Motion control and Wi-Fi threat modelling analysis of small and affordable underwater ROV. (Ethically hacking Chasing Dory and testing/optimizing a simple PID control on a underwater ROV model)

Abstract

In this thesis we cover underwater ROVs open Wi-Fi access attacks, threats and vulnerabilities using ethical hacking techniques between passive and active information gathering. The information gathered is then compared to the STRIDE model, along with the OWASP 2021 Top 10 list, concluding with an assessment of risk analysis based on the CVSS(Common Vulnerability Scoring System) scores. Chasing Dory and a ROV model with similar topology are used in this project for threat modelling, hydrodynamic and hydrostatic analyses demonstrated with ANSYS, Simulink and Matlab software tools. The PID tuning model used for the ROV model is a simple PID controller based on a continuous time domain transfer function.