qfd-based conceptual design of an autonomous underwater robot

7/25/2019 QFD-based conceptual design of an autonomous underwater robot

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Songklanakarin J. Sci.Technol.

37 (6), 659-668, Nov. - Dec.205

Original Article

h !!" #$ $%% % .&' & ! ." & . ac . ! h

*D-+a&e conce"!al e&ign o an a!onoo& ner%a!er

ro+o!

Thi" /a&a%ang0, Theera1(!h ha!chana1(en1ong2, anora%a! Sa-

Ngiavi+ool3

1Mechatronics Research Laboratory,

2Department ofMechatronics,

3Department of Electrical Engineering, Faculty of Engineering, Mahasaraham

!ni"ersity, #antara$ichai, Maha %araham, &&1'( )hailan*+

4eceive# 7 a1 205 cce"!e# 2 Jne 205

Abstract

!onoo& ner%a!er ro+o!& in !he "a&! e% 1ear& have +een e&igne accoring !o !he inivial conce"!& an

e"erience& o !he re&earcher&. To e&ign a ro+o!, %hich ee!& all !he reireen!& o "o!en!ial &er&, i& an avance%ork. :ence, a &1&!ea!ic e&ign e!ho !ha! col incle &er&; "reerence& an reireen!& i& neee. Thi& "a"er

"re&en!& !he ali!1 nc!ion e"lo1en! (*D) !echnie !o e&ign an a!onoo& ner%a!er ro+o! oc&ing on !he

Thai Nav1 ili!ar1 i&&ion. lo%-

i"or!ance ranke e&ign "arae!er& incle !he ole e&ign, &e clean energ1, a lo% noi&e elec!ric o!or, reo!e

&rveillance e&ign, a "re&&re hll, an a +ea!il hll or e&ign. The &!1 re&l!& &ho% !he ea&i+ili!1 o &ing

*D !echnie& !o &1&!ea!icall1 e&ign !he a!onoo& ner%a!er ro+o! !o ee! &er reireen!&. a""ing +e!%een

!he e&ign an e"ec!e "arae!er& an a conce"!al ra!ing e&ign o an a!onoo& ner%a!er ro+o! are al&o

"re&en!e.

Keywords: a!onoo& ner%a!er ro+o!, *D, ho&e o ali!1, Thai Nav1, conce"!al e&ign, ro+o! e& ign

1. Introduction

?ner%a!er ro+o!&, in !he "a&! e% 1ear&, have

+ecoe an i"or!an! !ool in ner%a!er a""lica!ion&, e&"e-

ciall1 in environen!al an re&orce i&&e&, incling

&cien- !iic an ili!ar1 !a&k&. o&! o !he ner%a!er

ro+o!& have !o +e o"era!e ner ha@aro& environen!&

in&!ea o han o"era!ion&. :ence, !he relia+ili!1 an

ali!1 o an ner%a!er ro+o! have !o +e "ai a!!en!ion !o.So ar, !here have +een a n+er o !he ner%a!er ro+o!&

+eing e&igne

orre&"oning a(!hor.

Aail are& a'B !i" C h o ! a il. c o

an evelo"e !o &erve vario& a""lica!ion& (li+erg etal+,

200) o!en e&igne accoring inivial conce"!& an

e"erience& o !he re&earcher& (Eh et al+, 2000 l!&hler

et al+, 2002 e&her et al+, 2002). Thi& e&ign e!ho i&

convenience +! a1 no! ac!all1 ee! !he &er& or &!ake-

holer& reireen!&. ccoringl1, a &1&!ea!ic e&ign

e!ho !ha! col incle &er&; "reerence& an reire-

en!& i& neee. No%aa1&, !here are a large n+er o

&ch &1&!ea!ic e&ign e!ho&. >ne &ch e!ho i& !he

ali!1 nc!ion e"lo1en! (*D), %hich col rela!e !he

&er reireen!& !o !he engineering "roc! e&ign an

evelo"- en!.

in!o !he !echnical e&ign "arae!er& a! each &!age o
http://www.sjst.psu.ac.th/http://www.sjst.psu.ac.th/http://www.sjst.psu.ac.th/http://www.sjst.psu.ac.th/http://www.sjst.psu.ac.th/mailto:[email protected]:[email protected]:[email protected]:[email protected]:[email protected]://www.sjst.psu.ac.th/


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"roc! e&ign an "roc!ion (Thoa& et al+, 996

Fonoh et al+, 2007).


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660T. /a&a%ang et al+ $ Songklanakarin J. Sci. Technol. 37 (6), 659-668,660 T. /a&a%ang et al+ $ Songklanakarin J. Sci. Technol. 37 (6), 659-668,

*D origina!e in 967 !o evelo" ne% "roc!& in

Ja"an (i@no et al+, 978). Then in 972, i! %a& a""lie in

!he i!&+i&hi &hi"1ar co"an1 in Ja"an (:ale& et al+,

990). *ro 977 !o 98G, To1o!a o"an1 e"lo1& !he

*D !echnie n!il i! &"rea& o! in !he area o "roc!e&ign !o ee! !he &er ;& nee& (/ra&a et al+, 998).

"roce&& o *D can +e on in a grea! n+er o

reerence "a"er& or !e!+ook& (kao et al+, 990 han et

al+, 2005). The *D "roce&& or e&ign an evelo"en!o an a!o- noo& ner%a!er ro+o! i& +riel1 e&cri+e

+elo%.

2.1 Step 1: User

identification

Thi& ir&! &!e" ien!iie& !he &er&, %ho are irec!l1

involve in !he e"lo1en! o !he a!onoo& ner%a!er

ro+o! in !he Thai Nav1.


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66T. /a&a%ang et al+ $ Songklanakarin J. Sci. Technol. 37 (6), 659-668,66 T. /a&a%ang et al+ $ Songklanakarin J. Sci. Technol. 37 (6), 659-668,

LLLL.

++ /30


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2.$ Step$: Identification of desi#nparameters

%here R i& !he range K a-in a i& !he aivale

o (D ), an in i& !he ini vale o all ra% &core& (D),

e&ign "arae!er& in!o ieren! gro"& o i"or!ance

ranking& (-Ran).

&er reireen! m an e&ign "arae!er n (n -32).

. )esults

.1 User identification

Thir!1 ner%a!er ro+o! &er& in !he Thai Nav1

>ice o Naval 4e&earch an Develo"en! %ere

ien!iie. The1 %ere in!ervie%e regaring !o !heir

reireen!& in e"lo1- ing !he ner%a!er ro+o! in !heir

!hree ain !a&k&.

.2 Identification of user requirements

?&er reireen!& %ere ien!iie +1 &ing !he

li!era- !re revie%& in !he area o ner%a!er ro+o!ic&,

&er&;-Ran K

Rs,n

in$( )

R(2) coen!& an !he &gge&!ion ro !he e"er!& li&!e in

Ta+le 2. Nae&, ailia!ion& an iel o e"er!i&e o e"er!& involving in e&ign "arae!er& ien!iica!ion

an rela!ion& e!erina!ion +e!%een &er reireen!& an !echnical charac!eri&!ic&.

Nae& an ilia!ion& *iel& o A8"er!i&e

&&i&!. /ro. Dr. krii%a! S(!ivar1

&&i&!. /ro. Dr .Fear!i&ak Sri"ra!ee"

Naval 4e&earch Develo"en! >ice

De"ar!en! o anac!ring Angineering,

ili!ar1 ner%a!er a""lica!ion&


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Ta+le 3. Si ca!egorie& o &er reireen!&.

ain ca!egorie& ?&er 4eireen!&,/ , r K ,L, 36

. >"era!ing a"aci!1 (.) >"era!ing e"!h " !o 0 e!er&, (.2) ?ner%a!er &!an&!ill, (.3) +le !o recor

vieo, (.G) +le !o !rack &hi" +o!!o, (.5) =ong o"era!ing !ie, (.6) =o% o"era!ing&"ee

2. >"era!ing *nc!ion (2.) >"era!e reo!el1 %i!h ca+le, (2.2) >"era!e reo!el1 %i!h raio, (2.3) !onoo&

con!rol, (2.G) Aa&1 !o con!rol, (2.5) Aa&1 !o &ervice, (2.6) *ailre &el-+o1anc1, (2.7) +le !o

%ork ring nigh! !ie

3. Acono1 (3.) =o% o"era!ion co&!&, (3.2) =o% energ1 con&"!ion, (3.3) Aa&1 !o !ran&"or!, (3.G) =o%

co&! con!rol &1&!e

G. Anvironen! (G.) voi& aage !o !he ner%a!er "lan!&, (G.2) voi& aage !o anial&, (G.3)

voi& %a!er "oll!ing, (G.G) ie!, (G.5) ?&e rene%a+le energ1

5. >"era!ing Sae!1 (5.) Sae!1 %hen !ran&"or!, (5.2) *ail &ae reo!e &rveillance, (5.3) Sae!1 %hen %a!erleakage

6. De&ign (6.) SelOnaviga!ion, (6.2) Aa&1 !o a ei"en!, (6.3) =ook +ea!1, (6.G) ell-anage

"o%er &""l1, (6.5) S!rc!re a'&!a+le !o +alance !he hll, (6.6) >+&!acle avoi, (6.7) =igh!

%eigh!, (6.8) Sall &i@e, (6.9) ove or egree o reeo, (6.0) 4eal !ievieooni!oring, (6.)

?&e re&i&!ance-!o-corro&ion a!erial

Ta+le 2. The reireen!& %ere gro"e in &i ain

ca!egorie& a& &ho%n in Ta+le 3.

. !rioriti"in# user requirements

The &er reireen!& &ho%n in Ta+le 3 %ere given

!heir inivial i"or!an! ra!ing& an !hen !he average

i"or!an! ra!ing& %ere calcla!e in accorance a&

Aa!ion 2 an "! in Ta+le 5. The average i"or!an!ra!ing& or / reireen! &ho%n in Ta+le %ere &or!e in

e&cening orer an ill&!ra!e in *igre .

.$ Selected desi#n parameters

The 32 e&ign "arae!er& ien!iie +1 !he e"er!&

are e"ic!e in Ta+le G. The1 %ere gro"e in &i

ca!egorie& corre&"oning !o !he &er reireen!&.

.% )elationship ran*in#s

The a!ri rela!ion&hi" +e!%een &er reireen!&an e&ign "arae!er& i& &ho%n in Ta+le 5. Aach &er

;& reireen! rela!e& !o a n+er o e&ign

"arae!er&.

*igre . verage i"or!ance ra!ing& or !he R &er reireen!& &ho%n in !he hori@on!al +ar&. The &haing o !he +ar& inica!e& !he

&i8 ain ca!egorie&.

r

r


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Ta+le G. Selec!e e&ign "arae!er& corre&"oning !o !he &i ain ca!egorie& o &er reireen!&.

De&ign /arae!er& A"lana!ion

. >"era!ing a"aci!1 . 0-e!er 4o+o! S!rc!re S!rc!re o !he ro+o! can o"era!e ner%a!er " !o 0-

e!er e"!h..2 De"!h Sen&or :ave a e"!h &en&or !o ea&re !he ro+o! e"!h ro

%a!er &race.

.3 ?ner%a!er aera :ave an ner%a!er caera !o recor "ho!o an vieo.

.G ?l!ra&onic Sen&or :ave an l!ra&onic &en&or !o ea&re ro+o! heigh! ro

%a!er +o!!o.

.5 /o%er S""l1 anageen! :ave %ell "o%er &""l1 anageen! or ei"en! in&ie

!he ro+o! &ch a& caera, &en&or, con!roller, e!c.

2. >"era!ing *nc!ion 2. 4eo!e a+le >"era!e an con!rol an oni!or !he ro+o! reo!el1 via ca+le.

2.2 4eo!e 4aio on!rol an con!rol an oni!or !he ro+o! reo!el1 via

raio reenc1 (4*) &ignal.

2.3 !onoo& on!rol lgori!h :ave a con!rol algori!h, %hich ena+le& !he ro+o! !o

ove a!onoo&l1.2.G ra"hic ?&er "era!ing Sae!1 5. ain /o%er Sae!1 S%i!ch :ave ain "o%er &%i!ch !o &h! o%n all ei"en! in ca&e

o accien!.

5.2 4eo!e Srveillance De&ign The ro+o! can +e &h! o%n all &1&!e& reo!el1.

5.3 /re&&re:ll The ro+o!;& hll i& "re&&ri@e !o "reven! %a!er leakage.

6. De&ign 6. o"a&& Sen&or The ro+o! i& ei""e %i!h co"a&& &en&or an

Per!ical 1ro&co"e ver!ical g1ro&co"e.

6.2 >"en *rae S!rc!re De&ign The ro+o! &!rc!re ha& an o"en rae e&ign, %hich can

+e ei""e %i!h e!ernal &en&or ea&il1.

6.3 ea!il:ll*orDe&ign The hll or o ro+o! i& %ell e&igne an look& +ea!il.

6.G De!ail /o%er Di&!ri+!ion The "o%er i&!ri+!ion or ei"en! in&ie !he ro+o! i&

/lanning %ell-anage.

6.5 '&!a+le o1anc1 The +o1anc1 level o ro+o! can +e a'&!e %i!h i!&

o"onen!& co"onen!&.

6.6 ?&e S!rong ! =igh! eigh! The ro+o! &!rc!re i& ae o no! onl1 ligh! %eigh! +! al&o

a!erial &!rong a!erial.

6.7 Sall>verall Si@e The overall &i@e o ro+o! i& &all !o +e ea&il1 !ran&"or!e.

6.8 onigra!ion De&ign The ro+o! i& %ell conigre !o ake i! +alance

in all ien&ion&.

6.9 onica!ion S1&!e De&ign The &er can conica!e %i!h !he ro+o! or con!rolling

an oni!oring "r"o&e&.

6.0 ?&e 4e&i&!an! To orro&ion The a!erial or ner%a!er "re&&re hll &! no! onl1 +ea+le

a!erial !o %i!h&!an high e!ernal "re&&re, +! &! al&o%i!h&!an !he environen! (4o&& et al+, 2006)


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66GT. /a&a%ang et al+ $ Songklanakarin J. Sci. Technol. 37 (6), 659-668,66G T. /a&a%ang et al+ $ Songklanakarin J. Sci. Technol. 37 (6), 659-668,

Ta+le 5. Ta+le& in !he *D anal1&i& o !he rela!ion&hi"& +e!%een &er reireen!& an e&ign "arae!er&.

Sing o !he ra% rela!ion&hi"& or each &er

reireen! in hori@on!al ro% &ho%& !he !hree highe&!

vale re&l!& 3,

02, 02, an 95 or Qo"era!ing e"!h " !o 0 R, Qner-

%a!er &!an&!illR, Qa+le !o !rack &hi" +o!!oR, an Qlo%

o"era!ing &"eeR, re&"ec!ivel1. The !hree lo%e&! vale&

are5, 2G, 2G, an 25 or Qie!R, Qail-&ae reo!e

&rveillanceR, Qlo% energ1 con&"!ionR, an Qailre o

&el-+o1anc1R, re&"ec!ivel1.

The e&ign "arae!er&, %hich have go! !he !hree

highe&! i"or!ance ranking (-Ran K 5, G, an 3), a&

ill&!ra!e in *igre 2 %ere =o% o&! on!roller,

!onoo& on!rol lgori!h, o"a&& Sen&or Per!ical

1ro, De"!h Sen&or, Sall >verall Si@e, S""l1

anageen! an ?l!ra&onic Sen&or. >n !he o!her han,

!he e&ign "arae!er&, %hich have go! !he !%o lo%e&!

i"or!ance ranking (-Ran K ) %ere Ai"en! ole

De&ign, ?&e lean Anerg1, ?&e =o% Noi&e


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*igre 2. De&ign "arae!er& "lo!!e in orer accoring !o !he rela!ive &core& ro Ta+le 5. The &haing o !he +ar& inica!e& !he &i

ain ca!egorie&.

Alec!ric o!or, 4eo!e Srveillance De&ign, /re&&re

:ll an ea!il :ll *or De&ign.

.' &esi#n parameter correlations

The e&ign "arae!er correla!ion& &i! on !he !o" o

Ta+le 5. The e&ign "arae!er& have "o&i!ive correla!ion&

or none. No nega!ive correla!ion ei&!&.

$. &iscussion

The re&l! in Ta+le 5 concle& !he rela!ion&hi"&

+e!%een 36 &er reireen!& an 32 e&ign "arae!er&

incling !heir &igniicance& in !er& o i"or!ance ra!ing

an i"or!ance rank (-Ran). Aach e&ign "arae!er ha& a!

lea&! one rela!ion&hi" %i!h !he &er reireen!&, %hile

each &er reireen! ha& !hree or ore rela!ion&hi"& %i!h

!he e&ign "arae!er&. No nille coln& or ro%& %a&on in !he !a+le, hence no irrelevan! or renan!

"arae!er& ei&!e (Pera et al+, 998). Aach &er

reireen! %a& re&"one +1 a! lea&! !hree e&ign

"arae!er&. 4egaring !he re&l!& in Sec!ion 3.5, !hree

highe&! hori@on!al &ing &core& are o"era!ing e"!h "

!o 0 (3), ner%a!er &!an&!ill (02), a+le !o !rack &hi"

+o!!o (02), an lo% o"era!ing &"ee (95). The Qo"era!ing

e"!h " !o 0 R go! !he highe&! &core +o!h in !he

hori@on!al &ing an &er i"or!an! ra!ing (5) &ince

o&! o !he Thai Nav1 ili!ar1;& ro!ine !a&k o"era!e& a!

a""roia!el1 0 e!er e"!h. The Qner%a!er &!an &!illR

an Qa+le !o !rack &hi" +o!!oR go! !he &ae 2

n

highe&!&core (02) %i!h !heir corre&"oning high i"or!an! ra!ing

o 3.9

an G.G, re&"ec!ivel1, +eca&e !he !hree ain ro!ine !a&k&

o !he Thai Nav1 nee !he a+ili!1 !o &!an&!ill ner%a!er

ring i!& &rve1ing i&&ion an a! !he &ae !ie a+le !o

in&"ec! !he ner%a!er &hi" &!rc!re %i!h !racking

ca"a+ili!1. The 3

r

highe&! &core "arae!er i& Qlo%o"era!ing &"eeR (95), %hich i& !he &i!a+le &"ee or

&rve1, in&"ec!ion an !raining !a&k&. The Qie!R

"arae!er go! !he lo%e&! hori@on!al &ing &core. Thi&

corre&"on& !o i!& lo% i"or!ance ra!ing (3.0). Thi& &er

reireen! %a& re&"one +1 !hree e&ign "ara- e!er&

an col +e hanle ea&il1 +1 !he ?&e =o% Noi&e Alec!ric

o!or e&ign "arae!er.

*igre e"ic!& !he co"ari&on +ar& o !he &er

reireen!&. The highe&! i"or!an! ra!ing o !he &er

reireen!& are Qo"era!ing e"!h " !o 0 R an Qa+le !o

recor vieoR %hile !he lo%e&!-i"or!an!-ra!ing &er

reireen! i& Q+ea!1R. Thi& re&l! agree& %i!h !he Thai

Nav1 !a&k&, %hich nee vieo recoring ring !hree ain!a&k& %hile !he ro+o! a""earance i& in&igniican!.

The e&ign "arae!er&, %hich o+!aine high i"or-

!an! ranking &ho%n in *igre 2, ainl1 oc& on !he a!o-

noo& con!rol (!onoo& on!rol lgori!h) an i!&

rela!ive "arae!er& (o"a&& Sen&or Per!ical 1ro&co"e

an De"!h Sen&or). The Ai"en! ole De&ign

"arae!er o+!aine ne"ec!el1 lo% i"or!an! ranking.

Thi& "arae!er go! a &!rong rela!ion&hi" !o !he &er

reireen! Qea&1 !o &erviceR, %hich ha& a high i"or!an!

ra!ing o &er reireen! (G.5).

&er reireen!. The o!her lo% i"or!an! ranking e&ign

"arae!er& are /re&&re :ll an 4eo!e SrveillanceDe&ign. The&e !%o "arae!er& in !he &er ;& "oin! o vie%

are no! i"or!an! +! !he1 igh!


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ge! higher rela!ive &core in !he engineering "oin! o v ie%.

ccoring !o !he re&l!&, i! can +e &een !ha! all !he

&er&; reireen!& have +een ranke in accorance a&

!heir rela!ive &core& an re&"one +1 !he e&ign

"arae!er&. :ence, !he e&ign "arae!er& %i!h high

i"or!ance ra!ing an high i"or!an! rank col +e&elec!e an incle in !he "ro!o!1"e e&igne ro+o! !o

relec! !he e"ec!a!ion& an &a!i&ac!ion& o !he &er&.

Ta+le 6 a"& all e&ign "arae!er& !o e"ec!e

"ara- e!er&, %hich !en !o +e e"lo1e in !he inal

e!aile &"eciica!ion& o !he ro+o!. *inall1, !he&e e!aile

&"eciica- !ion& o *D ner%a!er ro+o! ill&!ra!e in

Ta+le 5 have !o

+e erive in a +le"rin! an !he con&!rc!e ro+o! &! +e

!e&!e in !he real &i!a!ion !o "rove i!& "erorance. *igre

3 e"ic!& a conce"!al ra! e&ign o !he a!onoo&

ner%a!er ro+o!.

%. (onclusions

The *D e!ho %a& ao"!e !o evelo" a conce"-

!al e&ign o an a!onoo& ner%a!er ro+o! or Thai

Nav1 ili!ar1 !a&k&.

o+!ain !he &er reireen!& an erive !he rela!ing

e&ign "ara- e!er&, %hich ha& never +een one +eore in

!he li!era!re o

Ta+le 6. a""ing +e!%een e&ign an e"ec!e "arae!er&

G 5. o"a&& Sen&or Per!ical 1ro&co"e o"a&& &en&or, ver!ical g1ro&co"e

5 .G ?l!ra&onic Sen&or *i&h iner &onar &en&or

6 .5 /o%er S""l1 anageen! Three "o%er &""l1 ole& con!roller "o%er &""l1,

&en&or "o%er &""l1 an o!or river "o%er &""l1 ole&

7 5.7 Sall>verallSi@e No! +igger !han 202020 c

8 . 0-e!er 4o+o! S!rc!re lin allo1

9 2. 4eo!e a+le >"era!e 0.9 2G-core& ca+le

0 2.G ra"hic ?&er


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ner%a!er ro+o! e&ign&. The i"or!an! &er reireen!&

e!rac!e ro !he *D e!ho are# () a+le !o recor

vieo, (2) o"era!ing e"!h " !o 0 e!er&, (3) o"era!e

reo!el1 %i!h ca+le, an (G) &ae ring %a!er leakage. The

lo% i"or!an! ra!ing &er reireen!& incle# () +ea!1,

(2) &e rene%- a+le energ1, (3) o"era!e reo!el1 %i!hraio, an (G) a+le !o %ork ring nigh! !ie.

The i"or!an! e&ign "arae!er& erive ro !he

&er reireen!& are# () =o% o&! on!roller, (2)

!onoo& on!rol lgori!h, (3) o"a&& Sen&or

Per!ical 1ro&co"e, an (G) De"!h Sen&or. The lo%

i"or!an!-ranking e&ign "arae!er& incle# ()

Ai"en! ole De&ign, (2) ?&e lean Anerg1, (3) ?&e

=o% Noi&e Alec!ric o!or, (G) 4eo!e Srveillance De&ign,

(5) /re&&re :ll, an (6) ea!il :ll *or De&ign.

a""ing +e!%een !he e&ign an e"ec!e "arae!er& i&

concle in Ta+le 6, %hile !he conce"!al ra!ing e&ign

o !he *D ro+o! i& ill&!ra!e in *igre 3. The highi"or!an! ra!ing an high i"or!an! rank e&ign

"arae!er& col +e &elec!e an incle in !he "ro!o!1"e

e&igne ro+o! !o ee! !he e"ec!a!ion& an &a!i&ac!ion& o

!he &er&.

*igre 3. conce"!al ra!ing e&ign o an a!onoo&

(ner- %a!er ro+o!.

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qfd-based conceptual design of an autonomous underwater robot

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