A Thruster Analysis of a Small Underwater Robot to Detect Leaks in Reactors
Rafiuddin Syam(a*), Ilmawan Suryapradan(a), Syaeful Bakhri(b), Faizal A. Samman(c), Azwar Hayat(a), Andi Amijoyo(a)
a)Mechanical Engineering Dept., Hasanuddin University
*rafiuddinsyam[at]gmail.com
b)National Nuclear Energy Agency of Indonesia
c)Electrical Engineering Dept., Hasanuddin University
Abstract
The research discusses about designing and examining underwater robot on a difficult-reach area. The instruction of underwater technology development takes an important role to support offshore industry facilities like reactors facilities. ROV also can be used to observe hi-risk area such as contaminated chemical area, hydrothermal exploration, also needs of safety forces company to change diver function with ROV. Here, the small underwater robot is used to detect leaks in reactors facilities. ROV which designed with ATMega microcontroller based equipped with 4 motors that able to control ROV motion on six degree of freedom (Surge, heave, up, yaw, roll, dan pitch). From the test result using 12 V 2200 mAh battery, motor attain speed up to 1811,36 rad/s. With maximum impetus 16,8 N and 0,19 Nm moment. From the robot-s observation concluded manual system control using remote Flysky 2,4 GHz, robot can move according to command and able to assist underwater observation activities.
Keywords: ROV, Underwater Robot, Control, Thruster, ATmega
Topic: Technology