PENERAPAN SISTEM KONTROL UMPAN BALIK PADA UNDERWATER ROBOT UNTUK INSPEKSI KETEBALAN MATERIAL DI BAWAH LAUT (STUDI KASUS DI PT BADAK NGL)

Abstract

This research aims to develop a Remotely Operated Vehicle (ROV) to support industrial activities, particularly underwater inspections. The ROV is designed to measure material thickness using an ultrasonic thickness gauge (UTG) and provide real-time visualization of equipment conditions through an underwater camera. Conducted at PT Badak NGL, the research involved several stages, including mechanical design using Autodesk Fusion 360, integration of electronic systems, and implementation of a control system based on the Chasing GO2 application. Testing demonstrated the ROV's optimal performance in water resistance, movement stability with five brushless motors, and the accuracy of the UTG in both air and underwater conditions. The ROV can dive up to 1.5 meters and deliver high-quality data for further analysis. Its integrated 1080p-resolution camera ensures clear visual outputs. Compared to conventional methods using divers, this innovation provides a more efficient, safe, and cost-effective solution for underwater inspections. The ROV becomes a strategic tool in enhancing the reliability of underwater industrial equipment operations while minimizing safety risks faced by divers. Keywords: Control System, Real-time Visualization, ROV, Ultrasonic Thickness Gauge, Underwater Inspection.