CALCULATION AND OPTIMIZATION OF FORCE AND POWER ON AUTONOMOUS SURFACE VEHICLE (ASV) AS MEANS OF MARINE ACCIDENT RESCUE
Abstract
The strategic regional position makes Indonesia a world transportation crossing route with various modes of transportation through Indonesian territory to reach other islands, countries, or even continents. For this reason, a solution is needed to reduce the number of fatalities and injuries due to ship accidents that may occur. By reducing the evacuation time to a minimum, it will be possible to minimize the number of casualties and injuries if the ship has an accident. Considering that, in terms of usability and benefits, the Autonomous Surface Vehicle (ASV) can be an alternative as a form of Search and Rescue (SAR) ship. Based on the results of the ASV Ship design that suits these needs, a force and power analysis was carried out in accordance with the applicable theory. Of the 2 designs with a monohull shape and with different hull variations, with the main dimensions of the ASV Sang Nagari (LH=4.55 m, LWL=4.348 m, B=1.272 m, D=0.804 m T=0.45 m) and ASV Sang Nadibumi (LH=4.55 m, LWL=4.311 m, B=1.352 m, D= 0.802 m, T=0.4 m) obtained a displacement of 1.063 tons and a resistance of 1 kN for ASV Sang Nagari and 1.202 tons and a resistance of 2.6 kN for ASV Sang Nadibumi at a standard speed of 10 knots. Based on the results of the force analysis, it is concluded that the two ASVs have 2 forces in static conditions, that is, weight force and upward lift force (FBouyant). Based on the results of the efficiency of ASV Sang Nagari has a higher efficiency of 0.002% with 56.422% than ASV Sang Nadibumi with 56.420%.. The ASV linear model made from linearization has the properties of a controllable and observable, so this model can be applied to navigation and control systems.
Downloads
References
Republik Indonesia, “Undang – Undang Republik Indonesia Nomor 17 Tahun 2008 tentang Pelayaran. Lembaran Negara RI Tahun 2008, No. 64,” Sekretariat Negara. Jakarta, 2008.
Sub Komite Investigasi Kecelakaan Pelayaran, “Capaian Kinerja Investigasi Keselamatan Transportasi Tahun 2017,” Komite Nasional Keselamatan Transportasi (KNKT). Jakarta, 2017.
Kepala Badan SAR Nasional, “Peraturan Kepala Badan SAR Nasional Nomor : PK.14 Tahun 2012 Tentang Standarisasi Sarana SAR di Lingkungan Badan SAR Nasional,” Badan SAR Nasional. Jakarta, 2012.
H. Nurhadi, M. Kiki, D. Adzkiya, and T. Herlambang, “Estimation of water momentum and propeller velocity in bow thruster model of autonomous surface vehicle using modified Kalman filter,” International Journal of Electrical and Computer Engineering (IJECE), vol. 12, no. 6, p. 5988, Dec. 2022, doi: 10.11591/ijece.v12i6.pp5988-5997.
T. Herlambang, D. Rahmalia, A. Suryowinoto, F. Yudianto, F. A. Susanto, and M. Y. Anshori, “H-infinity for autonomous surface vehicle position estimation,” J Phys Conf Ser, vol. 2157, no. 1, Jan. 2022, doi: 10.1088/1742-6596/2157/1/012022.
H. Nurhadi, T. Herlambang, and Subchan, “Design of sliding mode control for surge, heave and pitch motion control of UNUSAITS AUV,” in INNOVATIVE SCIENCE AND TECHNOLOGY IN MECHANICAL ENGINEERING FOR INDUSTRY 4.0: Proceedings of the 4th International Conference on Mechanical Engineering (ICOME2019), 2019. doi: 10.1063/1.5138366.
T. Herlambang, D. Adzkiya, and H. Nurhadi, “Trajectory Estimation of Autonomous Surface Vehicle Using Extended Kalman Filter,” J Phys Conf Ser, vol. 1538, May 2020, doi: 10.1088/1742-6596/1538/1/012035.
H. Nurhadi, T. Herlambang, and D. Adzkiya, “Position Estimation of Touristant ASV Using Ensemble Kalman Filter,” in International Conference on Mechanical Engineering, Aug. 2019.
D. Adzkiya, H. Nurhadi, and T. Herlambang, “Design of Sliding Mode Control for Linearized Touristant ASV Model,” in International Conference on Advance Mechatronics, Intelligent Manufactre, and Industrial Automation, Malang, Indonesia: ICAMIMIA 2019, Oct. 2019.
H. Nurhadi, T. Herlambang, and D. Adzkiya, “Trajectory Estimation of Autonomous Surface Vehicle using Square Root Ensemble Kalman Filter,” in 2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation (ICAMIMIA), IEEE, Oct. 2019, pp. 325–328. doi: 10.1109/ICAMIMIA47173.2019.9223354.
T. Herlambang, Subchan, and H. Nurhadi, “Navigation and guidance control system of UNUSAITS AUV based on dynamical system using ensemble kalman filter square root,” J Phys Conf Ser, vol. 1538, no. 1, May 2020, doi: 10.1088/1742-6596/1538/1/012030.
Subchan, T. Herlambang, and H. Nurhadi, “UNUSAITS AUV Navigation and Guidance System with Nonlinear Modeling Motion using Ensemble Kalman Filter,” in 2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation (ICAMIMIA), IEEE, Oct. 2019, pp. 1–4. doi: 10.1109/ICAMIMIA47173.2019.9223388.
R. C. Hibbeler, Statics and Mechanics of Materials. USA: Pearson Prentice Hall, 2014.
P. John, “MACE 10421 Fluid Mechanics 1”. Lecture Notes: Mechanical Aerospace and Civil Engineering. Manchester – UK: University of Manchester, 2004.
A. F. Molland, The Maritime Engineering Handbook: A Guide to Ship Design, Construction and Operation. Elsevier Science & Technology, 2008.
Copyright (c) 2024 Teguh Herlambang, Hendro Nurhadi
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
Authors who publish with this Journal agree to the following terms:
- Author retain copyright and grant the journal right of first publication with the work simultaneously licensed under a creative commons attribution license that allow others to share the work within an acknowledgement of the work’s authorship and initial publication of this journal.
- Authors are able to enter into separate, additional contractual arrangement for the non-exclusive distribution of the journal’s published version of the work (e.g. acknowledgement of its initial publication in this journal).
- Authors are permitted and encouraged to post their work online (e.g. in institutional repositories or on their websites) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published works.