Muhammad Amarudin

Instrument Engineer
2042201014
Autonomous Surface Vehicle (ASV)
Autonomous Surface Vehicle or ASV is an unmanned ship capable of traversing
the waters automatically. ASV is able to move above the water surface
automatically from one location to another with the help of a navigation system in
the form of a waypoint where the location points are predetermined. In a
navigation system using the waypoint method, to be able to find out the position
of these points, data in the form of longitude and lattitude is needed which can be
seen on google maps. Location coordinates can be entered into the microcontroller
program so that the ship can move sequentially automatically to the destination
point. ASV is equipped with GPS (Global Positioning System), gas sensor, pH
sensor, bluetooth, and telemetry. When the location has been determined, the ship
will move automatically and measure the gas levels and water quality around the
ship location in real-time. The type of ship used is a catamaran (Cattamaran)
which is a type of ship that has two hulls or two hulls. Compared to single hull
ships, the Catamaran has several obvious advantages, namely the stability of the
ship and has little resistance. The electronic components of the drone are divided
into several main parts, the first is the Processor, the second is the sensor and the
last is the actuator. In the processor section, there are two other important charts,
namely the microcontroller as the main controller on this ship in the form of a
STM32F4 microcontroller. Some of the STM32F4 features used for ship
controllers are PWM (Pulse Width Modulation), UART (Universal Asynchronous
Receiver Transmitter) and Input Capture. PWM is used as a signal to control the
servo position and speed of the DC brushless motor. Input Capture is used as a
data receiver from a remote. This microcontroller was chosen because it has good
performance with very small dimensions and weight. The second is Laptop as a
large data processor that cannot be processed directly by STM32. All data that is
processed by the laptop will be continued to STM32, including the camera that
plays a role in image processing. The second component is the sensor, the main
sensor on the ship using a camera. The camera used is a Logitech C930e camera
with a camera resolution of 1920x1080. Low light performance is very good so
that it can detect the color of the ball which will later become an object in image
processing to respond later. In addition, Right Light ™ 2 and a premium glass
lens with autofocus make camera selection one of the main options for being a
sensor in object capture. Then the last is the actuator, in the DC Brushless actuator
section and the servo is the most important part of the final electronic component
of this unmanned ship assembly. DC brushless This is a ship propelling actuator
that allows the ship to move forward or backward. The ASV ship's main
propulsion system uses 2 T200 Thruster. The T200 Thruster is controlled by Basic
ESC (Electric Speed Control) Bluerobotics. ESC controls the motor according to
the PWM (Pulse-Width Modulation) signal input obtained from the
microcontroller. The use of a brushless motor is due to its better durability and
efficiency. The second is the Servo, the servo is a rotary actuator that is used as a
 Muhammad Amarudin
Instrument Engineer
2042201014
propeller set deflection to control the direction of the ship's speed to the left or
right. The servo will later be connected to the STM32 as a controller to give
instructions to the servo itself whether the rudder will be moved to the right or to
the left. In STM32, the servo position itself will be adjusted via PWM. This ASV
unmanned ship uses the power source of 5 Lithium Polymer (LiPo) batteries. For
choosing the type of battery in the form of Lithium Polymer because Li-Po
batteries can provide greater power, besides that it is safer and lighter and flexible
because it can be adjusted as needed. As for the ship production process. The first
step is cutting hard-grade styrofoam with a basic block shape with dimensions of
125 cm long, 75 cm wide and 50 cm high. After that, make a positive mold using
a CNC Milling machine according to the ship design. Then, continue with the
process of refining the mold surface from the CNC Milling process. If there are
still parts that are not in perfect shape, the caulking process can be carried out.
After the fine mold is ready to be used for the hull production process. Then, do a
mold coating using a mold release wax for 3 times, waiting for each layer to dry
on the positive mold or male mold. After that, continue with coating the mold
using PVA for 3 layers while waiting for each layer to dry on the male mold.
Then, proceed with making lay-ups using resin on the mold (not waiting to dry).
Then, the next process is installing a fiberglass layers 1 layer tissue using resin
aims to get an aesthetic hull surface according to the design. Then, install a 2-
layer fiberglass mat layer using resin aimed at strengthening the negative mold or
female mold. Then, continue by removing the printing result, namely the female
mold, then smoothing the inside and fixing the imperfect parts with putty. After
that, the mold coating uses a mold release wax for 3 layers while waiting for each
layer to dry on the positive mold or female mold. Then, do the coating of the mold
using PVA for 3 layers while waiting for each layer to dry on the female mold.
After that, proceed with making lay-ups using resin on the mold (not waiting to
dry). Then, proceed with the installation of a 1-layer fiberglass tissue layer using
resin to get an aesthetic hull surface according to the design. After that, attach a 2-
layer fiberglass mat layer using resin to strengthen the hull. Next, install the resin
inlet and vacuum outlet ports as air outlets during the vacuum infusion process.
After that, apply vacuum sealeant tape to the circumference of the mold to prevent
leakage during the vacuum infusion process. Then, attach the Bagging Plastic to
the negative mold surface by paying attention to the Bagging Plastic tension.
After that, connect the entire vacuum set so that it can be used. Then do the
vacuum process by turning on the vacuum pump. 10. Then wait until the pressure
in the negative print changes by approximately minus one atmosphere (-1 atm).
Then enter the polyester resin that has been mixed with the catalyst into the resin
container which will be flown to the mold via the resin inlet port. Then, wait until
the polyester resin is evenly distributed and hardens for about 8 hours. After
carrying out these processes, the ship without the initial ASV can be tested and
has a very mature planning level and is almost close to perfect,