Morvarid team, after accomplishment of the proposed goals for this project, such as autonomous hydrographic and online communication with control office, are ready to perform similar projects for other enterprises, institutions and organizations world-wide.  Please contact us for further information.



Final Test

Ultimate tests and updates of Morvarid have been completed in Amirabad port, which was the primary operation location of the boat. This test was included using the boat in actual port conditions, fixing possible defects and final evaluation of different parts as an integrated part. After 30 days (since 2017.1.19) of great effort by the members, results were impressive.
In the primary and secondary tests of Morvarid robo-boat in Persian Golf Lake, all of the software and hardware flaws were recorded and scheduled to be fixed. Although all of the scheduled improvements have been applied in the lab before the final test, some problems and malfunctions were inevitable due to various reasons even by applying high confidence coefficients.
During the final test, performance of the designed circuits in real condition of temperature and humidity, efficiency of the propulsion system and also control system were checked and recorded frequently. Two cardinal sections of the final test were evaluation of the Developed Controlling Software (DCS) for the boat as well as control office.  DCS uses an industrial computer with IP65 (Ingress Protection) standard for controlling all of the sub-systems including Lidar, IMU, GPS, Ultrasonic, Sonar Sensors, stereo vision, and communication system. DCS boots as a main server on the boat, and tries to connect to GPS and set up different sections in order to establish a reliable connection with the office. In the office, The DCS functions as an interface between the user and the boat to drawing online hydrographic map, exchanging controlling data, and manipulating the boat via GUI. Morvarid uses its omnidirectional transceiver to send to and receive information from diverse static transceivers in the port area.


Another important improvements of Morvarid in the final test over previous tests is full configuration and troubleshooting of autonomous controller. In this test, all of the control methods were tested and evaluated. Results indicated autonomous controller as the most accurate method in controlling the boat.
From energy viewpoint, the boat is totally self-contained. This claim was confirmed during winter days of the test with inclined radiation angle of sun and shorter days in northern hemisphere.
 Sun tracker system was tested in terms of stability and resistance to strong winds and the results were satisfactory. However, an alternative power supply was used for charging the battery in emergency situations.




12th International Conference on Coasts, Ports and Marine Structures

12th International Conference on Coasts, Ports and Marine Structures (ICOPMAS 2016) has been held in Tehran, Iran with participation of experts and scientists from 30 countries such as the USA, England, the Netherlands, Australia, Germany, etc. At this conference Morvarid team participated with a paper on Navigation systems titled as “A NAVIGATION ALGORITHM FOR AN UNMANNED BOAT” which attracted participant’s attention. The presented paper illustrated a new method for controlling and obstacle avoidance of Morvarid as an Unmanned Surface Vehicle (USV) based on search ball and Artificial Potential Field (APF).





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Address:Department of Mechanical Engineering of biosystem-College of Agriculture and Natural Resources, University of Tehran - Karaj - Iran
Telephone: +98-2632801011
FAX: +98(26)32808138