Bahar, Mohd. Bazli and Mohd. Aras, Mohd. Shahrieel and Abdullah, Shahrum Shah and Ng, Sin San and Md. Zain, Zainah and Yusof, Ahmad Anas and Mohd. Tumari, Mohd. Zaidi (2022) Design and development of Spherical Amphibian Vehicle (SAV). In: Proceedings of the 12th National Technical Seminar on Unmanned System Technology 2020 NUSYS’20. Lecture Notes in Electrical Engineering, 770 (NA). Springer Science and Business Media Deutschland GmbH, Singapore, pp. 3-11. ISBN 978-981162405-6
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Official URL: http://dx.doi.org/10.1007/978-981-16-2406-3_1
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: | Book Section |
|---|---|
| Uncontrolled Keywords: | Arduino bluecontrol interface, Spherical Amphibian Vehicle, two degrees of freedom |
| Subjects: | T Technology > TJ Mechanical engineering and machinery |
| Divisions: | Malaysia-Japan International Institute of Technology |
| ID Code: | 100455 |
| Deposited By: | Yanti Mohd Shah |
| Deposited On: | 14 Apr 2023 01:55 |
| Last Modified: | 14 Apr 2023 01:55 |
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