Design and Construction of Hybrid Autonomous Underwater Glider for Underwater Research
Simon Siregar,
Bambang Riyanto Trilaksono,
Egi Muhammad Idris Hidayat,
Muljowidodo Kartidjo,
Natsir Habibullah,
Muhammad Fikri Zulkarnain,
Handi Nugroho Setiawan
Affiliations
Simon Siregar
Doctoral Program of Electrical Engineering, School of Electrical Engineering, Institut Teknologi Bandung, Jl. Ganesha No. 10, Bandung 40132, Indonesia
Bambang Riyanto Trilaksono
School of Electrical Engineering, Institut Teknologi Bandung, Jl. Ganesha No. 10, Bandung 40132, Indonesia
Egi Muhammad Idris Hidayat
School of Electrical Engineering, Institut Teknologi Bandung, Jl. Ganesha No. 10, Bandung 40132, Indonesia
Muljowidodo Kartidjo
Faculty of Mechanical and Aerospace Engineering, Institut Teknologi Bandung, Jl. Ganesha No. 10, Bandung 40132, Indonesia
Natsir Habibullah
Doctoral Program of Electrical Engineering, School of Electrical Engineering, Institut Teknologi Bandung, Jl. Ganesha No. 10, Bandung 40132, Indonesia
Muhammad Fikri Zulkarnain
Doctoral Program of Mechanical Engineering, Faculty of Mechanical and Aerospace Engineering, Institut Teknologi Bandung, Jl. Ganesha No. 10, Bandung 40132, Indonesia
Handi Nugroho Setiawan
School of Electrical Engineering, Institut Teknologi Bandung, Jl. Ganesha No. 10, Bandung 40132, Indonesia
The main goal of this paper was to design and construct a hybrid autonomous underwater glider (HAUG) with a torpedo shape, a size of 230 cm in length and 24 cm in diameter. The control, navigation, and guidance system were executed simultaneously using a Udoo X86 minicomputer as the main server and three BeagleBone Black single-board computers as the clients. The simulations showed a controlled horizontal speed of 0.5 m/s in AUV mode and 0.39 to 0.51 m/s in glide mode with a pitch angle between 14.13∘ and 26.89∘. In addition, the field experiments under limited space showed the proposed HAUG had comparable results with the simulation, with a horizontal speed in AUV mode of 1 m/s and in glide mode of around 0.2 m/s. Moreover, the energy consumption with an assumption of three cycles of gliding motion per hour was 51.63 watts/h, which enabled the HAUG to perform a mission for 44.74 h. The proposed HAUG was designed to hold pressure up to 200 m under water and to perform underwater applications such as search and rescue, mapping, surveillance, monitoring, and maintenance.
