Muhammad Zainna Mutaqin, Naufal Nur Saifullah, Fahri Setyo Utomo, Indri Yaningsih, Aditya Rio Prabowo, Ristiyanto Adiputra, Quang Thang Do, Singgih Dwi Prasetyo, Dominicus Danardono Dwi Prija Tjahjana, Nurul Muhayat, Eko Prasetya Budiana
This research describes a developed Autonomous Surface Vehicle (ASV) design to achieve design technology advancements in Mandakini Catra based on the assigned missions. The sample missions are based on the Roboboat Competition in Florida, United States. Bengawan Unmanned Vehicle (UV) Team, in collaboration with Madrasah Aliyah Negeri (MAN) 1 Surakarta as a partner, developed a prototype design. Furthermore, numerical simulation and on-water testing assessed the created ASV performance. Numerical assessment included stability and seakeeping analyses. Based on stability simulation results, Mandakini Catra achieved a turning degree of 30º and a Gz arm value of 0.1067 m. Seakeeping simulation results showed Mandakini Catra had a pitching value of 3.415 and a heaving value of 2.636. Furthermore, using TensorFlow Lite with the EfficientLite0 architectural model type for object detection improves the average Frames per Second to 7.6, and implementing the MAVLink communication protocol reduced the Turning Error Radius by 0.27 m. In conclusion, new object detection program algorithms, fully programmed navigation systems using MAVLink, and hull design with a modular system have been successfully implemented, optimizing the hydrodynamic performance of Mandakini Catra. © (2025), (International Journal of Mechanical Engineering and Robotics Research). All Rights Reserved.
Department of Mechanical Engineering, Universitas Sebelas Maret, Surakarta, Indonesia; Department of Research and Development, P.T. Dimonitor Indonesia Sejahtera, Surakarta, Indonesia; Research Center for Hydrodynamics Technology, National Research and Innovation Agency (BRIN), Surakarta, Indonesia; Department of Naval Architecture and Ocean Engineering, Nha Trang University, Nha Trang, Viet Nam; Power Plant Engineering Technology, Faculty of Vocational Studies, State University of Malang, Malang, Indonesia
