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Seabotix Thruster Modeling for a Remotely Operated Vehicle (ROV)

  • Ahmad Faris Ali
  • Mohd Rizal ArshadEmail author
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 547)

Abstract

This paper presents the Seabotix BTD150 thruster model for a Remotely Operated Vehicle developed by Underwater, Control, and Robotics Group, USM. The bollard-pull experiments to find the relationship between th input signal from Arduino Mega 2560 in Pulse Width Modulation (PWM) and the thrust force for Seabotix thrusters by using spring balance in kilograms unit. Result shows left and right thrusters lose 10% thrust force where the thruster attached outside ROV. A center thruster loses 30% where thruster attached at the center ROV. The parameters identified through a low-cost bollard pull experiment which done in laboratory water tank.

Keywords

Thruster modeling Remotely operated vehicle 

Notes

Acknowledgements

The authors would like to acknowledge FRGS (Grant number: FRGS—6071346), Universiti Sains Malaysia and Underwater, Control, Robotics Group (UCRG) for supporting the research.

References

  1. 1.
    Manen, J.D.V., Ossanen, P.V.: Principles of Naval Architecture, Second Revision, Volume II: Resistance, Propulsion, and Vibration. Lewis, E.V. (ed.) Jersey City, NJ: The Society of Naval Architects and Marine Engineers (1988)Google Scholar
  2. 2.
    Song, Y.S., Arshad, M.R.: Passive Hydrostatic Stability Design of a Box-shaped Autonomous Underwater Vehicle. Proced. Comput. Sci. 76, 180–185 (2015)CrossRefGoogle Scholar
  3. 3.
    Seabotix BTD150 Specification (2018). Accessed: 27 May 2018. Retrieved from http://ocean-innovations.net/OceanInnovationsNEW/SeaBotix/BTD150_Data_Sheet.pdf

Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  1. 1.Underwater, Control, Robotics, Group, School of Electrical and Electronics EngineeringUniversiti Sains MalaysiaNibong TebalMalaysia

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