Thip Pasawang, Theerayuth Chatchanayuenyong, and Worawat Sa-Ngiamvibool

pp. 659 - 668

Abstract

Autonomous underwater robots in the past few years have been designed according to the individual concepts and
experiences of the researchers. To design a robot, which meets all the requirements of potential users, is an advanced work.
Hence, a systematic design method that could include users’ preferences and requirements is needed. This paper presents the
quality function deployment (QFD) technique to design an autonomous underwater robot focusing on the Thai Navy
military mission. Important user requirements extracted from the QFD method are the ability to record videos, operating
at depth up to 10 meters, the ability to operate remotely with cable and safety concerns related to water leakages. Less
important user requirements include beauty, using renewable energy, operating remotely with radio and ability to work during
night time. The important design parameters derived from the user requirements are a low cost-controller, an autonomous
control algorithm, a compass sensor and vertical gyroscope, and a depth sensor. Of low-importance ranked design parameters
include the module design, use clean energy, a low noise electric motor, remote surveillance design, a pressure hull, and
a beautiful hull form design. The study results show the feasibility of using QFD techniques to systematically design the
autonomous underwater robot to meet user requirements. Mapping between the design and expected parameters and a
conceptual drafting design of an autonomous underwater robot are also presented.