“UNDERWATER FINWAVE ROBOT INSPIRED FROM PHYLUM

PLATYHELMINTHES”

A PROJECT REPORT

Submitted by

PREETINDER SINGH (19BEM1032)

PACHA BHANUPRASAD (19BEM1011)
ORSU VINAY (20BEM8001)
SANKHADIP PAUL (20BEM8005)

in partial fulfilment for the award of the degree of

BACHELOR OF ENGINEERING
IN
MECHATRONICS ENGINEERING

Chandigarh University
MARCH 2023

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 BONAFIDE CERTIFICATE

Certified that this project report” UNDERWATER FINWAVE ROBOT

INSPIRED FROM PHYLUM PLATYHELMINTHES” is the bonafide work
of Preetinder Singh, Orsu Vinay, Pacha Bhanuprasad, and Sankhyadip
Paul who carried out the project work under my supervision.

SIGNATURE SIGNATURE
Gaganjot Kaur
Inderpreet Singh Harjot Singh Gill
SUPERVISOR HEAD OF THE DEPARTMENT
Mechatronics Mechatronics

Submitted for the project viva-voce examination held on _________________

INTERNAL EXAMINER EXTERNAL EXAMINER

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 ACKNOWLEDGEMENT

It gives us the privilege to complete this mid semester project. This is the only page where we
have the opportunity to express my emotions and gratitude. It isa great pleasure in expressing
sincere and deep gratitude towards my supervisor and guide Mr. Inderpreet Singh and Mrs.
Gaganjot Kaur for her valuable suggestions, guidance, and constant support throughout the
completion of this project named Underwater Finwave Robot Inspired from Phylum
Platyhelminthes “”. This project, though done by us, wouldn't be possible without the support of
varied people, who by their cooperation have helped us in bringing out this project successfully.
I am really very thankful to Chandigarh University for providing me such a great opportunity to
make such a wonderful project which can solve real-life problems and extremely valuable hands-
on experience along with crucial soft skills such as working in a team, communication skills, and
much more. I also offer my most sincere thanks to every team member of our group who was
working rigorously on this project and staff members of the Mechatronics Department, University
Institute of Engineering, Chandigarh University for cooperation provided by them in every
possible way. We thank all the faculty members and other supporting staff for the help they
provided to us for the completion of our project.

Preetinder Singh
Pacha Bhanuprasad
Orsu Vinay
Sankhyadip Paul
(Student B.E. Mechatronics, 7th semester)

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 TABLE OF CONTENTS
List of Figures .................................................................................................................................................. 7

List of Tables ................................................................................................................................................... 9

List of Standards ............................................................................................................................................ 10

CHAPTER 1. INTRODUCTION .................................................................................................................... 12

1.1. Client Identification/Need Identification/Identification of relevant Contemporary issue ................. 12

1.2. Identification of Problem .................................................................................................................... 13

1.3. Need for Research .............................................................................................................................. 13

1.4. Timeline .............................................................................................................................................. 14

1.5. Indentification of Task ........................................................................................................................ 15

1.6. Organisation of the report: .................................................................................................................. 17

CHAPTER 2. LITERATURE REVIEW/BACKGROUND STUDY ........................................................................ 18

2.1. Review of the Literature ..................................................................................................................... 18

2.2. Timeline of the reported problem ...................................................................................................... 18

2.3. Existing Approaches ........................................................................................................................... 19

2.4. Critical Appraisal of Existing Approaches ............................................................................................ 20

CHAPTER 3. DESIGN FLOW/PROCESS ....................................................................................................... 21

3.1. Concept Generation ........................................................................................................................... 21

3.2. Evaluation & Selection of Specifications/Features ............................................................................. 21

3.3 Design Constraints………………………………………………………………………………………………………… …22

3.3.1 Economics of the Project ................................................................................................................ 22

3.3.2 Environmental Impact .................................................................................................................... 22
3.3.3 Health Impact ................................................................................................................................. 22
3.3.4 Safety Impact .................................................................................................................................. 22
3.3.5 Professional Impact ........................................................................................................................ 22
3.3.6 Ethical Impact ................................................................................................................................. 23

3.4. Best Design Selection ......................................................................................................................... 23

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 3.5. Design Flow & Implentation Plan ....................................................................................................... 26
3.5.1. Block Diagram ................................................................................................................................... 26
3.5.2. Coding ................................................................................................................................................ 28

3.6.Design Process .......................................................................................................................................... 28

3.7.Implementation plan/methodology .......................................................................................................... 28

3.7.1 Required Parts & Components .......................................................................................................... 28
3.7.1.1.Lithium -ion-battery pack ........................................................................................................... 28
3.7.1.2 Arduino Board ........................................................................................................................... 30
3.7.1.3 . Blutooth HC-05 Board .............................................................................................................. 31
3.7.1.4 . Relay Module ........................................................................................................................... 33
3.7.1.5 . ESP-32 CAM .............................................................................................................................. 35
3.7.1.6. Tower -MG90S servos ............................................................................................................... 38
3.6.1.7 Connecting Wires ..................................................................................................................... 40
3.8. Controllables & Equipment for Operating ............................................................................................... 40
3.8.1 FIN-WAVE APP ............................................................................................................................... 40
3.8.2 Equipment & tools required. .......................................................................................................... 41

3.9 Cost of the project...................................................................................................................................... 41

3.9.1. Cost of the Components : .................................................................................................................. 41

3.10 Manufacturing & Production .................................................................................................................. 43

3.10.1. Techniques ...................................................................................................................................... 43
3.10.1.1 3D-Printing .................................................................................................................................. 43
3.10.2. Material Used .................................................................................................................................. 43
3.10.3. Importance of Slicing ...................................................................................................................... 44

CHAPTER 4. RESULT ANALYSIS AND VALIDATION .................................................................................... 46

4.1.Implentation of Design Using Modern Engineering Tools ......................................................................... 46

4.1.1. Fusion-360 ........................................................................................................................................ 46
4.1.2. 3d-Printing Slice Software.................................................................................................................. 46

4.2 Results & Testing . ......................................................................................................................... 47

4.3 Report Preparation ................................................................................................................................... 47

4.4 Project Management ................................................................................................................................ 47

CHAPTER 5. CONCLUSION AND FUTURE WORK ....................................................................................... 48

5.1. Future work ......................................................................................................................................... 48

5.2. Conclusion ........................................................................................................................................... 48

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REFERENCES .................................................................................................................................................. 49

APPENDIX ...................................................................................................................................................... 55

1. Design Checklist ....................................................................................................................................... 54

2. Plagarism Report ..................................................................................................................................... 56

USER MANUAL .............................................................................................................................................. 57

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 LIST OF FIGURES

Figure No. Title Page No.

Figure 1 Timeline along with the different of work distribution 15

Figure 2 Under-water Fin wave bot link (3D Model Design 1) 23

Figure 3 Under-water Fin wave bot link (3D Model Design 2) 24

Figure 4 Under-water Fin wave bot link (3D Model Design 3) 24

Figure 5 Under-water Fin wave bot chain link (3D Model 3) 25

Figure 6 Under-water Fin wave bot chain link (3D Model 2) 25

Figure 7 Transition stage (3D Printed) 25

Figure 8 Circuit diagram of the Bot 26

Figure 9 Complete Circuit of the bot 27

Figure 10 Transmitter Circuitry 27

Figure 11 Camera Module Circuitry 28

Figure 12 1400 Mah capacity Lithium-polymer Battery 29

Figure 13 Arduino Pin-layout and pin configurations 30

Figure 14 Bluetooth module HC-05 33

Figure 15 Relay Module 34

Figure 16 Esp-32 Cam 36

Figure 17 FLV of Esp32 Cam 37

Figure 18 Settings of Esp32 Cam 38

Figure 19 Tower Pro MG90S Servo Motor 40

Figure 20 Connecting Wires 40

Figure 21 Application Interface of the Fin wave App 41

Figure 22 PLA+ Filament from e-Sun 44

Figure 23 Support Structure (in blue) generated by 44

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 Cura software

Figure 24 Different densities of infill(in yellow), as generated 45

by Cura slicer, from solid to hollow.

Figure 25 Fin wave robot in working condition in water 61

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 LIST OF TABLES

Table No. Title Page No.

Table 1 Work plan & Work Distribution 16

Table 2 Review of the literature Authors 18
Table 3 Specifications of Lithium-polymer Battery pack 29
Table 4 Specifications of Arduino Nano 31
Table 5 Specifications of Bluetooth-Module 32
Table 6 Specifications of Relay-Module 35
Table 7 Specifications of ESP-32 CAM 36
Table 8 Specification of Tower Pro MG90S Servos 39
Table 9 Approximate Cost of Project 42

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 TABLE OF STANDARDS
S.no. Name of Standards About the Standard Pg.no

1 ISO/IEC JTC 1 Computer graphics, image 41

ISO/IEC JTC 1/SC 24 processing and environmental data
representation
2 ISO/CD 27548 Additive manufacturing of plastics 43
— Environment, health and safety
— Test method for determination of
particle and chemical emission rates
from desktop 3D printer material
extrusion.

3 ISO/ASTM 52900 Establishes and defines terms used 43,44

in additive manufacturing (AM)
technology, which applies the
additive shaping principle and
thereby builds physical 3D
geometries by successive addition of
material. The terms have been
classified into specific fields of
application.

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 ABSTRACT

Underwater Fin wave Robot Inspired from Phylum Platyhelminthes is one of the underwater
organisms present in the Oceans and Seas. They are very good swimmers and can-do multiple
maneuvers underwater. We have tried to do Biomimicry of this organism by making a replica
robot that offers same body structure and its design advantages[5]. Main advantage of such
bioinspired design is that it would not disturb the internal biodiversity of oceans and can mix in
with other aquatic lives. By using this design approach, we can not only swim underwater but also
run-on land and can even slide in compact spaces such as pipes for inspectional purposes. It will
also help in research and findings for climate change and its adverse impact on oceans along with
understanding biodiversity below water. And also, we can inspect the underwater bodies like
rivers, seas and oceans in the view of Minerals, underwater treasure and marine geography
etc.[39]

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 CHAPTER 1.
INTRODUCTION
1.1. Client Identification/Need Identification/Identification of relevant Contemporary
issue
Underwater Fin wave Robot Inspired from Phylum Platyhelminthes is an undulation motion type
biomimicry robot. The adulatory motion type underwater robots have many potential applications.
One of these applications which can be lifesaving as well as much effective in underwater
exploration by sea drivers. The purpose of technology is to take the jobs that are boring, mundane,
tedious and difficult or life threatening as well as to increase the standard of life. With our project,
we are making an attempt to achieve this purpose of technology. Today's ocean exploration
focuses on creating new discoveries and seeking for unique and surprising items. The meticulous
observations and documenting of the biological, chemical, physical, geological, and
archaeological features of the ocean obtained through exploration set the basis for subsequent
study[27] and decision-making as the first phase in the scientific process. Unlocking the mysteries
of ocean ecosystems can reveal new source for medical therapies and vaccines, food, energy, and
more as well as inspire inventions that mimic adaptations of deep-sea animals. Humans may better
comprehend how we are impacting and being affected by changes in the Earth's ecosystem by
using information from ocean exploration. We can better comprehend and react to earthquakes,
tsunamis, and other disasters with the knowledge gained from ocean exploration.[20] A problem
involving the water, such as oil leak, can be dealt with more efficiently if new technology and
technical advances are spurred by the difficulties encountered when researching the ocean.
Additionally, ocean exploration can raise the level of ocean literacy and encourage young people
to pursue important jobs in math, science, and technology. so, our project aims to replace these
jobs by making a type window cleaning robot. There are different types of mechanisms used for
the purpose of wall climbing. Such mechanisms include vacuum suction, magnetic attraction,
propeller-based mechanism as well as grasping mechanisms etc. Since magnetic attraction is only
applicable to ferromagnetic surfaces, suction pipes are affected by the surface as well as grasping
robots have the ability not to climb smooth surfaces, so we decided to use undulatory wave like
motion type mechanism inside of our project.[24]
Underwater finvawe robots have the ability to swim with the flows of upstream and downstream.
Also it is able to oppose the force of upstream and downstream. Undulatory locomotion
mechanism is like a boon to this robot it acts and behaves as same as the aquatic life and it does
not create any disturbance in the internal biodiversity of seas and can mix with other aquatic lives
. It has the ability to exist as a controlled via controller remotely[32]. With the help of inner
skeleton of fin wave robot it can easily generate current force required inside the water in order to
float. We can generate the locomotive motion with the help of moded servo motors along the axis
of motion spring which acts as a vertebra of the body[8]. By changing the orientation of these
motion spring servo we can move the robot forward as well as backward. One servo motor is used
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to change the directions to make the robot turn. The robot has a inbuilt camera for motoring and
data collection.

1.2. Identification of Problem

The Ocean is a vast and difficult to understand environment. There are FIVE Oceans in this planet
(Pacific Ocean, Atlantic Ocean, Indian Ocean, Arctic Ocean, Antarctic Ocean).The Ocean covers
71% of the Earth’s surface and offers an incredible opportunity for exploration. Navigating by
boat is only possible in a few places, such as the Mediterranean Sea, but not without significant
risk. Today, underwater exploration is limited to manned submersibles or smaller remote-
controlled robots that are controllable by the human beings. Controlling underwater vehicles is no
simple feat, mainly due to the non-linear and coupled dynamics of plant equations, as well as the
lack of accurate models for underwater vehicle dynamics[13] and parameters. Despite this, an
inherent difficulty comes from the environment itself providing increased levels of noise. In
contrast to other dynamically modeled closed-loop controller systems, the control of underwater
vehicles is a difficult design problem[35]. These controllers are usually based on simplistic models
for the vehicle's mass and drag. One would be disappointed with the results. In an under actuated
system, there are less control inputs than degree of freedom. This means that for some systems
there will be constraints on acceleration because not enough control inputs existed to reflect the
desired constraints. For ROVs, under actuated condition means that one or more of the thruster’s
malfunction. For example, navigating a certain path or depth can be achieved by using two
thrusters for depth control[14]. However, should one of them malfunction, the other will
automatically fill in. They will then move with as many volts as necessary to submerge at a given
depth. If that one malfunctions too, the next one will take over until there are no more left. One
major concern with ROV is how it moves when environmental disturbances (wind, waves,
currents) are present. The ROV must also be able to handle unexpected environmental
disturbances such as strong waves. An inspection package including ROVs will often make use
of video cameras to broaden the testing scope[31]. For tasks that require reliable connectivity,
high frequency spectrum is the better option, but for higher frequency transmission fails too
quickly there is an underwater protocol called Video Linking (VL). The VL transmits large
quantities of small data packets which allows a continuous streaming of videos. Three types of
sensor which use wireless communication system have been developed - video, data transfer and
GPS. All the experimental work done indicates that a wireless communication system for high
frequencies cannot communicate well under water.

1.3. Need for Research

Underwater robots (such as remote operated vehicles and autonomous underwater vehicles) are
essential for exploring parts of the ocean that humans can't reach. They can explore dangerous or
difficult areas in the sea that we can't go to. There are a variety of underwater robots that come in
all shapes & sizes and can be equipped with different sensors and tools, like sonar. They
provide enough data to be able to answer lots of scientific questions[38]. The oceans are expensive
and full of unexplored regions. These areas are often dangerous and difficult to explore but
fortunately, there is a solution: new robots that can go deep under water. They can be programmed

13
to collect key information such as salinity, temperature, speed and direction of currents[14]. They
can map the seafloor in extraordinary detail which allows them to find things like shipwrecks or
downed war planes. They also look for hydrothermal vents in the deep sea which billow with
boiling hot water sometimes. “Instead of relying on one, large and expensive underwater robot to
cover a large area of the ocean[5], we would want to use hundreds or even thousands of smaller
robots so that we can share the workload. This way, we will be able to produce a more complete
view of the situation. Told by Fischell, who develops autonomous underwater vehicle technology
at Woods Hole Oceanographic Institution. “In return, this will give us better coverage on spatial
and temporal aspects of the areas we’re trying to study, as well as richer data sets collected in a
much shorter time.” Advances in underwater exploration have been made in recent years thanks
to a pioneering work by explorers. They are looking into the depths of the ocean and finding out
more about its physical and chemical characteristics as well as uncovering information on life
forms that inhabit this realm. Scuba-diving is an old way of earning a living and enjoying the
pleasures of water, but exploring deep-sea is a relatively recent phenomenon because
advancements in technology have only recently been necessary for human beings to survive in
deeper water. Alternatively, these advancements were made because there was no need for
humans to go into the deep sea before. Deep-sea exploration has a long and interesting history[26],
starting out with practical applications of oceanography[38], such as laying cable under the sea.
As time went on, natural and scientific curiosities led to an expansion in the range of what was
studied. One major area that's grown is ocean exploration, which is brought about by practical
applications of research, there are many volumes of ocean basins and numerous sub-areas, which
each have their own individual characteristics. These include the nature of the oceans' surface
(which has atmospheric effects on it), transportation (of sediment), and the properties of sediments
found in marine environments[27]. They may be land-, volcanic-, organic-, or inorganic-based,
for example; chemistry of sea water (including the gas content); physical properties of sea water
like density and pressure; characteristics of ice and icebergs; and biological oceanography
(including plankton, bacteria, and plant nutrients as well as more familiar plants and animals)

1.4. Timeline
In the beginning, we wanted to design the motion mechanism in order to achieve free motion
under water. Our first choice is to add fins to the robot, we analyzed the motion with fins and
found out that, fins failed to achieve proper motion required for the smooth motion of the
underwater robot. Later, we took inspiration from the aquatic life and studied about their motion,
at last we finalized the Locomotive motion of aquatic life for this underwater robot. This
mechanism itself a life to the robot, further we went through making several designs for this
locomotion and at last, we are able make perfect design for the motion mechanism. We designed
our own vertebral structure using Additive manufacturing (3D printing). We ordered different
components necessary for the implementation of our model. We have explained in detail about
the design and components in coming chapters.
After assembly of the components, we proceeded with the testing of our model which was the
major part of the project. A lot of trial and error was done to ensure that the components were
placed in their optimal position to produce the most energy possible.

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 Figure 01:Timeline along with the different phases of work distribution

1.5. Identification of Task

Our objective is intended to provide underwater robots with the ability to autonomously retain
their position, follow along fixed natural and artificial elements, search in predictable patterns,
and ultimately swim after dynamic targets. In addition to inspecting pipes and cables and helping
divers, these abilities are crucial for jobs like cataloguing reefs, exploring geologic features, and
studying aquatic species. Since we are creating an autonomous underwater vehicle for the
Underwater Robotics project, we used Kambara as a model to find efficient ways to carry out
these tasks. With onboard computer, sensor, and power resources, Kambara is self-sufficient.
Our research aims to create high-level behaviors and low-level servo-control for autonomous
underwater exploration and inspection activities. In order to ensure a cogent ecosystem of
capabilities for underwater robots, this Research Topic promotes discussion of universal materials,
modules, or other devices. It also aims to develop advanced underwater robots, capture new and
emerging underwater robot theories, technologies, and challenges, and encourage innovation and
cooperation among all parties involved. The scenarios of underwater observation, exploration, and
operations have the potential to be revolutionized by capabilities in this field[12], making them
more intelligent and sustainable while reducing the time required to develop new capabilities for
future demands. It is obvious that more effort needs to be done in order to obtain a synoptic view
of the open sea and the deep oceans over large areas of interest and to sustainably utilize the
resources available[37]. To achieve this, it will be necessary to create new techniques and
equipment for ocean exploration and exploitation as well as to strengthen existing global
partnerships between universities, research organizations, businesses, and others.[17]
The creation of new technologies to aid in the exploration, observation, sampling, and ongoing
monitoring of the marine environment is currently attracting interest on a global scale in keeping
with the aforementioned trend.
It would be challenging to complete the necessary operations with only human labour. As a result,
efforts are being made to use cutting-edge technical instruments, such as remotely controlled cars
and totally autonomous robots, to increase human knowledge of this vast and mysterious world.
Advanced technology for ocean exploration can also be used for maritime and naval applications
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like ship monitoring and maintenance, emergency operation support, offshore inspections, and
other related tasks. The expanding capabilities of ROVs through time, mostly as a result of
technical development and the necessity to search for and explore additional offshore oil and gas
reserves, are anticipated to propel the expansion of the global underwater robotics market.[7]
Furthermore, the use of underwater robotics for salvage, rescue, and repair operations is
accelerating market expansion. However, the high cost of ROVs and AUVs following upgrades
and cyber security concerns serve as a limitation on the growth of the worldwide underwater
robotics market.

Pacha Bhanuprasad  Idea generation

 Slicing and 3d printing
 Assembly work and testing
 Project report
 Presentation PPT

Orsu Vinay  Idea generation

 Research paper
 Presentation PPT
 Assembly work
 Electronics selection and trading

Preetinder Singh  Design and 3d-modeling

 Fin-wave android application
 Presentation PPT
 Assembly work
 Coding and testing

Sankhadip Paul  Idea generation

 Project report
 Assembly and testing
 Presentation PPT
 3D-modelling

Table 01: Work Plan and Work distribution

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1.6 Organization of the report
Throughout this report, we present a detailed explanation of how we implemented the Underwater
robot for deep sea research .
First and foremost, we came across the work that has already been done by some other researchers
throughout the world. We highlighted them of approach and figured out the new approach the
where we can make the robot cost effective and work efficient. We used the knowledge acquired
from the work of our peers in combination with our own ideas to come forth with this report.
The next chapters provide all the information about how we went to implement our project. The
whole process, the actual working design of the project are given below. Our results, validation,
conclusion of the project as well as the future scope of this concept has been included as well.

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 CHAPTER 2.
LITERATURE
REVIEW/BACKGROUND STUDY
2.1 Review of the literature:

S.no Author(s) Focus/Findings

J. Yuh's research focuses on the development and control of
1. J. Yuh, underwater robotic systems, particularly underwater manipulators
[1999,2001.2014][E] and AUVs, and his work includes proposing novel control
strategies and designing new robotic systems for intervention
missions and exploration.

The findings of the study suggest that soft bio-inspired whisker

2. J.Z. Gul sensors have potential applications in underwater sensing and
[2018][E] monitoring, such as for detecting underwater turbulence, flow,
and other fluid dynamics phenomena. The use of 3D printing
technology in the fabrication process also demonstrates the
potential for low-cost and customizable fabrication of soft robotic
sensors
The findings of the study suggest that biomimetic whisker sensors
3. N.F. Lepora can provide a valuable approach to active touch sensing in
[2021][E] robotics and can potentially enable robots to better navigate and
interact with their environments. The use of 3D printing
technology in the fabrication process also demonstrates the
potential for low-cost and customizable fabrication of bio-inspired
sensors and robots.
X. Shen has contributed to the design and development of various
4. X. Shen[E] deep ocean electric manipulators, focusing on the manipulators'
[2010,2011] mechanical structure, power supply, and control systems. In
particular, X. Shen has been involved in the development of
autonomous and master-slave electric manipulator control
systems, with a focus on their architecture, algorithms, and
communication protocols. Overall, X. Shen's research has aimed
to advance the capabilities of deep ocean electric manipulators
and their control systems, which can be used in a variety of
applications such as underwater exploration and maintenance.
Table 02: Review of the literature authors
2.2. Timeline of the reported problem
Certainly! The National Oceanic and Atmospheric Administration (NOAA) is a US government

18
agency responsible for studying and predicting changes in the environment, including oceans and
coasts. In 2021, the NOAA announced a new program called the Unmanned Systems Operations
Program (USOP), which aims to improve the use of underwater robots or ROVs for disaster
management and scientific research.[13]
The USOP program will focus on developing standardized procedures for the use of ROVs in
various scenarios, such as oil spills, search and rescue missions, and scientific expeditions.
The program will also establish guidelines for the training and certification of ROV operators, as
well as for the maintenance and inspection of ROV equipment. In addition to developing
standardized procedures and guidelines, the USOP program will also prioritize the development of
new technologies and tools to enhance the capabilities of ROVs. This includes developing
advanced sensors, cameras, and communication systems to improve the efficiency and safety of
ROV operations.[20]

Overall, the USOP program aims to establish a comprehensive framework for the safe and effective
use of ROVs in disaster management and scientific research. By doing so, the program hopes to
minimize technical issues, communication problems, and safety concerns associated with ROV
operations and improve the accuracy and efficiency of data collection and analysis in underwater
environments.[31]

2.3. Existing Approaches

Below the surface, a fish called Phylum Platyhelminthes exhibits some extraordinary properties.
The body has a soft covering with or without cilia. Their body is dorsoventrally flattened without
any segments and appears like a leaf. This fish inspired the concept of developing a bioinspired
robot having similar features and capabilities. Distinguishing features of R.quaesita include a long,
straight dorsal fin with 10 to 12 soft rays and a powerful swim bladder that helps maintain
buoyancy in the water. Their native habitat is deep water, but they have been found in shallow
waters as deep as 60 feet below the surface. In nature, this species lives in deep ocean waters, but
its natural habitat does not limit its ability to perform. Instead, their abilities are enhanced through
adaptation. They are becoming more dangerous by adapting to the terrestrial environment.
Specifically, they developed strong muscles from hunting in shallow water and preying on other
fish. This terrestrial adaptation has earned the species the nickname "orca of the sea." Fish adapt
to their environment and change their appearance and behavior. They have turned into large,
powerful creatures that can hunt other fish in shallow water. This is made possible by the fish's
flexible organs that can adapt to different environments. Specifically, they have lungs that allow
them to live on land, and they have eyes and sensory organs that allow them to hunt underwater.
The rest of the body adapts its food to make it suitable for digestion and allows life on land. Besides
mimicking the traits of predators, these fish have also learned how to naturally catch prey through
mimicry and adaptation. They catch food by using their fins as nets or by slamming their bodies
into other fish as weapons. Their aggressive nature also allows them to fight among themselves for
food. This leads to plentiful food for them, as multiple animals will be hungry at once. This is why

19
most aquatic animals live near other animals. Because they fight over food and need room to avoid
starvation.
From PHYLUM PLATYHELMINTHES, underwater robots inspired by this concept have learned
new abilities such as walking and attacking - they can be used alone or to augment other aquatic
species. Existing approaches for underwater FINWAVE robots inspired by PHYLUM
PLATYHELMINTHES provide a good model for future research in these areas![44]

2.4. Critical Appraisal of Existing Approaches

Technologies for underwater robot sensing have attracted a lot of interest for maritime engineering
and resource exploitation. The majority of underwater sensing systems rely on electromagnetic,
bionic, and acoustic signals (such as sonar). Sonar specifically measures the travel duration and
phase difference of sonic pulses, which may operate at a much longer range and are unaffected by
water turbidity, in order to estimate the position of a submerged item. Underwater sonar's practical
applications are limited by the low resolution of underwater acoustic sensing techniques despite
their wide sensing range. Optical sensors, which may attain higher resolution and refresh rate, catch
the light rays of their surroundings to acquire environmental information. However, ambient
electromagnetic waves might obstruct the accuracy. In addition, researchers start looking at
underwater bionic sensing technologies (e.g. whisker and lateral lines) . These technologies still
need to be enhanced in actual use as they are not yet sufficiently developed. Researchers must
combine numerous sensing techniques to complete distinct underwater exploration objectives since
each of the aforementioned technologies has its own benefits and limitations. The best instrument
for carrying out subsea intervention operations is thought to be a manipulator (robot arm).
Unmanned underwater vehicles (UUVs)[12], including remotely operated vehicles (ROVs)[20]
and, in certain circumstances, autonomous underwater vehicles (AUVs), are therefore outfitted
with one or more underwater manipulators. Underwater Vehicle Manipulator Systems is a common
name for UUVs with manipulators (UVMS). The bulk of underwater manipulators now being
utilized by UUVs are anthropomorphic, or shaped like a human arm[18]. These manipulators
consist of a series of replaceable grippers or other rigid bodies (links) attached at the end-effector,
which are joined by revolute joints with the appropriate angular displacement. They typically come
with extra equipment, such as one or more cameras and lamps installed on the manipulator itself
or the base underwater vehicle. This allows them to observe their surroundings.[20]

20
 CHAPTER 3.
Design flow/Process

3.1 Concept Generation

We have multiple links connected in a series pattern with each link in combination with its
adjacent one, making a chain-like structure that is flexible enough for up-down, forward, and
backward motion but does not allow any torsional moment. These links act as the vertebral column
of fishes and other similar aquatic fauna.[8]
In order to achieve a sine wave like motion, a thick metallic wire is inserted at the center of all the
links. This wire gives a spiralized shape just like a spring by coiling it with a 20mm diameter rod,
when spring rotates at 360 degrees inside the chain links and a sine wave-like motion is created[28].
You can see the spiralized shape of spring while viewing it from the top clearly.
This shape is repeated over and over again ones the spring is turned 360 degrees continuously.
Hence allowing all the links to move along same path and making a wave like motion.

3.2 Evaluation & selection of Specifications/ Features

The Finvawe robot is designed for underwater exploration and is equipped with a unique
propulsion system that utilizes the Sinewave method. This method allows the robot to move
efficiently and quietly through the water, making it ideal for marine research, surveillance, and
environmental monitoring. Here are some concept ideas for the Finvawe robot using the Sinewave
method[33]:

Modular Design: The Finvawe robot could have a modular design that allows for different
attachments, such as cameras, sensors, and sampling equipment, to be added or removed based on
the specific mission requirements.

Multi-Directional Movement: The Sinewave method could be adapted to allow the Finvawe
robot to move in multiple directions, including up and down, to explore different areas of the
underwater environment.

Smart Navigation: The Finvawe robot could use advanced sensors and machine learning
algorithms to navigate through complex underwater environments, avoiding obstacles and
adjusting its movement based on current conditions.[14]

Long Endurance: The Finvawe robot could have a high-capacity battery or a hybrid power system
that allows it to operate for extended periods, making it suitable for long-term monitoring and data
collection missions.

Collaborative Swarm: Multiple Finvawe robots could work together as a swarm to cover larger

21
areas, collect more data, and perform more complex tasks.[26]

Autonomous Operations: The Finvawe robot could be programmed to operate autonomously,

performing tasks such as collecting samples, monitoring ocean currents, and mapping the ocean
floor without human intervention.[2]

3.3 Design Constraints

3.3.1: Economics of the project:-

When we started the designing the underwater robot, we also focused on reducing the
manufacturing cost of the robot to normal. Earlier, the robot used for underwater research are
heavily priced and hard to handle in water. Having good swimming capacity with best efficiency
helps to get a better return on investment on the project in long run without compromising the
quality. 3D printing components can be recycled or can be reused, other components are
manufactured by own to make the project cost effective.[44]

3.3.2 Environment impact :-

Since we are using Additive manufacturing technology (3D printing), the material used in 3d
printing is PLA+ (plot lactic acid) which is a plant-based plastic i.e., Bio plastics which are
biodegradable and environment friendly. And the design is inspired from the aquatic life, it doesn't
create any disturbance in underwater life . The robot does not make any sound pollution and
it is quite calm.[43]

3.3.3 Health impact :-

Our project doesn't have any sort of pollution output, does not have any harmful health impact. It
can make things even better through its vision capabilities, it can make better living conditions for
aquatic life by informing the factors that makes the aquatic life endangered.

3.3.4 Safety impact:

One of the primary safety benefits of underwater robots is that they can perform tasks that would
be too dangerous for humans to undertake. For example, they can explore the depths of the ocean,
search for wreckage or lost objects in hazardous conditions, and perform maintenance tasks on
offshore oil rigs. By using underwater robots, humans can avoid exposing themselves to the risks
of underwater exploration and maintenance tasks, including drowning, decompression sickness,
and hypothermia.

3.3.5 Professional impact :

Underwater robots, also known as remotely operated vehicles (ROVs)[31] or autonomous
underwater vehicles (AUVs)[18], have had a significant impact on various professions that involve
underwater exploration and data collection. They allow researchers, engineers, and other

22
professionals to access and observe underwater environments without the risk and limitations of
human divers.

ROVs are commonly used in the oil and gas industry for tasks such as inspecting pipelines and
platforms, while AUVs are used for oceanographic research[, mapping the seafloor, and
monitoring marine life. They have also been used in search and rescue missions and environmental
monitoring.
3.3.6 Ethical Impact:
Underwater robots, also known as autonomous underwater vehicles (AUVs) and remotely operated
vehicles (ROVs)[31], have significant ethical implications. On the positive side, they are
increasingly being used for scientific research, environmental monitoring, and disaster response,
helping us to understand and protect the marine ecosystem. However, they can also be used for
military purposes, such as intelligence gathering and underwater mine detection, which raises
ethical concerns about the potential for harm and the militarization of the oceans. Additionally, the
use of underwater robots in industries such as deep-sea mining and oil and gas extraction raises
concerns about the potential for environmental damage and the exploitation of natural resources.
Overall, the ethical impact of underwater robots depends on how they are used and regulated.

3.4 Best Design Selection :

Configuration-1 (NOT SELECTED)
Configuration -1 Description :
Inspired from the fish vertebrae.
Length: 65mm
Weight: 10grams
Easily fit table for the joints
Support the structure while moment.
Advantages :
Cost effective.
Fittable
Bio-mimicry
Helps Fine movement from the part.
Disadvantages :
Brittlely
Hard to compile with the body
Space is limited in the body.

Fig 02: First Design Under-water-fin wave bot chain link (3D Model

23
Configuration 2: (NOT SELECTED): Configuration-2 Description:
 Inspired from Expanded hemal canal of a fish
vertebral structure
 Height : 15mm
 Weight: 4grams
 Easy to combine.
 Compatibility
Advantages:
 Affordable.
 Less weight
 Good Strength
Disadvantages:
 Special springs were required.
 Hard to retain its original position.
 Quality of movement is missing.

Fig 03: Under-water-fin wave bot chain link (3D Model 2)

Configuration 3: (SELECTED): Configuration-3 Description:

 Inspired from Expanded Hemal canal of a
o fish vertebral structure with fine edges.
 It forms a pair of structure which combines to
became a vertebrae.
 Length : 15mm
 Weight : 3grams
 Locomotive motion is achieved.
o Advantages:
 Affordable
 Easy to combine.
 Less weight.
 Combine structure cannot be disassembled at once.
 Good vital strength between the parts.
 Enhances the speed of the bot.
o Disadvantages:
 Sharp Edges.
 Dust collection is more due to the fine edges &
Takes to much time to form a structure.

Figure 04: Under-water-fin wave bot chain link (3D Model 3)

24
Figure 05: Under-water-fin wave bot link (3D Model 2)

Figure 06: Under-water-fin wave bot link (3D Model 3 )

Figure 07: Transition stage (3D Printed )

25
3.5 DESIGN FLOW & IMPLEMENTATION PLAN
3.5.1 Block Diagram
Below we have shared the BLOCK Diagram of the project to depict how the entire system
will work.

Figure 08: Circuit diagram of the bot

Below we have shared the CIRCUIT Diagram of the project to depict how the entire system
will work.

26
Figure 09: Complete Circuit of the bot

Figure 10: Transmitter circuitry

27
 Figure 11: Camera module circuitry
3.5.2 Coding
The coding for this robot is done in C++ coding language by using Arduino’s integrated
development environment (IDE) as software. The code for ESP 32 cam module was uploaded by
using an FTDI programmer module which is basically a USB to serial converter cables which
provide connectivity between USB and serial UART interfaces.
The entire code is available at the appendix section.

3.6 DESIGN PROGRESS

While our team is primarily focused on the sustainable idea, our work has begun by discussing the
idea and its value, which demonstrates a significant impact on society and offers hope for the issue.
We have talked about the various issues related to under water exploration and robot construction
for sea divers. Finally, deep-sea exploration allows for further innovation outside previously
uncharted territory, thus researchers have been observing various aquatic life movements. As days
go on we started selection and ordering the components. We faced many issues while designing
the body because links & joints are very brittle, So that we need to change whole design due to the
head joint screw is not working.
You can clearly observe different phases of work progress, research & Project, Electronics &
assembling , Testing , Manufacturing etc.

3.7 Implementation &Methodology

3.7.1 Required parts & Components:

3.7.1.1 Lithium-ion Battery pack:

we are using lithium-ion Battery 1S 35C lithium-ion battery pack (Li-Po) as the power supply for

28
the robot prototype. 2700mAh means the battery can provide 2700 MA of charge for one hour. 1S
means three cells of voltage 3.7V will be connected in series. So the total voltage will be
1x3.3=3.3V. 35C is the discharge of the battery. It means the battery can provide 10amp continuous
supply.

The specifications of this battery are given below:

Model No. 18650lithium- ion battery

Output Voltage (VDC) 3.3V

Charge Rate (C) 35

Battery capacity 2700mah

Battery-type Rechargeable

Weight 50grams

Dimensions 18x65mm

Table 03: Specifications of Lithium-polymer Battery pack

29
 Figure 12:1400 Mah capacity Lithium-polymer Battery

3.7.1.2 Arduino board:

We are using Arduino Nano where all the electronics connected to this board. It is lightweight,
small, breadboard friendly and covers less space. The Mini-B USB port, a 6-20V unregulated
external power source (pin 30), or a 5V regulated external power supply are all options for
powering the Arduino Nano (pin 27). The greatest voltage source is automatically chosen as the
power supply. The ATmega328 has 32 KB, (also with 2 KB used for the bootloader. The
Atmega328 has 2 KB of SRAM and 1 KB of EEPROM.
Pin-Layout of Arduino Nano:

Figure 13: Arduino Pin-layout and Pin configurations

The specifications of Arduino mini given below:

Microcontroller Atmega328P

Operating Voltage (logic level) 2.2-3.6V

Input Voltage (recommended) 5V

30
 Input Voltage (limits) 6 – 20 V

Digital I/O Pins 14

Analog Input Pins 6

DC Current per I/O Pin 40mA

Flash Memory 32 KB (of which 2 KB used bybootloader)

SRAM 2KB

EEPROM 1 KB*

Clock Speed 8 MHz

Dimensions 0.7” x 0.7”

Table 04:Specifications of the Arduino Nano

3.7.1.3. Bluetooth HC-05: The Bluetooth Module can be used as a transmitter as well as a receiver.
We are using one Bluetooth module, App as a transmitter, and Bluetooth module HC-05 as a
Receiver. The modal we are using in our project is HC-05. It has range up to <100m which depends
upon transmitter and receiver, atmosphere, geographic & urban conditions. It uses serial
communication to communicate with devices. It communicates with microcontroller using serial
port (USART).

31
The specifications of Bluetooth module are given below:

Model HC-05

Range 10m

Operating Voltage 3.3V

Operating Frequency 2.4-2.5 GHz

Operating Current 40mA

Dimensions 26.9mm x 13mm x 2.2 mm

Communication Protocol UART

Channel Range 10-100 m

Table 05: Specifications of Bluetooth Module (HC-05)

32
 Figure 14: Bluetooth module HC-05

3.7.1.4 RELAY (3V): A relay enables electrical equipment to switch circuits; for instance, a timer
circuit with a relay could switch power at a certain time. Relays were the go-to tool for controlling
industrial electronic systems for a long time.

How relay module helped in the project?

The relay module's input part has three terminals: VCC, GND, and a signal input (IN1). There are
three connections on the output contacts of the module, designated as Common (COM), Normal
close (NC), and Normal open (NO)
Common Contact: This pin connects to the load that we want to use the module to switch.
Normally Closed (NC): A closed circuit is created by connecting this NC pin to the COM pin.

33
 Figure 15: Relay module

The specifications of Relay Module are given below:

Brand:
Hongfa
Coil Voltage (DC):
5V
Contact Arrangement:
1 Form C
Contact Current Rating:
3A
Termination:
PCB
Mounting:
PCB-THT
Contact plating:
Without plating
Construction:
Plastic sealed
Contact capacity:
AgNi
Rated voltage:
250V.a.c
Insulation standard:
Class F
Release time:

34
 < 5ms
Operate time:
< 8ms
Creepage Distance:
8mm
Dielectric strength (between coil & contacts):
4000VAC 1min
Max Switching Current (AC):
10AC
Insulation resistance:
1000MOhm
Max Switching Voltage (VDC):
30VDC
Electrical Distance:
4mm
Mechanical endurance:
10000000
Max Switching Voltage (VAC):
250VAC
Electrial eddurance:
100000
Ambient temperature:
-40~70C
Weight:
App.7g
Size:
20.5x10.2x15.7mm

Table 06:Specifications of the 3V-Relay Module

3.7.1.5.ESP32-CAM:
The ESP32-CAM is an ESP32-based, compact camera module with low power requirements. It
features an inbuilt TF card slot and an OV2640 camera. Numerous clever IoT applications,
including wireless video monitoring, WIFI image upload, and QR identification, can make use of
the ESP32-CAM.

Specification of ESP-CAM:

35
 Model ESP32-CAM

Operational 3.3 to 5V
Voltage

Communication Protocol WLAN MAC protocol

Operating current 240mA

Dimensions 27*40.5*4.5mm

Table 07: Specifications of the ESP-32 CAM

Figure16: ESP32 CAM

36
Figure17: FLV of ESP32 CAM

37
 Figure18: Settings of the Esp32 cam

ESP32 CAM on IMAGE PROCESSING:

Thus, an ESP32 Camera Module that can be programmed via an FTDI Module was employed.
Setting up the Arduino IDE for the ESP32 Camera Module is necessary. Before beginning to work
on the object detection and identification portion, it is crucial to upload the firmware. Arduino was
used to write this code, therefore anyone wishing to use it will also need to install Arduino and any
necessary libraries. OpenCV is used in this project for object detection and identification.[33]

3.7.1.6 Tower Pro MG90S Servos: We are using two MG90S servo motors. They have metal
gears which will enable us to rotate the simply supported beams even at full loads of 1.5 kg each.
Moreover, they are quite reliable and extremely lightweight.
The specification of Tower Pro MG90S Servos are given below:

Modulation Analog

38
Torque 4.8V: 2.20 kg-cm

6.0V: 2.50 kg-cm

Speed 4.8V: 0.11 sec/60°

6.0V: 0.10 sec/60°

Weight 0.49 oz (14.0 g)

Dimensions 0.91x0.48x1.14 In

23.1x12.2x29.0 mm

Gear Type Metal

Rotation/Support Dual Bearings

Rotational Range 180° (modified to 360 ⁰)

Pulse Cycle 20 ms

Pulse Width 400-2400 µs

Table 08: The specification of Tower Pro MG90S Servos

39
 Figure 19: Tower Pro MG90S Servo

3.7.1.7 Connecting Wires: Wires are a necessary part of every system and they are used for
electrical connections between various electronic devices.

Ref: https://www.123rf.com/photo_119508730_several-wires-or-cables-are-connected-to-the-industrial-circuit-breaker-connection-of-a-large-
switch.html
Figure 20: connecting wires

3.8: CONTROLLABLES & EQUIPMENT FOR OPERATING

3.8.1FIN WAVE APP:

Fin wave Robot has a dedicated app for its controlling, it is an android application which is coded
via MIT app inventor.

40
 Figure 21: Application Interface of the Fin wave APP

3.8.2 EQUIPMENT/TOOLS REQUIRED:

1)Soldering Iron
2.) Universal board for
circuit
3.) Super Glue
4.) Vaseline
5.) Cooper Wire
6.) 3D printed parts
7.) Latex rubber
8.) Other Miscellaneous materials like nuts, bolts and screws

3.9 Cost of Project:

3.9.1 Cost of Components:

COMPONENTS Quantity COST (Rs.)

Lithium-ion battery 1 240x1=240

41
 Arduino Nano 1 375x1=375

Bluetooth HC-05 1 389x 1=389

Tower Pro MG90s Mini Servo Motor 2 400x2=800

Relay-module 1 49x1=49

Buck-boost converter 1 1x62=62

3d-printed parts 50 2250

Connecting Wires 10 100

ESP32 CAM 1 510

Leak-proof cylindered Latex rubber 3 240x3=720

Total cost 5495 only/-

Table 09: Approximate Cost of Project

42
3.10 Manufacturing & Production
3.10.1Techniques:

3.10.1.13DPRINTING:The term "3D printing technology, “also known as "additive

manufacturing" (AM), refers to techniques used to produce 3D objects in which material is created
in layers under computer control to produce a real-world item. We carefully followed several
design constraints to meet the specified weight constraint. As time went on, it was quite simple for
us to test the materials. This manufacturing process enabled us to lessen the involvement of the
robot structural design.[43]
We had access to two types of Production process in our locality. They were:
FDM (Fused Deposition Modeling) is a popular and widely used technique where a 3D Printer
can move in all three-axis consisting of a heated nozzle that could intake Material Filaments, melt
them and deposit one layer over another making a model.
MJF (Multi Jet Fusion) is an industrial standard system where powdered material could be used
to fuse into different layers giving shape to the design. The technique uses powerful Lasers to fuse
powdered material at high temperatures.
Although being a component of additive manufacturing, these approaches have different costs and
build times. The designs are light and incredibly pricey thanks to MJF's high resolution printing
and extremely low density. We chose FDM 3D printing because we needed a method that would
help us in a way that would be cost-effective because we had to go through a number of print
iterations to modify the tolerances between the designs so that they fit correctly with one
another.[44]
3.10.2 Materials Used:
Our under-water needs to survive withstand temperatures of at least 200 Celsius and will be flying
at an apogee greater than 500 meters above the ground, we conducted a small research-based
analysis on the temperature while choosing the material for the outer chassis and inner cover of the
payload. Because of this, we chose Nylon Pa-12 and ABS, PLA+ as a primary consideration due
to its densities. Therefore, following conversations with our team, we decided to use PLA+
(Polylactic acid) and ABS (Acrylonitrile Butadiene Styrene), since these materials were quite
helpful to us in the testing of the mechanisms and material quality.

43
 Figure 22. PLA+ Filament from eSun

3.10.3 Importance of Slicing:

The process of turning the design or model into code that the printer itself can use is a typical
challenge with 3D printing. The management of the data that will be printed in this stage is referred
to as "slicing" (with reference to the printer's z-axis). This stage requires the processor or slicer to
choose the machine paths and (in the case of FDM) extrusion rates that will produce a print that is
most like the source item or model. Physical constraints (such as material flow, air printing, and
structural strength) prevent practical operations, necessitating these choices.[44]
A decent slicing tool setting is necessary to get high print quality, however the configuration
Another significance of Slicing is that, we must remember that the 3D printing process is a layer-
by-layer process. If the design is having lots a joints and attachment points, the angle of slicing
must be taken care of. It is mostly done that the slicing axis should always be perpendicular or
different than the axis of joint. Otherwise, when force is exerted on the joint it would have high
chances of breaking away easily.
You can see different types of slicing and 3D printing in Fig (24). Slicing also takes care of other
aspects of printing, Support structures are one of them. Suppose there is a free structure that had
no support structure from bottom, it would

Figure 23. Support structure (in blue) generated by Cura software

44
Another attribute of Slicing is Infill. Infill handles the volumetric concentrations of the 3D print.
Higher the Infill, higher the density and thus higher the weight of the print. And Lower infill means
hollow structures. Lower Infill creates corrugated structures inside the Object to keep it strong
while slicing.

Figure 24. Different densities of infill (in yellow), as generated by Cura slicer, from solid to
hollow.

45
 CHAPTER 4
RESULT ANALYSIS AND VALIDATION

4.1 Implementation of design using Modern Engineering tools in analysis:

4.1.1 Fusion-360:

Fusion 360 was utilized to prepare the design of the Finvawe mechanism, and several tools were
used to accomplish this. The Pipe Command tool was used to create pipes for the robot's arms and
the symmetric command was utilized to make sure that the arms were symmetrical. The Line
Command tool was also used to create other components of the robot mechanism. Overall, Fusion
360 provided the necessary tools to create an efficient and functional design for the Finvawe robot
mechanism

4.1.2 3d printing slice software:

Cura is a popular 3D printing slicing software that is widely used in the 3D printing community.
The software is designed to take 3D models and prepare them for printing by generating a series
of 2D layers that the printer will use to build the final 3D object.[44]
One of the key features of Cura is its ability to customize and optimize the printing parameters
based on the printer and filament being used. This includes the nozzle size, printing speed, layer
height, temperature, and other factors that can affect the final print quality.
When using Cura, the user first selects their 3D model and then configures the printing parameters
based on their specific printer and filament. This includes selecting the nozzle diameter, which
determines the size of the individual lines of plastic that will be extruded by the printer. The user
can also set the temperature of the nozzle to ensure that the plastic is melted to the correct
consistency for printing.[43]
Once these parameters are set, Cura will generate a series of 2D layers that the printer will use to
build the final object. These layers are sliced according to the parameters set by the user, and the
software will automatically adjust the speed and other settings as needed to ensure that the printer
is able to create a high-quality print.
Overall, Cura is a powerful and flexible 3D printing slicing software that makes it easy to optimize
printing parameters based on the specific needs of the user's printer and filament. By providing a
simple and intuitive interface, Cura makes it easy for users of all experience levels to create high-
quality 3D prints.

4.2 Results & Testing :

The results of our semester project showcase the successful development and implementation of

46
an innovative underwater fin wave robot that has revolutionized the way we monitor underwater
conditions. The latex covering on the robot's body made it completely waterproof, while its
multiple links allowed for flexibility and fish-like motion replication. By utilizing assigned wave
motion, we were able to successfully move the robot underwater. The addition of a wireless FTV
camera provided us with live feedback and visuals of the underwater environment on our
smartphones through a specialized Android application that we developed for this purpose.

Our objective was to monitor underwater conditions and observe the impact of water pollution on
the environment. The successful deployment of our robot enabled us to do just that, allowing us to
see firsthand what was happening underwater in real-time. The use of biodegradable material for
the 3D printing of the robot's body further demonstrated our commitment to minimizing the
environmental impact of our project.

Overall, our team's efforts have resulted in a successful and groundbreaking project that has the
potential to change the way we monitor and understand underwater conditions. By creating an
innovative and sustainable solution, we have taken a major step forward in safeguarding our
planet's precious resources.
4.3 Report Preparation

Throughout this report, we present a detailed explanation of how we implemented the

Underwater robot for deep sea research .First and foremost, we came across the work that has
already been done by some other researchers throughout the world. We highlighted them of
approach and figured out the new approach the where we can make the robot cost effective and
work efficient. We used the knowledge acquired from the work of our peers in combination with
our own ideas to come forth with this report.

The next chapters provide all the information about how we went to implement our project. The
whole process, the actual working design of the project are given below. Our results, validation,
conclusion of the project as well as the future scope of this concept has been included as well.
4.4 Project Management

Our project aims to take over the jobs of Deep-water exploration. The main purpose of technology
is to take over dangerous and difficult jobs. The Under-water exploration is an area of interest for
people who are trying to exploration. Therefore, we decided to make a project of robots which go
deep diving and collect some data. Our project is called an under-water exploratory robot. It is a
Fin-wave based robot that has the ability to swim horizontal and climb slanted walls as well
as roofs. We first made a CAD model of the body that needs to be 3D printed. As the body is
printed by 3d-printer. Meanwhile, we ordered the electronics required and tested and configured
them. When the body parts were printed, we connected the body parts and wired the electronics
and made the circuits. All the members of the project group have participated in the creation of
this prototype.

47
 CHAPTER5.
CONCLUSION AND FUTURE SCOPE OF WORK

5.1 Future Scope:

The future scope of underwater fin wave robotics is very promising. With the ever-increasing
demand for ocean exploration and the need for more efficient and effective methods of data
collection, the development of underwater fin wave robotics is crucial. These robots have the
potential to revolutionize the way we study and understand the ocean. As technology
advances, the capabilities of underwater fin wave robotics will continue to grow. These robots
will become more nimble and able to maneuver in tighter spaces. They will be equipped with
more sensors and be able to collect more data than ever before. The future of underwater fin
wave robotics is very exciting and the potential applications are endless.

5.2 Conclusion:
We have developed a underwater exploratory robot that is used for multiple purpose named special
purpose data collections and exploratory robot It has the ability to deep dive easily as well as has
the ability to go on the walls from outside buildings. Our robot is not affected by the nature of the
surface it climbs. It has the ability to do swimming tasks continuously until its battery or the water
reservoir become empty. It can also have the ability to inspect and do under-water mining will be
different story. It has the ability to be controlled remotely as well as make turns without any
difficulty. So, we conclude that we have successfully created a prototype to showcase our idea that
is going to belong to the project.

48
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Design Checklist:

Student #1 #2
Project Title & Area “UNDERWATER FINWAVE ROBOT INSPIRED FROM
PHYLUM PLATYHELMINTHES”

Multiple
Constraints
(two or more)
Our idea was to make a cost-effective robot which helps in under-water
accessibility
exploration.[V]
Because of Biomimicry, we have tried to match the outer aesthetics of our robot
aesthetics as similar as possible with the actual underwater creature. its outer body is very
flexible and stretchable making it look and feel like actual fishes.[10]
we have added coding for the IOT based camera and the Bluetooth based
codes
android application. [54]
Our entire bot is constructed from completely biodegradable material by
constructability utilizing the technology of #D printing. we have used PLA + material for our
construction.[42]
The robot is made cost effective by utilizing single actuator motion instead of
multiple servos. the cost can be variable based on the addition or subtraction of
cost
needful sensors which we want our robot to have in order to detect some
specific underwater pollutions and parameters.[38]
The design of the robot is inspired from phylum Platyhelminthes due to which
we have kept its outer body very identical and the inner skeleton is specially
ergonomics
designed so that our robot can achieve similar ergonomics and maneuver
capabilities.[ 10]
extensibility
ESP-32 camera helps the robot to obtain features like object detection and live
functionality streaming whereas modified motor helps it to maintain maneuverability without
using servos.[20],[25]
interoperability
legal considerations
For maintain the robot you must change the skin of the robot, so none of the
maintainability
water content go inside the robot. [19]
you must have 3D printer and the skill of Additive manufacturing to
manufacturability
manufacturing the outer parts and body link of the robot. [40]
It can be marketed at Under-water working Industry for Spectating. Although
marketability because it has the ability to swim it can be marketed in all the underwater
exploration sector. [12]
policy
regulations
It can be run anytime until or unless battery runs out. If the battery discharged,
schedule
recharge it and it will work again. [26]
Computer graphics, image processing and environmental data representation
standards
and Additive manufacturing of plastics — Environment, health and safety
It is based on SD Goal no 14. its sustainability depends on battery life-cycle
sustainability
and skin duration (If skin gets torn, you have to change the skin) [26]
Can be use for underwater surveillance, live streaming, underwater exploration,
usability
object detection, face recognition, water pollution detection. [14]

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 Others
Appropriate
Standards
(two or more)
ISO/IEC JTC Computer graphics, image processing and environmental data representation
1ISO/IEC JTC 1/SC [35,36]
24

Additive manufacturing of plastics — Environment, health and safety — Test

method for determination of particle and chemical emission rates from desktop
ISO/CD 27548
3D printer material extrusion. [46]

ISO/ASTM 52900 Establishes and defines terms used in additive manufacturing (AM) technology,
which applies the additive shaping principle and thereby builds physical 3D
geometries by successive addition of material. The terms have been classified
into specific fields of application. [46]

Process elements
identifying This robots provides opportunity for underwater exploration and collecting data.
opportunities it will reduce both risk of lives of divers and cost of research. [14]
developing Body should be small flexible and adaptable to underwater environment. Should
requirements be able to manufactured across the world by using 3D printers.[40]
We are analyzing images via image processing with the help of which we are
performing analysis
able to do desired image processing underwater. we synthesize live FPV
and synthesis
photos well as still images from an IOT based camera. [34]
Usage of modified metal gear servo as Gear motor instead of using multiple
generating multiple
servo motors. Using IOT based camera, usage of flexible and stretchy outer
solutions
covering instead of hard body.[19]
usage of single metal gear modified motor proved to be far more suitable
solution instead of using 6 or more servo motors. usage of IOT based camera
proved to be the best possible way for getting LIVE feedback and photos from
evaluating solutions the robot.[34],[35]
Risk of damaging the components due to water was successfully eliminated by
considering risks
utilizing a special outer covering which is both flexible and stretchable.
we have to do multiple selection of right components to mage the weight of the
making trade-offs robot so as to maintain the correct buoyancy underwater. we had to also
manage tradeoff between battery size and swim time.[25]
Based on earlier
coursework
Earlier robots don’t use IOT based camera doing image processing and
course
machine vision for underwater exploration [34]
earlier robots use propellers for swimming underwater but fail to make it
course
completely waterproof[19]
course Earlier robots use multiple servo motors for swimming mechanism[19]

55
Plagiarism report:

56
USER MANUAL

Connecting the robot with smartphone for controllability.

1. Start the Underwater Finwave Robot by switching it on.

2. Now you may see the RED colored LED lights blinking inside the body of the robot (Blinking at 500
milli seconds).

3. Blinking LED’s defines that the robot is unpaired at the moment and is ready to be paired with a
smartphone having our indigenously designed Finwave android application installed.

4. Open Bluetooth settings on your smartphone and search for HC-05.

5. Pair with HC-05 using password as 1234.

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6. After successful pairing, now open our Finwave application and click on Connect the robot.

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7. A list of devices will open up, here click on HC-05.

8. Congratulations, Now the robot is successfully connected. You can verify this by looking at the LED
lights which now is blinking at a very slow speed than earlier (blink in 2-4 seconds)

9. Now your robot can be controlled via smartphone by pressing the buttons provided on screen.

Getting live video feedback from the robot:

1. Finwave uses an onboard IOT based Camera module based on ESP 32 chipset with the healp of which
you can monitor and see the live video feedback from the robot directly on your smartphone screen
from anywhere around the world.

2. In order to see the FPV (first person view) video feedback from your smartphone, simply open your
internet browser and search 192.168.43.219 IP address. This address will redirect you directly to a
landing page which we have created and you will be able to both see and control the robot’s camera
after pressing start stream button.

3. This page has all sorts of features of image processing which you can perform many operations such
as setting resolution, adjusting parameters like white balance, brightness, contrast etc. on the live feed
which is available from the robot.
4. It also incorporates features such as face detection and face recognition.

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60
Fig. 25: Image of the Fin wave robot in working condition in water

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