TY - GEN
T1 - Open Loop Speed Response for UCRG Micro Autonomous Underwater Vehicle
AU - Wahed, Muhammad Azri Bin Abdul
AU - Arshad, Mohd Rizal
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Underwater, Control and Robotics Group (UCRG) has developed a torpedo-shaped micro autonomous underwater vehicle (mAUV). Weighing at only 6 kg, it has a diameter of 0.11m and a length of 0.72 m. The mAUV has one thruster for propulsion in the surge direction and three rudders for motion in the pitch and yaw direction. The rudder was designed based on NACA 0012 air foils. An embedded system consisting of Arduino, Raspberry Pi, speed controller, IMU, depth sensor, and compass is used to control the mAUV navigation. This paper shows the study on the open loop speed response of the mAUV and the amount of lift produced by the rudder at various angles of attack. The performance of the mAUV is demonstrated with simulation and experiment results. The actual performance of the mAUV behaves similarly to the simulation.
AB - Underwater, Control and Robotics Group (UCRG) has developed a torpedo-shaped micro autonomous underwater vehicle (mAUV). Weighing at only 6 kg, it has a diameter of 0.11m and a length of 0.72 m. The mAUV has one thruster for propulsion in the surge direction and three rudders for motion in the pitch and yaw direction. The rudder was designed based on NACA 0012 air foils. An embedded system consisting of Arduino, Raspberry Pi, speed controller, IMU, depth sensor, and compass is used to control the mAUV navigation. This paper shows the study on the open loop speed response of the mAUV and the amount of lift produced by the rudder at various angles of attack. The performance of the mAUV is demonstrated with simulation and experiment results. The actual performance of the mAUV behaves similarly to the simulation.
KW - lift
KW - micro AUV
KW - open loop speed response
UR - http://www.scopus.com/inward/record.url?scp=85152036628&partnerID=8YFLogxK
U2 - 10.1109/USYS56283.2022.10072708
DO - 10.1109/USYS56283.2022.10072708
M3 - Conference Proceeding
AN - SCOPUS:85152036628
T3 - 2022 IEEE 9th International Conference on Underwater System Technology: Theory and Applications, USYS 2022
BT - 2022 IEEE 9th International Conference on Underwater System Technology
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2022
Y2 - 5 December 2022 through 6 December 2022
ER -