Project Title: Investigation of U-model based Intelligent Maneuvering of Unmanned Underwater Vehicle for Subsea Surveillance
Source of Funding: Fundamental Research Grant Scheme FRGS (Ministry of Education, Malaysia)
Project Duration: 2 years
Basic Monthly Allowance: RM 1800.00
Top Up Allowance1 - Up to RM 700.00 from Universiti Teknologi PETRONAS (giving a total monthly allowance of up to RM 2500.00).
Location: Centre of Intelligent Signal and Imaging Research, Department of Electrical & Electronic Engineering, Universiti Teknologi PETRONAS, Bandar Seri Iskandar, Tronoh, Perak.
Under water vehicles (UWVs) have proven to be a vital element in a number of underwater applications such as marine science, underwater search and rescue, oil and gas exploration etc. The UWV motion control is very critical during operation. The movement of the underwater vehicle is subject to several uncertainties.
The multivariable nature of UWV, complexity of dynamics and the effects of hydrodynamic disturbances call for a controller that is capable of controlling the UWV in a dynamic hydrodynamic environment yet keeping the controller structure simple.
Thus, there is a need of a controller that can compensate the external disturbances, yet keeps the control law design simple so that underwater exploration and subsea operations can be smoothly performed. The controller design based on U-model methodology is simply the root solving. Hence, the design of controller is quite simple even for a highly dynamic varying system under disturbances.
Therefore, U-model based control of UWV will be investigated. It will be explored if U-model is able to identify the varying nature of hydrodynamics. The investigation will be based on data acquired from modelling and real data collected from different underwater testing facilities. The project will be conducted on HyrdoView Max UWV.
The objectives of this research are:
- Investigate modelling of underwater hydrodynamic behavior.
- Investigate the adaptive maneuverability of UWV using U-model.
- Investigate the suppression of hydrodynamic disturbances on UWV maneuvering using U-model methodology.
Project Research Area: Control Systems, Robotics, UWV.
Benefits of the project include but are not limited to:
- Enrolment for On Campus Full Time mode in MSc programme under the Department of Electrical & Electronic Engineering at UTP.
- Tuition fee waiver under the UTP Tuition Fee Assistantship Scheme2.
- Full or partial funding for attending local and overseas conferences.
- Funding to cover publication fees in ISI/SCOPUS-indexed journals.
- Research is parked under the Centre of Intelligent Signal and Imaging Research (CISIR), which was awarded National Higher Institution Centre of Excellence (HICoE) status by the Ministry of Education.
BSc in Electronic Engineering or equivalent.
A CGPA of 3.5 and above.
Proficiency in Matlab/C++ languages.
Excellent command in written and oral English.
Proactive and able to carry out research independently.
Please use the subject: FRGS GRA Application and include your resume/CV. Shortlisted candidates will be contacted for interview.