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Development and Initial Testing of an Autonomous Surface Vehicle for Shallow Water Mapping
Presenter : Mohamad Hilmi Mat Idris
M.H. Mat Idris *, M.I. Sahalan,M.A. Abdullah, Z.Z. AbidinAutonomous Agent Research Group (AARG), Department of Mechatronics Engineering.
Kulliyyah of Engineering, International Islamic University of Malaysia, 53100 Selangor Malaysia
Presentation Outline
• Introduction• System Design• Mechanical consideration• On-board computer and communication• Power supply• Navigation• Sensors Integration• Data Logging• Payload
• Result• Conclusion and Future Work
Introduction• Shallow water mapping - process to measure and map
the shape of the coastal, lake, dam or waterway.• Importance of ‘shallow water mapping’• Marine and freshwater resources and ecosystems are now recognized
as ranking among the world’s most valuable assets.• We need bathymetry/depth information to
• Manage environmental hazards (from coastal erosion to tsunami).• Sedimentation monitoring, volume calculation (river, dam).• Underwater construction (dams, bridges, marinas, coastal
protection)
• Conventional method• 1) Hydrography ship 2) Satellite 3) LiDaR
• Drawback of current method aka ‘gap’• Non capable for shallow and high turbidity and tight area.
• Proposed solution• Small portable Autonomous Surface Vessel ( which later called ‘ASV’).
System development
• ASV Initial SpecificationItem Specification
Hull Configuration Catamaran
Dimension 1170mm x 360mm x 150mm
Turning diameter 2mMax Payload 10kgAverage speed 4.5ktOperation time 3hours
• Mechanical consideration• Hull Type Selection (Catamaran vs Monohull)• Better Roll and pitch stability.
Catamaran (top) vs Monohull (bottom) stability comparison
System development
• Mechanical consideration• Hull Type Selection (Catamaran vs. Mono-hull)• Easy access to water ( for underwater
sensors)• Less drag force compare to mono-hull (more
energy saving)• Hull Material type(fiber glass)• Robust for field deployment
System development
• On-board computer and communicationBase station (autonomous)• Laptop (Matlab GUI)• BlackBox RF Modem
Base station (manual)• Futaba RC Transmitter
On-board Electronics• Blackbox RF modem• Futaba RC Receiver• Arduino Mega
Payload Sensor• GPS, Sonar, Compass,
Probes (Serial RS232-NMEA 1803)
System development
• Power supply• Two types of batteries (estimate 3 hours operation*)• 12V/4000mAH LiPo batteries connected in series,
providing 24V nominal voltage for propeller• 12V 9800mAH battery pack. Additional DC/DC
converter is used to provide power sharing between the devices.
12V Litium-Ion Capacity : 9800mAH
12V Litium Polimer Capacity : 4000mAH
System development
• Navigation• Garmin eTrex® H, a high-sensitivity
GPS receiver that can to lock onto satellite signals quickly and maintain accuracy up to ±3m during clear view sky.
• KVH C100 Fluxgate Industrial-grade compass module that has accuracy up to 0.1°, ±0.5° resolution, ±45° tilt angle compensation and 1 second response time
• Both sensors are RS-232 and NMEA 0183 compatible for easy integration.
Waypoint navigation flowchart
System development
• Payload and Sensors Integrations• AtlasScientific water probes (e.g. pH, conductivity, dissolve
oxygen, and oxidation reduction potential)
Water Probes
Sonar Sensor
GPS
NMEA 1803
NMEA 1803
NMEA
1803
NMEA DATACOMBINER Micro Controller
Data Parsing and data logging
SD card module
RF Transceiver
System development
• Maneuvering Test• Straight line test• Using RC operation• Max speed : 8m/s• Bad reverse thrust
• Circle Maneuver• Minimum turning diameter : 4meter• Fairly enough for survey operation (lawn mower)• 360 rotation if more preferable for very tight area.
Result of Experimentation Test
• Sensors Reading and Logging
$GPGSV,3,3,11,30,30,175,35,07,05,153,00,09,13,119,00*4B $PENV,7.00,8.19,272.28,12.36,6,0.00,1.000*51 $SDMTW,023.1,C*34
//Channel 0 @ pH 7.00 //Channel 1 @ Dissolve Oxygen 8.19 //Channel 2 @ Oxidation Reduction Potential 272.28 //Channel 3 @ Conductivity 12.36,6,0.00,1.00
Raw Data
Excel Format Data
Result of Experimentation Test
• Field Test (Plot of data)• Swimming Pool Test, IIUM Sport Complex• Small Pond, NAHRIM• Maryam Lake, IIUM
Person Monitoring Data at Base Station
Field test devices setup
Result of Experimentation Test
Depth Swimming Pool, IIUM Sport Complex
Depth plot Small Pond, NAHRIM
Result of Experimentation Test
Depth plot at Maryam Lake, IIUM
Result of Experimentation Test
• Conclusion• Small portable ASV had proven to fill the gap between LIDAR,
satellite bathymetry and hydrographic vessel.• The catamaran hull provide platform stability to enhance
performance of data measurement.• The mission test and real scenario trial proved the operability of
the ASV for a shallow water mapping operation.• In its current form, the boat meets its design objectives by its
capability of safely maneuver at a very shallow and tight area while collecting bathymetry data.
• Future work• Development of additional payload modules.• upgrade of navigation sensors• incorporation of robust navigational controller to enhance
performance in strong current and wind• the used of vision-based navigation system in negotiation above
and below water obstacles
Conclusion and Future Work