| Penulis/Author |
Abdul Basith, ST., M.Si., Ph.D (1) ; Ir. Addin Suwastono, S.T., M.Eng., IPM. (2); Sufyan Ariyanto (3); Dr. Ir. Bambang Kun Cahyono, S.T., M.Sc., IPU. (4); Dedi Atunggal SP., ST., M.Sc (5) |
| Abstrak/Abstract |
Bathymetric surveysusing ROV(Remotely Operated Vehicle)has been an alternatif solution forsurveysat specific waters such as narrow waters and waters with meandering.Thisresearch isaimed todevelopanautonomous ROV bathymetric boat that is flexible in maneuver and durable in measurement.The study began with the development and modification of the shape and dimensions of the previous boatto be more stable when moving to perform data acquisition.Electronic componentsfor motion controlalong with the mechanical components assembled and tested in the lab scope. Trial-test is then performedboth in laboratory and in reservoirsto test the telemetry system, maneuverability, speed, duration, andthe autopilot system.In reservoirs,autopilot systemis tested to ensure the ROV followswaypointlanespreviously defined. Further evaluations includemaneuverability,the speed, and the duration of themeasurement.This research has produced a ROV bathymetric boat withdimension of1.1 metersinlength, 0.71 metersinwidth,0.35in heightwith box echosounder), and15 kg in weight. ThisROVis ableto moveon autopilot modewith the largest difference between the waypoint coordinates and thecoordinates of the real ROV bathymetric boat tracks is-2.3 meters for latitude component and-3.4meters for longitude component.There is still an issue about durability of measurement regardingbattery configuration, setting the voltage and mode of ROV motor (e.g. modetorque or speed). The ROVbathymetric boat is capable to carry out data acquisition of depthatEmbung(reservoir)Tambak Boyoat speed of 4 kmper hour.This speed is adequate for bathymetricsurvey. Reservoir depth recorded byechosounder varies from 1.3 to 6 meters.Keywords:autonomous, autopilot, ROV boat, bathymetricsurveying. |
