksida (CO), dan keasaman (pH). ASV tersebut mampu menyusuri perairan dengan medan yang sulit dijangkau manusia. Ketika lokasi telah ditentukan, kapal akan bergerak secara otomatis dan mengukur kadar gas CO dalam satuan ppm serta tingkat keasaman air dalam satuan pH yang ada di sekitar lokasi kapal secara real-time. Hasil pengukuran data tersebut langsung dikirimkan ke pengguna melalui telemetri radio. Hasil pengujian sistem yang dilakukan di danau menunjukkan bahwa ASV mampu bergerak secara otomatis maupun manual untuk pengambilan data sensor. Pada pengukuran data sensor gas CO memiliki rerata kesalahan sebesar 5%, sedangkan pada pengukuran data sensor keasaman memiliki rerata kesalahan 13%. Sistem navigasi waypoint GPS memiliki rerata kesalahan jarak sebesar 2 meter dikarenakan kemampuan GPS receiver yang memiliki kesalahan jarak 1,8 – 2 meter. Berdasarkan perancangan dan pengujian sistem, ASV ini mampu memantau lingkungan secara otomatis sehingga dapat menginformasikan tingkat bahaya bagi kesehatan manusia.
============== Environmental pollutants such as carbon monoxide gas and waste water are found in rivers, lakes, and beaches close to industrial areas. Such pollutants are hazardous to health, therefore a device is necessary to monitor air and water conditions on those waters. Autonomous Surface Vehicle (ASV) is a ship robot able to move automatically from one point to another. ASV is equipped with Global Positioning System (GPS), MQ-7 gas sensor for carbon monoxide (CO), and acidity level (pH). ASV is capable to navigate on the water terrains which are difficult to reach by human. Once the location is determined, the ship moves automatically while measuring the level of gas and acidity around it in real time. The measurement results of such data are directly sent to the user via radio telemetry. The test results of this system indicate that ASV is able to move automatically or manually to obtain sensor datas. Measurement of gas sensor (CO) yields a mean error of 5%, while the measurement of acidity sensor (pH) data has a mean error of 13%. The GPS waypoint navigation system has an average error distance of 2 meters. This ASV system is able to monitor the environment automatically so as to inform the level of danger to human.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSE 629.892 Sap a-1 |
| Uncontrolled Keywords: | ASV; GPS; pH Sensor; Gas Sensor; Telemetry |
| Subjects: | T Technology > T Technology (General) T Technology > TD Environmental technology. Sanitary engineering > TD883.5 Air--Pollution T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TJ Mechanical engineering and machinery > TJ230 Machine design |
| Divisions: | Faculty of Industrial Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | Fadlila Rizki Saputra |
| Date Deposited: | 02 Mar 2018 03:04 |
| Last Modified: | 25 Jun 2020 05:42 |
| URI: | http://repository.its.ac.id/id/eprint/49758 |
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