Water Quality Monitoring Robot Design

THE DESIGN OF A WATER QUALITY MONITORING
ROBOT
A final year project submitted in partial fulfilment of the requirements for the
degree of Baccalaureus Technologiae: Engineering: Mechatronics
2020
Obakeng Johny Monametsi
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Supervisor: Prof S Du
Revision: 2
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DECLARATION
I hereby declare that THE DESIGN OF A WATER QUALITY MONITORING

ROBOT has been submitted as partial fulfilment of the requirements for the
Baccalaureus Technologiae: Engineering: Mechatronics at Tshwane
University of Technology.
I further declare that the report is my own work and that all the sources that
were used or quoted, were given recognition by means of a complete
reference.
OJ Monametsi
Initial(s) Surname
Signature
10 November 2020
Date
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DEDICATION
I dedicate this report to my loving mother Machenchi Elizabeth Monametsi who

has always believed in me and always supported me in everything I set my
heart on to archive.
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ACKNOWLEDGEMENTS
Firstly. I would like to profusely express my gratefulness to the almighty God

for his grace throughout my academic career.
I convey my sincere gratitude to my academic supervisor Prof S Du. Without

his guidance and interventions this project would have been a little success. In
every phase of the project his mentorship has shaped this report to be
complete success.
I would also like to thank my fellow students for their support and my family for
always encouraging me to strive for nothing but the best.
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ABSTRACT
The observation of the water quality is an intricate procedure as it has

numerous research laboratory testing approaches and time consuming. To
archive this effort, a real-time monitoring of water quality by using IoT has been
projected. Internet of things conglomerated with the sensor water meters for
the efficiency, administrate the quality of water. Here we are accomplishing a
structure for supervising the water quality through a variety of sensors namely,
turbidity, pH, temperature, and humidity. The controller admittances the data
which is supervised using sensors. The retrieved data are controlled by the
usage of Arduino microcontroller. By using an IoT, the data is retrieved, and
the water contamination can be investigated, by a firm device. In addition, this
system stores the data in an SD Card and reflects the data on the users control
panel.
The Internet of things mentions the sort of network to link anything with the
Internet founded on specified proprieties through data sensing apparatus to
conduct data exchange and telecommunications to attain clever
acknowledgements, localization, tracing, supervising, and administration. In
the Literature Review we fleetingly deliberated about what IOT is, how IOT
permits diverse technologies, its architecture, physiognomies & applications,
IOT functional view.
The Remote-Controlled Quality Monitoring Robot is designed through a stable

and maneuverable hull configuration, the catamaran. This will enhance the
motion of the robot also allowing the user to remotely move around water
effectively using two servo motors and a speed drive for accuracy.
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TABLE OF CONTENTS
DECLARATION i
DEDICATION ii
ACKNOWLEDGEMENTS iii
ABSTRACT iv
TABLE OF CONTENTS v
LIST OF TABLES viii
LIST OF FIGURES ix
GLOSSARY xi
NOMENCLATURE xiv
1. INTRODUCTION 1
1.1. Problem Statement 2

1.2. Sub-Problem 2
1.3. Aims and Expected Outcomes 3
1.4. The Scope 3
2. LITERATURE REVIEW 4
2.1. Water Quality in Context 4

2.1.1. Properties of Facet Water 5
2.1.2. Water Usages and Decay 6
2.2. Water Quality Indices 8
2.2.1. Types of WQI 8
2.3. Water Quality Monitoring Systems 9
2.3.1. Real-Time Control 9
2.4. Wireless Communications 10
2.4.1. Introduction to Wireless Communication 10
2.4.2. Zigbee Technology 11
2.4.3. Communication Modules 14
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2.4.4. Internet of Things (IoT) 15

2.5. Water Quality Sensors and Networks 17
2.5.1. Instrumentation and Water Quality Parameters 17
2.5.2. Sensor Design Alternatives 17
2.6. Swimming Robots 19
2.6.1. The Robot Design 20
2.6.2. Scientific Prototype of Swimming Robot 21
2.6.3. Labriform Mode Scientific Model 24
2.6.4. Swimming Robot Impediment Evading 26
2.7. Robot Localization 27
2.7.1. Vehicle Model and Sensor Model 28
2.7.2. Sensor Model for Milestone-Based Plots 30
2.7.3. Unconventional Localization Practices 32
2.8. Water Quality Analysis Methodology 33
2.8.1. CDOM/FDOM Monitoring 33
2.8.2. Recording the Water Temperature 33
2.8.3. pH and KH Testing 34
2.9. Water Treatment Methods 34
2.9.1. Primary treatment 35
2.9.2. Secondary Treatment 35
3. IDENTIFICATION OF CONCEPTS 37
3.1. Monohulled (Concept 1) 37

3.2. Catamaran Hull (Concept 2) 39
3.3. Trimaran Hull (Concept 3) 42
3.4. Design Concept Assessment 44
3.4.1. Pugh’s Evaluation Method 44
3.4.2. Rating Description 46
3.4.3. Final Decision 46
4. Final Design 47
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4.1. Calculations of a Catamaran Hull Configuration 47

4.2. Catamaran Midship Coefficient Calculations 51
4.3. Movement of Centre of Buoyancy 53
4.4. Failure of Material 56
4.4.1. Calculates Static Damage 59
4.5. Propeller Design Calculations 61
4.6. Control Systems 65
4.6.1. PWM Control and Programming 66
4.7. Global Positioning System Modulation for Real-Time Data 69
4.8. Temperature and Humidity Sensory Control System 75
4.9. Turbidity Sensory Control System 80
4.10. Interfacing with Android Device 81
5. Discussion 88
6. Conclusion 90
7. References 91
Appendix A: Specifications 94
Appendix B: Project Plan 95
Appendix C: Data Pack Drawing 96
Appendix D: Costing 97
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LIST OF TABLES
Table 1: Ordinary uses of water (Meybech and Helmar, 1996) 7

Table 2: Natural water decay internationally (Meybech and Helmer, 1996) 7
Table 3: Sensors used on UWQMS (P Sethi - 2017) 14
Table 4: Pugh’s evaluation method 45
Table 5: The mechanical properties of ABS 58
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LIST OF FIGURES
Figure 1: Water quarters patterns in inshore water bodies 5

Figure 2 : Zigbee Module 12
Figure 3: Zigbee Protocol Stack 12
Figure 4: Hardware Design of UWQMS 12
Figure 5: UWQMS Monitoring Station 13
Figure 6: Distribution of Sensors at water body 13
Figure 7: Example System Flowchart 15
Figure 8: Example System Architecture 15
Figure 9: Example schematic diagram of the smart water quality monitoring
system using IoT 16
Figure 10: The pH electrode sensor used to carry out measurements. 19
Figure 11: Swimming robot structure 21
Figure 12: Pectoral flipper movement explanation 22
Figure 13: Mass at the centre of gravity 23
Figure 14: Mass gliding forward of centre of gravity 23
Figure 15: Mass gliding backward of centre of gravity 23
Figure 16: Graphic illustration of swimming robot for the motion command. 25
Figure 17: Swimming robot visual 26
Figure 18: Impediment position with regard to robot visual sensors (IEEE
Trans. Rob. Autom. 1991) 27
Figure 19: A discrepancy force robot functioning in a two-dimensional plane
29
Figure 20: Localization delinquent with a milestone-based diagram 31
Figure 21: CHLORINATION TREATMENT 35
Figure 22: RAPID SAND FILTRATION 36
Figure 23: Monohulled Boat Design 38
Figure 24: Catamaran Hull 41
Figure 25: Trimaran Hull 43
Figure 26: Hull Nomenclature 47
Figure 27: Monohull Waterline 48
Figure 28: : Monohull Centres 50
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Figure 29: Midship Body 51

Figure 30: Load Lines 52
Figure 31: Movement of Centre of Buoyancy 53
Figure 32: Underwater Shape Change 54
Figure 33: LCB Forward of LCG - Vessel trims by the stern 55
Figure 34: Dimensions of ABS Specimen 57
Figure 35: Evolution of the stress (MPA) according to the strain (%) of the
ABS 57
Figure 36: Parameters of test specimen 59
Figure 37: Static damage variation in function of the life fraction 60
Figure 38: Typical Propeller Drawing 61
Figure 39: Control System Block Diagram 65
Figure 40: Closed Loop Control System 66
Figure 41: PWM Duty Cycle 67
Figure 42: PWM Circuit 68
Figure 43: GPS Modulation 70
Figure 44: Localization 70
Figure 45: Schematic Diagram 75
Figure 46: PCB Back View 77
Figure 47: PCB Front View 77
Figure 48: Turbidity Circuit 80
Figure 49: Turbidity Program 81
Figure 50: Bluetooth Interface Circuit 82
Figure 51: BlueArd Application 83
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GLOSSARY
WHO World Health Organisation
IDE Integrated Development Environment
USV Unmanned Surface Vehicle
IOT Internet of Things
WQI Water Quality Indices
OWQI Oregon Water Quality Index
ODEQ Oregon Department of Environment
WDS Wireless Distribution Systems
SCADA Supervisory Control and Data Acquisition
EPANT Environmental Protection Agency Network
EPS Extended Period Simulation
ANN Artificial Neural Networks
GPS Global Positioning System
RF Radio Frequency
MAC Media Access Control
BPSK Binary Phased Shift Keying
GSM Global Systems for Mobile
GPRS General Packet Radio Service
GND Ground
PC Personal Computer
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TDS Total Dissolved Solids
NTC Negative Temperature Coefficient
PTC Positive Temperature Coefficient
ADC Analog to Digital Converter
ISFET Ion Selective Field Effect Transistor
IR Infrared
SLAM Simultaneous Localization and Mapping
RFID Radio Frequency Identification
CDOM Coloured Dissolved Organic Matter
FDOM Fluorescent Dissolved Organic Matter
ISO International Organisations of Standardization
DTR Draft Ration of Hull
PWM Pulse Width Modulation
PDM Pulse Duration Modulation
RPM Revolution Per Minute
GND Ground
TSS Total Suspended Solids
LCB Longitudinal Centre of Buoyancy
LCG Longitudinal Centre of Gravity
ABS Acrylonitrile Butadiene Styrene
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NOMENCLATURE
T Temperature, K
R Resistance
A, B, C Constants
𝑅𝑇 Thermostat Resistance
A Pectoral Flipper Beat Amplitude
W Angular Frequency
𝜃𝑜 Starting Angle
L Pectoral Fin Length
𝑉𝑎 Pectoral Fin Velocity
𝑉𝑏 Frequency and Body Rate
𝑥𝑚 ,𝑦𝑚 Local Synchronizes
LW Displacement
LB Length of Robot Body
𝑉𝑥 , 𝑉𝑦 X-axis and Y-axis
V Direct Rate of The Robot
𝑉∅ Horizontal Rotational Angular Rate
𝑉𝜃 Vertical Rotational Angular Velocity
𝑉𝐿 , 𝑉𝑅 Left and Right Flipper Rate
𝑉𝑈, 𝑉𝐷 Upwards and Downwards Speed
𝑥𝑟(𝑡), 𝑦𝑟(𝑡) Status of The Centre of The Mobile Robot at time 𝑡
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𝜙𝑟(𝑡) Angle Amongst the Moving of The Robot
𝑥̇ 𝑟(𝑡) Derivative of 𝑥𝑟(𝑡) With Respect to Time 𝑡
𝛿𝑣(𝑡), 𝛿𝜔(𝑡) Variations Amongst the Expected Control Value
𝑥𝑟𝑘, 𝑦𝑟𝑘, 𝜙𝑟𝑘 Robot Position at Time Step 𝑘
𝑣𝑘 Speed at Time 𝑘
𝜔𝑘 Angular Speed at Time 𝑘
𝛿𝑣𝑘, 𝛿𝜔𝑘 Distinct Time Speed and Angular Speed Noises
𝑤r and 𝑤𝜃 Zero-Mean Gaussian Reflexion Noises
V Volumetric Displacement
u Relative Flow Velocity
Fnv Froude Number
𝑚 Metre
𝑚2 Square Metre
𝑚3 Cubic Metre
kg Kilogram
N Newton
KW Kilowatts
𝐿𝑊𝐿 Length of Waterline
𝐿𝐻 Length of Hull
𝐿𝐵𝑅 Length of Beam Ratio
𝐶𝑀 Midsection Coefficient
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𝑇𝐶 Canoe Body
𝐷𝑆 Static Damage
𝜎𝑢 Ultimate Stress
𝜎𝑢𝑟 Residual Ultimate Stress
𝜎𝑎 Stress Before Breaking
a Bottom of Notch
w Width
𝑉𝑠 Speed of Boat
n Number of Propeller Revolutions
Z Blade Number
D Diameter
𝐽, 𝐾𝑇 , 𝐾𝑄, 𝑛0 Performance Characteristics
𝑉𝐴 Speed of Advance
𝑃𝐵 Break Power
𝐵𝑝 Power Coefficient
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1. INTRODUCTION
Water impacts natural organisms and human actions in the perspective of a

stream pudding basin. In turn, organic water systems are moulded by their
bodily basins, individual utilization, environmental modifications, and
atmospheric techniques. As the Globe's inhabitants and the subsequent
anthropogenic trajectory and influence on climate escalation, the necessity to
preserve and safeguard freshwater properties advances significance for
justifiable progress, harmonizing communal requirements with pecuniary
growth and ecological stewardship.
Water is an inevitable prerequisite of the living for people all over the globe,
due to development, the gigantic evolution in populace, disproportionate usage
of substances for agronomic happenings, recuperation of land-dwelling, and
oil emission into the water, and it is actuality polluted at a disturbing proportion
which is currently a matter of apprehension. Consequently, it is crucial to
supervise and test water conditions in real-time on a frequent basis to take the
vital measures in order to ease of water contamination and regulate the quality
of water whenever it is required. The convenience of quality water is necessary
for disease regulation and for improving health.
The primary objective of this project and corrective method requires a remotely
control robot that will be able to manoeuvre lakes and rivers, continuously
collect real-time data samples and store the data for analysis. This will ensure
quality data capturing and effective water quality monitoring in the effort to aid
water pollution control.
In this system we will use microcontrollers and Integrated Development

Environment (IDE) for the essential wireless communication technology
between the hardware and smart sensors network. The system comprises of
several smart sensors networks for measuring the physical and chemical
parameters of the water, also acquiring data in real-time for analysis. These
water quality parameters temperature, pH level measure of hydrogen ions,
humidity, and turbidity of the water bodies.
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The controllability of the system is of paramount importance as manoeuvring

around lakes, rivers and dams will be essential to the quality of the data
acquired. The remote-controlled robot must be able to interface with the
operator with real-time communication, co-ordinates, and data sampling.
In recent years, water monitoring systems have attracted a lot of attention

globally, and researchers are looking at various methods of monitoring water
bodies with the aim of coming up with a viable, cost-effective water monitoring
infrastructure.
Studies signifies that strategies of this kind are established on a significant

level with substantial financing from highly regarded corporations. There is
slight indication of diminutive-scale and economic developments that have a
comparable function in places like aquatic docks, municipalities, and
industrialized waterways to safeguard aquaculture and civic wellbeing. By
employing a premeditated technique, inexpensive and systematic method
these developments expect to accomplish this in an attempt to sterilize our
water streams.
1.1. Problem Statement
The project has been issued to design a remotely controlled unmanned

surface vehicle (USV) that will be able to remotely manoeuvre in lakes, rivers,
and dams. With that said, the remotely controlled USV robot should be able to
continuously capture real-time quality data and store the data for analysis of
the water quality at that specific area.
1.2. Sub-Problem
To find a suitable wireless communication network that will be compatible for

controlling the manoeuvring of the robot around water bodies within a specific
given distance without having to disturb existing communication frequencies
and networks and the real-time co-ordinates of the robot.
Acquiring waterproof wireless smart sensors to ensure the quality of the

continuous real-time data and storing it in microcontrollers modules.
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1.3. Aims and Expected Outcomes
The aim of the design is to effectively collect water quality data. The system
should improve the water quality monitoring time, cost, and improve the
analysing of the acquired sampling data. Also considering the environment and
water pollution crisis the structure needs to be designed of high quality and not
hazards to the water bodies. The system should respond effectively to the user
since it should be designed as a real-time system. The robotic structure should
be able to withstand low to moderate weather conditions.
1.4. The Scope
The scope of the work and objective of this project is to design a cost efficient
remotely controlled system for water quality monitoring. The system should be
watertight and use real-time communication and remotely controlled to
manoeuvre around desired water bodies such as lakes, rivers, and dams. The
designing of the propeller for enough pressure differences between the two
water bodies surfaces and an effective hull configuration for the sustainability
of wave changes, water bodies interferences and weather conditions. Also
using wireless communication networks and smart sensors interfaced with
microcontrollers.
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2. LITERATURE REVIEW
Water is one of the crucial compounds that profoundly influence the ecosystem
however nowadays it is being heavily exploited due to rapid growth in
industrialization, human waste, random use of pesticides and chemical
fertilizers in agriculture through runoffs, which leads to water contamination.
Thus, a water monitoring system is imperative to observe the water quality in
large areas such as lake, river, and aquaculture.
According to the current world situation, techniques such as remote sensing,

Internet of Things (IoT) together with monitoring systems are absorbed in
multi-faceted areas of research for supervision, gathering and analysing data
from the remote locations. In this chapter, the highlighted methodologies are
real-time water quality monitoring systems in IoT environments. These
systems comprise of numerous sensors for assessing the physical and
chemical parameters. The factors of water that can be assessed using these
sensors are pH, turbidity, temperature, and humidity. Using this system, the
real-time quality of water bodies can be determined, and the data can be stored
for analysis.
This chapter further highlights monitoring methods, wireless sensor networks,

embedded designs for swimming robots and explores wireless communication
network domains. Also exploring techniques to efficiently improve water bodies
using these technologies and economic practices whilst creating awareness
among people.
2.1. Water Quality in Context
The term “Water quality” is used here for conveying the suitability of water to
succour various uses or processes, with that said water usages have specific
requirements for the tangible, synthetic or botanic characteristics such as
limitations of temperature and pH ranges for water supporting frail
environments. Efforts to improve or maintain certain water quality often
compromises between the quality and quantity demands of different users.
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The conformation of surface and underground waters is contingent on natural

factors (geological, topographical, meteorological, hydrological, and biological)
in the watershed basin and differs with seasonal differences in runoff volumes,
weather conditions and water levels. Personage intercessions also have
remarkable results on water quality. These results are of hydrographic
conversions, namely construction of dams, unloading of wetlands and
deviation of flow. Unmistakably polluting activities, in particular the dispensing
of domiciliary, commercial, suburban and effluvium into the watercourse
(regardless of if its deliberately or fortuitously) and the proliferating of
synthetics on agricultural dry land in the watershed trough.
Water standards are pretentious by a universal range of ordinary and

personage impact. The foremost imperative ordinary impacts are namely
topological, hydrographical, and meteorological of which these impacts the
volume and the standards of water accessible.
2.1.1. Properties of Facet Water
Hydrographic Properties
There are different types of universal water bodies namely outflow water,
lagoons, reservoirs, and subterranean waters. The above mentioned are
intertwined by the hydrographical cycle with various interposed water bodies,
both ordinary and contrived.
Figure 1: Water quarters patterns in inshore water bodies
(WHO, 1996)
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It is crucial that every accessible hydrographic data is incorporated for the

water standards evaluation because water standard is extremely pretentious
by the hygrometry of water bodies. The habitual scope of water quarters
patterns time for different types of water bodies are shown in Figure 1. The
conceptual pattern time for a tarn is the total volume of the tarn divided by the
total outflow rate (V/ΣQ) [1]. Quarters pattern time is of utmost importance
within the conception for water befouling studies because of its relations with
the time it takes for recuperation from a befouling occurrence [1]. The quarters
pattern time of water in tarns are repeatedly exceed six months and may be
as much as centennial years.
2.1.2. Water Usages and Decay
The evolution of cultivation has resulted in a transpose in the ornament of

water use from rustic/crofting to suburban/commercial, principally as claimed
by the following arrangements: consuming and individual hygiene, falconry,
localization and transfer, domestic watering and agribusiness inundation,
hydroelectric power.
The increasing computerization and the development of large suburban

centres has been chaperoned by escalations in the decay stress on the
amphibian environments. Water in rivers, tarns and oceans have been
contemplated as an appropriate receiver of contaminations.
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Table 1: Ordinary uses of water (Meybech and Helmar, 1996)
Water Consuming Decay

uses
Domestic Yes Yes

use
Livestock Yes Yes

water
Irrigation Yes Yes
Mining Yes Yes
Recreation No Yes
Ordinary uses of water for nearly all intentions outcomes in the decay of water
standards and basically restrains the further possible use of the water. The
vital types and the degree of decay in freshwater standards are illustrated in
Table 2 [4].
Table 2: Natural water decay internationally (Meybech and Helmer, 1996)
Rivers Lakes Reservoirs Groundwater
Pathogens xxx x x x
Heavy metals xx xx xx xx
Eutrophication x xx xxx oo
Irradiated and thermal dissipates are not observed here.
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xxx: Worldwide transpiring, or locally extreme decay.
xx: Imperative decay
x: Occasional decay
o: Scarce decay
oo: Not applicable
This is an approximation at the zonal extent, these grades may fluctuate

greatly as claimed by the degree of economic evolution and the variety of land
uses [5].
2.2. Water Quality Indices
Water quality indices are classified into four prime groups [6].
• Universal indices: These indices disregard the variety of water

utilizations within the investigation procedure and used for universal
water grades [7].
• Particular utilization indices: The categorization of water is of the
assumption of the grade of utilized and practice such as water
consumption, commercial and environmental conservation etc [8].
• Organizing indices: This category is a tool in planning water quality
control projects and guiding decisions.
• Analytical indices: These indices disregard outlook and are established
on analytical procedures.
2.2.1. Types of WQI
• National Sanitation Foundation Water Quality Index: Water quality index

evolved by Brown et al. utilizing Delphi procedures was accomplished
by sorting out variables carefully, expanding a usual scale and
allocating weights to the variables. It has been alluded in various
literatures because it is an all-inclusive work [10]. Assessing water
quality index is feasible by organized rating meanders and related
weights, namely Additive index.
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• Oregon Water Quality Index: The OWQI was evolved by the Oregon
Department of Environmental Quality (ODEQ) during the 1970s and
modernized numerably, it is a commonly used WQI in ordinary domain
[11]. With the developments in computer technology, intensified tools of
data exhibit and visualization and superior comprehension of water
quality, the OWQI was modernized in 1995 by rectifying the original
sub-indices, including temperature, and ameliorating the agglomeration
calculation.
2.3. Water Quality Monitoring Systems
2.3.1. Real-Time Control
Time is an imperative element for industrial and water monitoring

implementations. In real-time designing and authority of Wireless Distribution
Systems (WDS), there is a demand for optimal programmes to be found in a
timely method situated on demand forecast and be executed using the
Supervisory Control and Data Acquisition (SCADA) systems. Authentication of
research recommend that computational effectiveness of metaheuristic data in
relations with the network simulator, namely the Environmental Protection
Agency Network (EPANET), for large WDSs is not adequate, however some
research investigated how to limit computational effort of the network simulator
and/or an optimization of data to supply an optimal solution in real-time.
Time absorbing Extended Period Simulations (EPS) might be restored with

substitute models such as Artificial Neural Networks (ANN).
ANNs, which are used repeatedly, were used to establish real-time, closely to
optimal control of WDSs by amalgamating with GA incorporating needs in
acquiring data (based on seasonal, weekly, and daily periodic components)
and functioning continuously using SCADA data and demand monitoring data
streamlines.
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Real-time control is dependent rigorously not only on the capacity of the

optimization data to find quality data solutions in near real-time, but also on the
efficacy of the model used to forecast data to system for an operational
resolution window. These features make real-time control much more
strenuous obstacle to solve as opposed to when optimization is used for
designing purposes.
2.4. Wireless Communications
2.4.1. Introduction to Wireless Communication
Wireless communication is the passing over of details among two or more

places that are not linked by an electrical instrumentalist. The most frequent
wireless machineries use is the radio. With radio currents spaces can be short,
such as a rare meter for television or as far as thousands or even millions of
kilometres for deep-rooted radio telecommunications. Other instances of
functions of radio wireless technology consist of Global Positioning System
(GPS) components, garage access, wireless computer mice. Characteristics
of wireless communications systems:
• Mobility
• Reachability
• Simplicity
• Maintainability
Advantages
• Flexibility
• Ease of use
• Durability
Applications of wireless technology
• Wireless data communications

• Mobile Satellite Communications
• Wireless Sensor Networks
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2.4.2. Zigbee Technology
ZigBee is a technology is an insignificant variety, at a low-level power and low

data ratio wireless networking technology for wireless functions. It can be
discovered at the base of three layers in the seven layers of a network type
and these contains the natural, data linkage and network layer. This is the
newly distributed in IEEE 802.15.4 specifications for private area networks.
ZigBee is implanted with radiofrequency (RF) functions that involve a low data
speed, prolonged battery lifespan, and reliable networking. ZigBee is a
wireless technology established as an open worldwide model to address the
distinctive desires of low-cost, low-power, wireless sensor systems.
Zigbee gadgets are bodily entities that are fitted out with a radio for broadcast
and interaction intent. It is organized of a set of intercommunication devices
which support the implementation of functions such as automation systems.
The physical, MAC and network layers are utilized to establish and sustain the
interaction network that are intersecting each Zigbee devices. The application
support layer is applied to convey intelligence between devices.
The ZigBee criterion offers three frequency bands for operation:
• 868MHz
• 916MHz
• 2.4GHz
The 868MHz band is only used in Europe and takes the 20Kbps data rate of
transmission and comprises only one channel with Binary Phase Shift Keying
(BPSK) modulation procedure. 916MHz band is used in Americas allowing the
40Kbps data ratio of transmission and comprises of 10 channels with BPSK
modulation methods.
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Figure 2 : Zigbee Module
(P Sethi - 2017)
Figure 3: Zigbee Protocol Stack
(P Sethi - 2017)
Figure 4: Hardware Design of UWQMS
(P Sethi - 2017)
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Figure 5: UWQMS Monitoring Station
(P Sethi - 2017)
Figure 6: Distribution of Sensors at water body
UWQMS DESIGN
(P Sethi - 2017)
For such aspects such as: power supply, cost of setting up the infrastructure
etc. We use Zigbee technology for reasonable reasons as follows:
• Zigbee maximizes effective communication range and does not require

a specialized computer or central access point and increases
robustness and reliability of information.
• The network design topology adopted in the design is mesh topology
because each node on the network is a redundant access point. This is
basically because a central node cannot be relied upon. Zigbee
becomes more efficient here.
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• Zigbee has a defined rate of 250kbits/s, which is best suited for periodic
data or a single signal transmission from a sensor or input device.
• Zigbee network are secured by 128-bit symmetric encryption keys.
Table 3: Sensors used on UWQMS (P Sethi - 2017)
Sensor Accuracy Response

Time
Turbidity 0 – <125ms
25NTU
Contamination 0 – 1s
200%M
pH 7.4 <1s
2.4.3. Communication Modules
The Global System for Mobile (GSM) communication module SIM800 is a

wide-ranging Quad-band GSM or General Packet Radio Service (GPRS) type
which can be implanted in the customer applications. SIM800 endorses Quad
band such as:
• 850MHz
• 1900MHz
It can communicate voice, SMS, and data information with minimal power
utilization. The modem requires only 3 wires (𝑇𝑋 , 𝑅𝑋 , 𝐺𝑁𝐷) except Power
supply to interface with microcontroller/Host PC. The built in Low Dropout
Linear voltage regulator allows you to connect wide range of unregulated
power supply (4.2V -13V). Including Bluetooth and Implanted AT, it permits
total cost savings and high-speed time for function ability.
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Figure 7: Example System Flowchart
(NLPGPS, 2017)
Figure 8: Example System Architecture
(NLPGPS,2017)
2.4.4. Internet of Things (IoT)
The internet of Things (IoT) is a ground-breaking innovative model that has the
capability to transform practically everything “intelligent”. Everything in this
perspective could be characterized as an entity such as a cardiac monitor to a
temperature sensor. This remarkable event has gained the interest of millions.
Enterprise use of the IoT can be alienated into two sections: industry-specific
offerings like sensors in a producing plant or real-time localization devices for
healthcare; and IoT devices that can be utilized in all trades, like smart air
conditioning or security systems.
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Figure 9: Example schematic diagram of the smart water quality

monitoring system using IoT
(IJESC, 2016)
The vital qualities of the IoT are given by:
• Interconnectivity: With respect to the IoT, anything can be interrelated

with the worldwide data and communication infrastructure.
• Things-related services: The IoT is efficient of delivering thing-
associated facilities contained by the limitations of things, such as
confidentiality protection.
• Heterogeneity: The devices in the IoT are diverse as cantered on
various hardware proposals and networks. They can co-operate with
other devices or service boards through various systems.
• Dynamic modifications: The state of devices shift enthusiastically, e.g.,
snoozing and awakening, linked, and/or disengaged.
• Enormous magnitude: The quantity of devices that require to be
controlled and that transmit with each other will be at least an order of
significance greater than the devices linked to the present Internet.
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2.5. Water Quality Sensors and Networks
2.5.1. Instrumentation and Water Quality Parameters
Determining which water standards constraints that require monitoring for the
evaluation of the drinking water quality is a crucial step thus precisely
establishing whether the water quality is within the specified regulations of the
World Health Organization (WHO) [1].
It was concluded that water parameters namely nitrate levels, free chlorine
concentration and dissolved oxygen are too costly to scrutinize and/or involved
numerous preservation and adjustments to maintain precise interpretations
over prolonged cycles of time. This would not be achievable for a long-term,
real-time water quality monitoring system. The water constraints which are the
emphasis of this project are pH, temperature, conductivity, and flow. These
physicochemical boundaries can be used to identify particular water impurities.
Conductivity provides a clue of the quantity of impurities in the water, the purer
the water, the less conductive it is. Additionally, Conductivity promptly related
with the total dissolved solids (TDS). The pH of the water is one of the most
crucial aspects when examining water condition, as it evaluates how basic or
acidic the water is. Water with a pH of 11 or higher can trigger inflammation to
the eyes, skin, and mucous tissue. Acidic water (pH 4 and below) can similarly
trigger inflammation due to its destructive impact.
2.5.2. Sensor Design Alternatives
A temperature sensor is utilized to quantify the temperature of the water. There

are several temperature sensors types:
• Thermocouple
• Thermistor
• Solid-state temperature sensor.
A thermistor temperature sensor is commonly applied for functions beneath

300 ℃ thus adequate for a procedure that operates at ambient temperatures.
A thermistor is basically a resistor with a temperature reliant resistance.
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Due to its resistive disposition, an excitation supplier is necessary to interpret

the voltage across the terminals. The quantified voltage is proportionate to the
temperature with either a negative temperature coefficient (NTC) or a positive
temperature coefficient (PTC).
The key interest of a thermistor is the non-linear connection amongst the

temperature and the resistance. A temperature range of 0 ℃ to 40 ℃ is
deemed. Thermistors are valuable up to temperatures of 300 ℃, thus the
smaller functional range aids in neutralizing the nonlinearity. The resistance
can however be surmounted using the general form of the Steinhart-Hart
thermistor third order approximation:
1
= 𝐴 + 𝐵 ⋅ ln(𝑅) + 𝐶(ln(𝑅))3 (Eq. 1)
𝑇
• T = The temperature in Kelvin.

• R = The measured resistance in Ohm.
• A, B and C are constants that are manufacturer specific.
The arrangement of the thermistor circuit comprises of a perpetual identified

input voltage and a series resistor. The objective of this sensor circuit is to
interpret the potential variation of the thermistor and situation of the signal to a
0to 3.2 V ADC with a corresponding voltage range. 3.2 V is preferred as the
highest VADCMAX.
The resistance to temperature characteristics is given as follows:
1 1
𝛽.( − )
𝑅𝑇 = 𝑅0 . 𝑒 𝑇 𝑇0 (Eq. 2)
RT is the thermistor resistance at T, which is the temperature in Kelvin. 𝑇0 is

298.15 Kelvin (or 25 ℃) and beta as the specification require.
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Figure 10: The pH electrode sensor used to carry out measurements.
(J. Rob. Res. 2006)
The pH of water is a vital constraint to monitor since the high and low pH levels
can have hazardous impacts on human wellbeing. The pH of a solution varies
from 1 to 14. One technique of determining pH is through the use of a
conservative glass electrode with an orientation electrode setup, the other is
using an Ion-Selective-Field-Effect-Transistor (ISFET). The pH sensor above
comprises of a typical glass electrode as these electrodes are more
dependable and reasonable for long term monitoring. The glass membrane at
the bottom, Figure 10, is nobbled to be ion-selective and is only subtle to a
detailed ion (hydrogen ion). The pH electrode performances like a particular
cell battery and there is an immediate connexion among the voltage output of
the electrode and the pH of the measured water.
2.6. Swimming Robots
The hydrodynamics system of swimming bodies, for ideal manoeuvrable in

swimming, and the uncompromising of robotic composition of swimming
bodies signify a great apparatus for devising effective submerged robots [18].
Swimming bodies are split into two swimming types; carangiform mode and
labriform mode which are applied in swimming robot modelling.
• Carangiform mode: The swimming body is influenced on the swimming

activity for instance, some of swimming bodies applied in the tail
propeller to produce forward propulsion force while pectoral paddles are
used for matching and objective control. Several researchers
established a high-performance swimming robot for civic exhibition.
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These robots intended with simple mechanical composition to swim in

3D and can intermingle with humanoid motions.
• Labriform mode: There is no impact of the body in swimming movement;
the forward propulsion force is produced by propellers only. Some of
swimming robots accomplished by researchers contains high
functioning robot, high navigation performing, high swimming rate and
navigation in 3D nature. The movement and control of these robots are
operated by pectoral and tail propellers only [19].
The subsequent is a swimming robot that has been devised and executed
cantered on labriform mode. The movement command of robot is achieved by
pectoral flippers and body centre of gravity in 3D. The pectoral flippers model
mimics the movement in horizontal plane (x-y coordinates) while the centre of
gravity of body is used for adjusting motion in vertical plane (coordinate). Also,
the arithmetic model has been applied by KK-multicentrally V5.5 enhancement
kit, and three servo motors for flippers movement and centre of gravity
command system whilst the impediment evasion is operated by four Infrared
(IR) sensors.
2.6.1. The Robot Design
The construction of swimming robot is illustrated in Figure 11, which is

combination of two pectoral flippers, body centre of gravity controller, and robot
eyes. The robot is able to swim in horizontal plane by propelled force that is
produced by fluctuation of pectoral flippers whilst the robot can swim in vertical
plane dependent on the change the body centre of gravity. To guarantee the
forward mobility of swimming robot, the pectoral flippers must be bowl-shaped
and selecting appropriate capacity for pectoral flipper. Mass has been used as
weight for centre gravity command system.
Four IR sensors that compound robot eyes have been attached on the front of
swimming robot head, which is used to accomplish impediment evasion.
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Figure 11: Swimming robot structure
(Ind. Rob. 1994)
2.6.2. Scientific Prototype of Swimming Robot
Forward propel force of robot can be produced by particular couple of pectoral

flippers whilst the moving the undulation of left and right limb delivers the robot
navigation in horizontal plane. The motion of robot body that findings due to
the undulation of pectoral flippers can be modelled by a straightforward linear
impetus balance for the forces of the pectoral flippers and forces on the robot
body. The pectoral flipper angle deviation with regard to the long axes of robot
body can be explained by [20]:
𝐴
𝜃(𝑡) = 𝜃0 + ( )(1 − cos(𝑤𝑡)) (Eq. 3)
2
• A is the pectoral flipper beat amplitude.

• w is the angular frequency of pectoral flipper oscillation.
• 𝜃0 is the starting angle (see Figure 11).
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Figure 12: Pectoral flipper movement explanation
(Ind. Rob. 1994)
The pectoral flipper rate is provided by linear sequence of angular frequency

and body rate (𝑣𝑏 ). The pectoral fin velocity (𝑣𝑎 ) is provided by [21]:
𝑑𝜃
𝑣𝑎 = (−𝐿 + 𝑣𝑏 sin 𝜃) (Eq. 4)
𝑑𝑡
• L = pectoral flipper length

• 𝑣𝑏 is dependent on –(𝐿 𝑑𝜃/𝑑𝑡) due to the resolution of selecting
onwards body rate.
The centre of gravity command system can be utilized for attaining pitching of
swimming robot. The weight utilized is for this motive which the screw
alteration used for sliding mass forward and backward in order to variate the
centre of gravity of the robot body as shown in Figure 12.
Centre of gravity of swimming robot body is the point in a robot body, which
the resulting torque due to gravity forces surrounding this point equal to zero
as shown in Figure 12 (a).
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Figure 13: Mass at the centre of gravity
(Ind. Rob. 1994)
Figure 14: Mass gliding forward of centre of gravity
(Ind. Rob. 1994)
Figure 15: Mass gliding backward of centre of gravity
(Ind. Rob. 1994)
By choosing the centre of gravity as the orientation point for swimming robot
body, the swimming robot will be swim in horizontal. If the weight gliding
forward by an adequate displacement from the centre of gravity the body will
be alternate clockwise, thus the swimming robot will swim to the bottom. While
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the weight glides backward by an adequate displacement from the centre of

gravity the body will be alternate counterclockwise, thus the swimming robot
will be swim to the top.
2.6.3. Labriform Mode Scientific Model
Numerical model configuration of swimming robot is illustrated in Figure 13.
• 𝑥𝑚 − 𝑦𝑚 is the local synchronizes which is fixed to the robot body.

• LW is the displacement from the centre of robot to the centre of flipper.
• LB is the length of robot body.
The established (𝑥0 , 𝑦0 ) signifies the location of the symmetrical centre p in

the world X-Y coordinates, and the angle 𝜃𝑟 specifies location of the robot in
the horizontal plane, whereas the positioning of the robot in vertical plane
specified by 𝜃. The situation and the location of the swimming robot in 3D can
be depicted in comprehensive coordinates (𝑥, 𝑦, 𝑧, 𝜃𝑟 , 𝜃). The equivalences
illustrate the movement of the swimming robot in 3D can be recorded as:
𝑣𝑥 = 𝑥̇ = 𝑣 cos 𝜃𝑟 (Eq. 5)
𝑣𝑦 = 𝑦̇ = 𝑣 sin 𝜃𝑟 (Eq. 6)
𝑣𝑧 = 𝑧̇ = 𝑣 sin ∅ (Eq. 7)
𝑉𝜃 = 𝜃̇ = 𝑊𝐻 (Eq. 8)
𝑣∅ = ∅̇ = 𝑤𝑉 (Eq. 9)
• 𝑣𝑥 and 𝑣𝑦 signify the rate of the robot in the direction of X-axis and Y-
axis, respectively.
• 𝑣 denotes the direct rate of the robot in the head direction.
• 𝑣∅ denotes the horizontal rotational angular rate of the robot.
• 𝑣𝜃 denotes the vertical rotational angular velocity of the robot.
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The values of 𝑣𝜃 and 𝑣∅ are positive when the robot switches in a

counterclockwise motion and the values of 𝑣𝜃 and 𝑣∅ are negative if the robot
switches in a clockwise motion.
The forward rate of the robot and angular rate are defined by:
(𝑣𝐿 + 𝑣𝑅 )
𝑣= (Eq. 10)
2
(−𝑣𝐿 + 𝑣𝑅 )
𝑤𝐻 = (Eq. 11)
2𝐿𝑤
(−𝑣𝑈 + 𝑣𝐷 )
𝑤𝑉 = (Eq. 12)
𝐿𝐵
• 𝑣𝐿 and 𝑣𝑅 are the left flipper rate and the right flipper rate, respectively.
• 𝑣𝑈 and 𝑣𝐷 are the upward speed and the downward speed,
respectively.
Figure 16: Graphic illustration of swimming robot for the motion

command.
(Ind. Rob. 1994)
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2.6.4. Swimming Robot Impediment Evading
The swimming robot attained impediment evasion in a 3D environment, in this

case four IR sensors have been positioned ahead of robot which these sensors
compound the robot eyes. The patterns of four sensors are shown in Figure
15. The robot IR sensors is utilized to sensing impediment that situated on top,
bottom, left, or right side of robot, which Figure 16 illustrates the position of
impediment with regard to sensing patterns.
Figure 17: Swimming robot visual
(Ind. Rob. 1994)
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Figure 18: Impediment position with regard to robot visual sensors

(IEEE Trans. Rob. Autom. 1991)
2.7. Robot Localization
Robot localization is the method of establishing where a mobile robot is

positioned with regard to its environment. Localization is one of the most
essential capabilities necessary by an independent robot as the information of
the robot's own location is a vital forerunner to making conclusions about its
future actions.
Normally, the data accessible for processing the robot location is collected
utilizing onboard sensors, whilst the robot utilizes these sensors to monitor its
surrounding and its own mobility. Given the space constraints, unconventional
circumstances where sensors such as surveillance cameras are assigned in
the environment to monitor the robot or the robot is outfitted with a receiver
that offers an approximation of its location founded on data from an external
source for an example a Global Positioning System (GPS) that utilizes
satellites circumnavigating the earth.
A moveable robot equipped with sensors to supervise its own motion for an
example a wheel encoders and inertial sensors can handle an approximation
of its location comparative to where it started if a scientific model of the motion
is accessible, known as odometry or dead reckoning. The inaccuracies appear
in the sensor dimensions and the motion model make robot location
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approximates acquired from dead reckoning more and more inaccurate as the
robot traverses in its environment. Inaccuracies in dead reckoning
approximates can be rectified when the robot can examine its environment
using sensors and is capable to compare the data collected by these sensors
with the data acquired in a map.
2.7.1. Vehicle Model and Sensor Model
The scientific models depicting the behaviour of the robot and the sensors
installed on it are the most crucial elements in the design of the robot
localization problem. The vehicle kinematic model illustrates the calculations
controlling the robot motion in reaction to control actions. Figure 17 illustrates
a discrepancy drive robot functioning on a two-dimensional plane where the
forward speed and the angular speed of the robot body can be managed using
two motors that drive the two wheels. The discrepancy calculation that portrays
how the robot situation and location progressed with time as a purpose of its
forward and angular speed is recognized as the robot motion model. The
correlation amongst the reflections from the sensors and the whereabouts of
the robot in the map is known as the sensor model.
The sensor model is dependent relatively on the qualities of the sensor

installed on the robot as well as on the way the map of the environment is
characterized. The map of the environment is habitually identified either using
synchronizes of known landmarks or elements, or in the form of a habitation
grid where the position of each grid cell specifies whether the area exemplified
by the cell is employed or free space. Figure 18 exemplifies a map with four
landmarks.
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Figure 19: A discrepancy force robot functioning in a two-dimensional

plane
(ICRA 2007)
Vehicle Model
The kinematic calculations regulating the motion of the discrepancy drive robot
exemplified in Figure 17 are presented by:
𝑥̇ 𝑟(𝑡) = (𝑣(𝑡) + 𝛿𝑣(𝑡)) cos(𝜙𝑟(𝑡)) (Eq. 13)
𝑦̇ 𝑟(𝑡) = (𝑣(𝑡) + 𝛿𝑣(𝑡)) sin(𝜙𝑟(𝑡)) (Eq. 14)
̇𝜙𝑟(𝑡) = 𝜔(𝑡) + 𝛿𝜔(𝑡) (Eq. 15)
• 𝑥𝑟(𝑡) and 𝑦𝑟(𝑡) designate the status of the centre of the mobile robot
at time 𝑡.
• 𝜙𝑟(𝑡) is the angle amongst the moving of the robot and the x-axis of
the fixed overall coordinate frame.
• 𝑥̇ 𝑟(𝑡) signifies the derivative of 𝑥𝑟(𝑡) with respect to time 𝑡.
• The forward speed 𝑣(𝑡) and angular speed 𝜔(𝑡) are the control
responses of the robot.
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• 𝛿𝑣(𝑡) and 𝛿𝜔(𝑡) are the variations amongst the expected control value
and the actual control values (control noises) and are understood to
be zero-mean Gaussian.
Discretizing the uninterrupted-time motion model equation 13 with a variety

time Δ𝑇 and the Euler process outcomes in:
𝑥𝑟𝑘+1 = 𝑥𝑟𝑘 + (𝑣𝑘 + 𝛿𝑣𝑘) Δ𝑇 cos(𝜙𝑟𝑘) (Eq. 16)
𝑦𝑟𝑘+1 = 𝑦𝑟𝑘 + (𝑣𝑘 + 𝛿𝑣𝑘) Δ𝑇 sin(𝜙𝑟𝑘) (Eq. 17)
𝜙𝑟𝑘+1 = 𝜙𝑟𝑘 + (𝜔𝑘 + 𝛿𝜔𝑘) Δ𝑇 (Eq. 18)
• (𝑥𝑟𝑘, 𝑦𝑟𝑘, 𝜙𝑟𝑘) is the robot position at time step 𝑘.

• 𝑣𝑘 is the speed at time 𝑘.
• 𝜔𝑘 is the angular speed at time 𝑘.
• 𝛿𝑣𝑘 and 𝛿𝜔𝑘 are the distinct time speed noises and angular speed
noises, correspondingly.
2.7.2. Sensor Model for Milestone-Based Plots
Contemplate an environment that comprises 𝑁0 milestones at identified

positions (𝑥𝑖𝐿, 𝑦𝑖𝐿), 𝑖 = 1, 𝑁0. For modesty, the insecurities related with
landmark positions are understood to be zero, though it is comparatively
uncomplicated to broaden the assessment if this is not the case. At each
timestep while it is in motion, the robot reflects the breadth (distance) and/or
the displaying (relative angle) to one or more landmarks. Surveillance model
requires a mechanism for processing the anticipated values of reflections from
sensors, given the understanding of the map and an estimate.
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Figure 20: Localization delinquent with a milestone-based diagram
(Ind. Rob. 1994)
The diagram is characterized by four milestones (black dots) in the

environment situated at (2, 5), (2, −2), (4, 5), (4, −2), correspondingly. The
robot (the red circle demonstrating the status of robot centre, the red projectile
indicating the alignment) begins from (0, 0, 0) 𝑇 at time 0. At time steps 1 and
2, it notes milestones 1 and 2; at time step 3, it notes milestones 1 and 3, at
time step 4, it notes milestones 3 and 4. Robot to milestones reflections are
signalled by blue lines of the robot spot. If the sensor affixed on the robot sees
both the variety and the bearing to milestone 𝑖 at time step 𝑘 + 1, then the
reflection model is given by:
𝑟𝑖𝑘+1 =√ (𝑥𝑖𝐿 − 𝑥𝑟𝑘+1)2 + (𝑦𝑖𝐿 − 𝑦𝑟𝑘+1)2 + 𝑤r (Eq. 19)
𝜃𝑖𝑘+1 = 𝑎 tan(𝑦𝑖𝐿−𝑦𝑟𝑘+1/𝑥𝑖𝐿−𝑥𝑟𝑘+1) − 𝜙𝑟𝑘+1 + 𝑤𝜃 (Eq. 20)
• 𝑤r and 𝑤𝜃 are zero-mean Gaussian reflexion noises. Laser variety

finders and ultrasonic sensors are most popular sensors applied for
attaining variety and bearing dimensions to milestones.
• In case of a sensor that is only capable of detecting the bearing, for
instance, a camera, the equation for 𝜃𝑖𝑘+1 becomes the sensor model.
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An uncomplicated robot localization problem with a milestone-based diagram

is demonstrated in Figure 18.
2.7.3. Unconventional Localization Practices
When a diagram of the environment is not accessible, the robot localization

dilemma develops considerably more difficult. In this case, the dilemma
develops one of appraising both the robot location and milestone locations
instantaneously. In the past 15 years, vigorous and effective techniques to
dealing with robot localization in undetermined conditions, also known as the
simultaneous localization and mapping (SLAM) problem [14], have surfaced.
SLAM in a feature-based conditions have been well researched, and it has
been demonstrated that both EKF and least-squares optimization could be
utilized to unfailingly solve SLAM in most cases [15].
An alternative technique for localization in undetermined conditions is to

merely the use of data from a sensor such as a laser range finder to attain the
interpretation and cycle relating two robot fronts from which two lasers cans
are taken. This is achieved through scan equalling that supports the two scans.
Anthology of such comparative pose estimations can be used to devise a
nonlinear least-squares conundrum that can be explained to approximate all
the robot poses [16].
A contemporary solver such as g2o could be utilized to effectively acquire the

location valuations. A description of the conditions (map) is not projected. This
approach is termed pose-graph SLAM. For a feature-based or pose-graph
SLAM method to be efficient, an approach to acknowledge the fact that the
robot has reverted to parts it has visited earlier, identified as loop resolution, is
mandatory. The dependable discovery of loop resolution is one of the lingering
encounters for mutually feature-based SLAM and pose-graph SLAM.
Conventional instances are localization employing signal strengths from

wireless infrastructure and RFIDs, fusion of data from GPS and celestial
navigation elements, and an optimization method for localization in web maps
based on chamfer distance [17].
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2.8. Water Quality Analysis Methodology
Effectual and pre-emptive water-quality supervising approaches can assist

conservationists to define the natural and human dynamics that alter the water
bodies. The findings can be applied to plan refurbishment ventures to
safeguard that the water bodies meet the environmental standards.
2.8.1. CDOM/FDOM Monitoring
Modified or chromophoric dissolved organic matter (CDOM) transpires

spontaneously in water bodies. This pure matter attracts the ultraviolet light
and decays to distribute tannin, an organic toxin that triggers the water to turn
cloudy. Furthermore, tannin promotes the decreasing of the pH (acidic) of the
water and diminishing the oxygen levels.
CDOM/FDOM degrees can be restrained using electrical optical sensors that

use fluorometers and sapphire lens. These sensors measure the light
accessibility in water bodies dependent on the water level and specify the
absorption of liquefied organic matter (DOM).
2.8.2. Recording the Water Temperature
Temperature is a vital aspect that distresses the other water superiority

constraints such as, the proportion of photosynthesis and absorption, the
liquified gas focusses, the conductivity and salinity, the pH, and the water
density amongst other factors. For illustration, ammonia at an extraordinary
level pH is noxious to plants and aquatic animals, though, an unexpected
alteration in temperature can twofold the effect.
Numerous gadgets such as thermometers, thermistors, thermocouples, and

digital temperature sensors are utilized to acquire temperature evaluations at
fluctuating complexities, time, and locations.
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2.8.3. pH and KH Testing
A cumulative pH level is hazardous to the ecology of the water body. An

innocuous pH range for a pond or a lake is amongst 6.0 to 8.0; nevertheless,
certain aspects such as overgrowth of algae and effluence alter the pH of the
water and rise the levels of poisonous ammonia.
pH can be analysed using water analysis kits that are color-coded and
recommend a wide range of pH measurement. These kits operate best to
provide you with a concept of the pH range the water descends into. Yet, for
precise pH quantities, electronic pH sensors present quantity values up to two
decimal points.
KH or the carbonate hardness, a quantity of carbonate and bicarbonate levels

is additional feature that desires to be supervised as it expressively influences
the pH of the water. Consequently, to readapt the pH, you may regularly have
to steady the water KH.
2.9. Water Treatment Methods
Handling of raw water to harvest water of drinkable superiority can be

exclusive. It is sensible to regulate the measure of water requiring treatment,
as not all water utilized in a fishery waterfront or treating plant desires to be of
drinkable excellence. Sizing of the apparatus is vital to harvest satisfactory
water at rational cost.
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2.9.1. Primary treatment
Chlorination: Fresh can be chlorinated exhausting whichever chlorine gas or

hypochlorites. Chlorinated water diminishes mucus growth on functioning
exteriors and aids regulate odour.
Figure 21: CHLORINATION TREATMENT
(Hem, J.D. 1984)
The key benefits of using chlorine gas are:
• It is the utmost effectual technique of creating free chlorine accessible

to raw water.
The key drawbacks are:
• Programmed control systems are exclusive.
2.9.2. Secondary Treatment
Secondary treatment of water comprises of sedimentation and purification

trailed by chlorination. Sedimentation can be passed out by holding the raw
water in ponds or tanks. The four elementary kinds of purification are:
• Cartridge filtration,
• Rapid sand filtration,
• Multimedia sand filtration,
• Up-flow filtration
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Rapid sand purification, this system contains of a coating of gravel with layers
of sand of declining coarseness overhead the gravel. As solids build up on top,
flow declines till it stops. This is rectified by backflushing the procedure to
eliminate the solid build up on top, Figure 20.
Figure 22: RAPID SAND FILTRATION
(Hem, J.D. 1984)
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3. IDENTIFICATION OF CONCEPTS
This chapter is fundamentally based on classifying and evaluating the suitable

design concept for the remotely controlled water quality monitoring robot. The
design concept to be considered needs to be a dynamic design; this design
should cater for the precise movement in the water and to effectively
manoeuvre through wave changes as the remote water quality monitoring
robot should be of a watertight design.
The design concepts will be evaluated and graded using a variety of methods
namely, the Pugh’s evaluation matrix and decision matrix. There are three boat
hull configurations to be evaluated and graded for the remote-controlled water
quality monitoring robot. The crucial parameters to be evaluate and graded for
the suitability of the design concept will be primarily centered on; simplicity of
the model, execution, durability, cost, maintenance, manufacturing, and the life
span of the model looking at the environmental operation furthermore centered
on the project design specifications and literature review.
3.1. Monohulled (Concept 1)
Monohulls can achieve high speed by suitable hull design. Round bilge forms
at higher speeds can have stability problems and many small high-speed
monohulls have hard chines. The chine is the intersection of the vessel’s
bottom and sides. In a hard chine form, the chine marks a distinct change in
slope of the outer bottom.
It is used for planning craft in which, at speed, a substantial fraction of the

craft’s load is reinforced by hydrodynamic forces acting on the flatter section
of the bottom. Hard chine forms with greater beam and reduced length give
enhanced performance in calm water but experience high vertical
accelerations in a seaway.
Their ride can be improved by using higher deadrise angles leading to a ‘deep
vee’ form. Current practice favours round bilge for its lower power demands
and its sea kindliness at cruising speed, with the adoption of hard chines for
Froude numbers above unity for better stability. The round bilge form can be
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fitted more readily with bilge keels to reduce rolling. Monohulls depend on
ballast and form stability. Build a monohull with excessive beam and a hard
(squarish) bilge section and you have a clumsy boat that has a very
uncomfortable motion—but lots of form stability. Ballast provides the ultimate
stability and, of course, the ability for a monohull to right itself from a
knockdown—or even a summersault.
Among the earliest hulls were simple logs, but these were generally unstable
and tended to roll over easily. Hollowing out the logs into a dugout canoe does
not help much unless the hollow section penetrates below the log's centre of
buoyancy, then a load carried low in the cavity actually stabilizes the craft.
Adding weight or ballast to the bottom of the hull or as low as possible within
the hull adds stability.
Naval architects place the centre of gravity substantially below the centre of
buoyancy; in most cases this can only be achieved by adding weight or ballast.
The use of stones and other weights as ballast can be traced back to the
Romans, Phoenicians, and Vikings. Modern ships carry tons of ballast in order
to maintain their stability; even heavily laden cargo ships use ballast to
optimize the distribution of weight.
Figure 23: Monohulled Boat Design
(GrabCad, 2016)
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Advantages
• Cheap to manufacture.
• Sharp manoeuvrability and navigating through narrow channels and
tight spaces.
• The concentration of mass, and relatively smooth hull sections (with a
fairly deep, slack bilge section) promote a comfortable motion in water.
By depending on ballast, not just form stability, you achieve a degree
of motion comfort.
• Faster response time
• Slices through water effortlessly
• Swings much less in an anchorage if placed side by side.
• Tacks easily. The combination of weight with a homogeneous,
relatively concentrated mass and with a keel to pivot on—this
contributes to easy tacking.
Disadvantages
• Not stable
• No sufficient space for electronics
• Difficult to manoeuvre.
• The rig is larger. In order to maintain performance with this heavier
displacement, we need to have a bigger rig to supply power in lighter
airs.
3.2. Catamaran Hull (Concept 2)
A catamaran is a multi-hulled watercraft containing two parallel hulls of equal

size. It is a geometry-stabilized craft, deriving its stability from its wide beam,
rather than from a ballasted keel as with a monohull sailboat. Catamarans were
invented by the Austronesian peoples which enabled their expansion to the
islands of the Indian and Pacific Oceans.
Catamarans typically have less hull volume, smaller displacement, and

shallower draft (draught) than monohulls of comparable length. The two hulls
combined also often have a smaller hydrodynamic resistance than comparable
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monohulls, requiring less propulsive power from either sails or motors. The
catamaran's wider stance on the water can reduce both heeling and wave-
induced motion, as compared with a monohull, and can give reduced wakes.
Catamarans range in size from small (sailing or rowing vessels) to large (naval
ships and car ferries). The structure connecting a catamaran's two hulls ranges
from a simple frame strung with webbing to support the crew to a bridging
superstructure incorporating extensive cabin and/or cargo space.
Catamarans have two distinct primary performance characteristics that

distinguish them from displacement monohull vessels: lower resistance to
passage through the water and greater stability (initial resistance to capsize).
Choosing between a monohull and catamaran configuration includes
considerations of carrying capacity, speed, and efficiency.
Resistance
At low to moderate speeds, a lightweight catamaran hull experiences

resistance to passage through water that is approximately proportional to the
square of its speed. A displacement monohull, by comparison, experiences
resistance that is at least the cube of its speed. This means that a catamaran
would require four times the power in order to double its speed, whereas a
monohull would require eight times the power to double its speed, starting at
a slow speed.
Stability
Catamarans rely primarily on form stability to resist heeling and capsize.

Comparison of heeling stability of a rectangular-cross section monohull of
beam, B, compared with two catamaran hulls of width B/2, separated by a
distance, 2×B, determines that the catamaran has an initial resistance to
heeling that is seven times that of the monohull. Compared with a monohull, a
cruising catamaran sailboat has a high initial resistance to heeling and
capsize—a fifty-footer requires four times the force to initiate a capsize than
an equivalent monohull.
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Trade-offs
One measure of the trade-off between speed and carrying capacity is the
displacement Froude number (𝐹𝑛𝑉 ), compared with calm water transportation
efficiency. 𝐹𝑛𝑉 applies when the waterline length is too speed-dependent to be
meaningful—as with a planing hull. It uses a reference length, the cubic root
of the volumetric displacement of the hull, V, where u is the relative flow
velocity between the sea and ship, and g is acceleration due to gravity:
𝑢
𝐹𝑛𝑉 = (Eq. 21)
√𝑔𝑉 1/3
Calm water transportation efficiency of a vessel is proportional to the full-load

displacement and the maximum calm-water speed, divided by the
corresponding power required.
Figure 24: Catamaran Hull
(GrabCad, 2013)
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Advantages
• Minimum heeling
• Speed
• Handling. The rig’s smaller because of the lower displacement. It is
easier to get around.
• more stability, less floating, there is also less tilt of the catamaran
sailing.
• smaller draft - lack of keel results also in smaller draft.
• comfortable manoeuvring
• Unsinkable
• a possibility of sufficient changing of draft by small enough water
ballast.
• a sufficient influence of transverse external loads on strength
Disadvantages
• Tacking.
• Upwind
• expensive
3.3. Trimaran Hull (Concept 3)
A trimaran (or double outrigger) is a multihull boat that comprises a main hull
and two smaller outrigger hulls (or "floats") which are attached to the main hull
with lateral beams. Most modern trimarans are sailing yachts designed for
recreation or racing; others are ferries or warships. They originated from the
traditional double-outrigger hulls of the Austronesian cultures of Maritime
Southeast Asia; particularly in the Philippines and Eastern Indonesia, where it
remains the dominant hull design of traditional fishing boats. Double-outriggers
are derived from the older catamaran and single-outrigger boat designs.
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Figure 25: Trimaran Hull
(GrabCad, 1998)
Advantages
• Excellent for high speed

• Moderate weight carrying capacity.
• Deadweight coefficients closer to monohulls
• Less structural weight
• Reliable
Disadvantages
• High maintenance
• Expensive
• Needs to be precisely manufacturing.
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3.4. Design Concept Assessment
The following methods are going to be used to select the desired design
concept, decision matrix and Pugh’s evaluation matrix method.
The concept should be selected using the various method such as Pugh’s
evaluation matrix and decision matrix method, the method works by rating the
conceptual ideas against the design criteria.
3.4.1. Pugh’s Evaluation Method
The remote-controlled water quality monitoring robot should be able to slice

through water and be able to effectively manoeuvre through wave
interferences, based on the functions that the design should accomplish, which
are motion and stability for better performance.
Each function is evaluated relative to the design specifications; the concept is

then selected according to the results obtained from Pugh’s evaluation
method. The option being evaluated is judged to be better than, same as, or
worse than the datum:
+ = better
- = worse
0 = same
If the properties evaluated are at an extreme level, it is adequate to add extra

levels of discrimination by using:
++ = much better
- - = much worse
When each option is compared with the datum for separate criterion, three
scores are created: the number of plus scores, number of minus scores, the
overall total. The overall total is the difference between the number of plus
scores and number of minus scores.
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Table 4: Pugh’s evaluation method
Pugh's Evaluation Method Design Concepts
One (1) Three (2) Two (3)
Maintenance + - -
Performance - ++ +
Quality + ++ +
Cost + - -
Safety - ++ ++
Method of assembly 0 0 0
Space - ++ +
Weight + + +
Durability + ++ ++
Interface on the structure - ++ +
Total - 4 2 2
Total + 5 13 9
Total score 1 11 7
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3.4.2. Rating Description
The stability of the water quality hull depends on the structure of the design.
Concept 1 has limitations to achieve desirable level of stability and
manoeuvrability and can easily roll over, concept 2 has far better stability and
drive control, which will increase the safety factor. Concept 3 has the ability to
achieve good stability however it is far too complex and costly and less safe
than concept 2, high strength of material building will result in the best possible
hull configuration and design.
3.4.3. Final Decision
Based on the cumulative scores of all criteria, concept 2 should be selected

for implementation. Regardless that it might cost more to build, and its
structure makes it easier to install and uninstall for maintenance purposes, its
high scores in other criteria make it the best design concept out of the three
viable alternative solutions. Hence, the conclusion with concept 2 as the final
mechanical design
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4. FINAL DESIGN
4.1. Calculations of a Catamaran Hull Configuration
The cessation of catamaran confrontation constituent is equivalent as the

monohull, just that each element is bourgeoned by a feature of intrusion amid
the hulls, the intrusion of the ship confrontation mechanisms has been
efficaciously fragmented and engendering a pragmatic formulation to compute
it.
This segment is grounded on a Catamaran hull conformation which will be

premeditated to acquire numerous individualities such as Length waterline,
Beam ratio of hull and the rigging size ratio. The computations are constructed
on the distance measured from end to end over the deck, excluding sheer. The
anticipated dimensions as per the product specifications will be used for
computations.
Figure 26: Hull Nomenclature
(Soumya Chakraborty, Naval Architecture, 1986)
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This next segment has the rudimentary comparations and constraints of

catamaran design. There are also a few orientations from ISO boat standards.
The primary phase of catamaran design is to resolve the length of the boat and
her objective. Then enhance other magnitudes, to provide the design a decent
performance.
All magnitudes on this segment are metrical, rectilinear magnitudes are in

meters (𝑚), areas are in square meters ( 𝑚2 ), dislodgment volumes in cubic
meters (𝑚3 ), masses (dislodgment, weight) are in kilograms (𝑘𝑔), forces in
Newton’s (𝑁), powers in kilowatts (𝑘𝑊) and velocities in knots.
There are two foremost magnitudes of a boat hull: The length of the hull 𝐿𝐻
and length of waterline 𝐿𝑊𝐿 . The succeeding entail of arbitrary values to
demonstrate the computations:
𝐿𝐻 = 0.8m
𝐿𝑊𝐿 = 0.702m
Figure 27: Monohull Waterline
(Coakley, T.J., 1997)
After determining how immense a vessel we want, we subsequently enter the

length/beam ratio of each hull, 𝐿𝐵𝑅 . Substantial vessels have low value and
nimble racers high value. 𝐿𝐵𝑅 beneath “8” leads to augmented upsurge making
and this should be circumvented. Subordinate values surge loading volume.
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Normal 𝐿𝐵𝑅 for a vessel is somewhere amid 9 and 12. 𝐿𝐵𝑅 has a conclusive
consequence on the vessel’s dislodgment approximation.
The girth of the hull comparative to the length surges in directive to stipulate
additional invigorating area to get the vessel out of the water therefore:
Beam Ratio of Hull (LMB): Cruising Cats 7-12
Racing Cats 12-20
Ocean Racers 20-30
Thus, the design ratio for targeted loaded displacement will be Cruising
Catamaran at 7-12.
Draft Ration of Hull (DTR): Reasonable range 1.1-3.0
To demonstrate the proportion of the major submerged segment of the hull to

a quadrilateral of the same overall girth and depth as the subaquatic segment
of the hull:
Midsection Coefficient 𝐶𝑀 : Deep V = 0.51
The proportion of the engrossed volume of the hull to a volume of optical prism
with equivalent dimension to the vessel and cross-sectional area equivalent to
the major subaquatic unit of the hull (midship section) follows:
𝑣
𝐶𝑃 = (Eq. 22)
𝐿𝑤𝐿 × 𝐴𝑥
0,208
=
0,701 x 0,52
= For Cruising Cats 0.57
𝐴𝑤
𝐶𝑊 = (Eq. 23)
𝐿𝑊𝐿 ×𝐵𝑤𝐿
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= Normal Value 0.70
Beam Amid hull centres (LBRC): Below 2.2 (Wide)
Between 2.2 and 3.2 (Normal)
Above 3.2 Narrow
Figure 28: : Monohull Centres
(Coakley, T.J., 1997)
𝐿𝑊𝐿
𝐵𝑊𝐿 = (Eq. 24)
𝐿𝐵𝑅
0.701
=
8
= 0.088 m
A value near 2 curtails friction resistance and marginally minor standards

minimalize wave production. Rational values are from 1.5 to 2.8. Higher
values intensify load capacity. The deep-V bottomed boats have archetypally
𝐵𝑇𝑅 between 1.1 and 1.4. 𝐵𝑇𝑅 has also an effect on the boat dislodgment
approximation.
Here we put 𝐵𝑇𝑅 = 1.1 to minimalize boat resistance (and acquire the waft
calculation for a canoe body 𝑇𝐶 (Figure 27).
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𝐵𝑊𝐿
𝑇𝐶 = (Eq. 25)
𝐵𝑇𝑅
0.671
=
1.1
= 0.079 m
4.2. Catamaran Midship Coefficient Calculations
We require to approximate few quantities of the canoe body. 𝐴𝑀 is the

maximum cross section area of the hull (Figure 28). 𝐶𝑀 depends on the outline
of the midship section: a deep-V-section has 𝐶𝑀 = 0.5 while an ellipse segment
has 𝐶𝑀 = 0.785. Midship coefficient has a rectilinear relation to dislodgment. In
this illustration we use ellipse hull shape to minimize wetted surface, so 𝐶𝑀 =
0.785.
Figure 29: Midship Body
(The Resistance Component Interactions of Catamarans, Molland, A., 2012)
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𝐴𝑀
𝐶𝑀 = (Eq. 26)
𝑇𝐶 ×𝐵𝑊𝐿
0.0451
=
0.079 ×0.671
= 0.785
The Fully Loaded Displacement is measured indirectly, using Archimedes'

principle, by first calculating the volume of water displaced by the ship, then
translating that value into weight.
Figure 30: Load Lines
(Soerfm, 2003)
𝑚𝐿𝐷𝐶 = 2 x 𝐵𝑊𝐿 x 𝐿𝑊𝐿 x 𝑇𝐶 x 𝐶𝑃 x 𝐶𝑀 x 64 (Eq. 27)
= 2 x 0.088 x 0.701 x 0.079 x 0.174 x 0.155 x 64
= 2.726 kg
𝐿𝑊𝐿
LDR= 1 (Eq. 28)
𝐷3
64
0,701
= 1⁄
6 3
( )
64
=2
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𝑚𝐿𝐶𝐶 = 0.7 x 𝑚𝐿𝐷𝐶 (Eq. 29)
= 0,7 × 2,722
= 1.905 kg
𝑚𝑀𝑂𝐶 = 0.8 x 𝑚𝐿𝐶𝐶 (Eq. 30)
= 0,8 × 2,722
= 2.1776 kg
𝐿𝐻
𝐵𝐶𝐵 = (Eq. 31)
𝐿𝐵𝑅𝐶
0,8
=2,2
= 0.364
4.3. Movement of Centre of Buoyancy
Figure 31: Movement of Centre of Buoyancy
(Hydrodynamics of Catamarans and Multi-Hulled Vessels, Everest, J.T.,

1968)
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When the vessel is vertical, in cooperation the axis of buoyancy and the axis
of gravity are on the centre line of the vessel.
The centre of buoyancy is the centre of the underwater volume of the vessel.
As the vessel sinks deeper in the water, the centre of buoyancy will rise
higher as shown in Fig 31.
Figure 32: Underwater Shape Change
(Hydrodynamics of Catamarans and Multi-Hulled Vessels, Everest, J.T.,

1968)
The centre of buoyancy (B) is the centre of the underwater volume of the
vessel. Because the underwater shape has changed, the centre of buoyancy
moves to the centre of the new underwater shape, which is at B1.
Buoyancy acts vertically upwards through the centre of buoyancy as shown

and cuts the centre line of the vessel at a point called the metacentre (M). The
initial position of the metacentre is determined by the shape of the underwater
portion of the hull.
C 2
2 × BWL 2 × LWL × W + LWL × BWL × Cw ×(0.5 × BCB )2
12
BMTrans = (Eq. 32)
D ×64
= 1.036 m
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Figure 33: LCB Forward of LCG - Vessel trims by the stern
(Everest, J.T., 1968)
In Fig 33 LCB is the longitudinal center of buoyancy. This is the longitudinal

center of the underwater volume and is the point through which all the
buoyancy can be said to act vertically upwards.
LCG is the longitudinal center of gravity. This is the point through which all
the weight of the vessel can be said to act vertically downwards.
0.92 ×2 × L3WL × BWL × Cw 2

BMLong= (Eq. 33)
D ×64
= 0.823 m
𝐵𝐻 = 𝐵𝐻1 + 𝐵𝐶𝐵 (Eq. 34)
= 1.862 m
𝑍𝑊𝐷 = 0.06 x 𝐿𝑊𝐿 (Eq. 35)
= 0.042 m
The area of the hull at a particular horizontal plane, within the waterline is as
follows:
𝐴𝑊𝑃 = 2 x 𝐶𝑊 x 𝐿𝑊𝐿 × 𝐵𝑊𝐿 (Eq. 36)
= 0.0836 𝑚2
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The total surface area of the hull and appendages below the waterline is as
follows:
0,5
𝐴𝑊𝑆 = ( 𝐵𝑊𝐿 2 + (2 × 𝑇𝑐 )2 ) 𝐵 3
{1,2434 × 𝐶𝑚 2
− 1,4545 × 𝑐𝑚 + 0,6935 × 𝑐𝑚 +
𝑊𝐿
0,8614) × 𝐴𝑊𝑃 (Eq. 37)
= 0.1858 𝑚2
4.4. Failure of Material
Polymer materials are distinguished by their simple and economical for-

matting, versatility, lightness, and chemical stability. Thermoplastic polymer
such as Acrylonitrile Butadiene Styrene (ABS) is a material commonly used in
several sectors of activity and particularly when it is desired to combine the
impact resistance with a beautiful final appearance as well as when looking for
eco-design, this is because ABS is a recyclable material.
The following calculations are failure analysis of Acrylonitrile Butadiene

Styrene (ABS) materials and damage modelling by fracture, the calculations
based on static damage to determine the critical fraction of life corresponding
to a critical notch bottom, and subsequently calculated the stress concentration
factor to see which bottom of the notch the material is not usable. Finally, we
will obtain the relation between the static damage and the stress concentration
factor through the fraction of life to see the level of static damage corresponds
to the value of critical stress concentration factor.
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Figure 34: Dimensions of ABS Specimen
(Elsevier, 2019)
The set of simulation tests leading to the rupture of the ABS specimens made
it possible to trace the shape of the tensile curve which represents the
evolution of the stress (MPa) as a function of the strain (in %), as shown in
Figure 35).
Figure 35: Evolution of the stress (MPA) according to the strain (%) of
the ABS
(Elsevier, 2019)
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Table 5: The mechanical properties of ABS
Mechanical Values
properties
Tensile 43.8MPa
strength
Elastic limit 38.45MPa
Young modulus 1.47GPa
Poisson ratio 0.3
Elongation at 7.2
break in (%)
Stress at break 29.58MPa
It can be seen from the results obtained and illustrated by the stress-strain
curve that the evolution of the stress as a function of the deformation of the
ABS material follows the behaviour of the polymers in large deformation. The
stress-strain curve has three phases. We note proportionality between the
applied force and deformation; it is indeed the zone of elastic deformation
where the material always has its property to return to its original shape after
it has been deformed when the forces are no longer exercised. This area
allows us to calculate the Young's model as well as the elastic limit. In
carrying out the tests and according to the results shown in Figure 35, it has
been found that the general shape of the tensile curve has demonstrated a
ductile behaviour.
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4.4.1. Calculates Static Damage
The static damage model consists in determining the evolution of the stress
whose variations are mainly due to the damage. The static damage is then
quantified by the variable 𝐷𝑆 expressed by [15]:
𝜎𝑢 − 𝜎𝑢𝑟
𝐷𝑆 = (Eq. 38)
𝜎𝑢 − 𝜎𝑎
Where 𝜎𝑢 is the ultimate stress of virgin material, 𝜎𝑢𝑟 is the residual ultimate
stress, and 𝜎𝑎 is the stress before breaking.
In addition, the fraction of life defined as follows:
𝑎
𝛽= (Eq. 39)
𝑤
Where a is the bottom of the notch, and w is the width of the test specimen.
The parameters a and w are defined according to the geometry of our material,
as shown in Figure 36.
Figure 36: Parameters of test specimen
(Carl Hanser Verlag, 1991)
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The model of static damage has been developed to assess the damage for
ABS specimens. This model is based on Equation (38), through the residual
stress of the undamaged and notched specimens. The damage evolution as
a function of the fraction of life fraction is given in Figure 37.
Figure 37: Static damage variation in function of the life fraction
(Carl Hanser Verlag, 1991)
From the curve above, it is noted that the damage 𝐷𝑠 increases gradually with
the increase of the notch. This is explained by a loss of mechanical properties
caused by the depth of the notch; from the curve, one can specify the evolution
of damage in three stages, according to the change of curvature. The first
stage is the initiation of failure for a fraction of life (0% ˂ β ˂ 27%). The damage
starts at 0 and slowly develops to 27%, which means that the specimen begins
to lose its internal resistance.
The second stage is the propagation of the failure. It is the phase where we
reach the critical fraction of life, which corresponds to a critical radius of the
notch. The fraction of life of this stage is between 27% and 70%, corresponding
at a notch bottom of between 3mm and 14mm. Second stage damage ranges
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from 40% to 70%. At this stage, damage becomes progressive and dangerous,
so predictive maintenance is essential for the industry. From β = 70%.
The third stage begins; the damage accelerates to reach a value of 1 for a
completely damaged test piece. In this stage, the damage accelerates
abruptly, and rupture can be abrupt. This means that if β = 70% or greater, the
test specimen becomes unusable
4.5. Propeller Design Calculations
The movement of a ship through water is achieved by the power so developed

in the engine via the propeller shaft to the propeller in water. The distance or
forward motion depends mainly on the propeller pitch which is defined as how
far the propeller can travel for one revolution of the shaft. According to [23],
propeller is a type of a fan that transmits power by converting rotational motion
into thrust. A pressure difference is produced between the forward and the rear
surfaces of the air foil-shaped blade, and a fluid (such as air or water) is
accelerated behind the blade. Propeller dynamics can be modelled by both
Bernoulli’s principle and Newton’s third law. A propeller is sometimes
colloquially known as screw.
Figure 38: Typical Propeller Drawing
(Hydrodynamics Propellers Version 1.0, Techet A.H, 2004)
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Practical Design Approach for 3-Blade Propeller.
The initial design variable requirements of the propeller are given below:
• Delivered power (KW)

• Propeller rate of rotation (rpm)
• Speed of ship (m/s)
• Number of blades
• Taylor’s wake friction (w).
The speed of the boat (𝑉𝑠 ), the number of propeller revolution (n), the blade
𝐴𝑔⁄
number (Z) and the blade area ratio ( 𝐴𝑜) are known while pitch ratio
(𝑃⁄𝐷 ), and diameter (D) and the performance characteristics (J, 𝐾𝑇 , 𝐾𝑄, 𝑛0 ) are
investigated among probable solution. With the stated propeller design basis,
there is need to calculate for the parameters needed to achieve the design.
The initial design variables of the propeller are given below:
Break Power 𝑃𝐵 = 0.402 Hp
Ship speed 𝑉𝑆 = 1.99 knots
The speed of advance 𝑉𝐴 of the propeller is calculated as follows:
𝑣𝐴 = 𝑣𝑠 (1 − 𝑤) (Eq. 40)
=1,99(1 − 0,15)
= 1.6915 knots
Break Power 𝑃𝐵 :
𝑃𝑆 = 𝑃𝐵 𝑛𝑆 (Eq. 41)
= 0.402(0.96)
= 0.38592 Hp
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Then:
𝑃𝐷 = 𝑃𝑆 𝑛𝑆 (Eq. 42)
=0.38592(0.98)
= 0.378 Hp
The Power Coefficient 𝐵𝑃 :
0.5
𝑃𝐷 𝑁
𝐵𝑃 = (Eq. 43)
𝑉𝐴2.5
0.3780.5 ×48.41
=
1.69152.5
=8
The point of intersection between the p B line and optimum line (in red line)
was traced to get (P/D) = 1 .15, 𝑛0 =0.73 and 𝛿𝑜𝑝𝑡 = 113. Propeller thrust can
be calculated:
𝑃𝐷 𝑛0
𝑇= (Eq. 44)
𝑉𝐴
80×0.73
=
25.5
T = 2 .290 N / m
The optimum diameter of the propeller is given as:
𝛿𝑜𝑝𝑡 𝑉𝐴
𝐷= (Eq. 45)
𝑛
113 × 25.5
𝐷=
3000
3264
𝐷=
0.9605
= 11.5 mm
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Since P/D = 1.15
P = 1.15 x D (Eq. 46)
= 1.15 x 11.5
= 13.2 mm
Having determined the pitch, diameter and delivered horsepower of the

propeller, the thickness Blade, the blade area, and hub (boss) diameter from
the ratios stated for these in the type B series chart for 3 blade design are as
follows:
Number of blades (Z) = 3
Blade area ratio ( 𝐴𝐸 /𝐴0 ) = 0.55
Blade thickness ratio = 0.05
Hub (Boss) diameter (D) = 11.5 mm
Therefore,
𝜋𝐷2
Blade Area (Disk area) 𝐴0 = (Eq. 47)
4
3.142(11.5)2
𝐴0 = .
4
𝐴0 = 103.88 𝑚𝑚2
𝐴𝐸
Since, Blade area ratio, ⁄𝐴 = 0.55
0
𝐴𝐸 = 𝐴0 × 0.55 (Eq. 48)
Where 𝐴𝐸
(Expanded Area of all blades outside hub)
Final Report
𝐴𝐸 = 103.88 x 0.55
= 57.13 mm
To find the maximum blade thickness (produced to shaft axis), blade thickness
𝑡0
ratio =
𝐷
Where 𝑡0 = Maximum black thickness
D = Propeller diameter
𝑡0
0.05 =
𝐷
𝑡0 = 0.05 × 11.5
= 0.58 m
4.6. Control Systems
In this section a control system is designed, which provides the desired

response by controlling the output. The following figure shows the simple block
diagram of a control system.
Figure 39: Control System Block Diagram
(Electronics Engineers, 2005)
Final Report
Here, the control system is represented by a single block. Since, the output is
controlled by varying input, the control system got this name. We will vary this
input with some mechanism. The following figure shows the block diagram of
negative feedback closed loop control system which will be used for the
calculations and simulations.
Figure 40: Closed Loop Control System
4.6.1. PWM Control and Programming
Pulse width modulation (PWM), or pulse-duration modulation (PDM), is a

method of reducing the average power delivered by an electrical signal,
by effectively chopping it up into discrete parts. The average value of
voltage (and current) fed to the load is controlled by turning the switch
between supply and load on and off at a fast rate. The longer the switch is
on compared to the off periods, the higher the total power supplied to the
load.
The term duty cycle describes the proportion of 'on' time to the regular
interval or 'period' of time; a low duty cycle corresponds to low power,
because the power is off for most of the time. Duty cycle is expressed in
percent, 100% being fully on. When a digital signal is on half of the time
and off the other half of the time, the digital signal has a duty cycle of 50%
and resembles a "square" wave.
Final Report
Figure 41: PWM Duty Cycle
In this section we will use Pulse Width Modulation (PWM) to generate pulses
with variable duty cycle rate. The PWM duty cycle is used to vary the speed of
the motor by controlling the motor terminal voltage. The motor voltage and
revolutions per minutes (RPM) obtained at different duty cycle rates.
The components are as follows:
• Arduino Uno
• Potential meter
• 330-ohm Resister
• IN400I Diode
• Transistor
• DC Thruster/Motor
Final Report
Circuit:
Figure 42: PWM Circuit
(Fritzing, 2020)
Programming:
int motor = 9;
int potenciometer = 5;
void setup(){
pinMode(9,OUTPUT);
pinMode(5,INPUT);
Serial.begin(9600);
}
void loop(){
int value = analogRead(potenciometer);
//read input value: range between(0,1023)
int motor_speed = value/4;
//PWM can only output 255 different values
analogWrite(motor,motor_speed);
Serial.println(motor_speed);
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//for testing purposes
4.7. Global Positioning System Modulation for Real-Time Data
The GPS modulation comprises of tiny processors and antennas that directly
receive data sent by satellites through dedicated RF frequencies. From there,
it will receive timestamp from each visible satellite, along with other pieces of
data. In this section we will look at real-time data capturing and storing.
Components:
• Arduino Uno
• NEO-6M GPS Module
This module has an external antenna and built-in EEPROM.
Interface: RS232 TTL
Power supply: 3V to 5V
Default baud rate: 9600 bps
Works with standard NMEA sentences
The NEO-6M GPS module has four pins: VCC, RX, TX, and GND.
The module communicates with the Arduino via serial communication
using the TX and RX pins, so the wiring could not be simpler:
NEO-6M GPS Module Wiring to Arduino UNO
VCC VIN
RX TX pin defined in the software serial.
TX RX pin defined in the software serial.
GND GND
• L293D IC
Final Report
Circuit:
Figure 43: GPS Modulation
(Fritzing, 2020)
Arduino Code for Location Capturing:
Figure 44: Localization
(Arduino, 2020)
Final Report
Program:
#include <TinyGPS++.h>
#include <SoftwareSerial.h>
static const int RXPin = 4, TXPin = 3;
static const uint32_t GPSBaud = 9600;
// The TinyGPS++ object
TinyGPSPlus gps;
// The serial connection to the GPS device
SoftwareSerial ss(RXPin, TXPin);
void setup(){
Serial.begin(9600);
ss.begin(GPSBaud);
void loop(){
// This sketch displays information every time a new sentence is correctly

encoded.
while (ss.available() > 0){
gps.encode(ss.read());
if (gps.location.isUpdated()){
Serial.print("Latitude= ");
Serial.print(gps.location.lat(), 6);
Serial.print(" Longitude= ");
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Serial.println(gps.location.lng(), 6);
Destination Notifier Through LED:
#include <TinyGPS++.h>
#include <SoftwareSerial.h>
static const int RXPin = 4, TXPin = 3;
static const uint32_t GPSBaud = 9600;
// The TinyGPS++ object
TinyGPSPlus gps;
// The serial connection to the GPS device
SoftwareSerial ss(RXPin, TXPin);
// For stats that happen every 5 seconds
unsigned long last = 0UL;
int motorpin1=6;
int motorpin2=7;
void setup()
Serial.begin(115200);
ss.begin(GPSBaud);
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pinMode(motorpin1,OUTPUT);
pinMode(motorpin2,OUTPUT);}
void loop()
// Dispatch incoming characters
while (ss.available() > 0)
gps.encode(ss.read());
if (gps.location.isUpdated())
{ Serial.print(F(" Lat="));
Serial.print(gps.location.lat(), 6);
Serial.print(F(" Long="));
Serial.println(gps.location.lng(), 6);}
else if (millis() - last > 5000)
{ Serial.println();
if (gps.location.isValid()) {
// replace 'Dest_LAT' and 'Dest_LON' values basedon your location
// you can find Latitude and Longitude from Read_Lat_Lng.ino
static const double Dest_LAT = 18.786254, Dest_LON = 73.880798;
double distanceToDest =
TinyGPSPlus::distanceBetween(
gps.location.lat(),
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gps.location.lng(),
Dest_LAT,
Dest_LON);
Serial.print(F("Distance to Destination ="));
Serial.print(distanceToDest/1000, 6); // *Prints distance to destination
if(distanceToDest/1000 < 0.050000) //Here when distanceToDest/1000 is

less than 0.050000 LED turns on . So change *distance to destination as
per your requirement.
digitalWrite(motorpin1,LOW);
digitalWrite(motorpin2,HIGH);
else
if (gps.charsProcessed() < 10)
Serial.println(F("WARNING: No GPS data. Check wiring."));
last = millis();
Serial.println(); }
Final Report
4.8. Temperature and Humidity Sensory Control System
In this section we will use the temperature sensor which is a component that
precisely translate bodily temperature into digital evidence. Likewise, humidity
sensor will be able to quantify atmospheric moisture levels and translate that
into digital information.
Components:
• Arduino Uno.
• DHT11 Temperature and humidity sensor.
• 16x2 LCD Display
• 10K Potentiometer
• Screw Terminals
• Resisters of different values
Schematic Diagram:
Figure 45: Schematic Diagram
(Proteus, 2020)
Final Report
The explanation of schematic is as follows:
1. I have utilized a 6-pin ICSP connector to program the Arduino pro mini.
2. R2 is 100 Ohms and it sets the brightness of the LCD. Basically, you
could put more resistance than 100R if you want the LCD backlight to
be dimmer. Or better yet, get a potentiometer to act as a variable series
resistance.
3. JP1 is just a connector which has a nice PCB footprint. I never put an
actual terminal but instead soldered the wires. Do as you like.
4. U2 is the battery connection terminals. Here, I prefer a nice screw
terminal to get firm connection. You could solder the wires but be sure
to put enough solder to make the connection solid enough to withstand
any shakes.
5. LCD1 is the LCD component in easyEDA. It has the basic connection
to Arduino pro mini. Be sure that pins here are identical to the ones in
software.
6. RV1 is a 10K potentiometer to set LCD contrast. It should be used only
once, and it is when you first power the LCD.
Final Report
PCB Design:
Figure 46: PCB Back View
(Frizting, 2020)
Figure 47: PCB Front View
(Fritzing, 2020)
Program:
// include the library code:
#include <LiquidCrystal.h>
#include "DHT.h"
// set the DHT Pin
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#define DHTPIN 2
//#define backlight 3
//#define contrast 10
// initialize the library with the numbers of the interface pins
LiquidCrystal lcd(9, 8, 7, 6, 5, 4);
#define DHTTYPE DHT11
DHT dht(DHTPIN, DHTTYPE);
void setup() {
// set up the LCD's number of columns and rows:
lcd.begin(16, 2);
dht.begin();
lcd.setCursor(0,0);
lcd.print("Temperature and");
lcd.setCursor(0,1);
lcd.print("humidity sensor");
delay(3000);
lcd.clear();
lcd.setCursor(0,0);
lcd.print("THUNDERTRONICS");
lcd.setCursor(0,1);
lcd.print("Hossam Moghrabi");
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delay(3000);
void loop() {
// read humidity
int h = dht.readHumidity();
//read temperature in c
int t = dht.readTemperature();
if (isnan(h) || isnan(t)) {
lcd.print("ERROR"); return;
lcd.setCursor(0,0);
lcd.print("Temp. = ");
lcd.print(t);
lcd.print(" ");
lcd.print((char)223);
lcd.print("C");
lcd.setCursor(0,1);
lcd.print("Humidity = ");
lcd.print(h);
lcd.print (" %");
// lcd.print("Hossam Moghrabi");
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delay(2000);
4.9. Turbidity Sensory Control System
In this segment we will utilize the turbidity sensor which will determine the
quantity of illumination that is dispersed by the halted solids in water. As the
quantity of total suspended solids (TSS) in water surges, the water's turbidity
intensity (and cloudiness or haziness) increases.
Components:
• Particle Photon
• LDR Sensor
• Rsisters
• LEDs
• USB Micro B Cable
• Push Button
• Laser
Circuit:
Figure 48: Turbidity Circuit
(Fritzing, 2020)
Final Report
Program:
Figure 49: Turbidity Program
(Arduino.ino, 2020)
4.10. Interfacing with Android Device
In this section we will use the Bluetooth modulation which is frequently a

computer hardware component that delivers a radiocommunication product to
operate with the processor, or in some cases, the Bluetooth may be an
auxiliary or peripheral, or a wireless headphone. or other product (such as cell
phones can use.)
Components:
• Arduino Uno
• Bluetooth module
• Smartphone Android
• BleArd Application
• L293D IC
• DC Motor/Thrusters
Final Report
Circuit:
Figure 50: Bluetooth Interface Circuit
(Fritzing, 2020)
Application which will be used:
Final Report
Figure 51: BlueArd Application
(BlueArd, 2020)
Program:
int motor1Pin1 = 3; // pin 2 on L293D IC
int enable1Pin = 6; // pin 1 on L293D IC
int enable2Pin = 11; // pin 9 on L293D IC
int state;
int flag=0; //makes sure that the serial only prints once the state
int stateStop=0;
void setup() {
Final Report
// sets the pins as outputs:
pinMode(motor1Pin1, OUTPUT);
pinMode(enable1Pin, OUTPUT);
pinMode(enable2Pin, OUTPUT);
// sets enable1Pin and enable2Pin high so that motor can turn on:
digitalWrite(enable1Pin, HIGH);
digitalWrite(enable2Pin, HIGH);
// initialize serial communication at 9600 bits per second:
Serial.begin(9600);
void loop() {
//if some date is sent, reads it and saves in state
if(Serial.available() > 0){
state = Serial.read();
flag=0;
// if the state is '1' the DC motor will go forward
if (state == '1') {
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digitalWrite(motor1Pin1, HIGH);
digitalWrite(motor1Pin2, LOW);
if(flag == 0){
Serial.println("Go Forward!");
flag=1;
// if the state is '2' the motor will turn left
else if (state == '2') {
if(flag == 0){
Serial.println("Turn LEFT");
flag=1;
delay(1500);
state=3;
Final Report
stateStop=1;
// if the state is '3' the motor will Stop
else if (state == '3' || stateStop == 1) {
if(flag == 0){
Serial.println("STOP!");
flag=1;
stateStop=0;
// if the state is '4' the motor will turn right
if(flag == 0){
Final Report
Serial.println("Turn RIGHT");
flag=1;
delay(1500);
state=3;
stateStop=1;
// if the state is '5' the motor will Reverse
if(flag == 0){
Serial.println("Reverse!");
flag=1;
//For debugging purpose
//Serial.println(state);}
Final Report
5. DISCUSSION
The objective of this project to design a remote-controlled water quality

monitoring robot that will be able to maneuverer through water effectively. The
model should be able to navigate to co-ordinates and effectively drive in any
direction without constraints with a stable on water model.
The centre of gravity for the water body is important as highlighted in the
literature review study, with that side Concept 2 offers such stability and
manoeuvrability that is desired for the effectiveness of the data collection. The
constraint and requirement of the concept developed was set from the product
design specification, using the following criteria: safety of the mechanism,
friendly user design, economical liable, maintenance and the durability to
survive the harsh weathers and environment. The most important
requirements that the design should meet are watertight design,
manoeuvrability, real-time data.
The concept of the design process started with the collection of relevant studies
on literature review that covers the aspect and components to be designed. Thus,
this study has yielded an evaluation on the current existing water quality
monitoring systems. As the study went along it has come to extent that the
collection of the information has generated three concepts ideas to be used in the
design, preliminarily the concepts should meet the design specification attentively,
this was then achieved by using an evaluation method to rate the concepts to be
developed. Each concept was evaluated with the likeliness to meet the product
design specification using the Pugh’s evaluation method matrix.
With the correct co-relation of the method’s rating, the water quality monitoring
and real-time data control system was the selected concept since it was close to
the design specification. Following the concept chosen, the final design model was
carried out. The design is divided into nine main categories which are the
catamaran hull design configuration, midship coefficient, movement of centre of
buoyancy, propeller design, control systems, global positioning system
modulation, temperature and humidity sensory control system, turbidity sensory
control system and interfacing with android device.
Final Report
The method used minimized the perceived impact as best as it goes by weighting
all the criteria against each other the result from the simulations showed a small
difference to the theoretical calculation values.
The simulated model had generally lower forces. One of the reasons for this might
be due to poor mesh in some areas. Simulating is very time consuming so to
minimize time spent on simulating the model to achieve the optimal mesh, the
model was calculated three times with mesh refinement.
The mesh refinement done between each step to see if the results were similar.
The result with finer mesh showed that the forces were some percent higher and
closer to the theoretical calculated values. The reason for the lower forces in the
model could be because the model had a coarse mesh.
Final Report
6. CONCLUSION
The objective of the project is to design a remote-controlled water quality

monitoring robot that will continuously capture real-time data using the
temperature, humidity, turbidity, and PH level sensory control system. The
control system should also be able to store the real-time data for analysis. The
remote-controlled water quality monitoring robot should be able to move
around lakes and dams.
Looking at the primary constraints and requirement, and the main criteria specified
in the product design specification the chosen selected concept which is the real-
time data acquisition should meet and fulfil the requirements.
The calculation of the loading forces is essential before finalizing the design of the
solar tilting system. Because of this simulation and calculations, the designer
would know:
• The area is most sensitive to stress caused by wind loading.

• The additional force to be taken into consideration during the static design
of the system.
• The necessity of implementing an algorithm that would identify
dangerously high wind velocities and turn the system to a safe position.
Lastly the co-relation between the calculated deflections on the hull

configuration has a proportional relationship to the ones obtained using the
simulations, which means that the design support members are stable enough
to carry the load since they have minimal deflections.
Final Report
7. REFERENCES
1.Hem, J.D. 1984 Study, and Interpretation of the Chemical Characteristics of

Natural Water.
2.3rd edition. Water Supply Paper 2254, United States Geological Survey,
Washington, DC.
3. Beadle, L.C. 1974 The Inland Waters of Tropical Africa. Longman, London.
4.Chilton, J. 1996 Groundwater. In: D. Chapman [Ed.] Water Quality

Assessments. A Guide to the Use of Biota, Sediments and Water in
Environmental Monitoring. 2nd edition. Chapman & Hall, London.
5.WHO 1993 Guidelines for Drinking-water Quality. Volume 1

Recommendations. 2nd edition. World Health Organization, Geneva.
6. Meybeck, M., Chapman, D. and Helmer, R. 1989 Global Freshwater Quality:

A First Assessment. Blackwell Reference, Oxford.
7.Jena V., Dixit S. and Gupta S., (2013) “Assessment of Water Quality Index
of Industrial Area Surface Water Samples” Int. J. Chem. Tech. Res., Vol.5, No.
1, pp278-283
8.Ott W., A.A. (1978) “Environmental indices, theory and practice”. Science,
Ann Arbor.
9. DEQ, (2003), The Oregon Department of Environmental Quality. Available

from: http://www.deq.state.or .us/ lab/ WQM/ WQI/ Wqi main.htm.
10. Harkins R. D., (1974) “An index number system for rating water quality” J.
Water Pollut. Control Fed., Vol.46, No. 7, pp588.
11. Landwehr J. M. & Deininger R. A., (1976) “A comparison of several water

quality indexes”, J. Water Pollut. Control Fed., Vol. 48, No. 5, pp 954.
12.Cude C., (2001) “A tool for evaluating water quality management

effectiveness” J. American Water Resour. Assess. Vol.37, pp125–137.
Final Report
13.Bhargava D.S., (1983) “A light- penetration model for the rivers Ganga and
Yamuna”, Int. J. Dev. Technol., Vol.1, No. 3, pp199–205.
14.(H. F. Durrant-Whyte. Ind. Rob. 1994, 21, pp 11–16)
15.(S. Thrun, W. Burgard, and D. Fox. Probabilistic Robotics. MITPress, 2005
16. F. Dellaert and M. Kaess. Int. J. Rob. Res. 2006, 25(12), pp 1181–1203.).
17.F. Lu and E. Milios. Auton. Robots 1997, 4, pp 333–349
18. G. Borgefors. Comput. Vis. Graph. Image Process. 1986, 34, pp 344–371
19. J. D. Liu and H. S. Hu, “Mimicry of sharp turning behaviors in a robotic

fish,” in Proc. IEEE Int. Conf. on Robotics and Automation, pp. 3329-3334,
2005
20.J. Yu, M. Tan, S. Wang, and E. Chen, “Development of a biomimetic robotic

fish and its control algorithm”, IEEE Transactions on Systems, Man, and
Cybernetics, Part B: Cybernetics, vol. 34, no. 4, pp. 1798–1810, 2004
21.T. A. Williams, “A Model of Rowing Propulsion and the Ontogeny of

Locomotion in Artemia Larvae”, Biol. Bull., vol. 187, pp. 164-173, 1994.
22.T. A. Williams, “A Model of Rowing Propulsion and the Ontogeny of

Locomotion in Artemia Larvae”, Biol. Bull., vol. 187, pp. 164-173, 1994
23. Wikipedia (2013), Propeller (Marine), en.wikipedia.org/wiki/propeller

(marine).
24. D. Ghosh and D. Khastgir, “Degradation and Stability of Polymeric High-

Voltage Insulators and Prediction of Their Service Life Through Environmental
and 14 Accelerated Aging Processes,” ACS Omega, Vol. 3, No. 9, pp. 11317,
2018
25. D. -J. Liaw, B. -Y. Liaw, and C. -M. Yang, “Synthesis and Properties of New
Polyamides based on Bis [4-(4-Aminophenoxy) Phenyl] Diphenylmethane,”
Macromolecules, Vol. 32, No. 21, pp. 7248, 1999
Progress Report
APPENDIX A: SPECIFICATIONS
214645068 A Monametsi OJ
Progress Report
APPENDIX B: PROJECT PLAN
214645068 B Monametsi OJ
Progress Report
APPENDIX C: DATA PACK DRAWING
214645068 C Monametsi OJ
Progress Report
APPENDIX D: COSTING
214645068 D Monametsi OJ
8 7 6 5 4 3 2 1
F 2 F
1
E E
3
D D
C C
ITEM NO PART NO DESCRIPTION QTY
1 G55-4 SIDE SKIRT 2
2 J55-1 HOUSING SEAL TOP 1
3 Q88-8 CATAMARAN HULL 1
B B
UNLESS OTHERWISE SPECIFIED: DEBURR AND
DIMENSIONS ARE IN MILLIMETERS BREAK SHARP
DO NOT SCALE DRAWING REVISION 0
SURFACE FINISH: EDGES
TOLERANCES:
LINEAR:
ANGULAR:
Main Assembly Sheet 1 of 2
NAME SIGNATURE DATE TITLE:
Main Assembly
DRAWN Obakeng J Monametsi 2020-09-25
CHK'D
APPV'D
MFG
A A
MATERIAL: DWG NO.
A45-10
Q.A
A3
ABS Plastic
WEIGHT: SCALE:1:100 SHEET 1 OF 2
8 7 6 5 4 3 2 1
8 7 6 5 4 3 2 1
6.80
1.00
F A F
2.65
1.20
1.06
1.06 0.70
2.00
2.60 R1.50
R1
E E
.1
3
0.57
B
5
R0.2
0.57 A SECTION A-A
1.20 1.50 1.50 1.50 1.50 1.50 SCALE 1 : 65
D 1.06 D
0.22
8
R 1.4
3 1.20
R 1.1
.50
1.3
R1
5
0.17
1.22
1.25
C C
1.01
DETAIL B
0.77
SCALE 1 : 45
6.80
0.28
0.40
2.60 0.2 2
2
2.20 0.2
6
2.01
1.3
0.9
1.02
2.70
9
6
1.5
B B
DO NOT SCALE DRAWING REVISION
0.77
1.00

TOLERANCES:
LINEAR:
ANGULAR:
Main Assembly Sheet 2 of 2
1.1
DATE TITLE:
Detailed Main
NAME SIGNATURE
1.16 1.50 1.50 1.50 1.50 1.50 1.02 2020-09-25
4
DRAWN Obakeng J Monametsi
Assembly
CHK'D
APPV'D
MFG
9.77
A A
MATERIAL: DWG NO.
Z14-55
Q.A
A3
ABS Plastic
8 7 6 5 4 3 2 1
8 7 6 5 4 3 2 1
F F
2.50
8 1.20
0.5
D 0.70
2.01 6.80 0.25
E R1.13
C R1.48 E
1.20 1.50 1.50 1.50 1.50 1.50 0.80
2.00
0.25
9.68
D
0.25
2.00
1.06
SECTION D-D
2.00
SCALE 1 : 80 9.77
D 6.80 D
4
25
R0.2
.
R0
R0
R1.13
.2
5
48
R1.
C C
1.00
0.87
0.2 8
8 2.20 0.2
1.20
DETAIL C
B SCALE 1 : 45
B
TOLERANCES:
LINEAR:
ANGULAR:
DATE TITLE:
Catamaran Hull
NAME SIGNATURE
ITEM NO PART NO DESCRIPTION QTY CHK'D
APPV'D
1 Q88-8 CATAMARAN HULL 1 MFG
A A
MATERIAL: DWG NO.
K88-7
Q.A
A3
ABS Plastic
8 7 6 5 4 3 2 1
8 7 6 5 4 3 2 1
2.60
F F
2.60
E E
0.80
2.65
D 0.49
D
R1
.50
4
0.9
C C
2.65
B B
TOLERANCES:
LINEAR:
ANGULAR:
ITEM NO PART NO DESCRIPTION QTY DATE TITLE:
Housing Seal Top

NAME SIGNATURE
2020-09-17
1 J55-1 HOUSING SEAL TOP 1
DRAWN Obakeng J Monametsi
CHK'D
APPV'D
MFG
A A
MATERIAL: DWG NO.
H65-1
Q.A
A3
ABS Plastic
WEIGHT: SCALE 1:30 SHEET 1 OF 1
8 7 6 5 4 3 2 1
8 7 6 5 4 3 2 1
A
F 0.20 F
0.07
E E
0.19
0.20
R0.03
0.10
0.07
D D
A SECTION A-A
0.24
0.20
0.03
C C
0.08
R0.0
3
0.01
B B
0.17
0.24

DO NOT SCALE DRAWING REVISION
R0 SURFACE FINISH: EDGES

TOLERANCES:
.0 LINEAR:
1 ANGULAR:
0.19 NAME SIGNATURE DATE TITLE:
0.20
Propeller
DRAWN Obakeng J Monamets 2020-09-19
CHK'D
APPV'D
ITEM NO PART NO DESCRIPTION QTY MFG
A A
MATERIAL: DWG NO.
V35-2
Q.A
1 X35-3 PROPELLER 2 A3
ABS Plastic
8 7 6 5 4 3 2 1
8 7 6 5 4 3 2 1
0.40 . 05
F R0 F
R0
.05
0.02
A A
5
1.3
E E
1.28
1.24
5
1.3
0.0
5
D 0.69
0.0
5 D
SECTION A-A
0.69
C C
0.
76
0.51
0.50
0.50
0.49
B B
R0
TOLERANCES:
.0
LINEAR:
0.40
5
ANGULAR:
DATE TITLE:
Side Skirt
NAME SIGNATURE
CHK'D
ITEM NO PART NO DESCRIPTION QTY APPV'D
MFG
1 F55-5 SIDE SKIRT 2
A A
MATERIAL: DWG NO.
G55-4
Q.A
A3
ABS Plastic
8 7 6 5 4 3 2 1
Tshwane University of Technology
Simulation of
Catamaran Hull
Date: Monday, 23 November 2020
Designer: Obakeng J Monametsi
Study name: Simulation of Catamaran Hull
Analysis type: Static
Table of Contents
Description.......... Error! Bookmark not defined.
Assumptions..............................................................2
Model Information................................................... 2
Study Properties...................................................... 3
Units...........................................................................3
Material Properties..................................................4
Loads and Fixtures.................................................. 5
Connector Definitions............................................. 5
Contact Information................................................6
Mesh information.....................................................7
Sensor Details...........................................................8
Resultant Forces...................................................... 9
Beams........................................................................ 9
Study Results.......................................................... 10
Conclusion...............................................................13
Analyzed with SOLIDWORKS Simulation Simulation of Catamaran Hull 1

Tshwane Univeristy of Technology Obakeng J Monametsi
23/11/2020
Assumptions
Model Information
Model name: Catamaran Hull

Current Configuration: Default
Solid Bodies
Document Name and Document Path/Date
Treated As Volumetric Properties
Reference Modified
Imported1
Mass:5 kg
Volume:9.986 m^3 C:\Users\jimmy\Desktop\B
Solid Body Density:220.01 kg/m^3 oat\Part1 (2).SLDPRT
Weight:49.05 N

23/11/2020
Study Properties
Study name Simulation of Catamaran Hull
Analysis type Static
Mesh type Solid Mesh
Thermal Effect: On
Thermal option Include temperature loads
Zero strain temperature 298 Kelvin
Include fluid pressure effects from SOLIDWORKS Off
Flow Simulation
Solver type FFEPlus
Inplane Effect: Off
Soft Spring: Off
Inertial Relief: Off
Incompatible bonding options Automatic
Large displacement Off
Compute free body forces On
Friction Off
Use Adaptive Method: Off
Result folder SOLIDWORKS document
(C:\Users\jimmy\Desktop\Boat)
Units
Unit system: SI (MKS)
Length/Displacement mm
Temperature Kelvin
Angular velocity Rad/sec
Pressure/Stress N/m^2

23/11/2020
Material Properties
Model Reference Properties Components
Name: ABS SolidBody Catamaran Hull
Model type: Linear Elastic Isotropic
Default failure Unknown
criterion:
Tensile strength: 3e+07 N/m^2
Elastic modulus: 2e+09 N/m^2
Poisson's ratio: 0.394
Mass density: 1,020 kg/m^3
Shear modulus: 3.189e+08 N/m^2
Curve Data:N/A

23/11/2020
Loads and Fixtures

Fixture name Fixture Image Fixture Details
Entities: 2 face(s)
Type: Fixed Geometry
Fixed-1
Resultant Forces
Components X Y Z Resultant
Reaction force(N) -8.8448 169,996 371.994 169,997
Reaction Moment(N.m) 0 0 0 0
Load name Load Image Load Details

Reference: Face< 1 >
Values: 0 0 -9.81
Units: m/s^2
Gravity-1
Entities: 10 face(s)
Type: Normal to selected face
Value: 30
Pressure-1 Units: N/m^2
Phase Angle: 0
Units: deg
Connector Definitions
No Data

23/11/2020
Contact Information
No Data

23/11/2020
Mesh information
Mesher Used: Standard mesh
Automatic Transition: Off
Include Mesh Auto Loops: Off
Jacobian points for High quality mesh 16 Points
Element Size 0.257012 m
Tolerance 0.0128506 m
Mesh Quality High
Mesh information - Details

Total Nodes 16225
Total Elements 9301
Maximum Aspect Ratio 701.35
% of elements with Aspect Ratio < 3 81.5
% of elements with Aspect Ratio > 10 2.58
% of distorted elements(Jacobian) 0
Time to complete mesh(hh;mm;ss): 00:00:03
Computer name: DELL

23/11/2020
Sensor Details
No Data

23/11/2020
Resultant Forces
Reaction forces
Selection set Units Sum X Sum Y Sum Z Resultant
Entire Model N -8.8448 169,996 371.994 169,997
Reaction Moments
Entire Model N.m 0 0 0 0
Free body forces

Entire Model N 1.2053 139,604 -1.10977 139,604
Free body moments

Entire Model N.m 0 0 0 1e-33
Beams
No Data

23/11/2020
Study Results
Name Type Min Max

Stress1 VON: von Mises Stress 3.297e+01N/m^2 4.804e+05N/m^2
Node: 928 Node: 12971
Part1 (2)-Simulation of Catamaran Hull-Stress-Stress1
Name Type Min Max

Displacement1 URES: Resultant Displacement 0.000e+00mm 4.382e+00mm
Node: 581 Node: 13013

23/11/2020
Part1 (2)-Simulation of Catamaran Hull-Displacement-Displacement1
Name Type Min Max

Strain1 ESTRN: Equivalent Strain 1.049e-07 1.828e-04
Element: 4004 Element: 1385

23/11/2020
Part1 (2)-Simulation of Catamaran Hull-Strain-Strain1

23/11/2020
Image-1
Conclusion

Flow Simulation Assembly
INPUT DATA
Global Mesh Settings
Automatic initial mesh: On
Result resolution level: 3
Advanced narrow channel refinement: Off
Geometry Resolution
Evaluation of minimum gap size: Automatic
Evaluation of minimum wall thickness: Automatic
Computational Domain
Size
X min -7.951 m
X max 23.858 m
Y min -1.600 m
Y max 9.257 m
Z min -11.540 m
Z max 8.340 m
X size 31.808 m
Y size 10.857 m
Z size 19.881 m
Boundary Conditions
2D plane flow None
At X min Default
At X max Default
At Y min Default
At Y max Default
At Z min Default
At Z max Default
Physical Features
Heat conduction in solids: Off
Time dependent: Off
Gravitational effects: On
Rotation: Off
Flow type: Laminar and turbulent
High Mach number flow: Off
Humidity: Off
Free surface: Off
Default roughness: 0 micrometer
Gravitational Settings
X component 0 m/s^2
Flow Simulation Page 1 of 5 08.02.20213/11/2020

Y component -9.81 m/s^2
Z component 0 m/s^2
Default wall conditions: Adiabatic wall
Ambient Conditions
Thermodynamic parameters Static Pressure: 101325.00 Pa
Temperature: 293.20 K
Velocity parameters Velocity vector
Velocity in X direction: 120.000 m/s
Velocity in Y direction: 0 m/s
Velocity in Z direction: 0 m/s
Turbulence parameters Turbulence intensity and length
Intensity: 0.10 %
Length: 0.027 m
Material Settings
Fluids
Air
Goals
Global Goals
GG Maximum Total Pressure 1
Type Global Goal
Goal type Total Pressure
Calculate Maximum value
Coordinate system Global coordinate system
Use in convergence On
GG Maximum Dynamic Pressure 2

Type Global Goal
Goal type Dynamic Pressure
GG Maximum Velocity (X) 3

Type Global Goal
Goal type Velocity (X)
GG Maximum Turbulent Viscosity 4

Type Global Goal
Goal type Turbulent Viscosity

GG Maximum Turbulent Energy 5
Type Global Goal
Goal type Turbulent Energy
GG Force (X) 6
Type Global Goal
Goal type Force (X)
GG Maximum Shear Stress (X) 7

Type Global Goal
Goal type Shear Stress (X)
GG Maximum Shear Stress (Y) 8

Type Global Goal
Goal type Shear Stress (Y)
GG Maximum Shear Stress (Z) 9

Type Global Goal
Goal type Shear Stress (Z)
Calculation Control Options

Finish Conditions
Finish Conditions If one is satisfied
Maximum travels 4
Goals convergence Analysis interval: 5.000000e-01
Solver Refinement
Refinement: Disabled
Results Saving
Save before refinement On

Advanced Control Options
Flow Freezing
Flow freezing strategy Disabled
Engineering Database
Gases
Air
Path: Gases Pre-Defined
Specific heat ratio (Cp/Cv): 1.399
Molecular mass: 0.0290 kg/mol
Dynamic viscosity
Specific heat (Cp)

Thermal conductivity

Simulation of
Propeller
Date: Monday, November 23, 2020
Study name: Propeller Simulation
Table of Contents
Description................................................................1
Assumptions..............................................................2
Units...........................................................................3
Description Loads and Fixtures.................................................. 5
No Data Connector Definitions............................................. 6
Sensor Details...........................................................8
Beams........................................................................ 9
Study Results.......................................................... 10
Conclusion...............................................................13
Analyzed with SOLIDWORKS Simulation Simulation of Propeller 1

Tshwane University of Technology Obakeng J Monametsi
23/11/2020
Assumptions
Model Information
Model name: Propeller

Solid Bodies
Reference Modified
Imported1
Mass:520g
Solid Body Density:120 kg/m^3 oat\Propeller.SLDPRT
Weight:5.1012N

23/11/2020
Study Properties
Study name Propeller Simulation
Thermal Effect: On
Flow Simulation
Solver type FFEPlus
Inplane Effect: Off
Soft Spring: Off
Friction Off
Units
Temperature Kelvin

23/11/2020
Material Properties
Name: ABS SolidBody 1 (Propeller)
criterion:
Curve Data:N/A

23/11/2020
Loads and Fixtures

Entities: 1 face(s)
Fixed-1
Resultant Forces
Reaction force(N) 0.00875816 6.26274 101.101 101.295

Entities: 5 face(s)
Value: 30
Phase Angle: 0
Units: deg
Reference: Front Plane

Values: 0 0 -9.81
Units: m/s^2
Gravity-1
Centrifugal, Ref: Face< 1 >

Angular Velocity: 0rad/s
Angular Acceleration: 0rad/s^2
Centrifugal-1

23/11/2020
No Data
Contact Information
No Data

23/11/2020
Mesh information
Mesh Quality High

Total Nodes 18628
Total Elements 10742
% of elements with Aspect Ratio > 10 1.91
Computer name: DELL

23/11/2020
Sensor Details
No Data

23/11/2020
Resultant Forces
Reaction forces
Entire Model N 0.00875816 6.26274 101.101 101.295
Reaction Moments
Free body forces

Entire Model N -0.0107976 0.0498235 86.2963 86.2963
Free body moments

Beams
No Data

23/11/2020
Study Results
Name Type Min Max

Stress1 VON: von Mises Stress 1.793e+01N/m^2 9.938e+04N/m^2
Node: 18365 Node: 9217
Propeller-Propeller Simulation-Stress-Stress1
Name Type Min Max

Displacement1 URES: Resultant Displacement 0.000e+00mm 7.148e-02mm
Node: 141 Node: 9285

23/11/2020
Propeller-Propeller Simulation-Displacement-Displacement1
Name Type Min Max


23/11/2020
Propeller-Propeller Simulation-Strain-Strain1

23/11/2020
Image-1
Conclusion

Simulation of Side
Skirt
Date: Monday, 23 November 2020
Study name: Side Skirt Simulation
Table of Contents
Description.......... Error! Bookmark not defined.
Assumptions..............................................................2
Units...........................................................................3
Loads and Fixtures.................................................. 4
Connector Definitions............................................. 5
Sensor Details...........................................................7
Beams........................................................................ 8
Study Results............................................................ 9
Conclusion........... Error! Bookmark not defined.
Analyzed with SOLIDWORKS Simulation Simulation of Side Skirt 1

23/11/2020
Assumptions
Model Information
Model name: Part1 (1)

Solid Bodies
Reference Modified
Mass:2 kg
Solid Body Density:1,020 kg/m^3 oat\Part1 (1).SLDPRT
Weight:19.62 N

23/11/2020
Study Properties
Study name Side Skirt Simulation
Thermal Effect: On
Flow Simulation
Solver type FFEPlus
Inplane Effect: Off
Soft Spring: Off
Friction Off
Units
Temperature Kelvin

23/11/2020
Material Properties
Name: ABS SolidBody Side Skirt
criterion:
Curve Data:N/A
Loads and Fixtures

Entities: 1 face(s)
Fixed-1
Resultant Forces
Reaction force(N) 0.0145924 0.36417 0.831038 0.907446

Entities: 7 face(s)
Value: 1
Phase Angle: 0
Units: deg

23/11/2020
No Data
Contact Information
No Data

23/11/2020
Mesh information
Mesh Quality High

Total Nodes 13394
Total Elements 8264
% of elements with Aspect Ratio > 10 0
Computer name: DELL

23/11/2020
Sensor Details
No Data

23/11/2020
Resultant Forces
Reaction forces
Entire Model N 0.0145924 0.36417 0.831038 0.907446
Reaction Moments
Free body forces

Entire Model N 0.000340339 0.000180667 0.000232103 0.000449825
Free body moments

Beams
No Data

23/11/2020
Study Results
Name Type Min Max

Stress1 VON: von Mises Stress 2.560e-01N/m^2 8.618e+02N/m^2
Node: 13379 Node: 350
Part1 (1)-Side Skirt Simulation-Stress-Stress1
Name Type Min Max

Displacement1 URES: Resultant Displacement 0.000e+00mm 3.457e-03mm
Node: 47 Node: 13393

23/11/2020
Part1 (1)-Side Skirt Simulation-Displacement-Displacement1
Name Type Min Max


23/11/2020
Part1 (1)-Side Skirt Simulation-Strain-Strain1

Item Description Quantity Supplier Cost
Number
1. Arduino Uno 2 Communica R841.78
SA
2. GPS Module 1 DIY R172
Electronics
3. Sim Module 1 Communica R380
SA
4. SD Card 1 Communica R242
Module SA
5. Rechargeable 1 Communica R1162,73
Battery SA
6. Temperature 1 Communica R150,50
and Humidity SA
Sensor
7. Turbidity 1 DIY R150,63
Sensor Electronics
8. Bluetooth 1 Communica R179,95
Module SA
9. LEDs 20 Communica R160
SA
10. Resister Kit 20 DIY R160
Electronics
11. Servo Motor 2 Communica R318,80
SA
Total:
3918.39
NB: Components and apparatus not listed will be provided by Tshwane
University of Technology, Electrical Department.
DESIGN SPECIFICATION FOR A WATER QUALITY
MONITORING ROBOT
Date of Submission: 24 March 2020
Prepared by: Obakeng Johny Monametsi
Student number: 214645068
Revision: 1
Mentor: Mr T Wynne
Co-mentor is used: Mr A.N Other

Product Design Specification
TABLE OF CONTENTS
Table of Contents 1
1. INTRODUCTION 2
1.1. Problem statement 2

1.2. Expected outcomes 3
1.3. Scope 3
2. REQUIREMENTS 4
2.1. Primary requirement 4

2.2. Other performance requirements 4
2.3. Quality 7
2.4. Safety 7
2.5. Manufacturing 8
2.6. Maintenance 8
2.7. Environmental factors 8
2.8. Interface information 8
2.9. Life cycle management 9
2.10. Testing and commissioning 9
2.11. Budget/Cost 9
Appendix A: Applicable standards and specifications 11
214645068 Page A1 Monametsi OJ

1. INTRODUCTION
There is a rapid increase in the world’s urban industrialization because of the

growth strategy focused on fast growth through intensive industrialization and
the creation of economic growth. Water is one of the world’s most valuable
resources and as a result of this intensive industrializations and existing
industrials, water pollution has become a significant crisis throughout multiple
countries worldwide. There are several factors that contribute to the pollution
of water such as agriculture runoffs, leaking sewer lines, mining activities and
burning of fossil fuels, etc. This project is therefore initiated to address this
crisis by using a remote controlled Unmanned Surface Vehicle (USV) to
monitor the water quality using a watertight robot to manoeuvre and collect
data in dams, rivers using the humidity, temperature, liquid ph level and
turbidity sensors and to identify any existing problems or any issues that can
emerge in the future thus this will ensure that the water consumed or water for
aquatic animals to be of the best standards or quality.
1.1. Problem statement
Significant resources are wasted when data is missing, or instruments are not
properly configured. This challenge is nothing new and has been around as
long as water quality data has been collected. It is a common frustration
because many resources go into collecting field data. Resources such as
wasted field trips, data gaps, step changes or bad calibration are some
examples. Collecting water quality data can be challenging due to the continual
repair and maintenance costs and field instruments not lasting. Collecting
water quality data is expensive due to aging instruments such as stainless
corrosion, bent or broken pins, wiper failure and/or faulty cables.

1.2. Expected outcomes
Designing a remote controlled USV robot that will be able to manoeuvre

through dams, lakes, and rivers. The remote-controlled robot should be able
to collect water quality and store the data, through smart sensors and data
storage modules. For cost efficiency, the robot should be watertight and must
carry all the required hardware and still keep afloat. The remote-controlled
robot should be able to communicate with the user using real time and give
automated results and co-ordinates of the data collected and from a certain
required distance.
1.3. Scope
The scope of the work and objective is to design a cost efficient USV
(Unmanned Surface Vehicle) for water quality monitoring. The USV robot
should use real time communication and remotely controlled to manoeuvre to
the desired destination at a given range.
To design:
• The propeller, to create pressure difference between two surfaces.

• The boat hull, to sustain wave changes.
• A watertight robot, to eliminate any water interferences.
• To programme the required smart sensors, microcontrollers and
Arduino Uno module etc.

2. REQUIREMENTS
The automated USV should be able to manoeuvre through lakes, river and
dams; collect and store data simultaneously transmitting data to the user for
analysis, without any manpower.
2.1. Primary requirement
The foremost obligation of the project is to effectively collect water quality data
and store the data for analysis within the given parameters. The effective data
collecting should be cost efficient and should be easily accessible for
calibration, maintenance, and repairs. The USV controlled robot should be
able to communicate with the user within 500m. The data collected in real time
communication and stored in a SD card module must be able to be used to
generate the Water Quality Index.
2.2. Other performance requirements
Table 1: Performance Requirements

Description Sub-Area Limitations/Magnitude
Catamaran
Multi-Hull
Pontoon
Hull Configuration Mass <2kg
800mm x 650mm x
Dimensions
400mm
Rechargeable battery,
charge in the nighttime
and used during the
day
Battery type Lithium-iron Phosphate
The device operates on
a rechargeable battery Battery energy Approximately 6.4V at
a capacity of 4.5Ah
Weight 360 grams
Any side, or upside
Mounting Position
down.
Fixed pitch
Type
Propeller Design Conventional
Weight ±100𝑔

Diameter: 100mm
Dimensions
width: 40mm
Type Servo
H-bridge,
Control
Motor Speed Controller
Operating Range :4.5-
DC Motor 15.0 v
Speed: 7500 RPM
Specs
Current: 0.45
Output Power: 7.49W
Efficiency: 59.4 %
Watertight Seal and
Method of Assembly Clamps. Assemble and
disassemble
Stereolithography
(SLA)
Fused deposition
3D Printing
Modelling (FDM)
Digital Light Processing
Manufacturing
(DLP)
Fibre Glass, wood,
metal
Type of materials
ABS Glass PLA
Glass Filled
Number of Parts <25 Pieces
The design should
withstand average to
Protection against
mediate weather
corrosion
Other conditions
Surface finishing
Easy to set-up and
Ergonomics
install
Cost Economical viable
System to withstand 0◦C -50◦C, 90%
environmental Wind and Humidity humidity and 0-4 m/s
conditions wind speed
Fully wired. IP66
Protection of
includes
electrical cables
motor protection

≤ 3500 squared
Area
millimetres
Rolling ball bearing
Types of bearing Bearing operation
temperature −29 ° 𝐶 ≤ 𝑇 ≤ +60 ° 𝐶
Arduino Uno
GPS Module
Type of modules and Motor drive controller
Communication Microprocessors Wireless
communication for
Realtime data
DHT11 Temperature
and Humidity Sensor
Smart Sensors Type Liquid PH Level Sensor
Turbidity Sensor
Swaying- The motion

along the transverse Y-
axis
Motion 2 Degrees of motion

Surging- The motion
along the longitudinal
X-axis

2.3. Quality
The hull should be able to handle the wave changes, with non-corrosive
materials in the watertight design. The water quality monitoring smart sensors
must be able to withstand the buoyant force and the water pressure when
manoeuvring through lakes, rivers and/or dams. The quality of the remote-
controlled system will be measured by the quality of the collected data and the
accuracy of its transmission to the users HMI or control panel. The poorer the
water quality data, the poorer the control system quality. The controllability of
the remote-controlled robot should be accurate and precise. The design must
adhere to the ISO 12216 standards, ASTM B369-09 and the international
standard ISO 9001:2008.
2.4. Safety
The electronics and control system must adhere to the ISO standards (ISO
18001) and UL 1426, electrical precautionary should always be taken into
consideration when dealing with the control system as the electronics and
smart sensors are very sensitive and delicate. No shard edges on the structure
or design of the hull and a smooth surface finish. All bolts and other fittings of
boat hull configuration should be rendered secure by means of suitable locking
technique for a watertight result. The Hull should allow the remote-controlled
robot to float on water should the battery be flat and cannot be remotely
operated. The electrical components should be accurate and properly installed
and adhere with the Act, No. R. 2271 of October 1986. The assembled design
of the control system should be safe to use and adhere to Occupational Health
and Safety Assessment Series (OHSAS) 18001.

2.5. Manufacturing
The drawings and relevant documents of the boat hull configuration and
electronics casing design will be sent to the approved external manufacturing
companies after being approved for manufacturing. The hull and electronic
casing design can be 3D printed using ABS plastic PLA, glass filled and/or
carbon fibre. The manufacturing of the boat hull configuration should adhere
to the manufacturing development act of South Africa to avoid potential
manufacturing and assembly hazards. The manufacturing must use market
available parts.
2.6. Maintenance
To achieve a long-life span on the structure preventive maintenance is

essential and should be performed periodically to reduce operational
breakdown on smart sensors, propeller motors and other electronics such as
the Arduino and/or GPS modules. The structure will mainly operate in water
thus a regular inspection of the structure watertight system should be
conducted before usage.
2.7. Environmental factors
The materials used for the design of the structure should not contain any toxic
elements and adhere to environment standard, in addition the decommission
or disposal of worn out or broken smart sensors should be documented should
the need to get rid of the material be required and the mitigation methods at
the end of its life span. The operation of the remote-controlled robot should
adhere to the public water body standards, 40 CFR Part 131 and the Hazard
Communication Standards found in 29 C.F.R. 1910.1200.
2.8. Interface information
The method of connection will be clamps to clamp the electronics casing

together with the boat hull design with a seal between the two structures to
ensure that the watertight requirement is achieved. The electrical wirings will
be connected together with cable ties and a glue gun will be used to place the
wirings into place. The motors and propeller will be situated inside the hull with

the use of the glue gun to situate it in place. The remote-controlled robot will
use real-time communication and remote controlled by the user with GPS
guidance which will be displayed on the users HMI o
2.9. Life cycle management
The design should last for a lifespan of at least more than 3 years, with 1-year
maintenance free. Some of service strategy are periodical preventative
maintenance schedules for the propeller, motors, smart sensors, and
electronics, which are subjected to change depending on inspections and
unplanned breakdowns. The easy assembling and disassembling will allow for
easy replacement of worn sensors, motors, and other electronic parts.
2.10. Testing and commissioning
The boat hull configuration, electronics casing and aerodynamics of wave

changes will be simulated on applicable computerized programmes such as
Solid works and Abacus software to analyse stresses, deformation, and failure
2.11. Budget/Cost
No. Part Description Estimated Cost
1. 2x Motor R200
2. Arduino Uno R400
3. Motor Drive Controller R96

Module
4. Rechargeable Battery R600
5. GPS Module R323
6. Liquid PH level Sensor R1000
7. Humidity and R200

Temperature sensor

8. Turbidity Sensor R432
9. 3D Printing Free (TUT)
10. Micro SD Module R45
11. Jumpers R50
12. Lora Module R472
Total: R3818

Appendix A: Applicable standards and specifications
Table 2: Applicable standards

Number Title
Occupational health and safety amendment
Act, NO 181 of 1993
act
EN 1991-1-1 Specific weights, overloads and dead weight.
General principle of design, risk reduction and
ISO 12100: 2010
risk assessment.
Occupational Health and Safety Assessment
ISO1 8001
Series (OHASA)
EN 1991-1-1 Actions of the wind
Act, No. R. 2271 of 11
October 1985 Regulation of the electrical installation
BS EN ISO 12944-5 Standard system for C3-medium risk

environment
ISO 13849-1:2015 Safety related parts of control system
Safety standards for designing, and
ISO 12216 manufacturing applicable to boats with hulls of
up to 24m
ABYC E-11 Guidelines in designing, manufacturing and
installing electrical systems in boats
SABS-0111 Engineering Drawings
29 C.F.R. 1910.1200 Hazard Communication Standards

Water Quality Monitoring Robot Design

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Water Quality Monitoring Robot Design

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THE DESIGN OF A WATER QUALITY MONITORING

I hereby declare that THE DESIGN OF A WATER QUALITY MONITORING

I dedicate this report to my loving mother Machenchi Elizabeth Monametsi who

Firstly. I would like to profusely express my gratefulness to the almighty God

I convey my sincere gratitude to my academic supervisor Prof S Du. Without

214645068 iii Monametsi OJ

The observation of the water quality is an intricate procedure as it has

The Remote-Controlled Quality Monitoring Robot is designed through a stable

LIST OF TABLES viii

1.1. Problem Statement 2

2.1. Water Quality in Context 4

2.4.4. Internet of Things (IoT) 15

3.1. Monohulled (Concept 1) 37

4.1. Calculations of a Catamaran Hull Configuration 47

Appendix B: Project Plan 95

Appendix C: Data Pack Drawing 96

214645068 vii Monametsi OJ

Table 1: Ordinary uses of water (Meybech and Helmar, 1996) 7

214645068 viii Monametsi OJ

Figure 1: Water quarters patterns in inshore water bodies 5

Figure 29: Midship Body 51

WHO World Health Organisation

IDE Integrated Development Environment

USV Unmanned Surface Vehicle

IOT Internet of Things

WQI Water Quality Indices

OWQI Oregon Water Quality Index

ODEQ Oregon Department of Environment

WDS Wireless Distribution Systems

SCADA Supervisory Control and Data Acquisition

EPANT Environmental Protection Agency Network

EPS Extended Period Simulation

ANN Artificial Neural Networks

GPS Global Positioning System

MAC Media Access Control

BPSK Binary Phased Shift Keying

GSM Global Systems for Mobile

GPRS General Packet Radio Service

TDS Total Dissolved Solids

NTC Negative Temperature Coefficient

PTC Positive Temperature Coefficient

ADC Analog to Digital Converter

ISFET Ion Selective Field Effect Transistor

SLAM Simultaneous Localization and Mapping

RFID Radio Frequency Identification

CDOM Coloured Dissolved Organic Matter

FDOM Fluorescent Dissolved Organic Matter

ISO International Organisations of Standardization

DTR Draft Ration of Hull

PWM Pulse Width Modulation

PDM Pulse Duration Modulation

RPM Revolution Per Minute

TSS Total Suspended Solids

LCB Longitudinal Centre of Buoyancy

LCG Longitudinal Centre of Gravity

ABS Acrylonitrile Butadiene Styrene

214645068 xii Monametsi OJ

214645068 xiii Monametsi OJ

A Pectoral Flipper Beat Amplitude

L Pectoral Fin Length

𝑉𝑎 Pectoral Fin Velocity

𝑉𝑏 Frequency and Body Rate

𝑥𝑚 ,𝑦𝑚 Local Synchronizes

LB Length of Robot Body