Rancang Bangun Kontrol Pergerakan Underwater Robot untuk Pembersih Kotoran dan Lumut Dasar Reservoir

Setyawan, Muchamad Agung (2019) Rancang Bangun Kontrol Pergerakan Underwater Robot untuk Pembersih Kotoran dan Lumut Dasar Reservoir. Diploma thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Perusahaan Daerah Air Minum (PDAM) adalah salah satu perusahaan yang bergerak dalam pendistribusian air bersih bagi masyarakat. Dalam pendistribusian tersebut tentu dibutuhkan tangki air atau reservoir yang mana 4 bulan sekali dilakukan pengurasan tangki untuk meningkatkan kualitas air bersih kepada pelanggan. Proses pembersihan tangki dibutuhkan tiga sampai lima hari karena proses pembersihan masih manual yaitu dengan pengurasan tangki terdahulu kemudian dilakukan pembersihan, hal ini mengakibatkan masyarakat yang bergantung pada air PDAM mengalami kesulitan mencari air. Pada Proyek Akhir ini, dibuat alat yang berjudul “Rancang Bangun Kontrol Pergerakan Underwater Robot untuk Pembersih Kotoran dan Lumut Dasar Reservoir”. Sistem yang digunakan, yaitu dengan cara mengendalikan sistem pembersih kotoran dan lumut didasar bak penampungan air. Robot (ROV) di lengkapi dengan keseimbangan buatan yang dikendalikan dengan Joystick yang akan memberikan sinyal pada ESC(Electronik Speed Control) untuk menggerakkan putaran motor Brushless yang mengarah ke bawah untuk gerakan turun dan putaran maju untuk pergerakan maju, belok kanan, belok kiri. Berdasarkan hasil pengujian terhadap Robot ROV(Remotely Operated Vehicle) didapatkan hasil Volume ROV pada saat kondisi mengapung 224,455L, saat melayang 222,337 L, sedangkan saat tenggelam 218,102 L. Kecepatan rata-rata gerak ROV maju ketika di dalam air 0,13 m/s, serong kiri 0,113 m/s, serong kanan 0,155 m/s, gerakan naik 0,14 m/s, dan gerakan turun 135 m/s.
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Regional Water Company (PDAM) is one of the companies engaged in the distribution of clean water for the community. In the distribution of water, a water tank or reservoir is needed, where 4 months of tank drainage are carried out to improve the quality of clean water to customers. The tank cleaning process takes three to five days because the cleaning process is still manual, with the previous tank drainage then cleaning, this results in people who are dependent on water PDAM having difficulty finding water. In this final project, a tool entitled "Designing the Control of Underwater Robot Movement for Cleaning Dirt and Base Moss Reservoir" was made. The system used, namely by controlling the cleaning system of dirt and moss in the basement of the water reservoir. The robot (ROV) is equipped with an artificial balance that is controlled with a Joystick that will give a signal to the ESC (Electronic Speed Control) to move the Brushless motor rotation that is pointing down for down and forward rotation for forward movement, turn right, turn left. Based on the results of testing on the ROV Robot (Remotely Operated Vehicle) the ROV Volume results obtained when the conditions float 224,455L, when floating 222,337 L, while when sinking 218,102 L. The average speed of motion of the advanced ROV when in water is 0,13 m / s , the left attack is 0.113 m / s, the right attack is 0.155 m / s, the movement is up 0.14 m / s, and the movement is down 135 m / s.

Item Type:	Thesis (Diploma)
Uncontrolled Keywords:	Motor Brushless, ESC, Joystick, Sensor TMP36, ROV, MotorBrushless, ESC, Joystick, Sensor TMP36, ROV
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5105 Data Transmission Systems T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles. V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM1 Ballast (Ships)
Divisions:	Faculty of Vocational > 36304-Automation Electronic Engineering
Depositing User:	Setyawan Muchamad Agung
Date Deposited:	11 Aug 2026 07:07
Last Modified:	11 Aug 2026 07:07
URI:	http://repository.its.ac.id/id/eprint/68680

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