In the object detection system, the team transitioned from using MobileNetv2 to YOLOv4. This change was made because MobileNetv2 was deemed less precise and flexible for handling all mission requirements. Therefore, YOLOv4 was implemented using the Darknet framework, customized to suit the Mandakini Zenith vessel. The comparison results between MobileNetv2 and YOLOv4 are as follows:
For the sensor testing, the team evaluated the distance measurement accuracy of the LiDAR sensor using 10 distance variations with 20 cm intervals. The results showed a significantly improved maximum range of 12 m with LiDAR, compared to the HC-SR04 sensor used in Mandakini Hydra (2024), which had a maximum range of only 0.4 m.
Mandakini Zenith is equipped with an advanced navigation system to ensure optimal performance in every mission. Before a mission begins, all sensors are activated and connected to the main computer system. Sensor data is processed in a mini PC, and the results are sent to a microcontroller responsible for controlling the ship's supporting components during the mission. The ship's navigation uses waypoints to ensure smooth passage through the entry buoy gate. Additionally, four conditioning zones are employed to detect exit buoys, guide the ship, and prevent collisions. These conditioning zones adjust navigation based on the buoy's position relative to the ship, ensuring accurate direction even in changing conditions. LiDAR acts as a key support in detecting objects when cameras face limitations. With this combination of technologies, Mandakini Zenith moves with precision, responsiveness, and reliability, successfully handling various missions even in challenging environments.
For the propulsion system testing, the team evaluated the thrust force and maneuverability of the vessel on water with a total weight of 30.5 kg, using the T200 Blue Robotics Thruster. The testing was conducted in a lake.
The team tested the water blaster directly in the campus lake. The test was conducted by placing the nozzle at a distance of 1 meter from the target. The test results show that the water blaster can shoot as far as 2 meters at an angle of 45° from the water surface. The team also utilized a servo to move the nozzle towards the x and y axes.
Object delivery uses a flywheel-based system, where two wheels rotate in opposite directions to launch the ball. The test uses a 6 cm diameter wheel and a 1400 kV motor, with three PWM signalcontrolled motor speed variations to determine the maximum distance
