RAPPORT DE PROJET

Réaliser par : Hentati Belhassan

Encadrant Esprit : ..
 DEDICATION

"Thanks to God and His grace"

I dedicate all of my work.

To my parents, you have been my source of strength and my hope for success

To my sisters,

Thank you for always being by my side to support me and help me progress.

Thank you for your encouragement and help which allowed me to overcome all the
challenges of my life.

All my friends

To all those I love and respect I dedicate this work to you which without you would never be
completed

Thank you so much.

 ACKNOWLEDGMENTS

Before beginning the presentation of my work, I would like to express my gratitude to all the
individuals who helped me in completing this final project.

I would like to extend my utmost respect to my supervisors, with whom I had the honor of
working.

I also want to express my deep gratitude to my supervisor for their support, guidance, and
expertise. Their invaluable support and valuable advice were essential for the success of this
project.

Finally, I would also like to thank all the members of the jury for kindly evaluating my work.
 TABLE DES MATIERES

Comprehensive Introduction to Sea Cleaner ______________________________________ 1

Chapitre 1 _________________________________________________________________ 2

I. Literature Review and Project _____________________________________________ 2

I.1 Introduction ___________________________________________________________ 1

I.2 What is the Sea Cleaner?:_________________________________________________ 1

I.1.1. Operating principle:_______________________________________________________ 1

I.3 The types of existing robots _______________________________________________ 1

I.4 Definition of waste ______________________________________________________ 4

I.4.1 The types of liquid wast: ___________________________________________________ 4

I.4.2 Recyclable waste _________________________________________________________ 5

I.5 Floats _________________________________________________________________ 5

I.5 Definition _________________________________________________________________ 5

I.5.2 Resin___________________________________________________________________ 6
I.5.2.1 Advantages: _________________________________________________________________ 6
I.5.2.2 Disadvantages ________________________________________________________________ 6

I.5.3 Wood __________________________________________________________________ 6

I.5.3.1 Advantages __________________________________________________________________ 6
I.5.3.2 Disadvantages ________________________________________________________________ 6

I.6 Robot Base __________________________________________________________ 6

I.6.1 Aluminum ______________________________________________________________ 6

I.6.1.1 Advantages __________________________________________________________________ 6
I.6.1.2 Disadvantages ________________________________________________________________ 7

I.7 PVC (Polyvinyl Chloride): ______________________________________________ 7

I.7.1 Defiition________________________________________________________________ 7
I.7.1.1 Advantages __________________________________________________________________ 7
 I.7.1.2 Disadvantages ________________________________________________________________ 7

__________________________________________________________________________ 9

Chapitre 2 _________________________________________________________________ 9

II. Fonctional Analysis ______________________________________________________ 9

II.1 Needs Analysis ______________________________________________________ 10

II.1.1 Needs Analysis __________________________________________________________ 10

II.1.1.1 Formulation of the Need ______________________________________________________ 10
II.1.1.2 Formulation of the Need ______________________________________________________ 11
II.1.1.3 Overall Function _____________________________________________________________ 12
II.1.1.4 Formulation of the Need ______________________________________________________ 12
II.1.1.5 Identification of Service Functions ______________________________________________ 12
II.1.1.6 Formulation of the Need ______________________________________________________ 13
II.1.1.7 Prioritization of Service Functions ______________________________________________ 16
II.1.1.8 Histogramme des fonctions de service ___________________________________________ 16

_________________________________________________________________________ 20

Chapitre 3 ________________________________________________________________ 20

III. Mechanical Part _______________________________________________________ 20

III.1 Introduction ________________________________________________________ 21

III.2 Mechanical Design ___________________________________________________ 21

III.2.1 Chassis: _____________________________________________________________ 21

III.2.2 The base ____________________________________________________________ 22

III.2.3 Component case ______________________________________________________ 23

Chapitre 4 ________________________________________________________________ 26

IV. Electrical part _________________________________________________________ 26

IV.1 Power Supply _______________________________________________________ 27

IV.2 Components ________________________________________________________ 27

IV.2.1 H-bridge L298N ________________________________________________________________ 27
IV.2.2 NodeMCU ESP32 Module: _______________________________________________________ 27
IV.2.3 12V/24V/20A Solar Charge Controller with LCD Display: ________________________________ 28
IV.2.4 2S 5A BMS Protection Module: ____________________________________________________ 29
 IV.2.5 Underwater RC Propulsion Motor 7.4V 16800RPM: ___________________________________ 29
IV.2.6 12V, 150 mA, 110x110 mm Solar Panel: _____________________________________________ 30
IV.2.7 Lithium Battery Charge Indicator: __________________________________________________ 30

IV.3 Relay Module: _______________________________________________________ 31

IV.3.1 Water Pump 12V ZYW680 :______________________________________________ 32

IV.3.2 Arrangement: _________________________________________________________________ 33
IV.3.2.1 Charging: ___________________________________________________________________ 34

Chapitre 5 ________________________________________________________________ 35

V. Sprint 3 – gestion des demandes de congés et demandes d’autorisations _________ 35

V.1 Introduction: ________________________________________________________ 36

V.2 Dimensioning: _______________________________________________________ 36

V.3 Kinematic Study: _____________________________________________________ 36

V.3.1 Kinematic Diagram: ______________________________________________________ 36

V.4 System Study (Mechanical Part): ________________________________________ 36

V.4.1 Motor Selection: ________________________________________________________ 36

V.4.1.1 Rotation Speed: _____________________________________________________________ 36
V.4.1.2 Motor power : ______________________________________________________________ 37
V.4.1.3 Motor torque : ______________________________________________________________ 37
V.4.2.1 Calculation of the propeller diameter ____________________________________________ 38
V.4.2.2 Calculation of the pitch of the propeller : _________________________________________ 38
V.4.2.3 Speed in the Tip : ____________________________________________________________ 39

V.4.2 Balance (Archimedes' Thrust) ______________________________________________ 40

V.4.21. Calculate the value of the weight P of the ship when it is at maximum load: _____________ 40

V.5 System Study (Electrical Part)___________________________________________ 41

V.5.1 Battery Selection: _______________________________________________________ 41

V.5.1.1 Calculation of Joule Heating Loss: _______________________________________________ 41
V.5.1.1.1 Conclusion : ________________________________________________________________ 42

V.5 Study of Photovoltaic Panels: ___________________________________________ 42

 TABLE DES FIGURES
FIGURE 1: 1
FIGURE 2: 2
FIGURE 3: 3
FIGURE 4 : 10
FIGURE 5 : 12
FIGURE 6 : 12
FIGURE 7 : 16
FIGURE 8 : 17
FIGURE 9 : 17
FIGURE 10 : 18
FIGURE 11 : 18
FIGURE 12 : 19
FIGURE 13 : 19
FIGURE 14 : 19
FIGURE 15 : CONCEPTION SOLIDWORKS DU CHASSIS 21
FIGURE 16 : PVC AND ELBOW 60MM 22
FIGURE 17 : DESIGN SOLIDWORKS OF THE BASE 22
FIGURE 18 : POLYCARBONATE PANEL 23
FIGURE 19 : COMPONENTS CASE ON SOLIDWORKS 23
FIGURE 20 : 24
FIGURE 21 : 27
FIGURE 22 : 28
FIGURE 23 : 28
FIGURE 24 : 29
FIGURE 25 : 30
FIGURE 26 : 30
FIGURE 27 : 31
FIGURE 28 : 32
FIGURE 29 : 32
FIGURE 30 : 33
FIGURE 31 : 33
FIGURE 32 : 34
FIGURE 33 : 36
FIGURE 34 : 40
FIGURE 35 : 43
 TABLE DES TABLEAUX
No table of figures entries found.
Rapport de projet Belhassan Hentati

Comprehensive Introduction to Sea Cleaner

I
n an era where ocean preservation has become an urgent priority, the Sea Cleaner project
emerges as an innovative response to the escalating challenges of oil spills and marine
pollution. Our initiative embodies an integrated and thoughtful approach to marine
cleanup, aiming to restore and protect our endangered marine ecosystems.

Sea Cleaner relies on cutting-edge design, combining advanced technologies to create an

autonomous and sustainable system. The core of this solution lies in its judicious use of solar
energy, eliminating dependence on fossil fuels and reducing the carbon footprint associated
with cleanup operations.

This project leverages a combination of sophisticated components, integrating elements such

as underwater RC thrusters, highly efficient water pumps, and a solar charge controller system.
Together, these components operate in harmony, creating an intelligent platform capable of
effectively collecting oil spills while minimizing environmental impact.

By deploying Sea Cleaner, we aspire to surpass the limitations of conventional cleaning

methods by offering an innovative and sustainable approach. This introduction delves into the
world of Sea Cleaner, a bold project that embodies our commitment to ocean preservation and
the ushering in of a new era of responsible and efficient marine cleanup.

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Chapitre 1
I. Literature Review and
Project

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I.1 Introduction
In this section, we will conduct a comprehensive study on our Sea Cleaner to gather information
on the various types of waste present on water surfaces and the different areas where our robot
can operate.
I.2 What is the Sea Cleaner?:
I.1.1. Operating principle:
It is a remotely controlled robot designed to safely collect floating solid and liquid waste,
providing access to hard-to-reach areas such as lakes and rivers. Compact and easy to deploy,
it collects floating liquid waste located between boats, under pontoons, and in hanging
structures. This allows for the cleaning of areas that are challenging for operators to access
safely, either autonomously or through remote operation. It covers a specific predefined area
I.3 The types of existing robots
• Weir Skimmers
Weir skimmers operate by taking the surface layer off the water. Oil flows into the central
hopper where it’s pumped to storage.

Figure 1:

➢ Advantages:

1. Effective Collection: Weir Skimmers are efficient in collecting a wide range of floating
debris, including hydrocarbons and surface pollutants.
2. Ease of Use: They are generally easy to deploy and operate, requiring minimal training
for operators.
3. Adaptability: Weir Skimmers can be utilized in various aquatic environments, including
lakes, rivers, and ports.

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4. Low Maintenance: Some models may require minimal maintenance, reducing long-term
operational costs.
➢ Disadvantages:

1. Dependency on Environmental Conditions: The effectiveness of Weir Skimmers may

be influenced by weather conditions, wind, and water turbulence.
2. Depth Limitation: Some Weir Skimmer models may not be suitable for shallow areas,
limiting their use in certain environments.
3. Sensitivity to Obstacles: They can be obstructed by obstacles such as aquatic plants,
larger debris, or underwater structures, compromising their efficiency.
4. Initial Cost: The initial purchase and installation cost can be high, although this may be
offset by long-term operational efficiency.
• Drum Skimmers
Elastec pioneered the oleophilic drum oil skimmer in 1990. It is regarded as one of the most
efficient oil recovery skimmers in the world. Our drum skimmers are easy to operate, reliable
and efficient, recovering only oil and very little water.

Figure 2:

• Advantages:

1. High Recovery Efficiency: Drum skimmers are known for their high efficiency in
recovering oil and other pollutants from the water surface.
2. Versatility: They can be used in a variety of water conditions, including calm or slightly
turbulent waters, making them versatile for different environmental settings.
3. Adaptability: Drum skimmers are suitable for various types of oils, including heavy and
viscous oils, providing adaptability to different spill scenarios.

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4. Ease of Deployment: They are relatively easy to deploy and operate, requiring minimal
training for personnel.
➢ Disadvantages:
Sensitivity to Debris: Drum skimmers can be sensitive to debris in the water, and larger debris
may interfere with their operation.

Limited Efficiency in Rough Conditions: In highly turbulent or rough water conditions, the
efficiency of drum skimmers may be reduced.

Maintenance Requirements: Regular maintenance is essential to ensure optimal performance,

and any debris or contaminants collected in the drum need to be periodically removed.

Cost: Drum skimmers can have a higher initial cost compared to some other types of skimming
systems

• Brush Skimmers:
Brush skimmers can be configured as stand alone units, incorporated into recovery vessels or
fitted on the top of weir skimmers. Stiffness and density of the bristles impacts the amount and
type of oil they can recover.

Figure 3:

➢ Advantages:

1. Versatile in Debris Types: Brush skimmers are effective in recovering a variety of

pollutants, including oil, debris, and vegetation, providing versatility in cleanup
operations.
2. Adaptability to Different Water Conditions: They can perform well in various water
conditions, including calm or slightly turbulent waters, making them adaptable to
different environments.
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3. Continuous Recovery: Brush skimmers offer continuous recovery, allowing for

prolonged operation without frequent interruptions.
4. Low Sensitivity to Obstacles: These skimmers are often less sensitive to obstacles in the
water compared to some other types, allowing them to navigate around debris more
effectively.
➢ Disadvantages:

1. Limited Efficiency in High Waves: In conditions with high waves or extreme

turbulence, the efficiency of brush skimmers may be reduced.
2. Regular Maintenance Required: Like many skimming systems, brush skimmers require
regular maintenance to ensure optimal performance. Brushes may need cleaning or
replacement over time.
3. Potential for Brush Wear: The brushes used in these skimmers can experience wear over
time, especially when dealing with abrasive materials, leading to potential replacement
costs.
4. Initial Cost: The initial cost of acquiring brush skimmers may be relatively higher
compared to some other skimming methods
I.4 Definition of waste
Liquid waste, also known as liquid effluent, is a form of waste that exists in a liquid phase. It
can consist of liquid substances originating from various industrial, commercial, or domestic
sources, such as industrial effluents, domestic wastewater, chemical discharges, used solvents,
used oils, and more. These liquids may contain various pollutants, contaminants, or undesirable
substances, making their management and treatment essential to prevent adverse impacts on the
environment and human health. Liquid waste is often subject to regulations due to its potential
to impact aquatic and terrestrial ecosystems, and proper disposal is crucial to prevent water and
soil pollution.
I.4.1 The types of liquid wast:
Liquid waste is generally classified into several categories based on its composition and origin.
Here are some examples of types of liquid waste:

1. Industrial Wastewater: Originating from industrial manufacturing and production

processes, industrial wastewater may contain chemicals, heavy metals, suspended
solids, and organic pollutants. The treatment and disposal of industrial wastewater are
regulated to minimize their impact on the environment and human health.
2. Agricultural Effluents: Liquid waste from agricultural activities includes runoff water,

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drainage water, and livestock effluents. These wastes may contain nutrients, chemicals,
pesticide residues, and microorganisms, requiring proper management to prevent
contamination of surface and groundwater.
3. Sludges and Manure: Sludges are semi-liquid wastes from wastewater treatment,
while manure consists of animal excrement mixed with water. Both sludges and manure
are often used as fertilizers, but they must be treated and stored appropriately to
minimize environmental and health risks.
4. Liquid Chemical Waste: Liquid chemical waste originates from various sources,
including laboratories, paint shops, and surface treatment facilities. These wastes can
contain solvents, acids, bases, and other hazardous substances, necessitating proper
collection, storage, and disposal to avoid environmental and human health risks.
5. Used Oils: Used oils, such as engine oils, transmission oils, and hydraulic oils, need to
be collected, recycled, or disposed of responsibly. Improper disposal can lead to soil,
water, and air contamination, causing health issues.
6. Liquid Food Waste: Liquid food waste, such as cooking fats and oils, is generated by
restaurants, hotels, and food processing establishments. These wastes must be collected
and disposed of responsibly to prevent sewer blockages and water contamination.
I.4.2 Recyclable waste
Among the liquid waste to be recycled are notably oils, hydrocarbon waste, polluted waters and
sludges, as well as solvents. These liquid wastes are pollutants or toxic and cannot be disposed
of through traditional means or released into nature.

The recycling and treatment of liquid waste depend on the type of waste to be reclaimed. Liquid
wastes are transported to specialized treatment centers where they undergo initial pretreatment
operations. The majority of liquid wastes are treated through chemical processes and then
incinerated with energy recovery to produce heat or electricity

I.5 Floats
I.5 Definition
The main specifications of floats include having a density lower than that of the liquid on which
they must float, resisting the pressure and temperature conditions of the surrounding
environment, and maintaining waterproof integrity.

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I.5.2 Resin
A resin refers to a polymeric product (natural, artificial, or synthetic) that serves as a base
material for manufacturing various products, including plastics, textiles, liquid or powder
paints, adhesives, varnishes, and polymer foams. It can be thermoplastic or thermosetting.

I.5.2.1 Advantages:
Easy to deform

Easy to maintain

Strong and lightweight

More resistant to corrosion

More environmentally friendly

More economical, allowing for controlled burning.

I.5.2.2 Disadvantages
Their durability is moderate due to the chemical degradation of resins, a phenomenon known
as osmosis.

I.5.3 Wood
I.5.3.1 Advantages
Wood insulates against heat, cold, and moisture. Molded wood is lighter than polyester, while
solid wood provides strength. Wood's superior insulation reduces condensation, and it is odor-
free.

I.5.3.2 Disadvantages
Wood is challenging to industrialize and implement in this context. It is heavy, has a limited
lifespan, and poses challenges for motor alignments and propulsor installations.

I.6 Robot Base

I.6.1 Aluminum
I.6.1.1 Advantages
Ultra-lightweight and ultra-strong

Architecturally versatile

Resistant to weather conditions without rusting

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100% recyclable

Greater strength and rigidity at equal mass compared to other common construction materials

Durable material contributing to energy efficiency

Easy to implement

Aesthetically pleasing.

I.6.1.2 Disadvantages
Higher cost compared to PVC or wood

Vulnerable to dents due to malleability

High heat conductivity, necessitating thermal bridge rupture systems.

I.7 PVC (Polyvinyl Chloride):

I.7.1 Defiition
PVC, a widely used thermoplastic, is popular in construction due to its low production cost,
ease of molding, and lightweight nature. Common products made of PVC include pipes,
waterproofs, plastic bags, toys, credit cards, doors, window frames, and shower curtains.

I.7.1.1 Advantages
Cost-effective and lightweight

Durable, unaffected by corrosion or degradation

Easily shaped and installed

Recyclable (though challenging due to varied formulations)

Excellent chemical stability

Additional advantages include biocompatibility, clarity, low thermal conductivity, and low
maintenance requirements.

I.7.1.2 Disadvantages
Referred to as a "plastic poison" due to toxins released during manufacturing

Associated with health issues such as cancer, developmental problems, endocrine disruption,
asthma, and respiratory problems

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Presence of low-quality PVC in the market, challenging for non-experts to identify, leading to
fragility and various issues

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Chapitre 2
II. Fonctional Analysis

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II.1 Needs Analysis

II.1.1 Needs Analysis
In the first step, it is appropriate to search for the necessary information to identify the different
phases of the product life cycle, from storage to its withdrawal from service, through its 'pure'
use. For each situation, it is recommended to list the elements, individuals, equipment, and
materials that constitute the product's environment.

The activities that follow will be carried out for each phase of the product life cycle within the
working group that has been established. The analysis of needs is based primarily on three
fundamental elements:

II.1.1.1 Formulation of the Need

It is a matter of clearly identifying the goal to achieve, the mission to fulfill by asking the right
questions. The tool used for this is the "horned beast." The following questions are posed:

- Who does the object serve?

- What does the object act upon?

- For what purpose?

Sur quoi agit-il ? A qui rend-il ?

Environments Utilisateur
marines

Sea Cleaner

Nettoyer l’océan des déchets liquide

Figure 4 :

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II.1.1.2 Formulation of the Need

To accurately determine the need that the furniture must satisfy, it is essential to verify that the
satisfaction level of our product remains sufficiently high. To do this, we must answer the
following questions:

- Why does it exist?

The main purpose of the object is to clean up and recover oil spills, thereby reducing
environmental pollution.

- Do you find the item interesting?

Yes.

- What could make it disappear?

If the financial resources required for the construction, maintenance, and operation of the "sea
cleaner" become insufficient, it could become inoperable.

- Do you think there is a risk of this need disappearing or evolving?

Public awareness and sensitivity to environmental issues, including oil spills, influence the
attitudes and actions of governments, businesses, and individuals. An increase in awareness
could strengthen the demand for oil cleaning and recovery solutions.

- Can it undergo a revolution?

A revolution in spill prevention, such as the development of safer technologies for oil extraction
and transportation, could significantly reduce the need for cleaning solutions.

Conclusion:

The need exists, it is not likely to disappear in the medium term, so the need is validated.

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II.1.1.3 Overall Function

Energie Solaire
Réglage Programme

Océan pollué Océan propre

Nettoyer l’océan des
déchets liquide
A-0

Sea Cleaner
Figure 5 :

II.1.1.4 Formulation of the Need

The search for functions is carried out through an "Octopus" diagram. This diagram represents
the system's interactors with elements from the external environment.

The identification of functions is crucial in the life of a project. On one hand, they reflect the
description of the need. On the other hand, they provide guidance on the choice of various
scenarios to analyze.

Figure 6 :

II.1.1.5 Identification of Service Functions

For each phase of the product life cycle, the interactions are outlined.

Main Function

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FP: Clean the sea from oil waste

Constraint Functions (FC)

FC1: Be powered by solar energy

FC2: Have a reasonable cost

FC3: Please the eye with an elegant design

FC4: Be Remote-controlled

FC5: Be resistant to corrosion

FC6: Be Lightweight

FC7: Adhere to safety standards

II.1.1.6 Formulation of the Need

The validation of identified service functions is done by answering the following four questions:

Q1: For what purpose does the function exist?

Q2: For what reason does the function exist?

Q3: What could make the function evolve?

Q4: What is the probability of disappearance?

• FP: Collect oil in the sea.

R1 : Protecting the Marine Ecosystem: By quickly recovering floating oil from the water's
surface, the oil skimming RC boat limits harmful impacts on marine ecosystems, including
wildlife, flora, and coastal habitats.

R2 :By collecting oil at the source, it prevents its spread to other areas, thereby reducing the
affected area by pollution.

R3 :Reducing Damage to Marine Resources: The oil collection function helps minimize
damage to fishing, coastal infrastructure, and economic activities related to the sea.

Validation :Function Validated

• FC1: Be powered by solar energy

R1: To power the system sustainably and autonomously through solar energy.

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R2: To reduce dependence on non-renewable energy sources, minimize operational costs, and
ensure the proper functioning of the system, thereby contributing to the security of electronic
devices.

R3: It could evolve based on technological advancements in solar panels, energy storage
systems, and energy efficiency to enhance the system's autonomy.

R4: Low probability.

Validation: Function Validated.

• FC2: Have a suitable cost

R1: To maintain the design, production, and operation costs of the system at a level that remains
affordable for the operator.

R2: It exists to ensure that the system is accessible to a wide range of operators without being
prohibitively expensive.

R3: It could evolve based on economies of scale, technological advancements, and design
efficiency to reduce costs.

R4: Low probability.

Validation: Function Validated.

• FC3: Please the eye with an elegant design

R1: To make the system visually attractive and aesthetically pleasing, influencing operator
satisfaction and improving acceptance.

R2: It exists to create a positive user experience and enhance the system's appeal, which can be
essential for operators and end-users.

R3: Technological design evolution, aesthetic preferences, and market trends can influence the
system's aesthetics.

R4: Low probability.

Validation: Function Validated.

• FC4: Be remote-controlled
R1: The function exists to enable remote control of oil waste sea cleaning equipment.

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R2: It exists to improve the maneuverability, precision, and safety of the cleaning operation by
allowing remote control.

R3: Evolution of this function could involve the development of more advanced remote control
systems, including the integration of Internet of Things (IoT) connectivity and artificial
intelligence for more advanced cleaning automation.

R4: Moderate probability.

Validation: Function Validated.

• FC5: Be resistant to corrosion

R1: The function exists to ensure the durability of oil waste sea cleaning equipment by
protecting them against corrosion from exposure to saltwater.

R2: It exists to guarantee that the equipment remains operational over a long period, thereby
reducing maintenance and upkeep costs.

R3: Evolution of this function could result from using more corrosion-resistant materials,
enhanced protective coatings, or design techniques minimizing component exposure to
corrosive elements.

R4: Low probability.

Validation: Function Validated.

• FC6: Be Lightweight
R1: The function exists to ensure that oil waste sea cleaning equipment is lightweight, meaning
they have minimal weight.

R2: It exists to facilitate the transport, handling, and deployment of equipment, as well as to
reduce operational costs related to energy consumption.

R3: Evolution of this function could be achieved by using lighter materials, optimizing
equipment design to reduce weight, or exploring cutting-edge technologies to decrease
component mass.

R4: Low probability.

Validation: Function Validated.

• FC7: Adhere to safety standards

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R1: The function exists to ensure that oil waste sea cleaning equipment adheres to specific
safety standards.

R2: It exists to ensure the safety of operators, the environment, and the public during equipment
use, thus minimizing potential risks.

R3: Evolution of this function could result from adopting stricter safety standards,
implementing advanced safety technologies, and providing ongoing operator training to ensure
continuous compliance with safety standards.

R4: Low probability.

Validation: Function Validated.

Figure 7 :

II.1.1.7 Prioritization of Service Functions

This section allows for the classification of service functions based on their importance as
perceived by the user. The principle involves comparing the service functions and assigning a
superiority score ranging from 1 to 3.

II.1.1.8 Histogramme des fonctions de service

This involves creating a diagram that represents, in percentage terms, the scores assigned to
each function in descending order.

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Histogramme des fonctions de service

25

20

15

10

0
1 2 3 4 5 6 7 8

Figure 8 :

Figure 9 :

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Figure 10 :

Figure 11 :

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Figure 12 :

Figure 13 :

Figure 14 :

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Chapitre 3
III. Mechanical Part

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III.1 Introduction
In the context of this chapter, we will delve into the mechanical design of an innovative Remote-
Controlled (RC) boat dedicated to the preservation of our marine ecosystems. Our goal is to
develop a vessel capable of cleaning liquid waste in the sea, combining operational efficiency
with environmental responsibility. Through the use of sustainable materials such as PVC and
polycarbonate, we aspire to create a sturdy and lightweight structure, integrating innovative
systems for the mixing and distribution of an ecological solution. This project is built upon
principles of marine engineering, sustainability, and responsible resource use, with the ambition
to contribute to the preservation of oceans and their biodiversity. Throughout this chapter, we
will detail key elements of the design, from the chassis to electronic components, emphasizing
a holistic approach aiming to reconcile technology, engineering, and environmental respect.

III.2 Mechanical Design

III.2.1 Chassis:
The choice of a PVC tube chassis for our cleaning boat holds crucial significance, particularly
regarding its buoyancy. The intrinsic properties of PVC, such as its lightweight and corrosion
resistance, make it an ideal material for constructing a floating structure. The rectangular layout
of the chassis provides inherent stability, while PVC elbows used at the four corners contribute
to creating a robust and balanced shape. This structural design promotes buoyancy by efficiently
distributing the weight of the chassis and components on the water's surface, ensuring optimal
stability. By judiciously integrating floating elements into the chassis, we aim to optimize the
overall buoyancy of the boat, enabling smooth navigation and the ability to face various sea
conditions while minimizing the environmental impact of our vessel.

Figure 15 : Conception solidworks du chassis

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Figure 16 : Pvc and elbow 60mm

III.2.2 The base

Figure 17 : Design solidworks of the base

• Durability and Transparency of the Polycarbonate Base:

− The selection of a polycarbonate base for our cleaning boat represents a thoughtful
choice focused on durability and performance.
− Polycarbonate, renowned for its exceptional robustness, provides high resistance to
impacts, weather conditions, and corrosive agents, ensuring reliable protection for
internal components.
− The remarkable transparency of this material also allows enhanced visibility of
electronic systems and tanks, facilitating monitoring and maintenance.
− By integrating polycarbonate into the base, our aim is to combine strength and clarity

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to ensure adequate protection of internal elements while providing a sturdy platform for
cleaning operations.
− This approach not only reinforces the overall durability of the structure but also
contributes to the operational efficiency of the boat in demanding marine environments.

Figure 18 : polycarbonate panel

III.2.3 Component case

Figure 19 : Components case on Solidworks

• Optimal Waterproofing with the Electronic Components Enclosure:

− The use of a waterproof enclosure is crucial to ensure the protection of critical electronic

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components on board our cleaning boat.

− This enclosure, made from high-quality waterproof materials, provides a reliable barrier
against water infiltration, thereby preventing the risk of electrical damage.
− The airtight design of the enclosure offers additional protection against marine
elements, such as salt and moisture, preserving the integrity of electronic components
in adverse environmental conditions.
− High-quality sealing gaskets are integrated to ensure a tight closure, preventing any
degradation of internal electronic performance and ensuring consistent reliability.
− Thus, with this waterproof enclosure, our boat is equipped to operate efficiently and
reliably while minimizing the risks of malfunction due to challenging marine
conditions.

Figure 20 :

• Compact and Aesthetically Pleasing Design:

− The overall design of our cleaning boat is characterized by its compact form and aesthetic
appeal, blending functionality with visual harmony.
• Compact Structure for Maneuverability:
− The boat features a thoughtfully designed compact structure, ensuring optimal
maneuverability in various marine environments.
• Its streamlined shape minimizes resistance, enhancing speed and agility during cleaning
operations.
• Aesthetically Pleasing Integration of Components:

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− Each component is seamlessly integrated into the design, creating a visually appealing
and cohesive appearance.
− The use of color coordination and sleek lines contributes to an aesthetic that reflects
modern design principles.
• Ergonomic Considerations for User-Friendly Operation:
− Ergonomics plays a key role in the design, ensuring user-friendly operation and control.
− The placement of controls, displays, and access points is intuitive, enhancing the overall
usability of the boat.
• Efficient Use of Materials:
− Materials selected for construction prioritize both durability and visual appeal.
− The combination of lightweight yet sturdy materials contributes to the boat's efficiency
without compromising on aesthetics.
− Attention to Detail for Environmental Harmony:
− Every detail is carefully considered to maintain harmony with the marine environment.
− The boat's design not only prioritizes functionality but also seeks to minimize its visual
impact, fostering a balance between technology and the natural surroundings.
In essence, our cleaning boat boasts a design that seamlessly merges practicality with aesthetics,
ensuring not only efficient performance but also a visually pleasing presence in the marine
landscape.

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Chapitre 4
IV. Electrical part

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IV.1 Power Supply

Every setup requires a main power supply voltage, typically for powering the microcontroller
at around 3.3V or 5V. An additional voltage may also be needed for three motors and any
module at 5V, 6V, 12V, or another value.

The first idea that comes to mind is to use a 6V or 12V battery suitable for the motor and lower
this voltage to 3.3V or 5V to power the microcontroller, utilizing a high-quality linear regulator.
Thus, it is assumed that a setup can be effectively powered by a single 7.4V Lithium-ion battery
(or multiple in parallel).

Note: 3V is the lower limit for a Lithium-ion battery. Below this voltage, the battery's lifespan
will be reduced. It is, therefore, necessary to calculate its charger accurately.

IV.2 Components
IV.2.1 H-bridge L298N
This widely used and cost-effective circuit provides an efficient means to control up to two DC
motors, a stepper motor, or even a brushless motor. It can deliver up to 2A at peak and 20W
continuously, featuring its own logical power supply circuit.

Figure 21 :

IV.2.2 NodeMCU ESP32 Module:

This module is based on an ESP32 microcontroller clocked at 240 MHz. It can be programmed
using the Arduino IDE and is compatible with LUA scripts. Equipped with Wifi and Bluetooth
interfaces, this microcontroller is ideal for connected devices. Male and female lateral
connectors allow the module to be plugged into a quick-mounting board. The Wifi interface
enables the creation of a wireless access point, hosting a server, connecting to the internet, and

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sharing data, among other functionalities. Programming the module is done directly from the
Arduino IDE (requires installing an extension) and requires a microUSB cable (not included).
Its design makes it compatible with quick connection boards.

Figure 22 :

IV.2.3 12V/24V/20A Solar Charge Controller with LCD Display:

The 12V/24V/20A solar charge controller with an LCD display plays a crucial role in solar
power systems by regulating battery charging and ensuring efficient use of solar energy. With
compatibility for both 12V and 24V systems, this controller is versatile and can be used in
various solar configurations.

The integrated LCD screen provides real-time information on system parameters, such as
battery voltage, charge current, and other crucial data, enabling users to monitor and control
their solar system accurately.

With a 20A charging capacity, this controller can handle significant amounts of solar energy,
ensuring efficient distribution and protection against battery overcharging. It is an essential
component for maximizing the efficiency of standalone solar installations.

Figure 23 :

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IV.2.4 2S 5A BMS Protection Module:

The 2S 5A lithium battery charger protection board module, with a main integrated circuit using
precision components imported from the "precision" origin. It incorporates functions such as
overcharge protection, over-discharge protection, overcurrent protection, and short circuit
protection, catering to various forms of 3.7V lithium batteries.

Connections:

- **MB:** Common connection point between the batteries.

- **B+:** Positive battery terminal (Battery V+).

- **B-:** Negative battery terminal (Battery V-).

- **P+:** Positive terminal for charging (Charge V+).

- **P-:** Negative terminal for charging (Charge V-).

Figure 24 :

IV.2.5 Underwater RC Propulsion Motor 7.4V 16800RPM:

The RC underwater propulsion motor, operating at 7.4V and achieving an impressive rotation
speed of 16800 revolutions per minute, is specifically designed for underwater use. Its high
power ensures efficient propulsion, providing quick and consistent responsiveness to the oil
skimmer boat. Its compatibility with Remote Control (RC) applications makes it an ideal
choice, significantly contributing to the maneuverability and overall performance of the boat in
its marine pollution cleanup mission.

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Figure 25 :

IV.2.6 12V, 150 mA, 110x110 mm Solar Panel:

The small 12V, 150 mA, 110x110 mm solar panel is a key component of the power system for
the oil skimmer boat. With an output voltage of 12 volts and a current of 150 mA, this panel
provides a renewable energy source for charging the boat's battery, contributing to its
autonomous operation.

Its compact size of 110x110 mm makes it suitable for discreet integration onto the boat's
structure while efficiently capturing solar light. This feature makes it a practical element for
maximizing the use of solar energy in the oil skimmer boat's oil collection mission, ensuring
optimal energy efficiency.

Figure 26 :

IV.2.7 Lithium Battery Charge Indicator:

This charge indicator is designed to display voltage, capacity, and the remaining battery life
through LEDs (4 green LEDs and 1 red LED). Users can check the battery status by pressing

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the on/off button on the battery. It is configurable for 12V batteries of various technologies,
including lead-acid, lithium-ion, and lithium iron phosphate. The indicator is meant to be flush-
mounted on a flat surface for ease of use.

Figure 27 :

IV.3 Relay Module:

The 4-relay module is a crucial electrical component in the oil skimmer boat system. With the
capability to control up to four distinct electrical circuits, this module enables the separate
management of different onboard functions. Each relay provides reliable switching between
connected devices, allowing precise control of elements such as motors, water pumps, or other
electrical equipment.

Its compact design facilitates integration onto the breadboard, providing a modular solution for
prototyping and customizing the boat's electrical system. With this 4-relay module, centralized
control of various electrical components of the oil skimmer boat is optimized, ensuring effective
coordination of onboard operations.

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Figure 28 :

IV.3.1 Water Pump 12V ZYW680 :

The 12V ZYW680 water pump is a crucial component of the oil skimmer boat's oil collection
system. Operating at a 12-volt supply voltage, this pump offers an impressive capacity of 800
liters per hour (800L/H) with a head lift of 5 meters. This high performance allows the pump to
efficiently suction and transfer liquid waste, significantly contributing to the boat's pollution
cleanup mission.

The versatile design of the ZYW680 pump makes it suitable for various applications, whether
it's irrigation, engine cooling, or any other liquid transfer needs. Its low-voltage operation also
makes it an energy-efficient solution, well-integrated into the solar panel and charge controller-
powered system.

Figure 29 :

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Figure 30 :

IV.3.2 Arrangement:
We have chosen to use rechargeable 18650 batteries with a voltage of 3.7V and a capacity of
4800mAh Li-Ion..

Figure 31 :

• Battery Configuration:
Each battery generates a voltage of 3.7V and provides a current of 4800mAh. Therefore, we
need to connect two batteries in series to obtain a voltage of 2 × 3.7 = 7.4V. To achieve a current
higher than 9450mAh, we need to connect two sets of batteries in parallel, resulting in a total
current of 9600mAh.

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In conclusion, we require 4 batteries organized into 2 groups of 2 in series, and these two groups
are then connected in parallel.

IV.3.2.1 Charging:
To ensure the charging of this battery configuration, we need a BMS (Battery Management
System) with a 2s2p configuration (2 in series, 2 in parallel). The circuit below illustrates the
connection of the BMS with the batteries.

Figure 32 :

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Chapitre 5
V. Sprint 3 – gestion des
demandes de congés et
demandes d’autorisations

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V.1 Introduction:
In this chapter, we will define the movements of the system and carry out the dimensioning that
will allow the realization of the project to ensure the proper functioning of the machine.

V.2 Dimensioning:
Technological study has allowed us to choose, based on well-defined criteria, the various
elements of the machine involved in the project. Now, we must proceed with the dimensioning
of the adopted choices.

V.3 Kinematic Study:

V.3.1 Kinematic Diagram:
Every mechanism is composed of several sub-assemblies connected by one or more linkages.
To better understand, it is necessary to establish a kinematic diagram that should represent as
faithfully as possible the relationships between the different groups of parts.

Figure 33 :

V.4 System Study (Mechanical Part):

V.4.1 Motor Selection:
After conducting research throughout this period and to ensure the proper functioning and
waterproofing of the robot, we chose to have a rotation speed = 16800 rpm.

V.4.1.1 Rotation Speed:

𝑉𝑀𝑜𝑡𝑒𝑢𝑟 = D × Nt

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Where:

D: Motor shaft diameter (in mm)

Nt : Number of revolutions (in rpm)

AN :

𝑉𝑀𝑜𝑡𝑒𝑢𝑟 = 0 ,002 × 280 = 0,56 m/s

𝑉𝑀𝑜𝑡𝑒𝑢𝑟 = 0,56
𝑚/𝑠
V.4.1.2 Motor power :
p × Nt
𝑃𝑀𝑜𝑡𝑒𝑢𝑟= 9550

With the given variables:

P: Weight of the robot in kilograms (Kg)
Nt: Number of revolutions per minute (tr/min)

AN :

25 × 280
𝑃𝑀𝑜𝑡𝑒𝑢𝑟 = = 70W
9550

P𝑀𝑜𝑡𝑒𝑢𝑟 = 70W

V.4.1.3 Motor torque :

𝐶𝑀𝑜𝑡𝑒𝑢𝑟 𝑃𝑚
C𝑀𝑜𝑡𝑒𝑢𝑟 = 𝑤

AN :
60𝑥70
C𝑀𝑜𝑡𝑒𝑢𝑟 = 2𝜋𝑥16800 = 0.039Nm

C𝑀𝑜𝑡𝑒𝑢𝑟 = 0.039Nm

To perform the calculation, we need to know the maximum speed of the boat in knots (V). The
power on the propeller shaft in horsepower is determined by using the theoretical power of the
engine, from which efficiency losses are subtracted. It is accepted that a gearbox absorbs 10%

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of the power, and a z-drive causes a loss of about 15% of the power. If the power 𝑃𝑀 = 60 W,
the value for 'p' in the calculation will be determined according to the specific cases

𝑃 = 𝑃𝑀 × 90%

AN :

𝑃 = 70 × 90% = 54 W

𝑃 = 63 𝑊
Where :

𝑃 = 𝑃𝑀 × 85%

AN:

𝑃 = 70 × 85% = 51 W

𝑃 = 59,5 𝑊

V.4.2.1 Calculation of the propeller diameter :

𝑃𝑚
r = 12500√𝑉𝑥𝑁𝑡²

AN :

0.07
r = 12500√0.56𝑥280² = 15,78 mm

r = 15,78
mm
D = 31 mm

31
Dpouce =25.4 = 1.22

Dpouce = 1.22

V.4.2.2 Calculation of the pitch of the propeller :

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𝑣 0.928
Pitch== 2,48 × D × /𝑁𝑡 0.374
𝑃 0.169

AN : 0,560.928
Pitch= 2,48 × 1.22 × /2800.374 = 0.104
700.169

V.4.2.3 Speed in the Tip :

Pitch = 0.104

Pitch in inches = 2.66

AN:
𝑉𝑝 = Nt × 2 pi × 𝑅Propeller

𝑉𝑝 = 280 × 2 PI × 15,8 = 771,27m/s

suppose

𝑉𝑝 = 2776,6km/h

𝑉𝑝 = 771,2𝑚/𝑠

𝑉𝑝 = 2776,6km/h

Therefore, the choice of motor and propeller is as follows:

• Motor: Submarine RC Thruster Motors 7.4V 16800RPM

• 𝑃𝑚 = 70 W (Power)
• 𝑁𝑚 = 16800 rev/min (Rotational speed)
• 𝐶𝑚 = 2.5 Nm (Torque)

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Figure 34 :

V.4.2 Balance (Archimedes' Thrust)

To simplify the calculations, we consider the float of the Sea Cleaner as a schematic multihull
illustrated below:

"Given: Mass of the empty ship 5 kg; Maximum load: 1 kg; Length of the ship: l = 360 mm;
Seawater density: ρ water = 1000 kg/m³; θ = 35°.

V.4.21. Calculate the value of the weight P of the ship when it is at maximum load:
P=m×g

With m= 5+ 1 = 6 Kg ; g = 9,8 N 𝑘𝑔−1

P= 6 × 9,8 = 58,8N

The submerged volume (\(V_i\)) of the ship is given by the relation:

Vi = h2 l tan q

Show that the value of the Archimedean force (\(F_a\)) exerted on the JetCleaner can be
expressed in terms of \(h\) by the relation :

Fa= 1,5 106 0 h²

Archimedes' thrust is equal to the weight of the displaced fluid (water) volume.

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Fa = Vi eau g

Fa = h² l tan θ reau g

AN : 900 tan35* 1000 * 9.8

Fa =4.17*106 h²

V.5 System Study (Electrical Part)

V.5.1 Battery Selection:
In this section, we will focus on the study of the battery and its design.

First, we calculate the current consumed by our robot, which includes 2 underwater RC thruster
motors with a voltage of 7.4V and 16800 RPM, having a power Pe of 70W.

P=U.I

AN :

70
I= = 9.45 A
7.4

I = 9.45 A

V.5.1.1 Calculation of Joule Heating Loss:

We use the following formula: (at 25°C)

R=ρ.(L/s)

Electric cables that carry electricity are generally made of copper, hence the resistivity:

𝑅 = 9.45 × 10

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R = 9.45 x 10 − 8 (ohm per meter)

We estimate 2 meters of wiring:

So

𝑅𝑝𝑒𝑟𝑡𝑒 = 9.45 × 10 − 18 × 2𝑚 = 58.5 ohm

Rperte = 58.5ohm

V.5.1.1.1 Conclusion :
The wiring losses are negligible. The same observation applies to the motors.

The total current is:

𝑰𝒕𝒐𝒕𝒂𝒍 = 𝟗. 𝟒𝟓 × 𝟐 = 𝟏𝟖. 𝟗𝑨(±𝟐𝟎𝟎𝒎𝑨)

𝑰𝒕𝒐𝒕𝒂𝒍 = 𝟏𝟖. 𝟗𝑨
(±𝟐𝟎𝟎𝒎𝑨)

Note that the current for the ESP32 development board is supplied by a separate power source,
not from the battery. The battery only supplies power to the motors. In conclusion, we need a
battery of 7.4V and a minimum of 9450 mAh.

V.5 Study of Photovoltaic Panels:

To implement our renewable energy system (photovoltaic panels) and optimize energy
consumption while utilizing a green source, we have a choice between two types available in
the market:

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Figure 35 :

Following the advantages and disadvantages that each one can provide and a calculation
performed as follows:

4.5W × 1h × 2 = 9Wh

9Wh × 15% = 1.35Wh

We have chosen the monocrystalline 5'' for its price, efficiency, and profitability for our project.

The installation of two cells will be mandatory.

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