[{"data":1,"prerenderedAt":3784},["ShallowReactive",2],{"logbook-experiments-all":3},[4,391,584,988,1198,1968,2238,2519,2809,3125,3324],{"id":5,"title":6,"author":7,"body":8,"date":375,"description":376,"extension":377,"image":378,"location":379,"meta":380,"navigation":381,"path":382,"seo":383,"stem":384,"tags":385,"__hash__":390},"content/logbook-experiments/body/3D_printing_optimization_PETG_marine.md","[LOGBOOK] PETG 3D Printing Optimization for Marine Structural Components","Bagas Widi",{"type":9,"value":10,"toc":353},"minimark",[11,16,20,28,31,36,39,50,52,57,60,97,99,103,106,140,142,146,149,152,166,169,171,175,178,180,184,191,194,205,208,210,214,220,223,234,236,240,243,254,257,259,263,266,268,272,275,286,289,291,295,298,309,312,314,318,321,323,327,330,341,343,347,350],[12,13,15],"h1",{"id":14},"_3d-printing-optimization-using-petg-filament-for-marine-applications","3D Printing Optimization Using PETG Filament for Marine Applications",[17,18,19],"p",{},"Additive manufacturing plays a crucial role in the rapid development of structural and functional components for autonomous vessels. The reliability of printed parts is strongly influenced by both material selection and printing parameters.",[17,21,22,23,27],{},"For this project, ",[24,25,26],"strong",{},"PETG (Polyethylene Terephthalate Glycol-modified)"," filament was selected and optimized to produce components that meet mechanical, environmental, and operational requirements for marine applications.",[29,30],"hr",{},[32,33,35],"h2",{"id":34},"_1-material-selection-why-petg-over-pla","1. Material Selection: Why PETG Over PLA?",[17,37,38],{},"The choice of filament material significantly affects the durability and performance of 3D printed components, particularly for systems exposed to outdoor and marine environments.",[17,40,41,42,45,46,49],{},"Although ",[24,43,44],{},"PLA"," is widely used due to its ease of printing, it exhibits several limitations when applied to functional components on autonomous vessels. ",[24,47,48],{},"PETG was therefore selected as a more suitable alternative",", offering a balanced combination of strength, durability, and environmental resistance.",[29,51],{},[53,54,56],"h3",{"id":55},"_11-advantages-of-petg-compared-to-pla","1.1 Advantages of PETG Compared to PLA",[17,58,59],{},"PETG provides several key advantages over PLA for marine-oriented applications:",[61,62,63,73,81,89],"ul",{},[64,65,66,69,72],"li",{},[24,67,68],{},"Environmental Resistance",[70,71],"br",{},"\nPETG demonstrates superior resistance to moisture, UV exposure, and temperature fluctuations. PLA tends to soften and degrade under prolonged heat or humid conditions, whereas PETG maintains structural stability in outdoor environments.",[64,74,75,78,80],{},[24,76,77],{},"Mechanical Strength and Toughness",[70,79],{},"\nCompared to PLA, PETG is less brittle and more impact-resistant. This makes it more suitable for components subjected to vibration, shock loads, or dynamic forces.",[64,82,83,86,88],{},[24,84,85],{},"Layer Adhesion",[70,87],{},"\nPETG exhibits strong interlayer bonding when printed at appropriate temperatures, reducing the risk of delamination under mechanical loads.",[64,90,91,94,96],{},[24,92,93],{},"Chemical Resistance",[70,95],{},"\nPETG shows better resistance to oils, fuels, and mild chemicals compared to PLA, making it suitable for marine and propulsion-adjacent components.",[29,98],{},[53,100,102],{"id":101},"_12-limitations-of-petg-compared-to-pla","1.2 Limitations of PETG Compared to PLA",[17,104,105],{},"Despite its advantages, PETG also introduces certain trade-offs:",[61,107,108,116,124,132],{},[64,109,110,113,115],{},[24,111,112],{},"Printability",[70,114],{},"\nPETG requires more precise temperature tuning compared to PLA, which is more forgiving during printing.",[64,117,118,121,123],{},[24,119,120],{},"Surface Finish",[70,122],{},"\nPLA typically produces a cleaner and stiffer surface finish. PETG may exhibit stringing if not properly configured.",[64,125,126,129,131],{},[24,127,128],{},"Dimensional Accuracy",[70,130],{},"\nDue to its flexibility, PETG can show slightly lower dimensional precision for tight-tolerance parts.",[64,133,134,137,139],{},[24,135,136],{},"Moisture Sensitivity",[70,138],{},"\nPETG is hygroscopic and absorbs moisture from the air, making filament storage more critical.",[29,141],{},[53,143,145],{"id":144},"_13-material-selection-justification","1.3 Material Selection Justification",[17,147,148],{},"While PLA is suitable for rapid prototyping and aesthetic components, its brittleness and poor environmental resistance limit its application in marine systems.",[17,150,151],{},"PETG was selected as the optimal compromise between:",[61,153,154,157,160,163],{},[64,155,156],{},"Mechanical toughness",[64,158,159],{},"Environmental and moisture resistance",[64,161,162],{},"Chemical durability",[64,164,165],{},"Functional printability",[17,167,168],{},"This material choice supports long-term reliability and operational safety for autonomous vessel components.",[29,170],{},[32,172,174],{"id":173},"_2-optimized-petg-printing-parameters","2. Optimized PETG Printing Parameters",[17,176,177],{},"Through iterative testing and validation, the following printing parameters were identified as the most stable configuration for PETG filament used in this project.",[29,179],{},[53,181,183],{"id":182},"_21-nozzle-temperature","2.1 Nozzle Temperature",[17,185,186,187,190],{},"The optimized nozzle temperature was set to ",[24,188,189],{},"245 °C",".",[17,192,193],{},"This temperature provides:",[61,195,196,199,202],{},[64,197,198],{},"Stable material flow",[64,200,201],{},"Strong interlayer adhesion",[64,203,204],{},"Improved mechanical integrity",[17,206,207],{},"Lower temperatures resulted in weak bonding, while higher temperatures increased stringing and surface artifacts.",[29,209],{},[53,211,213],{"id":212},"_22-bed-temperature","2.2 Bed Temperature",[17,215,216,217,190],{},"The build plate temperature was set to ",[24,218,219],{},"70 °C",[17,221,222],{},"This configuration ensures:",[61,224,225,228,231],{},[64,226,227],{},"Reliable first-layer adhesion",[64,229,230],{},"Reduced warping and edge lifting",[64,232,233],{},"Stable thermal behavior during printing",[29,235],{},[53,237,239],{"id":238},"_23-supporting-print-settings","2.3 Supporting Print Settings",[17,241,242],{},"To complement the temperature setup, additional parameters were applied:",[61,244,245,248,251],{},[64,246,247],{},"Moderate printing speed",[64,249,250],{},"Controlled cooling fan usage",[64,252,253],{},"Precise first-layer calibration",[17,255,256],{},"These settings improve print consistency and dimensional stability.",[29,258],{},[32,260,262],{"id":261},"_3-environmental-factors-affecting-petg-printing","3. Environmental Factors Affecting PETG Printing",[17,264,265],{},"Environmental conditions play a significant role in PETG print quality and repeatability.",[29,267],{},[53,269,271],{"id":270},"_31-humidity-and-moisture","3.1 Humidity and Moisture",[17,273,274],{},"PETG absorbs moisture from the surrounding air. High humidity can cause:",[61,276,277,280,283],{},[64,278,279],{},"Bubbling during extrusion",[64,281,282],{},"Rough surface finish",[64,284,285],{},"Reduced layer adhesion",[17,287,288],{},"Filament should be stored in sealed containers with desiccants, especially in humid environments.",[29,290],{},[53,292,294],{"id":293},"_32-ambient-temperature-and-airflow","3.2 Ambient Temperature and Airflow",[17,296,297],{},"Uncontrolled airflow or rapid temperature changes may lead to:",[61,299,300,303,306],{},[64,301,302],{},"Layer separation",[64,304,305],{},"Uneven cooling",[64,307,308],{},"Dimensional inaccuracies",[17,310,311],{},"Maintaining a stable printing environment improves reliability.",[29,313],{},[53,315,317],{"id":316},"_33-build-plate-cleanliness","3.3 Build Plate Cleanliness",[17,319,320],{},"Dust, oil, or residue on the build surface can reduce adhesion. Regular cleaning significantly lowers print failure rates.",[29,322],{},[32,324,326],{"id":325},"_4-achieving-optimal-printing-results","4. Achieving Optimal Printing Results",[17,328,329],{},"The combination of PETG material selection, optimized printing parameters, and environmental control resulted in consistent and mechanically reliable printed components.",[17,331,332,333,336,337,340],{},"The finalized configuration—",[24,334,335],{},"245 °C nozzle temperature"," and ",[24,338,339],{},"70 °C bed temperature","—represents a balanced setup that prioritizes strength, repeatability, and suitability for marine environments.",[29,342],{},[32,344,346],{"id":345},"conclusion","Conclusion",[17,348,349],{},"The use of PETG filament combined with carefully optimized printing parameters enables the production of durable and reliable 3D printed components for autonomous marine platforms.",[17,351,352],{},"By selecting PETG over PLA and refining the printing setup, this manufacturing strategy supports functional integration, rapid development, and long-term operational reliability.",{"title":354,"searchDepth":355,"depth":355,"links":356},"",2,[357,363,368,373,374],{"id":34,"depth":355,"text":35,"children":358},[359,361,362],{"id":55,"depth":360,"text":56},3,{"id":101,"depth":360,"text":102},{"id":144,"depth":360,"text":145},{"id":173,"depth":355,"text":174,"children":364},[365,366,367],{"id":182,"depth":360,"text":183},{"id":212,"depth":360,"text":213},{"id":238,"depth":360,"text":239},{"id":261,"depth":355,"text":262,"children":369},[370,371,372],{"id":270,"depth":360,"text":271},{"id":293,"depth":360,"text":294},{"id":316,"depth":360,"text":317},{"id":325,"depth":355,"text":326},{"id":345,"depth":355,"text":346},"5 January 2025","Documentation of PETG filament selection and optimized 3D printing parameters to produce durable, moisture-resistant structural components for autonomous marine applications.","md","/images/research/body-design/3d-print.webp",null,{},true,"/logbook-experiments/body/3d_printing_optimization_petg_marine",{"title":6,"description":376},"logbook-experiments/body/3D_printing_optimization_PETG_marine",[386,387,388,389],"Additive Manufacturing","3D Printing","PETG","Marine Structures","6GEAHUoAHukYI0hq9wDzms-oYP_0NpOQ4LWKWaMzTfw",{"id":392,"title":393,"author":7,"body":394,"date":572,"description":573,"extension":377,"image":574,"location":379,"meta":575,"navigation":381,"path":576,"seo":577,"stem":578,"tags":579,"__hash__":583},"content/logbook-experiments/body/catamaran_flat_hull_flared_sides_design.md","[LOGBOOK] Selection of Flared Flat-Bottom Catamaran Hull Design for Enhanced Stability",{"type":9,"value":395,"toc":562},[396,400,403,406,408,412,415,427,430,432,436,439,442,452,455,457,464,468,471,475,482,493,497,504,522,524,528,531,545,552,554,556,559],[12,397,399],{"id":398},"catamaran-flat-hull-with-flared-sides-design-selection","Catamaran Flat Hull with Flared Sides Design Selection",[17,401,402],{},"During the hull design stage, the selection of hull geometry becomes a critical factor influencing vessel stability, operational efficiency, and maneuverability, particularly for operations in calm inland waters such as lakes.",[17,404,405],{},"The team conducted a comparative study of several catamaran hull configurations to determine the most suitable design for the intended operational requirements.",[29,407],{},[32,409,411],{"id":410},"_1-catamaran-hull-design-alternatives","1. Catamaran Hull Design Alternatives",[17,413,414],{},"In the initial design phase, the following catamaran hull configurations were evaluated:",[61,416,417,422],{},[64,418,419],{},[24,420,421],{},"Round Hull Catamaran",[64,423,424],{},[24,425,426],{},"Flat-Bottom Catamaran with Flared Sides",[17,428,429],{},"Each configuration exhibits distinct hydrodynamic behavior and stability characteristics.",[29,431],{},[32,433,435],{"id":434},"_2-characteristics-of-the-round-hull-catamaran","2. Characteristics of the Round Hull Catamaran",[17,437,438],{},"The round hull catamaran offers smoother motion response and gradual interaction with wave disturbances.",[17,440,441],{},"However, this design presents a major limitation:",[61,443,444],{},[64,445,446,449,451],{},[24,447,448],{},"Relatively Low Initial Stability",[70,450],{},"\nVessels with round hull configurations tend to have a smaller initial righting moment, resulting in slower recovery to an upright position after wave-induced disturbances.",[17,453,454],{},"Due to this characteristic, the round hull configuration is less suitable for applications requiring a highly stable operational platform.",[29,456],{},[17,458,459],{},[460,461],"img",{"alt":462,"src":463},"Flat-Bottom Hull with Flared Sides","/images/research/body-design/hull-360.gif",[32,465,467],{"id":466},"_3-characteristics-of-the-flat-bottom-catamaran-with-flared-sides","3. Characteristics of the Flat-Bottom Catamaran with Flared Sides",[17,469,470],{},"As an alternative, the flat-bottom catamaran configuration provides significant advantages in terms of initial stability.",[53,472,474],{"id":473},"_31-initial-stability","3.1 Initial Stability",[17,476,477,478,481],{},"The flat-bottom hull geometry delivers ",[24,479,480],{},"higher initial stability",", enabling the vessel to:",[61,483,484,487,490],{},[64,485,486],{},"Return more quickly to an upright position",[64,488,489],{},"Maintain stability under wave disturbances",[64,491,492],{},"Provide a more rigid and stable platform for onboard equipment installation",[53,494,496],{"id":495},"_32-role-of-flared-sides","3.2 Role of Flared Sides",[17,498,499,500,503],{},"The incorporation of ",[24,501,502],{},"flared sides"," into the hull design offers additional benefits, including:",[61,505,506,514],{},[64,507,508,511,513],{},[24,509,510],{},"Wave impact mitigation",[70,512],{},"\nFlared sides help deflect incoming waves away from the deck, reducing the risk of water ingress during wave encounters.",[64,515,516,519,521],{},[24,517,518],{},"Improved buoyancy and safety",[70,520],{},"\nThis design increases the upper hull volume, contributing to enhanced buoyancy and overall operational safety.",[29,523],{},[32,525,527],{"id":526},"_4-design-selection-justification","4. Design Selection Justification",[17,529,530],{},"The combination of a flat-bottom hull with flared sides results in a catamaran design that:",[61,532,533,536,539,542],{},[64,534,535],{},"Exhibits high initial stability",[64,537,538],{},"Provides reliable maneuverability",[64,540,541],{},"Operates efficiently in calm water environments",[64,543,544],{},"Supports increased payload capacity and equipment integration",[17,546,547,548,551],{},"Based on operational requirements that prioritize stability and reliability for lake-based missions, the team selected the ",[24,549,550],{},"Flared Flat-Bottom Catamaran Hull"," as the most suitable hull configuration.",[29,553],{},[32,555,346],{"id":345},[17,557,558],{},"The selection of the flared flat-bottom catamaran hull was driven by stability, safety, and operational efficiency considerations.",[17,560,561],{},"Compared to the round hull configuration, this design offers superior performance for calm inland water applications and supports stable, reliable vessel operation throughout mission execution.",{"title":354,"searchDepth":355,"depth":355,"links":563},[564,565,566,570,571],{"id":410,"depth":355,"text":411},{"id":434,"depth":355,"text":435},{"id":466,"depth":355,"text":467,"children":567},[568,569],{"id":473,"depth":360,"text":474},{"id":495,"depth":360,"text":496},{"id":526,"depth":355,"text":527},{"id":345,"depth":355,"text":346},"15 December 2025","Design selection process of a flared flat-bottom catamaran hull based on stability analysis, hydrodynamic characteristics, and operational suitability for calm water environments.","/images/research/body-design/hull-comparison.webp",{},"/logbook-experiments/body/catamaran_flat_hull_flared_sides_design",{"title":393,"description":573},"logbook-experiments/body/catamaran_flat_hull_flared_sides_design",[580,581,582,389],"Hull Design","Catamaran","Stability Analysis","IQQhbYv0csnf3USW3pm6zt123a1qKSaH1qDOEu5GfBU",{"id":585,"title":586,"author":587,"body":588,"date":572,"description":977,"extension":377,"image":978,"location":379,"meta":979,"navigation":381,"path":980,"seo":981,"stem":982,"tags":983,"__hash__":987},"content/logbook-experiments/body/vacuum_infusion_composite.md","[LOGBOOK] Implementation of Vacuum Infusion Process (VIP) and Composite Material Specifications","M. Taufiq",{"type":9,"value":589,"toc":962},[590,594,602,613,615,619,625,628,642,644,648,658,661,672,674,678,685,688,699,701,705,709,716,724,729,741,743,747,750,755,758,776,785,787,791,794,809,811,815,904,906,910,913,924,926,930,933,944,946,948],[32,591,593],{"id":592},"introduction","Introduction",[17,595,596,597,601],{},"Manufacturing methods play a vital role in determining the mechanical properties, final weight, and surface quality of composite structures. Compared to conventional ",[598,599,600],"em",{},"hand lay-up"," methods, vacuum-assisted processes offer better control of the fiber–resin ratio and significantly reduce the formation of air voids.",[17,603,604,605,608,609,612],{},"Among various ",[598,606,607],{},"closed-mold"," techniques, the ",[24,610,611],{},"Vacuum Infusion Process (VIP)"," is selected as a high-performance solution for manufacturing components that require high strength with low structural weight.",[29,614],{},[32,616,618],{"id":617},"_1-rationale-for-using-vacuum-infusion","1. Rationale for Using Vacuum Infusion",[17,620,621,622,624],{},"The Vacuum Infusion Process (VIP) is a ",[598,623,607],{}," manufacturing method in which dry fiber reinforcements are placed on a mold surface and sealed using an airtight vacuum bag. Resin is then drawn into the fiber layers by the pressure difference between atmospheric pressure and the vacuum inside the bag.",[17,626,627],{},"The main motivations for using this method include:",[61,629,630,633,636,639],{},[64,631,632],{},"High strength-to-weight ratio",[64,634,635],{},"Improved laminate consolidation",[64,637,638],{},"Low emission of volatile organic compounds (VOC)",[64,640,641],{},"High process repeatability",[29,643],{},[32,645,647],{"id":646},"_2-quality-characteristics","2. Quality Characteristics",[17,649,650,651,654,655,190],{},"The primary advantage of VIP is its ability to achieve a high ",[24,652,653],{},"Fiber Volume Fraction (Vf)",", typically in the range of ",[24,656,657],{},"50–60%",[17,659,660],{},"This condition results in:",[61,662,663,666,669],{},[64,664,665],{},"Very low void content (\u003C 1%)",[64,667,668],{},"Uniform resin distribution, even in complex geometries",[64,670,671],{},"Consistent structural quality",[29,673],{},[32,675,677],{"id":676},"_3-hydrodynamic-and-structural-performance","3. Hydrodynamic and Structural Performance",[17,679,680,681,684],{},"The VIP method is particularly suitable for ",[24,682,683],{},"marine applications",", such as hull structures and floating vehicles.",[17,686,687],{},"Key benefits include:",[61,689,690,693,696],{},[64,691,692],{},"Reduced structural weight, improving buoyancy",[64,694,695],{},"Enhanced fatigue resistance under cyclic wave loading",[64,697,698],{},"Smooth outer surfaces that reduce skin-friction drag",[29,700],{},[32,702,704],{"id":703},"_4-material-specifications-and-laminate-configuration","4. Material Specifications and Laminate Configuration",[53,706,708],{"id":707},"_41-matrix-system-epoxy-resin","4.1 Matrix System: Epoxy Resin",[17,710,711,712,715],{},"An ",[24,713,714],{},"epoxy resin system"," is used as the matrix material with the following specification:",[61,717,718],{},[64,719,720,723],{},[24,721,722],{},"Mixing ratio:"," 3 parts resin : 1 part hardener (3:1)",[17,725,726],{},[24,727,728],{},"Reasons for selecting epoxy resin:",[730,731,732,735,738],"ol",{},[64,733,734],{},"Superior mechanical properties and fiber adhesion compared to polyester and vinyl ester resins",[64,736,737],{},"Low volumetric shrinkage during the curing process",[64,739,740],{},"Excellent resistance to water absorption and chemical degradation",[29,742],{},[53,744,746],{"id":745},"_42-laminate-schedule","4.2 Laminate Schedule",[17,748,749],{},"The laminate configuration applied in this design is:",[17,751,752],{},[24,753,754],{},"WR – Mat – WR – Mat – WR",[17,756,757],{},"Material description:",[61,759,760,768],{},[64,761,762,765,767],{},[24,763,764],{},"Woven Roving (WR)",[70,766],{},"\nActs as the primary structural reinforcement, providing tensile strength and stiffness.",[64,769,770,773,775],{},[24,771,772],{},"Chopped Strand Mat (CSM/Mat)",[70,774],{},"\nServes as an interlaminar layer to enhance bonding between layers and to increase laminate thickness.",[777,778,779],"blockquote",{},[17,780,781,784],{},[24,782,783],{},"Note:"," Powder-bound CSM is used, as emulsion-bound CSM is not compatible with epoxy resin systems and vacuum infusion processes.",[29,786],{},[53,788,790],{"id":789},"_43-laminate-configuration-mechanism","4.3 Laminate Configuration Mechanism",[17,792,793],{},"The alternating laminate configuration is applied for the following technical reasons:",[61,795,796,799,802],{},[64,797,798],{},"Improved interlaminar bonding",[64,800,801],{},"More uniform shear stress distribution between stiff WR layers",[64,803,804,805,808],{},"Reduction of surface ",[598,806,807],{},"print-through"," effects",[29,810],{},[32,812,814],{"id":813},"_5-manufacturing-method-comparison","5. Manufacturing Method Comparison",[816,817,818,834],"table",{},[819,820,821],"thead",{},[822,823,824,828,831],"tr",{},[825,826,827],"th",{},"Aspect",[825,829,830],{},"Vacuum Infusion (VIP)",[825,832,833],{},"Hand Lay-up",[835,836,837,849,860,871,882,893],"tbody",{},[822,838,839,843,846],{},[840,841,842],"td",{},"Common Resin Type",[840,844,845],{},"Epoxy / Vinyl Ester",[840,847,848],{},"Polyester",[822,850,851,854,857],{},[840,852,853],{},"Pressure Mechanism",[840,855,856],{},"Atmospheric pressure (vacuum-assisted)",[840,858,859],{},"Manual roller pressure",[822,861,862,865,868],{},[840,863,864],{},"Fiber–Resin Ratio",[840,866,867],{},"High (fiber-dominant)",[840,869,870],{},"Low (resin-dominant)",[822,872,873,876,879],{},[840,874,875],{},"Void Content",[840,877,878],{},"Very low (\u003C1%)",[840,880,881],{},"High (2–5%)",[822,883,884,887,890],{},[840,885,886],{},"Specific Strength",[840,888,889],{},"High",[840,891,892],{},"Moderate",[822,894,895,898,901],{},[840,896,897],{},"VOC Emissions",[840,899,900],{},"Low (closed system)",[840,902,903],{},"High (open system)",[29,905],{},[32,907,909],{"id":908},"_6-relevance-for-vehicle-development","6. Relevance for Vehicle Development",[17,911,912],{},"From an engineering perspective, the combination of VIP and epoxy resin offers:",[61,914,915,918,921],{},[64,916,917],{},"Optimal stiffness-to-weight ratio",[64,919,920],{},"High geometric accuracy and laminate uniformity",[64,922,923],{},"Efficient use of resin material without excessive waste",[29,925],{},[32,927,929],{"id":928},"_7-design-limitations","7. Design Limitations",[17,931,932],{},"Despite its advantages, the VIP method has several limitations:",[61,934,935,938,941],{},[64,936,937],{},"The 3:1 epoxy mixing ratio requires high accuracy to avoid incomplete curing or excessive exothermic reactions",[64,939,940],{},"Higher material and consumable costs compared to conventional polyester systems",[64,942,943],{},"Longer preparation and setup time due to vacuum bagging requirements",[29,945],{},[32,947,346],{"id":345},[17,949,950,951,953,954,957,958,961],{},"The application of the ",[24,952,611],{}," using an ",[24,955,956],{},"epoxy resin system with a 3:1 mixing ratio"," and a ",[24,959,960],{},"WR–Mat–WR–Mat–WR laminate configuration"," results in a composite structure with high specific strength, excellent water resistance, and superior dimensional accuracy. This approach represents an ideal manufacturing standard for high-performance marine and lightweight structural applications.",{"title":354,"searchDepth":355,"depth":355,"links":963},[964,965,966,967,968,973,974,975,976],{"id":592,"depth":355,"text":593},{"id":617,"depth":355,"text":618},{"id":646,"depth":355,"text":647},{"id":676,"depth":355,"text":677},{"id":703,"depth":355,"text":704,"children":969},[970,971,972],{"id":707,"depth":360,"text":708},{"id":745,"depth":360,"text":746},{"id":789,"depth":360,"text":790},{"id":813,"depth":355,"text":814},{"id":908,"depth":355,"text":909},{"id":928,"depth":355,"text":929},{"id":345,"depth":355,"text":346},"Implementation of Vacuum Infusion Process (VIP) for lightweight composite structures, focusing on laminate design, material specifications, and performance in marine applications.","/images/research/body-design/vacuum.webp",{},"/logbook-experiments/body/vacuum_infusion_composite",{"title":586,"description":977},"logbook-experiments/body/vacuum_infusion_composite",[984,985,986],"Composite Materials","Vacuum Infusion","Hull Manufacturing","W_KEq9bRt4BPu12Pptw_askAJI3KhX889xSkVbIkoMs",{"id":989,"title":990,"author":991,"body":992,"date":1190,"description":1191,"extension":377,"image":1016,"location":379,"meta":1192,"navigation":381,"path":1193,"seo":1194,"stem":1195,"tags":1196,"__hash__":1197},"content/logbook-experiments/electrical/electrical-system.md","[LOGBOOK] Electrical Diagram of Mandakini Raiden","Rafi Adhitya",{"type":9,"value":993,"toc":1175},[994,996,999,1002,1005,1007,1011,1017,1019,1023,1027,1035,1039,1050,1054,1065,1069,1083,1087,1098,1102,1116,1120,1137,1141,1155,1157,1161,1167,1173],[32,995,593],{"id":592},[17,997,998],{},"The electrical system of Mandakini Raiden is designed with a centralized and modular architecture to ensure stable, safe, and efficient power distribution. The system utilizes a power distribution box equipped with a main terminal block and DC-to-DC converters to regulate and distribute voltage to various subsystems in the Control Box, including Pixhawk, Jetson, telemetry modules, and the emergency system.",[17,1000,1001],{},"In addition, the electrical system supports the operation of relays and Electronic Speed Controllers (ESCs) used in water operation and rescue delivery missions, allowing actuators to be controlled precisely according to mission requirements. To maintain propulsion system reliability, motor power sources are separated and use dedicated Li-Po batteries, preventing overload on the control and sensor systems.",[17,1003,1004],{},"As part of the monitoring system, Mandakini Raiden is equipped with a battery voltage sensor that monitors remaining battery capacity in real time. This sensor is connected to an Arduino, which then transmits battery voltage data to Pixhawk for display and use as a reference for decision making during vessel operation.",[29,1006],{},[32,1008,1010],{"id":1009},"electrical-diagram","Electrical Diagram",[17,1012,1013],{},[460,1014],{"alt":1015,"src":1016},"Electrical Diagram of Mandakini Raiden","/images/research/electric-mechanic/electrical-diagram.webp",[29,1018],{},[32,1020,1022],{"id":1021},"component-breakdown","Component Breakdown",[53,1024,1026],{"id":1025},"_1-power-system-sistem-daya","1. Power System (Sistem Daya)",[61,1028,1029,1032],{},[64,1030,1031],{},"Li-Po Battery 14.8V 5200 mAh (2 units)",[64,1033,1034],{},"Li-Po Battery 14.8V 10000 mAh (Emergency Battery)",[53,1036,1038],{"id":1037},"_2-voltage-regulator","2. Voltage Regulator",[61,1040,1041,1044,1047],{},[64,1042,1043],{},"Step Down Converter 12V",[64,1045,1046],{},"Step Down Converter 5V",[64,1048,1049],{},"Step Up Converter 24V",[53,1051,1053],{"id":1052},"_3-control-system","3. Control System",[61,1055,1056,1059,1062],{},[64,1057,1058],{},"Pixhawk",[64,1060,1061],{},"Jetson Nano",[64,1063,1064],{},"Arduino",[53,1066,1068],{"id":1067},"_4-communication-system","4. Communication System",[61,1070,1071,1074,1077,1080],{},[64,1072,1073],{},"LAN Network",[64,1075,1076],{},"Ubiquity Radio",[64,1078,1079],{},"Telemetry Module",[64,1081,1082],{},"Remote Receiver (RX)",[53,1084,1086],{"id":1085},"_5-computer-and-vision","5. Computer and Vision",[61,1088,1089,1092,1095],{},[64,1090,1091],{},"Logitech C920 Camera",[64,1093,1094],{},"LiDAR Sensor",[64,1096,1097],{},"GPS Module",[53,1099,1101],{"id":1100},"_6-propulsion-system","6. Propulsion System",[61,1103,1104,1107,1110,1113],{},[64,1105,1106],{},"T200 Thruster",[64,1108,1109],{},"Basic ESC",[64,1111,1112],{},"Servo Motor (2 units)",[64,1114,1115],{},"Steering Servo",[53,1117,1119],{"id":1118},"_7-actuator-system","7. Actuator System",[61,1121,1122,1125,1128,1131,1134],{},[64,1123,1124],{},"Waterblast System",[64,1126,1127],{},"Water Pump",[64,1129,1130],{},"Servo X",[64,1132,1133],{},"ESC",[64,1135,1136],{},"BLDC Motor",[53,1138,1140],{"id":1139},"_8-emergency-system","8. Emergency System",[61,1142,1143,1146,1149,1152],{},[64,1144,1145],{},"12V Relay",[64,1147,1148],{},"12V LED",[64,1150,1151],{},"Physical Switch",[64,1153,1154],{},"Emergency Control Module",[29,1156],{},[32,1158,1160],{"id":1159},"_3d-design-electrical-diagram","3D Design Electrical Diagram",[17,1162,1163],{},[460,1164],{"alt":1165,"src":1166},"Control Box Layout","/images/research/electric-mechanic/control-box.webp",[17,1168,1169],{},[460,1170],{"alt":1171,"src":1172},"Power Distribution Box Layout","/images/research/electric-mechanic/power-distribution-box.webp",[29,1174],{},{"title":354,"searchDepth":355,"depth":355,"links":1176},[1177,1178,1179,1189],{"id":592,"depth":355,"text":593},{"id":1009,"depth":355,"text":1010},{"id":1021,"depth":355,"text":1022,"children":1180},[1181,1182,1183,1184,1185,1186,1187,1188],{"id":1025,"depth":360,"text":1026},{"id":1037,"depth":360,"text":1038},{"id":1052,"depth":360,"text":1053},{"id":1067,"depth":360,"text":1068},{"id":1085,"depth":360,"text":1086},{"id":1100,"depth":360,"text":1101},{"id":1118,"depth":360,"text":1119},{"id":1139,"depth":360,"text":1140},{"id":1159,"depth":355,"text":1160},"11 January 2026","An overview of the electrical system architecture of Mandakini Raiden, covering power distribution, control, communication, propulsion, and safety subsystems for autonomous operation.",{},"/logbook-experiments/electrical/electrical-system",{"title":990,"description":1191},"logbook-experiments/electrical/electrical-system",[1010],"pSSYYG1unWrDNwNuLPXaVhc02iRV2yGuAMDMc2TEFV8",{"id":1199,"title":1200,"author":991,"body":1201,"date":1190,"description":1957,"extension":377,"image":1958,"location":379,"meta":1959,"navigation":381,"path":1960,"seo":1961,"stem":1962,"tags":1963,"__hash__":1967},"content/logbook-experiments/electrical/gps_testing.md","[LOGBOOK] GPS Testing and Analysis",{"type":9,"value":1202,"toc":1945},[1203,1205,1208,1211,1213,1217,1220,1222,1226,1243,1245,1249,1252,1255,1258,1261,1263,1267,1270,1272,1276,1291,1294,1297,1301,1530,1534,1737,1741,1936,1938,1940,1943],[32,1204,593],{"id":592},[17,1206,1207],{},"The Mandakini Raiden navigation system utilizes a GPS module as the primary component for determining the real-time position of the unmanned surface vessel. The reliability and accuracy of the navigation system are critical to mission success, particularly for operations that require high positional precision such as waypoint tracking and precise maneuvering.",[17,1209,1210],{},"To enhance positional accuracy, the GPS system was evaluated under several positioning solution modes, namely 3D Fix, RTK Float, and RTK Fixed. This testing aims to analyze the performance of each mode and to quantify the accuracy improvements achieved through the integration of RTK technology.",[29,1212],{},[32,1214,1216],{"id":1215},"challenges","Challenges",[17,1218,1219],{},"The main challenges encountered during GPS testing include variations in GNSS signal quality due to environmental conditions, multipath effects caused by surrounding structures, and convergence time required for RTK solutions to stabilize. These factors can influence the consistency and reliability of the positional data collected during testing.",[29,1221],{},[32,1223,1225],{"id":1224},"main-component","Main Component",[61,1227,1228,1231,1234,1237,1240],{},[64,1229,1230],{},"RTK-enabled GPS Module",[64,1232,1233],{},"Pixhawk Flight Controller",[64,1235,1236],{},"RTK Base Station",[64,1238,1239],{},"Telemetry Radio",[64,1241,1242],{},"Power Distribution System",[29,1244],{},[32,1246,1248],{"id":1247},"testing-metodhs","Testing Metodhs",[17,1250,1251],{},"GPS testing was conducted by measuring vertical and horizontal position accuracy at several predefined waypoints. Each waypoint was tested three times for each GPS positioning mode: 3D Fix, RTK Float, and RTK Fixed.",[17,1253,1254],{},"The total positional error, referred to as overshoot, was calculated using the Euclidean distance approach:",[17,1256,1257],{},"Overshoot = sqrt((Vertical Accuracy)^2 + (Horizontal Accuracy)^2)",[17,1259,1260],{},"This calculation provides a single metric representing the overall positional deviation from the target waypoint in meters.",[29,1262],{},[32,1264,1266],{"id":1265},"implementation","Implementation",[17,1268,1269],{},"The testing procedure was carried out by positioning the vessel at predefined waypoints and recording vertical and horizontal accuracy data directly from the navigation system. All tests were performed under identical hardware configurations and similar environmental conditions to ensure consistency and fair performance comparison among the GPS modes.",[29,1271],{},[32,1273,1275],{"id":1274},"result-and-analysis","Result and Analysis",[17,1277,1278,1279,1282,1283,1286,1287,1290],{},"The results of the GPS testing are summarized in ",[24,1280,1281],{},"Table 1",", ",[24,1284,1285],{},"Table 2",", and ",[24,1288,1289],{},"Table 3",", which respectively present the positioning accuracy results for the 3D Fix, RTK Float, and RTK Fixed modes.",[17,1292,1293],{},"Analysis of the results indicates that the 3D Fix mode exhibits the largest positional error, reflecting the limitations of standalone GNSS positioning. The RTK Float mode demonstrates a significant reduction in overshoot, indicating improved accuracy through differential corrections, although some variability between measurements remains.",[17,1295,1296],{},"The RTK Fixed mode provides the best performance, achieving the lowest and most consistent overshoot values across all waypoints. This confirms that the navigation system is capable of centimeter-level positioning accuracy when RTK ambiguity resolution is fully fixed.",[32,1298,1300],{"id":1299},"table-1-gps-accuracy-test-results-using-3d-fix-mode","Table 1. GPS Accuracy Test Results Using 3D Fix Mode",[816,1302,1303,1326],{},[819,1304,1305],{},[822,1306,1307,1311,1314,1317,1320,1323],{},[825,1308,1310],{"align":1309},"right","Waypoint",[825,1312,1313],{"align":1309},"Test",[825,1315,1316],{"align":1309},"Vertical Accuracy (m)",[825,1318,1319],{"align":1309},"Horizontal Accuracy (m)",[825,1321,1322],{"align":1309},"Overshoot (m)",[825,1324,1325],{},"GPS Status",[835,1327,1328,1347,1365,1383,1400,1416,1433,1450,1466,1483,1500,1515],{},[822,1329,1330,1333,1335,1338,1341,1344],{},[840,1331,1332],{"align":1309},"1",[840,1334,1332],{"align":1309},[840,1336,1337],{"align":1309},"2.22",[840,1339,1340],{"align":1309},"1.18",[840,1342,1343],{"align":1309},"2.52",[840,1345,1346],{},"3D Fix",[822,1348,1349,1351,1354,1357,1360,1363],{},[840,1350],{"align":1309},[840,1352,1353],{"align":1309},"2",[840,1355,1356],{"align":1309},"2.32",[840,1358,1359],{"align":1309},"1.17",[840,1361,1362],{"align":1309},"2.60",[840,1364,1346],{},[822,1366,1367,1369,1372,1375,1378,1381],{},[840,1368],{"align":1309},[840,1370,1371],{"align":1309},"3",[840,1373,1374],{"align":1309},"2.26",[840,1376,1377],{"align":1309},"1.22",[840,1379,1380],{"align":1309},"2.57",[840,1382,1346],{},[822,1384,1385,1387,1389,1392,1395,1398],{},[840,1386,1353],{"align":1309},[840,1388,1332],{"align":1309},[840,1390,1391],{"align":1309},"2.21",[840,1393,1394],{"align":1309},"1.10",[840,1396,1397],{"align":1309},"2.47",[840,1399,1346],{},[822,1401,1402,1404,1406,1408,1411,1414],{},[840,1403],{"align":1309},[840,1405,1353],{"align":1309},[840,1407,1374],{"align":1309},[840,1409,1410],{"align":1309},"1.13",[840,1412,1413],{"align":1309},"2.53",[840,1415,1346],{},[822,1417,1418,1420,1422,1425,1428,1431],{},[840,1419],{"align":1309},[840,1421,1371],{"align":1309},[840,1423,1424],{"align":1309},"2.30",[840,1426,1427],{"align":1309},"1.16",[840,1429,1430],{"align":1309},"2.58",[840,1432,1346],{},[822,1434,1435,1437,1439,1442,1445,1448],{},[840,1436,1371],{"align":1309},[840,1438,1332],{"align":1309},[840,1440,1441],{"align":1309},"2.13",[840,1443,1444],{"align":1309},"1.09",[840,1446,1447],{"align":1309},"2.39",[840,1449,1346],{},[822,1451,1452,1454,1456,1459,1461,1464],{},[840,1453],{"align":1309},[840,1455,1353],{"align":1309},[840,1457,1458],{"align":1309},"2.10",[840,1460,1394],{"align":1309},[840,1462,1463],{"align":1309},"2.37",[840,1465,1346],{},[822,1467,1468,1470,1472,1475,1478,1481],{},[840,1469],{"align":1309},[840,1471,1371],{"align":1309},[840,1473,1474],{"align":1309},"2.14",[840,1476,1477],{"align":1309},"1.11",[840,1479,1480],{"align":1309},"2.41",[840,1482,1346],{},[822,1484,1485,1488,1490,1493,1495,1498],{},[840,1486,1487],{"align":1309},"4",[840,1489,1332],{"align":1309},[840,1491,1492],{"align":1309},"2.20",[840,1494,1427],{"align":1309},[840,1496,1497],{"align":1309},"2.49",[840,1499,1346],{},[822,1501,1502,1504,1506,1508,1511,1513],{},[840,1503],{"align":1309},[840,1505,1353],{"align":1309},[840,1507,1391],{"align":1309},[840,1509,1510],{"align":1309},"1.15",[840,1512,1497],{"align":1309},[840,1514,1346],{},[822,1516,1517,1519,1521,1523,1525,1528],{},[840,1518],{"align":1309},[840,1520,1371],{"align":1309},[840,1522,1492],{"align":1309},[840,1524,1427],{"align":1309},[840,1526,1527],{"align":1309},"2.48",[840,1529,1346],{},[32,1531,1533],{"id":1532},"table-2-gps-accuracy-test-results-using-rtk-float-mode","Table 2. GPS Accuracy Test Results Using RTK Float Mode",[816,1535,1536,1552],{},[819,1537,1538],{},[822,1539,1540,1542,1544,1546,1548,1550],{},[825,1541,1310],{"align":1309},[825,1543,1313],{"align":1309},[825,1545,1316],{"align":1309},[825,1547,1319],{"align":1309},[825,1549,1322],{"align":1309},[825,1551,1325],{},[835,1553,1554,1572,1589,1605,1619,1634,1650,1664,1678,1694,1708,1722],{},[822,1555,1556,1558,1560,1563,1566,1569],{},[840,1557,1332],{"align":1309},[840,1559,1332],{"align":1309},[840,1561,1562],{"align":1309},"0.22",[840,1564,1565],{"align":1309},"0.13",[840,1567,1568],{"align":1309},"0.26",[840,1570,1571],{},"RTK Float",[822,1573,1574,1576,1578,1581,1584,1587],{},[840,1575],{"align":1309},[840,1577,1353],{"align":1309},[840,1579,1580],{"align":1309},"0.17",[840,1582,1583],{"align":1309},"0.10",[840,1585,1586],{"align":1309},"0.20",[840,1588,1571],{},[822,1590,1591,1593,1595,1598,1600,1603],{},[840,1592],{"align":1309},[840,1594,1371],{"align":1309},[840,1596,1597],{"align":1309},"0.15",[840,1599,1583],{"align":1309},[840,1601,1602],{"align":1309},"0.18",[840,1604,1571],{},[822,1606,1607,1609,1611,1613,1615,1617],{},[840,1608,1353],{"align":1309},[840,1610,1332],{"align":1309},[840,1612,1580],{"align":1309},[840,1614,1583],{"align":1309},[840,1616,1586],{"align":1309},[840,1618,1571],{},[822,1620,1621,1623,1625,1627,1629,1632],{},[840,1622],{"align":1309},[840,1624,1353],{"align":1309},[840,1626,1565],{"align":1309},[840,1628,1583],{"align":1309},[840,1630,1631],{"align":1309},"0.16",[840,1633,1571],{},[822,1635,1636,1638,1640,1643,1646,1648],{},[840,1637],{"align":1309},[840,1639,1371],{"align":1309},[840,1641,1642],{"align":1309},"0.12",[840,1644,1645],{"align":1309},"0.09",[840,1647,1597],{"align":1309},[840,1649,1571],{},[822,1651,1652,1654,1656,1658,1660,1662],{},[840,1653,1371],{"align":1309},[840,1655,1332],{"align":1309},[840,1657,1642],{"align":1309},[840,1659,1583],{"align":1309},[840,1661,1631],{"align":1309},[840,1663,1571],{},[822,1665,1666,1668,1670,1672,1674,1676],{},[840,1667],{"align":1309},[840,1669,1353],{"align":1309},[840,1671,1565],{"align":1309},[840,1673,1642],{"align":1309},[840,1675,1602],{"align":1309},[840,1677,1571],{},[822,1679,1680,1682,1684,1687,1689,1692],{},[840,1681],{"align":1309},[840,1683,1371],{"align":1309},[840,1685,1686],{"align":1309},"0.23",[840,1688,1597],{"align":1309},[840,1690,1691],{"align":1309},"0.27",[840,1693,1571],{},[822,1695,1696,1698,1700,1702,1704,1706],{},[840,1697,1487],{"align":1309},[840,1699,1332],{"align":1309},[840,1701,1586],{"align":1309},[840,1703,1631],{"align":1309},[840,1705,1568],{"align":1309},[840,1707,1571],{},[822,1709,1710,1712,1714,1716,1718,1720],{},[840,1711],{"align":1309},[840,1713,1353],{"align":1309},[840,1715,1580],{"align":1309},[840,1717,1597],{"align":1309},[840,1719,1686],{"align":1309},[840,1721,1571],{},[822,1723,1724,1726,1728,1730,1732,1735],{},[840,1725],{"align":1309},[840,1727,1371],{"align":1309},[840,1729,1597],{"align":1309},[840,1731,1642],{"align":1309},[840,1733,1734],{"align":1309},"0.19",[840,1736,1571],{},[32,1738,1740],{"id":1739},"table-3-gps-accuracy-test-results-using-rtk-fixed-mode","Table 3. GPS Accuracy Test Results Using RTK Fixed Mode",[816,1742,1743,1759],{},[819,1744,1745],{},[822,1746,1747,1749,1751,1753,1755,1757],{},[825,1748,1310],{"align":1309},[825,1750,1313],{"align":1309},[825,1752,1316],{"align":1309},[825,1754,1319],{"align":1309},[825,1756,1322],{"align":1309},[825,1758,1325],{},[835,1760,1761,1779,1793,1809,1823,1838,1852,1866,1880,1894,1908,1922],{},[822,1762,1763,1765,1767,1770,1773,1776],{},[840,1764,1332],{"align":1309},[840,1766,1332],{"align":1309},[840,1768,1769],{"align":1309},"0.03",[840,1771,1772],{"align":1309},"0.02",[840,1774,1775],{"align":1309},"0.04",[840,1777,1778],{},"RTK Fixed",[822,1780,1781,1783,1785,1787,1789,1791],{},[840,1782],{"align":1309},[840,1784,1353],{"align":1309},[840,1786,1772],{"align":1309},[840,1788,1772],{"align":1309},[840,1790,1769],{"align":1309},[840,1792,1778],{},[822,1794,1795,1797,1799,1802,1804,1807],{},[840,1796],{"align":1309},[840,1798,1371],{"align":1309},[840,1800,1801],{"align":1309},"0.05",[840,1803,1769],{"align":1309},[840,1805,1806],{"align":1309},"0.06",[840,1808,1778],{},[822,1810,1811,1813,1815,1817,1819,1821],{},[840,1812,1353],{"align":1309},[840,1814,1332],{"align":1309},[840,1816,1769],{"align":1309},[840,1818,1772],{"align":1309},[840,1820,1775],{"align":1309},[840,1822,1778],{},[822,1824,1825,1827,1829,1831,1834,1836],{},[840,1826],{"align":1309},[840,1828,1353],{"align":1309},[840,1830,1772],{"align":1309},[840,1832,1833],{"align":1309},"0.01",[840,1835,1772],{"align":1309},[840,1837,1778],{},[822,1839,1840,1842,1844,1846,1848,1850],{},[840,1841],{"align":1309},[840,1843,1371],{"align":1309},[840,1845,1769],{"align":1309},[840,1847,1833],{"align":1309},[840,1849,1775],{"align":1309},[840,1851,1778],{},[822,1853,1854,1856,1858,1860,1862,1864],{},[840,1855,1371],{"align":1309},[840,1857,1332],{"align":1309},[840,1859,1775],{"align":1309},[840,1861,1772],{"align":1309},[840,1863,1801],{"align":1309},[840,1865,1778],{},[822,1867,1868,1870,1872,1874,1876,1878],{},[840,1869],{"align":1309},[840,1871,1353],{"align":1309},[840,1873,1801],{"align":1309},[840,1875,1772],{"align":1309},[840,1877,1772],{"align":1309},[840,1879,1778],{},[822,1881,1882,1884,1886,1888,1890,1892],{},[840,1883],{"align":1309},[840,1885,1371],{"align":1309},[840,1887,1772],{"align":1309},[840,1889,1833],{"align":1309},[840,1891,1772],{"align":1309},[840,1893,1778],{},[822,1895,1896,1898,1900,1902,1904,1906],{},[840,1897,1487],{"align":1309},[840,1899,1332],{"align":1309},[840,1901,1772],{"align":1309},[840,1903,1833],{"align":1309},[840,1905,1772],{"align":1309},[840,1907,1778],{},[822,1909,1910,1912,1914,1916,1918,1920],{},[840,1911],{"align":1309},[840,1913,1353],{"align":1309},[840,1915,1769],{"align":1309},[840,1917,1772],{"align":1309},[840,1919,1775],{"align":1309},[840,1921,1778],{},[822,1923,1924,1926,1928,1930,1932,1934],{},[840,1925],{"align":1309},[840,1927,1371],{"align":1309},[840,1929,1772],{"align":1309},[840,1931,1833],{"align":1309},[840,1933,1772],{"align":1309},[840,1935,1778],{},[29,1937],{},[32,1939,346],{"id":345},[17,1941,1942],{},"Based on the GPS testing results, it can be concluded that the integration of RTK technology significantly enhances the accuracy and stability of the Mandakini Raiden navigation system. While the 3D Fix mode is sufficient for basic navigation tasks, RTK Float and RTK Fixed modes offer substantial improvements in positioning precision. In particular, the RTK Fixed mode is highly recommended for missions requiring high-accuracy and reliable autonomous navigation.",[29,1944],{},{"title":354,"searchDepth":355,"depth":355,"links":1946},[1947,1948,1949,1950,1951,1952,1953,1954,1955,1956],{"id":592,"depth":355,"text":593},{"id":1215,"depth":355,"text":1216},{"id":1224,"depth":355,"text":1225},{"id":1247,"depth":355,"text":1248},{"id":1265,"depth":355,"text":1266},{"id":1274,"depth":355,"text":1275},{"id":1299,"depth":355,"text":1300},{"id":1532,"depth":355,"text":1533},{"id":1739,"depth":355,"text":1740},{"id":345,"depth":355,"text":346},"Designing a battery management system to maintain power efficiency for up to 45 minutes during competition.","/images/research/electric-mechanic/rtk.webp",{},"/logbook-experiments/electrical/gps_testing",{"title":1200,"description":1957},"logbook-experiments/electrical/gps_testing",[1964,1965,1966],"GPS","RTK","Navigation","GNOetlfYImVibUEnpLAO2t2M4S_dHJ0MzIA2un4eN4o",{"id":1969,"title":1970,"author":1971,"body":1972,"date":2229,"description":1957,"extension":377,"image":2058,"location":379,"meta":2230,"navigation":381,"path":2231,"seo":2232,"stem":2233,"tags":2234,"__hash__":2237},"content/logbook-experiments/electrical/integrated-emergency-stop-system.md","[LOGBOOK] Integrated Emergency Stop System Design for Autonomous Vessels","M. Faridz",{"type":9,"value":1973,"toc":2216},[1974,1976,1979,1986,1988,1992,1995,1998,2012,2015,2017,2021,2024,2027,2041,2044,2046,2050,2053,2059,2062,2096,2099,2101,2105,2108,2125,2128,2130,2134,2137,2148,2151,2153,2157,2160,2171,2174,2176,2180,2183,2194,2197,2199,2203,2206,2209,2211,2213],[32,1975,593],{"id":592},[17,1977,1978],{},"In the development of autonomous vessels, operational safety is as critical as navigation accuracy and control performance. Unlike manually operated platforms, autonomous systems must be capable of responding to critical failures without human intervention while maintaining predictable and verifiable behavior.",[17,1980,1981,1982,1985],{},"To address this requirement, a dedicated ",[24,1983,1984],{},"Emergency Stop System (ESS)"," was designed as an integrated safety layer that ensures immediate, reliable, and fail-safe shutdown of propulsion and control outputs under emergency conditions.",[29,1987],{},[32,1989,1991],{"id":1990},"_1-why-an-integrated-emergency-stop-system","1. Why an Integrated Emergency Stop System?",[17,1993,1994],{},"Conventional emergency stop implementations often rely solely on direct power cut-off mechanisms. While simple, this approach can result in uncontrolled shutdown behavior, loss of system awareness, and limited diagnostic capability.",[17,1996,1997],{},"For autonomous vessels, such limitations are unacceptable. An integrated Emergency Stop System provides:",[61,1999,2000,2003,2006,2009],{},[64,2001,2002],{},"Deterministic and repeatable shutdown behavior",[64,2004,2005],{},"System-level awareness of emergency conditions",[64,2007,2008],{},"Controlled transition into a safe operational state",[64,2010,2011],{},"Protection against software faults and communication failures",[17,2013,2014],{},"This approach enhances safety without compromising system observability or post-event analysis.",[29,2016],{},[32,2018,2020],{"id":2019},"_2-system-design-overview","2. System Design Overview",[17,2022,2023],{},"The Emergency Stop System is implemented as an independent safety module positioned between the autopilot and the propulsion subsystem. Its primary objective is to enforce predictable, hardware-level safety behavior regardless of the state of the autonomy software.",[17,2025,2026],{},"Key design characteristics include:",[61,2028,2029,2032,2035,2038],{},[64,2030,2031],{},"Hardware-based power isolation using relay mechanisms",[64,2033,2034],{},"Independent emergency logic with minimal software dependency",[64,2036,2037],{},"Redundant emergency trigger paths",[64,2039,2040],{},"Fail-safe default behavior during power or signal loss",[17,2042,2043],{},"This architecture ensures that emergency stop functionality remains operational even under partial system failure.",[29,2045],{},[53,2047,2049],{"id":2048},"_21-emergency-stop-system-schematic","2.1 Emergency Stop System Schematic",[17,2051,2052],{},"The following schematic illustrates the hardware implementation of the Emergency Stop System. It represents the physical realization of the system architecture described above, detailing how power, emergency inputs, isolation elements, and indicators interact to enforce safe operation.",[17,2054,2055],{},[460,2056],{"alt":2057,"src":2058},"Emergency Stop System Schematic","/images/research/electric-mechanic/schematic.webp",[17,2060,2061],{},"Key schematic elements include:",[61,2063,2064,2072,2080,2088],{},[64,2065,2066,2069,2071],{},[24,2067,2068],{},"X1 – Power Input:",[70,2070],{},"\nServes as the main power entry point for the Emergency Stop System, supplying energy to control logic, relay drivers, and status indicators.",[64,2073,2074,2077,2079],{},[24,2075,2076],{},"X2 – Emergency Stop Button:",[70,2078],{},"\nConnected as a normally-closed (NC) input to ensure fail-safe behavior. Any button activation or wiring failure immediately triggers the emergency state.",[64,2081,2082,2085,2087],{},[24,2083,2084],{},"Relay Isolation Stage:",[70,2086],{},"\nPhysically disconnects propulsion and actuator power lines when an emergency condition is detected, providing hardware-level enforcement.",[64,2089,2090,2093,2095],{},[24,2091,2092],{},"LSP – Status Indicator Lamps:",[70,2094],{},"\nRed and green indicators provide immediate visual feedback, distinguishing between normal operation and active emergency states.",[17,2097,2098],{},"This schematic ensures that emergency response remains deterministic, observable, and independent of higher-level autonomy functions.",[29,2100],{},[32,2102,2104],{"id":2103},"_3-emergency-trigger-conditions","3. Emergency Trigger Conditions",[17,2106,2107],{},"To maximize fault tolerance, the system continuously monitors multiple independent emergency trigger sources, including:",[61,2109,2110,2113,2116,2119,2122],{},[64,2111,2112],{},"Manual emergency stop activation",[64,2114,2115],{},"Loss of control or communication signals",[64,2117,2118],{},"Electrical anomalies or power instability",[64,2120,2121],{},"Autopilot-generated failsafe events",[64,2123,2124],{},"Internal watchdog timeout conditions",[17,2126,2127],{},"By combining both manual and automatic triggers, the system avoids single points of failure and ensures robust emergency detection.",[29,2129],{},[32,2131,2133],{"id":2132},"_4-shutdown-and-isolation-strategy","4. Shutdown and Isolation Strategy",[17,2135,2136],{},"Upon detection of an emergency condition, the system executes a structured and deterministic shutdown sequence:",[61,2138,2139,2142,2145],{},[64,2140,2141],{},"Immediate relay-based isolation of propulsion power",[64,2143,2144],{},"Termination of actuator control signals",[64,2146,2147],{},"Latching of the emergency state to prevent unintended restart",[17,2149,2150],{},"This multi-layered isolation strategy guarantees that the vessel transitions into a stable and predictable safe state.",[29,2152],{},[32,2154,2156],{"id":2155},"_5-autonomous-abort-logic","5. Autonomous Abort Logic",[17,2158,2159],{},"When operating conditions permit, the Emergency Stop System supports an autonomous abort mechanism rather than an abrupt power removal. This behavior includes:",[61,2161,2162,2165,2168],{},[64,2163,2164],{},"Cancellation of ongoing autonomous tasks",[64,2166,2167],{},"Transition into a predefined safe or idle mode",[64,2169,2170],{},"Preservation of system state data for diagnostics",[17,2172,2173],{},"This approach improves transparency, safety validation, and post-mission analysis.",[29,2175],{},[32,2177,2179],{"id":2178},"_6-system-feedback-and-monitoring","6. System Feedback and Monitoring",[17,2181,2182],{},"Emergency status information is transmitted to the monitoring system in real time, enabling:",[61,2184,2185,2188,2191],{},[64,2186,2187],{},"Clear identification of emergency causes",[64,2189,2190],{},"Improved situational awareness for operators",[64,2192,2193],{},"Comprehensive logging for diagnostics and validation",[17,2195,2196],{},"All emergency events are recorded to support continuous system improvement and reliability assessment.",[29,2198],{},[32,2200,2202],{"id":2201},"_7-reliability-and-safety-considerations","7. Reliability and Safety Considerations",[17,2204,2205],{},"The Emergency Stop System is designed for reliable operation in demanding environments. Emphasis is placed on hardware-level fail-safe mechanisms to ensure consistent behavior under electrical noise, partial failures, or unexpected system states.",[17,2207,2208],{},"This design philosophy prioritizes safety, predictability, and long-term operational robustness.",[29,2210],{},[32,2212,346],{"id":345},[17,2214,2215],{},"The integrated Emergency Stop System forms a critical safety foundation for autonomous vessel operations. By combining independent hardware isolation, structured emergency logic, and clear system feedback, the design ensures reliable shutdown behavior, fault tolerance, and enhanced operational safety.",{"title":354,"searchDepth":355,"depth":355,"links":2217},[2218,2219,2220,2223,2224,2225,2226,2227,2228],{"id":592,"depth":355,"text":593},{"id":1990,"depth":355,"text":1991},{"id":2019,"depth":355,"text":2020,"children":2221},[2222],{"id":2048,"depth":360,"text":2049},{"id":2103,"depth":355,"text":2104},{"id":2132,"depth":355,"text":2133},{"id":2155,"depth":355,"text":2156},{"id":2178,"depth":355,"text":2179},{"id":2201,"depth":355,"text":2202},{"id":345,"depth":355,"text":346},"8 January 2026",{},"/logbook-experiments/electrical/integrated-emergency-stop-system",{"title":1970,"description":1957},"logbook-experiments/electrical/integrated-emergency-stop-system",[2235,2236],"Emergency System","ASV","A72RbvrKtuYumKHme-85_xWSbSy3T5QiLlz6XxsogYY",{"id":2239,"title":2240,"author":1971,"body":2241,"date":2229,"description":2507,"extension":377,"image":2508,"location":379,"meta":2509,"navigation":381,"path":2510,"seo":2511,"stem":2512,"tags":2513,"__hash__":2518},"content/logbook-experiments/electrical/manual-double-layer-pcb-ferric-chloride.md","[EXPERIMENT] Manual Double-Layer PCB Fabrication Using Acetone Transfer and Ferric Chloride Etching",{"type":9,"value":2242,"toc":2478},[2243,2245,2249,2253,2256,2259,2261,2265,2269,2295,2299,2313,2315,2319,2323,2326,2330,2333,2337,2340,2342,2346,2349,2369,2372,2374,2378,2382,2385,2389,2392,2396,2399,2403,2406,2408,2412,2416,2419,2423,2426,2430,2433,2435,2439,2443,2454,2458,2469,2471,2475],[29,2244],{},[12,2246,2248],{"id":2247},"manual-fabrication-of-double-layer-pcb-using-acetone-transfer-and-ferric-chloride-etching","Manual Fabrication of Double-Layer PCB Using Acetone Transfer and Ferric Chloride Etching",[32,2250,2252],{"id":2251},"_1-introduction","1. Introduction",[17,2254,2255],{},"Double-layer Printed Circuit Boards (PCBs) provide copper routing on both sides of the substrate, enabling more compact layouts and higher circuit complexity. In laboratory-scale development, research, and educational environments, double-layer PCBs can be fabricated manually using chemical etching methods.",[17,2257,2258],{},"This document describes a manual PCB fabrication process using ferric chloride (FeCl₃) as the etchant. The copper trace pattern is printed on A4 paper using an inkjet printer and transferred onto the PCB surface using acetone. The acetone dissolves the ink, allowing it to adhere to the copper surface and function as an etching resist.",[29,2260],{},[32,2262,2264],{"id":2263},"_2-tools-and-materials","2. Tools and Materials",[53,2266,2268],{"id":2267},"tools","Tools",[61,2270,2271,2274,2277,2280,2283,2286,2289,2292],{},[64,2272,2273],{},"Double-layer blank PCB",[64,2275,2276],{},"Inkjet printer",[64,2278,2279],{},"A4 paper",[64,2281,2282],{},"Cotton or tissue",[64,2284,2285],{},"Permanent waterproof marker",[64,2287,2288],{},"Plastic container",[64,2290,2291],{},"PCB drill and micro drill bits",[64,2293,2294],{},"Safety gloves and mask",[53,2296,2298],{"id":2297},"materials","Materials",[61,2300,2301,2304,2307,2310],{},[64,2302,2303],{},"Acetone",[64,2305,2306],{},"Ferric chloride (FeCl₃) solution",[64,2308,2309],{},"Clean water",[64,2311,2312],{},"Alcohol or thinner",[29,2314],{},[32,2316,2318],{"id":2317},"_3-pcb-preparation","3. PCB Preparation",[53,2320,2322],{"id":2321},"_31-copper-surface-cleaning","3.1 Copper Surface Cleaning",[17,2324,2325],{},"Both sides of the PCB copper are lightly sanded until shiny, then cleaned using alcohol to remove grease, oxidation, and dust. Proper surface preparation is critical to ensure strong ink adhesion during the transfer process.",[53,2327,2329],{"id":2328},"_32-circuit-layout-printing","3.2 Circuit Layout Printing",[17,2331,2332],{},"The PCB layout is designed using EDA software and printed onto A4 paper using an inkjet printer with high-quality print settings to maximize ink density.",[53,2334,2336],{"id":2335},"_33-double-layer-alignment","3.3 Double-Layer Alignment",[17,2338,2339],{},"Top and bottom layer prints are manually aligned. Reference holes may be used to ensure accurate registration between both layers.",[29,2341],{},[32,2343,2345],{"id":2344},"_4-trace-transfer-using-acetone","4. Trace Transfer Using Acetone",[17,2347,2348],{},"Unlike toner transfer methods, this process relies on acetone-assisted ink transfer. The procedure is as follows:",[730,2350,2351,2354,2357,2360,2363,2366],{},[64,2352,2353],{},"The printed A4 paper is placed onto the PCB with the ink facing the copper surface.",[64,2355,2356],{},"The paper is held firmly to prevent movement during transfer.",[64,2358,2359],{},"Cotton or tissue soaked in acetone is gently pressed and rubbed over the paper surface.",[64,2361,2362],{},"Acetone dissolves the inkjet ink, allowing the trace pattern to transfer and adhere to the copper layer.",[64,2364,2365],{},"The paper is carefully removed after transfer is complete.",[64,2367,2368],{},"Incomplete or broken traces are corrected using a permanent waterproof marker.",[17,2370,2371],{},"The transferred ink acts as an etching resist, protecting the copper traces during chemical etching.",[29,2373],{},[32,2375,2377],{"id":2376},"_5-ferric-chloride-etching-process","5. Ferric Chloride Etching Process",[53,2379,2381],{"id":2380},"_51-etchant-preparation","5.1 Etchant Preparation",[17,2383,2384],{},"Ferric chloride solution is poured into a plastic container. Metal containers must be avoided due to the corrosive nature of FeCl₃.",[53,2386,2388],{"id":2387},"_52-etching-procedure","5.2 Etching Procedure",[17,2390,2391],{},"The PCB is immersed in the ferric chloride solution and gently agitated. Exposed copper areas dissolve gradually, while ink-protected traces remain intact.",[53,2393,2395],{"id":2394},"_53-process-monitoring","5.3 Process Monitoring",[17,2397,2398],{},"Etching typically takes 15–30 minutes, depending on solution concentration and copper thickness.",[53,2400,2402],{"id":2401},"_54-rinsing","5.4 Rinsing",[17,2404,2405],{},"Once unwanted copper is fully removed, the PCB is rinsed thoroughly with clean water to stop the chemical reaction.",[29,2407],{},[32,2409,2411],{"id":2410},"_6-pcb-finishing","6. PCB Finishing",[53,2413,2415],{"id":2414},"_61-ink-removal","6.1 Ink Removal",[17,2417,2418],{},"The remaining ink resist is removed using alcohol or thinner until clean copper traces are visible.",[53,2420,2422],{"id":2421},"_62-drilling","6.2 Drilling",[17,2424,2425],{},"Component holes and vias are drilled using appropriate micro drill bits.",[53,2427,2429],{"id":2428},"_63-electrical-inspection","6.3 Electrical Inspection",[17,2431,2432],{},"Continuity and isolation tests are performed using a multimeter to verify correct connectivity and absence of short circuits.",[29,2434],{},[32,2436,2438],{"id":2437},"_7-advantages-and-limitations","7. Advantages and Limitations",[53,2440,2442],{"id":2441},"advantages","Advantages",[61,2444,2445,2448,2451],{},[64,2446,2447],{},"Does not require a laser printer",[64,2449,2450],{},"Low-cost and accessible materials",[64,2452,2453],{},"Suitable for prototyping and educational use",[53,2455,2457],{"id":2456},"limitations","Limitations",[61,2459,2460,2463,2466],{},[64,2461,2462],{},"Transfer quality depends on inkjet ink composition",[64,2464,2465],{},"Fine-pitch traces require high precision",[64,2467,2468],{},"Double-layer alignment is manual and sensitive to error",[29,2470],{},[32,2472,2474],{"id":2473},"_8-conclusion","8. Conclusion",[17,2476,2477],{},"Manual fabrication of double-layer PCBs using inkjet-acetone transfer and ferric chloride etching provides a practical solution for prototyping and laboratory experimentation. With proper preparation and controlled processing, reliable and functional PCBs can be produced.",{"title":354,"searchDepth":355,"depth":355,"links":2479},[2480,2481,2485,2490,2491,2497,2502,2506],{"id":2251,"depth":355,"text":2252},{"id":2263,"depth":355,"text":2264,"children":2482},[2483,2484],{"id":2267,"depth":360,"text":2268},{"id":2297,"depth":360,"text":2298},{"id":2317,"depth":355,"text":2318,"children":2486},[2487,2488,2489],{"id":2321,"depth":360,"text":2322},{"id":2328,"depth":360,"text":2329},{"id":2335,"depth":360,"text":2336},{"id":2344,"depth":355,"text":2345},{"id":2376,"depth":355,"text":2377,"children":2492},[2493,2494,2495,2496],{"id":2380,"depth":360,"text":2381},{"id":2387,"depth":360,"text":2388},{"id":2394,"depth":360,"text":2395},{"id":2401,"depth":360,"text":2402},{"id":2410,"depth":355,"text":2411,"children":2498},[2499,2500,2501],{"id":2414,"depth":360,"text":2415},{"id":2421,"depth":360,"text":2422},{"id":2428,"depth":360,"text":2429},{"id":2437,"depth":355,"text":2438,"children":2503},[2504,2505],{"id":2441,"depth":360,"text":2442},{"id":2456,"depth":360,"text":2457},{"id":2473,"depth":355,"text":2474},"Documentation of a low-cost manual process for fabricating double-layer PCBs using inkjet acetone transfer and ferric chloride etching for prototyping and laboratory use.","/images/research/electric-mechanic/pcb.webp",{},"/logbook-experiments/electrical/manual-double-layer-pcb-ferric-chloride",{"title":2240,"description":2507},"logbook-experiments/electrical/manual-double-layer-pcb-ferric-chloride",[2514,2515,2516,2517],"PCB Fabrication","Double-Layer PCB","Electronics Prototyping","Chemical Etching","A5Rg-J0KFg0iOZsYSXyLjtxMeR3WF47ZmQpkQ0JfRl8",{"id":2520,"title":2521,"author":1971,"body":2522,"date":2797,"description":2798,"extension":377,"image":2799,"location":379,"meta":2800,"navigation":381,"path":2801,"seo":2802,"stem":2803,"tags":2804,"__hash__":2808},"content/logbook-experiments/electrical/semi-azimuth-propulsion-system.md","[LOGBOOK] Integrated Semi-Azimuth Propulsion System Design for Autonomous Vessels",{"type":9,"value":2523,"toc":2784},[2524,2528,2531,2534,2536,2540,2543,2551,2558,2560,2566,2570,2581,2584,2587,2598,2601,2606,2620,2622,2628,2632,2639,2650,2653,2656,2667,2670,2672,2676,2683,2687,2690,2701,2704,2706,2710,2713,2716,2718,2722,2725,2728,2739,2741,2745,2748,2751,2753,2757,2760,2771,2774,2776,2778,2781],[12,2525,2527],{"id":2526},"semi-azimuth-propulsion-system-design-for-autonomous-vessels","Semi-Azimuth Propulsion System Design for Autonomous Vessels",[17,2529,2530],{},"Efficient and reliable propulsion is a fundamental requirement for autonomous vessels, as it directly affects maneuverability, energy efficiency, and overall system robustness. Through iterative development and field testing, the Mandakini platform has refined its propulsion architecture to achieve improved performance and reliability.",[17,2532,2533],{},"This section discusses two propulsion system configurations that have been implemented in different development phases, with a focus on explaining why the integrated semi-azimuth design offers superior performance compared to the externally mounted configuration.",[29,2535],{},[32,2537,2539],{"id":2538},"_1-design-evolution-overview","1. Design Evolution Overview",[17,2541,2542],{},"Across its development stages, Mandakini has employed two main propulsion configurations:",[730,2544,2545,2548],{},[64,2546,2547],{},"Integrated Semi-Azimuth Thruster with embedded hull integration",[64,2549,2550],{},"Externally Mounted Azimuth Thruster with adjustable shaft height",[17,2552,2553,2554,2557],{},"Both configurations utilize the Blue Robotics ",[24,2555,2556],{},"T200 thruster"," as the primary propulsion unit. However, they differ significantly in terms of mechanical integration, load transmission, and hydrodynamic impact.",[29,2559],{},[17,2561,2562],{},[460,2563],{"alt":2564,"src":2565},"Propulsion System of Mandakini Raiden","/images/research/electric-mechanic/raiden-propulsion.webp",[32,2567,2569],{"id":2568},"_2-integrated-semi-azimuth-propulsion-system-mandakini-raiden","2. Integrated Semi-Azimuth Propulsion System (Mandakini Raiden)",[17,2571,2572,2573,2576,2577,2580],{},"The integrated semi-azimuth propulsion system, implemented on ",[24,2574,2575],{},"Mandakini Raiden",", is designed with the thruster structurally embedded into the hull. Each T200 thruster is mounted on a ",[24,2578,2579],{},"15 mm solid aluminum shaft"," that is directly integrated into the lower hull structure.",[17,2582,2583],{},"The shaft is mechanically connected to an internal servo motor, enabling controlled azimuth rotation for directional thrust while keeping all sensitive components fully enclosed within the hull.",[17,2585,2586],{},"To ensure reliability and prevent water ingress, the propulsion system adopts:",[61,2588,2589,2592,2595],{},[64,2590,2591],{},"Direct mechanical transmission between the thruster and servo motor",[64,2593,2594],{},"A single flange bearing serving as the primary structural support",[64,2596,2597],{},"Full internal housing of the servo and control components",[17,2599,2600],{},"The thruster is positioned close to the hull surface, reducing external protrusion and minimizing hydrodynamic disturbances.",[17,2602,2603],{},[24,2604,2605],{},"Key characteristics of this design include:",[61,2607,2608,2611,2614,2617],{},[64,2609,2610],{},"Low mechanical complexity with minimal moving interfaces",[64,2612,2613],{},"Short and rigid torque transmission path",[64,2615,2616],{},"Reduced exposure of mechanical components to water",[64,2618,2619],{},"Improved thrust efficiency and maneuvering response",[29,2621],{},[17,2623,2624],{},[460,2625],{"alt":2626,"src":2627},"Propulsion System of Mandakini Zenith","/images/research/electric-mechanic/zenith-propulsion.webp",[32,2629,2631],{"id":2630},"_3-externally-mounted-azimuth-propulsion-system-mandakini-zenith","3. Externally Mounted Azimuth Propulsion System (Mandakini Zenith)",[17,2633,2634,2635,2638],{},"The externally mounted azimuth propulsion system, implemented on ",[24,2636,2637],{},"Mandakini Zenith",", was developed to enhance maneuverability in constrained environments such as narrow passages and obstacle-dense areas.",[17,2640,2641,2642,2645,2646,2649],{},"In this configuration, each T200 thruster is mounted on a ",[24,2643,2644],{},"15 mm hollow aluminum shaft"," supported by ",[24,2647,2648],{},"dual vertical flange bearings",". The shaft height can be adjusted relative to the water surface, providing flexibility in thrust depth configuration.",[17,2651,2652],{},"Each shaft is connected to a servo motor that rotates the thruster according to motion commands generated by the Pixhawk-based control system.",[17,2654,2655],{},"Compared to earlier designs that used steel shafts and linear bearings, this configuration provides:",[61,2657,2658,2661,2664],{},[64,2659,2660],{},"Improved corrosion resistance",[64,2662,2663],{},"Increased rigidity against wave-induced loads",[64,2665,2666],{},"Better resistance to vibration generated by thruster rotation",[17,2668,2669],{},"However, the external mounting approach introduces additional structural and hydrodynamic trade-offs.",[29,2671],{},[32,2673,2675],{"id":2674},"_4-comparative-analysis-advantages-of-the-integrated-design","4. Comparative Analysis: Advantages of the Integrated Design",[17,2677,2678,2679,2682],{},"Although the externally mounted azimuth system offers greater adjustability, the ",[24,2680,2681],{},"integrated semi-azimuth propulsion design demonstrates superior overall performance"," for autonomous vessel applications.",[53,2684,2686],{"id":2685},"_41-mechanical-simplicity-and-reliability","4.1 Mechanical Simplicity and Reliability",[17,2688,2689],{},"The integrated design relies on a single flange bearing and a direct shaft-to-servo connection. This results in fewer mechanical interfaces, which reduces:",[61,2691,2692,2695,2698],{},[64,2693,2694],{},"Alignment sensitivity",[64,2696,2697],{},"Bearing wear and mechanical play",[64,2699,2700],{},"Potential points of failure",[17,2702,2703],{},"In contrast, the externally mounted system requires additional bearings and structural components, increasing mechanical complexity.",[29,2705],{},[53,2707,2709],{"id":2708},"_42-hydrodynamic-efficiency","4.2 Hydrodynamic Efficiency",[17,2711,2712],{},"By integrating the thruster closely with the hull, the semi-azimuth design minimizes flow separation and drag caused by exposed mounting structures.",[17,2714,2715],{},"The externally mounted configuration introduces additional frontal area and wake disturbances, which reduce effective thrust efficiency and increase energy consumption, particularly during continuous operation.",[29,2717],{},[53,2719,2721],{"id":2720},"_43-structural-load-distribution","4.3 Structural Load Distribution",[17,2723,2724],{},"In the integrated design, thrust and torque loads are transferred directly into the hull structure. This allows forces to be distributed more evenly across the vessel body rather than being concentrated on external brackets or mounts.",[17,2726,2727],{},"As a result, the system exhibits:",[61,2729,2730,2733,2736],{},[64,2731,2732],{},"Lower stress concentrations",[64,2734,2735],{},"Reduced vibration transmission",[64,2737,2738],{},"Improved long-term structural durability",[29,2740],{},[53,2742,2744],{"id":2743},"_44-environmental-protection","4.4 Environmental Protection",[17,2746,2747],{},"Placing the servo motor and critical components entirely inside the hull provides superior protection against environmental exposure, including water ingress, corrosion, and mechanical impact.",[17,2749,2750],{},"Externally mounted systems, while easier to access, remain more vulnerable to harsh marine conditions.",[29,2752],{},[32,2754,2756],{"id":2755},"_5-design-trade-off-considerations","5. Design Trade-Off Considerations",[17,2758,2759],{},"While the integrated semi-azimuth propulsion system offers higher efficiency and reliability, it provides less flexibility in adjusting thruster depth compared to the externally mounted configuration. Nevertheless, for autonomous vessels that prioritize:",[61,2761,2762,2765,2768],{},[64,2763,2764],{},"Predictable control behavior",[64,2766,2767],{},"Energy efficiency",[64,2769,2770],{},"Mechanical robustness and durability",[17,2772,2773],{},"the integrated approach represents a more balanced and mission-optimized solution.",[29,2775],{},[32,2777,346],{"id":345},[17,2779,2780],{},"The integrated semi-azimuth propulsion system reflects a mature and performance-oriented design strategy for autonomous vessels. By embedding the propulsion mechanism into the hull, the system achieves improved thrust efficiency, reduced mechanical complexity, and enhanced structural reliability compared to externally mounted azimuth configurations.",[17,2782,2783],{},"This design evolution supports long-term operational stability and aligns with the safety and efficiency requirements of autonomous marine platforms.",{"title":354,"searchDepth":355,"depth":355,"links":2785},[2786,2787,2788,2789,2795,2796],{"id":2538,"depth":355,"text":2539},{"id":2568,"depth":355,"text":2569},{"id":2630,"depth":355,"text":2631},{"id":2674,"depth":355,"text":2675,"children":2790},[2791,2792,2793,2794],{"id":2685,"depth":360,"text":2686},{"id":2708,"depth":360,"text":2709},{"id":2720,"depth":360,"text":2721},{"id":2743,"depth":360,"text":2744},{"id":2755,"depth":355,"text":2756},{"id":345,"depth":355,"text":346},"9 January 2026","Documentation of the design evolution and comparative analysis between integrated semi-azimuth and externally mounted azimuth propulsion systems for autonomous surface vessels.","/images/research/electric-mechanic/propulsion-layout.webp",{},"/logbook-experiments/electrical/semi-azimuth-propulsion-system",{"title":2521,"description":2798},"logbook-experiments/electrical/semi-azimuth-propulsion-system",[2805,2806,2236,2807],"Propulsion System","Semi-Azimuth Thruster","Marine Mechanics","Kt8lwdW1mXgxQXoaP2mCo0UDKl7OuwYquG1AXonKcWI",{"id":2810,"title":2811,"author":2812,"body":2813,"date":3112,"description":3113,"extension":377,"image":3114,"location":379,"meta":3115,"navigation":381,"path":3116,"seo":3117,"stem":3118,"tags":3119,"__hash__":3124},"content/logbook-experiments/programming/pseudo-lidar.md","[EXPERIMENT] Pseudo 3D LiDAR Using a 2D RPLiDAR-A2M12","Elsya Bekti N.",{"type":9,"value":2814,"toc":3101},[2815,2819,2830,2832,2836,2839,2867,2871,2874,2894,2896,2900,2910,2913,2922,2925,2944,2946,2950,2953,2957,3024,3026,3030,3037,3068,3070,3074,3081,3099],[12,2816,2818],{"id":2817},"pseudo-3d-lidar-development-and-evaluation","Pseudo 3D LiDAR Development and Evaluation",[17,2820,2821,2822,2825,2826,2829],{},"In autonomous navigation, 2D LiDAR systems have inherent limitations when detecting objects with vertical variation, such as dock structures or overhanging obstacles. This experiment documents the development of a ",[24,2823,2824],{},"Pseudo 3D LiDAR"," by combining an ",[24,2827,2828],{},"RPLiDAR-A2M12"," sensor with a mechanical tilting mechanism.",[29,2831],{},[32,2833,2835],{"id":2834},"_1-motion-mechanism-and-actuation","1. Motion Mechanism and Actuation",[17,2837,2838],{},"To obtain the third dimension ($Z$), the 2D LiDAR is mounted on a vertically actuated tilting platform.",[61,2840,2841,2851,2857],{},[64,2842,2843,2846,2847,2850],{},[24,2844,2845],{},"Motion Scheme:"," Continuous ",[598,2848,2849],{},"oscillating"," motion.",[64,2852,2853,2856],{},[24,2854,2855],{},"Actuator:"," PowerHD 180° servo motor.",[64,2858,2859,2862,2863,2866],{},[24,2860,2861],{},"Design Rationale:"," This approach was selected for its mechanical simplicity during early prototyping, as opposed to ",[598,2864,2865],{},"continuous rotation"," systems that require a slip ring.",[53,2868,2870],{"id":2869},"angle-synchronization","Angle Synchronization",[17,2872,2873],{},"Synchronization between LiDAR range data and the servo elevation angle is achieved through PWM calibration:",[61,2875,2876,2882,2888],{},[64,2877,2878,2881],{},[24,2879,2880],{},"$0^{\\circ}$ (Default Angle):"," Defined at PWM 1500.",[64,2883,2884,2887],{},[24,2885,2886],{},"Minimum Angle:"," Measured at PWM 2600.",[64,2889,2890,2893],{},[24,2891,2892],{},"Maximum Angle:"," Measured at PWM 700.",[29,2895],{},[32,2897,2899],{"id":2898},"_2-coordinate-transformation-ros-laser-assembler","2. Coordinate Transformation (ROS Laser Assembler)",[17,2901,2902,2903,2906,2907,190],{},"The RPLiDAR outputs 2D polar measurements ($d, \\theta$). To construct a 3D point cloud, these measurements must be transformed using the servo elevation angle ($\\phi$). This experiment employs the ",[24,2904,2905],{},"laser_assembler"," package under ",[24,2908,2909],{},"ROS Melodic",[17,2911,2912],{},"Mathematically, the conversion to 3D Cartesian coordinates follows:",[17,2914,2915,2916,2918,2919,2921],{},"$$x = d \\cdot \\cos(\\theta) \\cdot \\cos(\\phi)$$",[70,2917],{},"\n$$y = d \\cdot \\sin(\\theta) \\cdot \\cos(\\phi)$$",[70,2920],{},"\n$$z = d \\cdot \\sin(\\phi)$$",[17,2923,2924],{},"(refresh browser if equation does not appear)",[17,2926,2927,2928,2932,2933,2936,2937,2940,2941,190],{},"Within the ROS ecosystem, this process is automated via the ",[2929,2930,2931],"code",{},"tf"," (Transform Tree), linking the vehicle’s ",[2929,2934,2935],{},"base_link"," to the ",[2929,2938,2939],{},"laser_frame"," through an intermediate ",[2929,2942,2943],{},"servo_link",[29,2945],{},[32,2947,2949],{"id":2948},"_3-experimental-results-and-performance-metrics","3. Experimental Results and Performance Metrics",[17,2951,2952],{},"All experiments were conducted using an NVIDIA Jetson Nano for data processing and point cloud visualization.",[53,2954,2956],{"id":2955},"table-1-technical-specifications-and-performance-of-the-pseudo-3d-lidar","Table 1. Technical Specifications and Performance of the Pseudo 3D LiDAR",[816,2958,2959,2970],{},[819,2960,2961],{},[822,2962,2963,2967],{},[825,2964,2966],{"align":2965},"left","Parameter",[825,2968,2969],{"align":2965},"Experimental Result",[835,2971,2972,2982,2994,3004,3014],{},[822,2973,2974,2979],{},[840,2975,2976],{"align":2965},[24,2977,2978],{},"Field of View (FOV)",[840,2980,2981],{"align":2965},"Horizontal 360°, Vertical 180° (−90° to 90°)",[822,2983,2984,2989],{},[840,2985,2986],{"align":2965},[24,2987,2988],{},"Update Rate (Scan Cycle)",[840,2990,2991],{"align":2965},[24,2992,2993],{},"7 seconds per frame",[822,2995,2996,3001],{},[840,2997,2998],{"align":2965},[24,2999,3000],{},"CPU Load (Jetson Nano)",[840,3002,3003],{"align":2965},"Relatively low (light point cloud processing)",[822,3005,3006,3011],{},[840,3007,3008],{"align":2965},[24,3009,3010],{},"Primary Sensor",[840,3012,3013],{"align":2965},"RPLiDAR-A2M12 (Triangulation-based)",[822,3015,3016,3021],{},[840,3017,3018],{"align":2965},[24,3019,3020],{},"Test Environment",[840,3022,3023],{"align":2965},"Indoor & Outdoor",[29,3025],{},[32,3027,3029],{"id":3028},"_4-evaluation-and-implementation-challenges","4. Evaluation and Implementation Challenges",[17,3031,3032,3033,3036],{},"Although the system successfully produced a 3D representation of obstacles—particularly beneficial for detecting structures during ",[598,3034,3035],{},"docking"," maneuvers that are difficult to capture with pure 2D scans—several critical limitations were identified:",[730,3038,3039,3049,3062],{},[64,3040,3041,3044,3045,3048],{},[24,3042,3043],{},"High Latency:"," A 7-second scan cycle is far too slow for dynamic ASV (",[598,3046,3047],{},"Autonomous Surface Vehicle",") navigation, significantly increasing collision risk at higher vessel speeds.",[64,3050,3051,3054,3055,336,3058,3061],{},[24,3052,3053],{},"Data Stability:"," Without IMU integration to compensate for ",[598,3056,3057],{},"pitch",[598,3059,3060],{},"roll"," induced by wave motion, the reconstructed point cloud exhibits noticeable distortion and drift.",[64,3063,3064,3067],{},[24,3065,3066],{},"Sensor Limitations:"," The RPLiDAR-A2M12 relies on triangulation, whose performance degrades severely under direct sunlight, making it unsuitable for outdoor RoboBoat competition conditions.",[29,3069],{},[32,3071,3073],{"id":3072},"_5-conclusions-and-design-decision","5. Conclusions and Design Decision",[17,3075,3076,3077,3080],{},"This Pseudo 3D LiDAR experiment provides a valuable proof of concept, highlighting the importance of multi-dimensional ",[598,3078,3079],{},"spatial awareness"," in autonomous navigation. However, based on the evaluation results:",[61,3082,3083,3089,3096],{},[64,3084,3085,3088],{},[24,3086,3087],{},"The system was not adopted"," for the main competition due to its insufficient update rate.",[64,3090,3091,3092,3095],{},"The team decided to await the deployment of ",[598,3093,3094],{},"native"," 3D LiDAR solutions (such as solid-state or multibeam LiDARs) offering significantly higher refresh rates.",[64,3097,3098],{},"Current development efforts have shifted toward vision-based sensing (YOLOv4-Tiny) to improve detection of objects that are poorly perceived by 2D LiDAR alone.",[29,3100],{},{"title":354,"searchDepth":355,"depth":355,"links":3102},[3103,3106,3107,3110,3111],{"id":2834,"depth":355,"text":2835,"children":3104},[3105],{"id":2869,"depth":360,"text":2870},{"id":2898,"depth":355,"text":2899},{"id":2948,"depth":355,"text":2949,"children":3108},[3109],{"id":2955,"depth":360,"text":2956},{"id":3028,"depth":355,"text":3029},{"id":3072,"depth":355,"text":3073},"2 January 2026","Implementation of a tilting 2D LiDAR mechanism for 3D point cloud generation, including coordinate transformation analysis and performance evaluation for RoboBoat 2026.","/images/research/programming/lidar.webp",{},"/logbook-experiments/programming/pseudo-lidar",{"title":2811,"description":3113},"logbook-experiments/programming/pseudo-lidar",[3120,3121,2909,3122,3123,1061],"LiDAR","Pseudo 3D","Point Cloud","Robotics","MnCRrx_dtMkZhM3oX345QnjvSDj5U0sE9zwB99P7WU4",{"id":3126,"title":3127,"author":3128,"body":3129,"date":3312,"description":3313,"extension":377,"image":3314,"location":379,"meta":3315,"navigation":381,"path":3316,"seo":3317,"stem":3318,"tags":3319,"__hash__":3323},"content/logbook-experiments/programming/ros.md","[LOGBOOK] Middleware Selection Decision: ROS 1 vs ROS 2","Firizqi Aditya",{"type":9,"value":3130,"toc":3306},[3131,3135,3142,3145,3147,3151,3158,3179,3186,3197,3200,3202,3206,3212,3215,3222,3225,3236,3239,3241,3245,3252,3270,3273,3275,3277,3284,3287,3301,3304],[12,3132,3134],{"id":3133},"middleware-selection-why-ros-1-was-chosen-over-ros-2","Middleware Selection: Why ROS 1 Was Chosen Over ROS 2",[17,3136,3137,3138,3141],{},"Selecting the appropriate robotic middleware is a critical system-level decision that directly affects compatibility, stability, and development efficiency. During the development of the Mandakini autonomous surface vehicle, ",[24,3139,3140],{},"ROS 1"," was chosen instead of ROS 2 based on practical hardware and software constraints.",[17,3143,3144],{},"This logbook documents the rationale behind this decision.",[29,3146],{},[32,3148,3150],{"id":3149},"_1-hardware-and-operating-system-constraints","1. Hardware and Operating System Constraints",[17,3152,3153,3154,3157],{},"The onboard computer used in this system is the ",[24,3155,3156],{},"NVIDIA Jetson Nano (eMMC version)",", which introduces several limitations:",[61,3159,3160,3166,3172],{},[64,3161,3162,3165],{},[24,3163,3164],{},"Ubuntu 18.04 (Bionic Beaver)"," as the base operating system",[64,3167,3168,3171],{},[24,3169,3170],{},"Python 3.6"," as the default system Python version",[64,3173,3174,3175,3178],{},"Pre-installed ",[24,3176,3177],{},"CUDA and NVIDIA JetPack"," environment",[17,3180,3181,3182,3185],{},"Upgrading the operating system or Python version on the ",[24,3183,3184],{},"eMMC-based Jetson Nano"," carries a high risk of:",[61,3187,3188,3191,3194],{},[64,3189,3190],{},"CUDA and driver incompatibility",[64,3192,3193],{},"JetPack dependency conflicts",[64,3195,3196],{},"Difficult recovery compared to SD card–based systems",[17,3198,3199],{},"For this reason, the system environment was intentionally kept unchanged to maintain stability.",[29,3201],{},[32,3203,3205],{"id":3204},"_2-ros-2-availability-on-ubuntu-1804","2. ROS 2 Availability on Ubuntu 18.04",[17,3207,3208,3209,190],{},"While ROS 2 does have limited support on Ubuntu 18.04, the only officially compatible distribution is ",[24,3210,3211],{},"ROS 2 Eloquent",[17,3213,3214],{},"However, this option presents a major limitation:",[61,3216,3217],{},[64,3218,3219],{},[24,3220,3221],{},"ROS 2 Eloquent does not provide stable MAVROS support",[17,3223,3224],{},"Since MAVROS is a critical component for integrating:",[61,3226,3227,3230,3233],{},[64,3228,3229],{},"Pixhawk flight controller",[64,3231,3232],{},"GPS, IMU, and waypoint navigation",[64,3234,3235],{},"Autonomous mission execution",[17,3237,3238],{},"the lack of MAVROS support makes ROS 2 Eloquent unsuitable for this platform.",[29,3240],{},[32,3242,3244],{"id":3243},"_3-ros-1-compatibility-and-system-stability","3. ROS 1 Compatibility and System Stability",[17,3246,3247,3248,3251],{},"In contrast, ",[24,3249,3250],{},"ROS 1 (Melodic)"," offers:",[61,3253,3254,3257,3264,3267],{},[64,3255,3256],{},"Full compatibility with Ubuntu 18.04",[64,3258,3259,3260,3263],{},"Stable and mature ",[24,3261,3262],{},"MAVROS"," integration",[64,3265,3266],{},"Proven reliability on Jetson Nano hardware",[64,3268,3269],{},"Broad community support and tooling",[17,3271,3272],{},"Using ROS 1 allows the system to operate without forced upgrades that could compromise hardware stability or development timelines.",[29,3274],{},[32,3276,346],{"id":345},[17,3278,3279,3280,3283],{},"Although ROS 2 provides architectural improvements and long-term benefits, ",[24,3281,3282],{},"ROS 1 was selected as the most practical and reliable choice"," for the Mandakini platform.",[17,3285,3286],{},"This decision prioritizes:",[61,3288,3289,3292,3295,3298],{},[64,3290,3291],{},"System stability",[64,3293,3294],{},"Hardware compatibility",[64,3296,3297],{},"Reliable MAVROS integration",[64,3299,3300],{},"Reduced risk of CUDA and driver conflicts",[17,3302,3303],{},"As a result, ROS 1 enables consistent autonomous operation within the constraints of the Jetson Nano eMMC-based environment.",[29,3305],{},{"title":354,"searchDepth":355,"depth":355,"links":3307},[3308,3309,3310,3311],{"id":3149,"depth":355,"text":3150},{"id":3204,"depth":355,"text":3205},{"id":3243,"depth":355,"text":3244},{"id":345,"depth":355,"text":346},"5 January 2026","Documenting the technical considerations behind choosing ROS 1 over ROS 2 for the Mandakini autonomous surface vehicle platform.","/images/research/programming/roscore.webp",{},"/logbook-experiments/programming/ros",{"title":3127,"description":3313},"logbook-experiments/programming/ros",[3320,3140,3321,1061,3322],"ROS","ROS 2","Autonomous System","nFV7gOCoxn2-no2PrIOI1D9svQ2c9VDsq-XmYuQYfbI",{"id":3325,"title":3326,"author":3128,"body":3327,"date":3773,"description":3774,"extension":377,"image":3775,"location":379,"meta":3776,"navigation":381,"path":3777,"seo":3778,"stem":3779,"tags":3780,"__hash__":3783},"content/logbook-experiments/programming/yolo.md","[LOGBOOK] Object Detection Implementation Using YOLOv4-Tiny for Autonomous Surface Vehicles",{"type":9,"value":3328,"toc":3758},[3329,3333,3348,3359,3361,3365,3374,3377,3388,3395,3397,3401,3404,3434,3438,3444,3447,3458,3462,3473,3484,3487,3489,3493,3500,3514,3525,3527,3531,3534,3548,3551,3553,3557,3560,3564,3679,3681,3685,3688,3691,3702,3708,3710,3714,3717,3725,3728,3730,3732,3739,3742,3753,3756],[12,3330,3332],{"id":3331},"object-detection-using-yolov4-tiny","Object Detection Using YOLOv4-Tiny",[17,3334,3335,3336,1282,3339,1282,3342,1286,3345,190],{},"Object detection is a core perception capability required for autonomous surface vehicles (ASVs) to safely navigate and execute competition tasks such as ",[24,3337,3338],{},"Evacuation Route",[24,3340,3341],{},"Debris Clearance",[24,3343,3344],{},"Emergency Response Sprint",[24,3346,3347],{},"Navigate the Marina",[17,3349,3350,3351,3354,3355,3358],{},"This logbook documents the implementation and evaluation of ",[24,3352,3353],{},"YOLOv4-Tiny"," as the primary object detection model deployed on the ",[24,3356,3357],{},"NVIDIA Jetson Nano"," for real-time autonomous operation.",[29,3360],{},[32,3362,3364],{"id":3363},"_1-model-selection-rationale","1. Model Selection Rationale",[17,3366,3367,3368,336,3371,3373],{},"During early development, both ",[24,3369,3370],{},"YOLOv4",[24,3372,3353],{}," were evaluated to determine the most suitable architecture for real-time inference on embedded hardware.",[17,3375,3376],{},"Although YOLOv4 provides higher detection accuracy (mAP), experimental evaluation shows that it suffers from:",[61,3378,3379,3382,3385],{},[64,3380,3381],{},"Lower frame rates in complex scenes",[64,3383,3384],{},"Higher computational load",[64,3386,3387],{},"Less stable real-time performance on embedded platforms",[17,3389,3390,3391,3394],{},"To ensure reliable perception during autonomous missions, ",[24,3392,3393],{},"YOLOv4-Tiny was selected"," due to its significantly higher and more stable frame rate while maintaining acceptable detection accuracy.",[29,3396],{},[32,3398,3400],{"id":3399},"_2-dataset-preparation-and-training-configuration","2. Dataset Preparation and Training Configuration",[17,3402,3403],{},"The object detection model was trained using a custom dataset with the following characteristics:",[61,3405,3406,3412,3418],{},[64,3407,3408,3411],{},[24,3409,3410],{},"Total images:"," 500 labeled images",[64,3413,3414,3417],{},[24,3415,3416],{},"Number of classes:"," 7",[64,3419,3420,3423],{},[24,3421,3422],{},"Dataset split:",[61,3424,3425,3428,3431],{},[64,3426,3427],{},"70% training",[64,3429,3430],{},"20% validation",[64,3432,3433],{},"10% testing",[53,3435,3437],{"id":3436},"_21-training-resolution-selection","2.1 Training Resolution Selection",[17,3439,3440,3441,190],{},"Based on experimental evaluation, the ",[24,3442,3443],{},"training input resolution was fixed at 640 × 352 pixels",[17,3445,3446],{},"This resolution was selected because:",[61,3448,3449,3452,3455],{},[64,3450,3451],{},"It provides a strong balance between detection accuracy and inference speed",[64,3453,3454],{},"It matches the aspect ratio of the onboard camera stream",[64,3456,3457],{},"It minimizes unnecessary image scaling during inference",[53,3459,3461],{"id":3460},"_22-input-stream-resolution","2.2 Input Stream Resolution",[17,3463,3464,3465,3468,3469,3472],{},"The ",[24,3466,3467],{},"live camera input stream"," used during inference testing was also configured to ",[24,3470,3471],{},"640 × 352",", ensuring consistency between:",[61,3474,3475,3478,3481],{},[64,3476,3477],{},"Training data resolution",[64,3479,3480],{},"Network input size",[64,3482,3483],{},"Real-time deployment conditions",[17,3485,3486],{},"This configuration reduces distortion and improves detection stability during continuous operation.",[29,3488],{},[32,3490,3492],{"id":3491},"_3-training-and-optimization-process","3. Training and Optimization Process",[17,3494,3495,3496,3499],{},"All models were trained using the ",[24,3497,3498],{},"Darknet framework"," with consistent hyperparameter configurations:",[61,3501,3502,3508,3511],{},[64,3503,3504,3505],{},"Maximum iterations: ",[24,3506,3507],{},"6000 (max_batches)",[64,3509,3510],{},"Identical learning rate scheduling",[64,3512,3513],{},"Uniform data augmentation strategy",[17,3515,3516,3517,3520,3521,3524],{},"The trained YOLOv4-Tiny model was converted into ",[24,3518,3519],{},"TensorRT format"," and deployed on the NVIDIA Jetson Nano using ",[24,3522,3523],{},"FP16 precision",", enabling accelerated inference and reduced computational load.",[29,3526],{},[32,3528,3530],{"id":3529},"_4-performance-evaluation-methodology","4. Performance Evaluation Methodology",[17,3532,3533],{},"Performance evaluation focused on two primary metrics:",[61,3535,3536,3542],{},[64,3537,3538,3541],{},[24,3539,3540],{},"Mean Average Precision (mAP@0.5)"," for detection accuracy",[64,3543,3544,3547],{},[24,3545,3546],{},"Frames Per Second (FPS)"," for real-time performance",[17,3549,3550],{},"Inference tests were conducted by running direct detection on a live camera stream using the Jetson Nano platform under realistic operational conditions.",[29,3552],{},[32,3554,3556],{"id":3555},"_5-experimental-results-summary","5. Experimental Results Summary",[17,3558,3559],{},"The table below summarizes the observed performance of YOLOv4 and YOLOv4-Tiny across multiple input resolutions.",[53,3561,3563],{"id":3562},"table-1-object-detection-performance-on-jetson-nano-tensorrt-fp16","Table 1. Object Detection Performance on Jetson Nano (TensorRT FP16)",[816,3565,3566,3582],{},[819,3567,3568],{},[822,3569,3570,3573,3576,3579],{},[825,3571,3572],{},"Model",[825,3574,3575],{},"Input Resolution",[825,3577,3578],{},"mAP@0.5",[825,3580,3581],{},"FPS",[835,3583,3584,3597,3610,3622,3634,3646,3666],{},[822,3585,3586,3588,3591,3594],{},[840,3587,3370],{},[840,3589,3590],{},"416 × 416",[840,3592,3593],{},"79.02%",[840,3595,3596],{},"12 – 13",[822,3598,3599,3601,3604,3607],{},[840,3600,3370],{},[840,3602,3603],{},"608 × 608",[840,3605,3606],{},"84.41%",[840,3608,3609],{},"5 – 6",[822,3611,3612,3614,3616,3619],{},[840,3613,3370],{},[840,3615,3471],{},[840,3617,3618],{},"84.88%",[840,3620,3621],{},"9 – 11",[822,3623,3624,3626,3628,3631],{},[840,3625,3353],{},[840,3627,3590],{},[840,3629,3630],{},"72.78%",[840,3632,3633],{},"40 – 42",[822,3635,3636,3638,3640,3643],{},[840,3637,3353],{},[840,3639,3603],{},[840,3641,3642],{},"79.55%",[840,3644,3645],{},"19 – 20",[822,3647,3648,3652,3656,3661],{},[840,3649,3650],{},[24,3651,3353],{},[840,3653,3654],{},[24,3655,3471],{},[840,3657,3658],{},[24,3659,3660],{},"81.69%",[840,3662,3663],{},[24,3664,3665],{},"29 – 32",[822,3667,3668,3670,3673,3676],{},[840,3669,3353],{},[840,3671,3672],{},"960 × 544",[840,3674,3675],{},"83.17%",[840,3677,3678],{},"12 – 14",[29,3680],{},[32,3682,3684],{"id":3683},"_6-analysis-and-design-decision","6. Analysis and Design Decision",[17,3686,3687],{},"Although YOLOv4 achieves higher absolute mAP values, its frame rate decreases significantly as input resolution increases, making it less suitable for real-time autonomous operation.",[17,3689,3690],{},"YOLOv4-Tiny demonstrates:",[61,3692,3693,3696,3699],{},[64,3694,3695],{},"Faster training time",[64,3697,3698],{},"Significantly higher and more stable FPS",[64,3700,3701],{},"Competitive mAP that can be improved through hyperparameter tuning and dataset refinement",[17,3703,3464,3704,3707],{},[24,3705,3706],{},"640 × 352 resolution"," provides an optimal operating point where detection accuracy remains high while maintaining real-time performance suitable for complex autonomous tasks.",[29,3709],{},[32,3711,3713],{"id":3712},"_7-system-integration","7. System Integration",[17,3715,3716],{},"Detection outputs from YOLOv4-Tiny are integrated into the ROS-based perception pipeline and combined with:",[61,3718,3719,3722],{},[64,3720,3721],{},"2D LiDAR data",[64,3723,3724],{},"GPS and IMU information",[17,3726,3727],{},"This sensor fusion output supports obstacle avoidance, waypoint adjustment, and autonomous decision-making.",[29,3729],{},[32,3731,346],{"id":345},[17,3733,3734,3735,3738],{},"The implementation of ",[24,3736,3737],{},"YOLOv4-Tiny at 640 × 352 resolution"," successfully meets the real-time perception requirements of the autonomous surface vehicle.",[17,3740,3741],{},"By aligning dataset resolution, training configuration, and live inference input size, the system achieves:",[61,3743,3744,3747,3750],{},[64,3745,3746],{},"Stable real-time detection",[64,3748,3749],{},"Efficient resource utilization",[64,3751,3752],{},"Reliable performance in complex maritime environments",[17,3754,3755],{},"This approach represents a balanced and practical object detection solution for embedded autonomous maritime systems.",[29,3757],{},{"title":354,"searchDepth":355,"depth":355,"links":3759},[3760,3761,3765,3766,3767,3770,3771,3772],{"id":3363,"depth":355,"text":3364},{"id":3399,"depth":355,"text":3400,"children":3762},[3763,3764],{"id":3436,"depth":360,"text":3437},{"id":3460,"depth":360,"text":3461},{"id":3491,"depth":355,"text":3492},{"id":3529,"depth":355,"text":3530},{"id":3555,"depth":355,"text":3556,"children":3768},[3769],{"id":3562,"depth":360,"text":3563},{"id":3683,"depth":355,"text":3684},{"id":3712,"depth":355,"text":3713},{"id":345,"depth":355,"text":346},"13 December 2025","Documenting the implementation, training, optimization, and performance evaluation of YOLOv4-Tiny for real-time object detection on NVIDIA Jetson Nano during Roboboat 2026 development.","/images/improvements/vision.webp",{},"/logbook-experiments/programming/yolo",{"title":3326,"description":3774},"logbook-experiments/programming/yolo",[3781,3353,3782,1061,3047],"Object Detection","Computer Vision","hoVor5ioczOuemWYkFnqDfvXScsx1Spc4G_Gz6pMsdo",1768857523474]