This paper investigates and describes problem identification of Unmanned Underwater Remotely Operated Vehicle (ROV). The following is the problem identification that found after research done on several literature reviews and study cases. In this paper, the major problem statements will be discussed in details such as control system, underactuated condition, pose recovery or station keeping, coupling issues and communication technique. ROV is one of the Unmanned Underwater Vehicle (UUV) tethered with umbilical cable and remotely operated by a vehicle operator's. Control system of ROV is a bit complex because of the unknown non-linear hydrodynamics effects, parameters uncertainties and the lack of a precise model of the ROV dynamics and parameters. Conventional controller cannot dynamically compensate for unmodeled vehicle hydrodynamic forces or unknown disturbances. Underactuated condition is defined as one having less control inputs than degree of freedom, so how the ROV want to maintain a certain point or depth following mission when one or more of thrusters malfunction also an issue to be highlighted. Pose recovery or station keeping will be one of the issues in ROV design. This station keeping approach is used to maintain a position in relation to another moving ROV as the ROV tries to remain stationary at the desired depth with present the environmental disturbances such as wind, waves, current and unexpected environmental disturbances. Coupling issue between the tether and cable with ROV body will be one problem in stabilizing the ROV itself as it double the vehicle load. The underwater vehicle size, weight and operating depth, as well as the underwater vehicle motors, subsystems, and payload, all combine to determine the ROV's cable design. In underwater, the inability of wireless communication system fails to work very well to transmit the video stream even in short distance is another issue to be covered. This statement proved by Underwater Technology Research Group student's project. The experiment sets upthree types of sensor using wireless communication system for higher frequency such as video stream, data transfer and GPS

The application of wireless sensor network (WSN) for a water irrigation control monitoring is composed of a number of sensor nodes with a networking capability that can be deployed for an ad hoc and continuous monitoring purpose. The parameters involved in the water reservation control such as the water level and motor movement of the gate controlling the flow of water will be measured in the real time by the sensors that send the data to the base station or control/monitoring room. This paper proposes how such monitoring system can be setup emphasizing on the aspects of low cost, easy ad hoc installation and easy handling and maintenance. The use of wireless system for monitoring purpose will not only reduce the overall monitoring system cost in term of labor cost, but will also provide a flexibility in term of distance or location. In this paper, the fundamental design and implementation of WSN featuring a Zigbee Technology together with the IEEE 802.15.4 compatible transceiver and the simple water flow control circuit is proposed. The developed platform is cost-effective and allows easy customization. Several preliminary results of measurement to evaluate the reliability and effectiveness of the system are also presented.

This paper study about variants object detection by using local binary pattern. Local binary pattern is one of the famous method in object detection field because of its success used in object detection. The objective of object detection is to differentiate between object and background. However, LBP also has its own weaknesses in object detection. LBP modification that been proposed by a lot of researchers can overcome the weaknesses. In this paper, variants of local binary pattern method and modification has been study and analyze. All those local binary pattern modification has been extract its feature in term of object detection. The modifications are Non-Redundant Local Binary Pattern (NRLBP), Integral Local Binary Pattern (INTLBP), Multi-scale Block Local Binary Pattern (MBLBP) and Discriminative Robust Local Binary Pattern (DRLBP).

This project describes a design on array dielectric resonator antenna using disk shape. The dielectric resonator antenna (DRA) consists of high dielectric constant materials, high quality factors and mounted on a grounded dielectric substrate of lower permittivity. DRA is fabricated from low-loss and high relative dielectric constant material of various shapes whose resonant frequencies are functions of the size, shape and permittivity of the material. Two dielectric resonators is introducing as an array. The selected dielectric disks are operating at frequency of 2.4 GHz with dielectric constant of 34.73. The microstrip transmission line has been used as a feeding line for the resonator. The microstrip line is quarter wavelength where the frequency that applied from the input can get same with the output and divider was introduced in this layout. The simulation process was done using Computer Simulation Technology (CST) Microwave Studio. The antenna has been fabricated on the FR-4 microstrip board using the wet etching technique. The DRA is operating at the frequency bands used for IEEE 802.11b/g Wireless LANs.

This paper describes a simple design on dielectric resonator antenna using disk shape. The dielectric resonator antenna (DRA) consists of high dielectric constant materials, high quality factors and mounted on a grounded dielectric substrate of lower permittivity. The selected dielectric disk is operating at frequency of 2.4 GHz with dielectric constant of 34.73. The miscrostrip transmission line has been used as a feeding line for the resonator. The simulation process was done using Computer Simulation Technology (CST) Microwave Studio and Microwave office. The antenna has been fabricated on the FR-4 microstrip board using the wet etching technique. The DRA is operating at the frequency bands used for IEEE 802.11 b/g wireless LANs. The performance between simulation and measurement give a very good approximation result.

This paper describes a study of thruster modelling for a remotely operated underwater vehicle (ROV) by system identification using Microbox 2000/2000C. Microbox 2000/2000C is an XPC target machine device to interface between an ROV thruster with the MATLAB 2009 software. In this project, a model of the thruster will be developed first so that the system identification toolbox in MATLAB can be used. This project also presents a comparison of mathematical and empirical modelling. The experiments were carried out by using a mini compressor as a dummy depth pressure applied to a pressure sensor. The thruster model will thrust and submerge until it reaches a set point and maintain the set point depth. The depth was based on pressure sensor measurement. A conventional proportional controller was used in this project and the results gathered justified its selection.