Muhamad Haidar Al-Farruq, - (2025) RANCANG BANGUN PROTOTIPE REMOTELY OPERATED VEHICLE DENGAN KAMERA PAN-TILT BERBASIS APLIKASI MOBILE. S1 thesis, Universitas Pendidikan Indonesia.
Abstract
Inspeksi visual bawah air seringkali terkendala oleh sudut pandang yang terbatas pada Remotely Operated Vehicle (ROV) konvensional, sehingga mengurangi efektivitas observasi. Penelitian ini bertujuan untuk merancang, membangun, dan menguji fungsionalitas prototipe ROV yang dilengkapi dengan sistem kamera Pan-Tilt berbasis aplikasi mobile untuk mengatasi keterbatasan tersebut. Metode penelitian yang digunakan adalah Design and Development (D&D). Sistem dikembangkan dengan Raspberry Pi sebagai unit pengendali utama, yang mengontrol empat buah thruster motor DC dan mekanisme kamera Pan-Tilt kustom. Operator mengendalikan ROV menggunakan aplikasi mobile, di mana data perintah dikirim melalui protokol MQTT dan visualisasi diterima melalui streaming MJPEG. Pengujian fungsionalitas dilakukan dengan metode black box pada lingkup uji kering. Hasil pengujian menunjukkan bahwa seluruh komponen perangkat keras dan lunak berfungsi sesuai harapan. Kinerja visual sangat responsif, dengan mekanisme kamera Pan-Tilt mampu bergerak vertikal dan horizontal sesuai input operator dengan latensi tampilan di bawah 500 ms. Pengujian koordinasi thruster di darat berhasil memvalidasi bahwa seluruh rantai komando dari aplikasi hingga aktivasi kombinasi motor bekerja secara sinkron sesuai logika manuver yang dirancang. Disimpulkan bahwa prototipe ROV ini berhasil dikembangkan dan divalidasi secara fungsional, menunjukkan potensi sebagai solusi inspeksi visual bawah air yang fleksibel dengan sistem kontrol dan aktuator yang telah terbukti bekerja sesuai perancangan. --------- Underwater visual inspection is often limited by the narrow field of view of conventional Remotely Operated Vehicles (ROVs), which reduces observation effectiveness. This study aims to design, build, and test the functionality of an ROV prototype equipped with a Pan-Tilt camera system controlled via a mobile application to overcome these limitations. The research method used is Design and Development (D&D). The system was developed with a Raspberry Pi as the main control unit, managing four DC motor thrusters and a custom Pan-Tilt camera mechanism. The operator controls the ROV using a mobile application, where command data is transmitted through the MQTT protocol and visualization is received via MJPEG streaming. Functional testing was carried out using the black-box method in a dry test environment. The results show that all hardware and software components functioned as expected. The visual performance was highly responsive, with the Pan-Tilt camera mechanism able to move vertically and horizontally according to the operator’s input, with display latency under 500 ms. Thruster coordination testing on land validated that the entire command chain, from the application to motor combination activation, worked synchronously according to the designed maneuver logic. It is concluded that the ROV prototype was successfully developed and functionally validated, demonstrating potential as a flexible underwater visual inspection solution with proven control and actuator systems operating as designed.
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| Item Type: | Thesis (S1) |
|---|---|
| Additional Information: | https://scholar.google.com/citations?view_op=new_articles&hl=en&imq=Muhamad+Haidar+Al-Farruq ID Sinta Dosen Pembimbing: Anugrah Adiwilaga: 6745914 Munawir: 6745899 |
| Uncontrolled Keywords: | Remotely Operated Vehicle (ROV), Pan-Tilt Camera, MQTT, Raspberry Pi, Mobile Application. |
| Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science Q Science > QA Mathematics > QA76 Computer software T Technology > T Technology (General) |
| Divisions: | UPI Kampus cibiru > S1 Teknik Komputer |
| Depositing User: | Muhamad Haidar Al-Farruq |
| Date Deposited: | 18 Sep 2025 04:10 |
| Last Modified: | 18 Sep 2025 04:10 |
| URI: | http://repository.upi.edu/id/eprint/137615 |
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