Design and development of Spherical Amphibian Vehicle (SAV)

Mohd Bazli, Bahar and Mohd Shahrieel, Mohd Aras and Shahrum Shah, Abdullah and San, Ng Sin and Zainah, Md Zain and Ahmad Anas, Yusof and Mohd Zaidi, Mohd Tumari (2022) Design and development of Spherical Amphibian Vehicle (SAV). In: Lecture Notes in Electrical Engineering; 12th National Technical Seminar on Unmanned System Technology, NUSYS 2020 , 24-25 November 2020 , Virtual, Online. pp. 3-11., 770 (266059). ISSN 18761100 ISBN 978-981162405-6

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Abstract

Spherical Amphibian Vehicle (SAV) is a spherical robot that is capable of operating in two different environments which are terrestrial and underwater. SAV has a wide range of applications in scientific research and military activities such as ocean exploration and search and rescue missions. However, motion control of a spherical robot is a very challenging task because of the nonlinearity of the robot system, time-variance, uncertainty external disturbances and difficulty in hydrodynamic modelling. This project is focused on building a SAV that is cost-efficient and able to function on land and underwater. The designed robot is a 2 degree of freedom (DoF) movement that can move forward/reverse and left/right direction. It uses one DC motor and one servo motor to actuate the forward/reverse motion and sideways (left/right) motion, respectively. Arduino UNO is selected to be used as a microcontroller due to its effectiveness and low cost. The spherical amphibian robot is designed with Arduino bluecontrol interface.

Item Type:	Conference or Workshop Item (Lecture)
Additional Information:	Indexed by Scopus
Uncontrolled Keywords:	Arduino bluecontrol interface; Spherical amphibian vehicle; Two degrees of freedom
Subjects:	T Technology > T Technology (General) T Technology > TA Engineering (General). Civil engineering (General) T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division:	College of Engineering Faculty of Electrical and Electronic Engineering Technology
Depositing User:	Mr Muhamad Firdaus Janih@Jaini
Date Deposited:	22 Dec 2023 08:43
Last Modified:	22 Dec 2023 08:43
URI:	http://umpir.ump.edu.my/id/eprint/39738
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