A lot of knowledge deep down the sea still cannot be unfold by researches today as the human cannot standudthe underwater pressure after 500 meter depth in average with scuba-dive tool and less than 6000 meteruddepth in average by using submarine as it will proportionally increase as the depth is increase. Invention ofudRemotely Underwater Vehicle (ROV) has been bring up by the researches in order to encounter the humanudlimitation in this issue but still did not produce the end solution as the user which control the vehicle will lostudits connection and control of the vehicle after it reach more 6000 meter depth as the effect of the pressure.udThe idea of Autonomous Underwater Vehicle (AUV) comes next as the demand of underwater system rises.udThis vehicle capable to navigate in abyssal zone without necessitating a tether that limits the range and maneuverabilityudof the vehicle. In this project, an X4-AUV hardware and software systems is developed. Theuddevelopment of the X4-AUV body is based on ellipsoidal shape where we consider the slenderness ratio inudthe design of the body. X4-AUV also equipped with four thrusters where the design is based on the quad rotorudconcept. ARDUINO UNO REV-3 will be act as a controller to control the thrusters (motor). The waterproofudtemperature sensor will act as location identifier sensor as it will keep transmitting the real time temperatureudvalue to the controller while the LCD shield for ARDUINO will display the value of the temperatureudbased on the transmitted value. The user will able to continuously identify the location of X4-AUV by serialudcommunication in ARDUINO software via XBEE wireless communication between ARDUINO located atudX4-AUV controller and at control centre PC. The X4-AUV will able to perform its task as it will move underwaterudaccording to the set of program language coded in the controller.ud
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