DESIGN AND IMPLEMENTATION OF MULTITHREAD BASED EMBEDDED SYSTEM INTEGRATION ON GANESHBLUE UNDERWATER GLIDER

• Main Author: NUGRAHA (NIM: 23215079), M.B.
• Format: Theses
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/28818
• Institution: Institut Teknologi Bandung

<p align="justify"> Autonomous Underwater Vehicle (AUV) is an autonomous device used for <br /> <br /> maritime exploration for underwater research and data acquisition means. One <br /> <br /> example for this device is GaneshBlue Autonomous Underwater Glider (AUG), <br /> <br /> which is using buoyancy and volume displacement to conduct underwater glide <br /> <br /> movement. This research focused on embedded system development and system <br /> <br /> integration design and implementation, especially multithread concept <br /> <br /> implementation on the system. The multithread concept was pursued because the <br /> <br /> integrated embedded system designed in this research should accommodate <br /> <br /> several subsystems in GaneshBlue. These subsystems are communication system, <br /> <br /> control system, navigation system, guidance system and sensor data acquisition. <br /> <br /> The research result shows integrated embedded system successfully designed, <br /> <br /> implemented, and tested with comparable data between the multithreaded system <br /> <br /> and sequential system as output. The multithreaded system can complete the <br /> <br /> process for each state with lower latency compared to the sequential ones. And the <br /> <br /> FSM testing for the multithreaded system has 100% success rate, it is clear that <br /> <br /> the multithread system operates consistently to the designed FSM for each test <br /> <br /> scenario. <br /> <p align="justify">