Micro class underwater rov (remotely operated vehicle) as a ship hull inspector: Development of an initial prototype

This research will develop an initial prototype of Micro Class Underwater ROV that has a small size as a ship hull inspector to avoid the risk for divers and reduce its expenditure costs. Developed from design to manufacturing and testing its performance which includes tightness, stability and mobility. This research was conducted by designing and assembling mechanical and electrical components, designing programs and algorithms to control prototypes and then proceed with data retrieval and performance analysis. The prototype has a closed-frame type with a total mass of 3.7 kg, mostly made from PLA (Polylactic Acid) with the help of a 3d printer and tight to a depth of 2.5 meters and can be stabilized back to its original position within 1.25 seconds when given outside disturbance. The prototype has a forward speed is 0.31 m/s and a backward speed is 0.273 m/s. The average speed of left rotational speed is 0.378 m/s and right rotational speed is 0.401 m/s. The average maximum speed of the resurface motion without throttle is 0.188 m/s. The average speed of resurface motion with throttle at a depth of 0.5 meters is 0.351 m/s, 0.75 meters depth is 0.309 m/s and 1-meter depth are 0.283 m/s. The average speed of dive motion at a depth of 0.5 meters is 0.145 m/s, a depth of 0.75 meters is 0.138 m/s and a depth of 1 meter is 0.151 m/s.