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Chapter 1

INTRODUCTION

This chapter seeks to provide viable information that supports branches

of the study. It includes the problem statement and background of the study.
The objectives and scope of the research are cited and the significance of the
project.

Background of the Study

About 70% of the Earths surface is covered with water, a vast natural
resource. In order to utilize this resource, mankind depends on developing
underwater vehicles and employing them [1]. The idea of submersible vehicles
originated a long time back. The first American submarine was titled Turtle built in
1975. In 1879 the Reverend George W. Garrett designed the Resurgam which
is considered to be worlds first practical powered submarine. There have
been many more submersibles developed and used for different operations in
past decade. Torpedoes, which are considered as first autonomous underwater
vehicles, also developed along with these submarines.
There

are

various

types

of

underwater

vehicles

which

can

categorized into two categories, namely, manned and unmanned systems.

be

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In manned system, we have military submarines and non-military
submersibles operated for underwater investigations and assessment. Unmanned
submersibles can also be further classified into different categories. The simplest
and most easily described are those submersibles that are towed behind a ship.
They act as platforms for various sensor suites attached to the vehicle frame.
Second type is called Remotely Operated Vehicle (ROV) which is a tethered vehicle.
The tether supplies power and communication to the ROV and it is controlled directly
by a remote operator. Third type is an Unmanned Untethered Vehicle (UUV). These
vehicles have their own onboard power but are controlled by a remote operator
through a communication link. An Autonomous Underwater Vehicle (AUV) is an
undersea system which has its own power and controlled by an onboard computer
while doing a pre-defined task [2].

This research focuses on an unmanned submersible underwater vehicle.

The study aims to design and implement a wired PID-based altitude controlled SUV
with data acquisition using Arduino microcontroller. Arduino/Genuino Uno is a
microcontroller board based on the ATmega328P (See datasheet). It has 14 digital
input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16
MHz quartz crystal, a USB connection, a power jack, an ICSP header and a reset
button. It contains everything needed to support the microcontroller; simply connect
it to a computer with a USB cable or power it with an AC-to-DC adapter or battery to
get started.

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Uno means one in Italian, and was chosen to mark the release of the
Arduino Software (IDE) 1.0. The Uno board and version 1.0 of Arduino Software
(IDE) were the reference versions of Arduino, now evolved to newer releases. The
Uno board is the first in a series of USB Arduino boards, and the reference model
for the Arduino platform; for an extensive list of current, past, or outdated boards
(see the Arduino index of boards).

Nowadays, there is a need to implement a PID-based altitude controlled SUV

in order to maintain its position and hover to that specific location using a remote
controller or joystick. Other submersible underwater vehicle were encountering
problems in maintaining the position of the underwater vehicle. It uses different
sensors namely ultrasonic sensor, temperature sensor, and altitude sensor for the
purpose of data acquisition. The use of underwater propellers will maintain its
position and altitude control with the help of sensors. An underwater camera for real
time imaging is also connected that would display the image/video on a PC.

Statement of the Problem

Investigations underwater are conducted by certain professionals. These
investigations are dangerous to humans especially if the job is in the deep sea,
dangerous underwater waters, and toxic waters. In doing any underwater job, there
are a lot of considerations that should be taken into consideration.

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There is a need to design and implement a wired PID-based altitude
controller for Submersible Underwater Vehicle (SUV) with data acquisition using
Arduino Controller, which maintains and hovers the SUV on its position and send
data such as the temperature and the altitude.

SUVs become important over a wide range of application. It is important to

understand how the systems develops and what problems exist in designing SUVs.
Objectives of the Study

General Objective

The main objective of this study is to create and implement a wired altitude
controlled submersible underwater vehicle with data acquisition using an Arduino
microcontroller through the use of PID algorithm.

Specific Objectives

To design a wired submersible underwater vehicle (SUV) that would use

microcontroller to control the position of the SUV

To control the position of the SUV using a joystick and maintain to a specific
location with the help of PID

To collect data, display video/image, and send information using ultrasonic

sensor, temperature sensor, altitude sensor, and underwater camera

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To test the reliability and functionality of the system

Significance of the Study

The study presented is primarily for underwater application on monitoring,

navigation, and data acquisition using different sensors. The study will help to have
a more stable SUV when varying external disturbance like wind and water current is
present. The study will also be used for underwater surveillance and remote
operation whereas dangerous and toxic waters are involved. The used of altitude
sensor will make the SUV more stable for the purpose of accurate positioning and
maintaining on the desired location with the help of the PID algorithm.
The used of temperature sensor will help underwater professionals to
determine the relationship between temperature and altitude in order to gather
information about marine animals and underwater ecosystem. This will record the
temperature of the water simultaneously. Using a high quality camera for real time
underwater viewing will help to clearly identify the objects, location and the height of
the SUV.
This study will be a significant endeavor in promoting robotics and
programming for BS Electronics Engineering students of Lyceum of the Philippines
Laguna. This will employ effective learning and build interest on using a PID-based
controller using Arduino to control the submersible underwater vehicles direction
and altitude.

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Scope and Limitations

The scope of this study generally focuses on the design and implementation
of a wired SUV. In this study, the proponents will design and implement a system
that will be controlled and will maintain the position using PID algorithm. The system
is capable of gathering data such as altitude and temperature underwater by using
microcontroller, PID controllers, and installed sensors. The additional feature of this
project is the installed underwater camera for the real-time viewing that would
display the video on a monitor. The camera will be placed in front in order to view
the heading of the moving SUV. The system will use Arduino microcontroller that will
send the necessary actions to the actuators and sensors.
The study covers using Proportional-Integral-Derivative (PID) controllers can
therefore be used to control horizontal and vertical motion of the vehicle.
The project is designed mainly to control the position of the vehicle
underwater and above the water level. It is limited only to a 100 meter-high
rectangular pool area on which the SUV will be tested. It will use sealed and
waterproof sensors like ultrasonic sensor, altitude sensor, and temperature sensor
for the purpose of data gathering and it is limited to the use of accelerometer
because of the speed assigned or indicated on the actuators. The underwater
vehicle cannot measure the pressure of water and the oxygen level content. The
input of the controller or joys tick is limited to turning the device on and off,
specifically the propellers, and to control the vehicle on specified directions such as

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up, down, left, right, forward, backward, upward, and downward. The vehicle cannot
rotate to change its direction using rotational propellers.
The SUV has an underwater camera connected to it for the purpose of
monitoring and real-time viewing and can be displayed on a monitor. The camera is
limited to recording the video under the water. The vehicle is equipped with powerful
underwater probe sensors to collect underwater data such as temperature, dc
geared motor for controlling direction as well as real time camera monitoring. It
transmits video data and gathered information to an LCD display. The data is sent
via underwater cable to a base station on the control area. The tools used in the
developing process is MatLab and microcontroller (Arduino) for reading and
controlling all sensors data such as ultrasonic sensor, temperature sensor, and
altitude sensor, in order to maintain a stabilized vehicle movement [3].

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Chapter 2
REVIEW OF RELATED LITERATURE
This chapter deals with related literature and studies, which the proponents
believe on its impact and significant bearing to the present study. The proponents
gathered several references that provided them with different ideas, thoughts and
knowledge for developing the Submersible Underwater Vehicle. By these studies,
the proponents managed to come up with a concrete knowledge of developing new
ideas that will contribute well to the study. Based from the information obtained, the
proponents constructed conceptual and theoretical frameworks.

2.1 A Feasibility Assessment of a New Navigation System for Unmanned

Underwater Vehicles with Adaptive Gain Sliding Mode Differentiation
In the study made by Steven A. Szklany in 2012, the UUV devices utilizes
commercial, off-the-shelf accelerometers and gyroscopes and novel algorithm to
yield accurate navigation. The device is mainly designed for aerial vehicles, and
translating the functionality of this device is one of the objectives of his study. The
focus of this study is to develop a low-cost, light-weight navigation system for UUV
[4].

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2.2 A New Electronic Control System for Unmanned Underwater Vehicle
According to J.C Molina, a new electronic system for UUV implements the
basic functionality of the vehicle using generic electronic components. This new
electronic control system is the base for building new family of underwater vehicles
[5].

2.3 Advanced control of a remotely operated underwater vehicle

This study focused on the modeling and stabilizing control of an ROV. The
design and modeling of the devise was done using identification in MATLAB. In this
study made by Patrick Johannson and Jacob Bernhard, two control strategies were
implemented; a linear quadratic controller (LQ) and a model predictive controller
(MPC). In able for the system to become stable, a weight is place so that the ROV
always strive to stabilize itself [6].

2.4 Advances in Unmanned Underwater Vehicles Technologies: Modelling,

Control, and Guidance Perspectives
Common application of Underwater Vehicles is for military and civil
applications. According to Agus Budiyono, recent decades have witnessed
increased interest in the design, development, and testing of unmanned underwater
vehicles for military missions. In this paper, the objective of the proponents is to
design a submersible underwater vehicle for accurate and stable positioning using
sensors and actuators [7].

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2.5 Conceptual Design of Future Undersea Unmanned Vehicle (UUV) System

for Mine Disposal
A conceptual design is proposed by Peter C. Chu for an effective mine
countermeasure (MCM) system. The proposed UUC MCM system is cost-effective
due to adapting disposable mine instruments. Relating to our present study, we can
use this to survey the area wherein the mine will be disposed [8].

2.6 Design and Fabricate Remote Controlled Submarine with On Board

Wireless Camera
This project made by Zulkiple Bin Jamal, used on board wireless camera for
a local RC submarine. The main things in the RC submarine are controller system
and watertight. The fabrication phase started with making a control system for the
submarine. A controller circuit consists of two important components; relays and
radio control receiver. This will control pumps and motor [9].

2.7 Design and Implementation of an Unmanned Vehicle using a GSM Network

with Microcontroller
In this paper, phones using GSM network interfaced with a microcontroller is
used to remotely control an unmanned robotic vehicle thus overcoming distance
barrier problem and communication over obstacles with very minimal or no

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interference but is solely network dependent. The controller used is a mobile phone
to transmit and receive signals to the microcontroller [10].

2.8

UNMANNED

UNDERWATER

VEHICLE

(UUV)

DEPLOYMENT

AND

RETRIEVAL CONSIDERATIONS FOR SUBMARINES

In the study conducted by Tim Hardy and Gavin Barlow, nowadays there is
a need to develop solutions on integrating and deployment of vessels on all types.
The maturity of such systems varies, ranging from reasonably mature surface vessel
UUV deployment and recovery systems to less mature submarine systems [11].

2.9 MORPHING UNMANNED UNDERWATER VEHICLES

UUVs are continually becoming more integral components of maritime
operations, especially those associated with defense systems. This research
focuses on the possible uses of flexible hull morphing, specifically the feasibility of
such adaptability in terms of range, endurance, and speed. Furthermore, methods
of actuating a morphing hull system are investigated as is the construction of a small
scale morphing UUV model [12].

2.10 DEVELOPMENT OF A NEW UNMANNED SEMI-SUBMERSIBLE (USS)

VEHICLE
The main objective of this project is to develop a new UUV which perform

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Better than a survey launch. According to Pete Alleman and Ark Kleiner, a survey
launch is a boat, usually six to ten meters long. The boat is launched and recovered
daily from a mother ship. Launches are usually operated only in daylight for safety
and to allow time for the crew to rest [13].

2.11 INTELLIGENT NAVIGATION FOR A SOLAR POWERED UNMANNED

UNDERWATER VEHICLE
This autonomous vehicle is a good tool for observing large areas of sea,
since it operates for long periods of time due to the contribution of renewable energy.
It correlates all sensor data for time and geodetic position. This vehicle has been
used for monitoring the Mar Menor lagoon. This research is about an intelligent
navigation system for an unmanned underwater vehicle [14].

2.12 Design of an adaptive nonlinear controller for depth control of an

autonomous underwater vehicle
This paper presented by Ji-Hong Li developed an adaptive nonlinear
controller for diving control of an autonomous underwater vehicle (AUV). So far,
diving dynamics of an AUV has often been derived under various assumptions on
the motion of the vehicle. Typically, the pitch angle of AUV has been assumed to be
small in the diving plane. However, these kinds of assumptions may induce large
modeling errors and further may cause severe problems in many practical
applications. In this paper, through a certain simple modification, we break the above

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restricting condition on the vehicle's pitch angle in diving motion so that the vehicle
could take free pitch motion [15].

2.13 Design of Low-Cost Unmanned Underwater Vehicle for Shallow

Waters
Cost should be taken into consideration when making a project. Study
conducted by Chen A. Marburg stated that to reduce the working load of divers and
significantly accelerate inspection and/or treatment, it would be highly desirable and
efficient to deploy affordable UUVs to inspect and clean these ship sea chests. Thus,
this paper presents a low cost UUV prototype emphasizing the unique design issues
and solutions developed for this task, as well as those attributes that are
generalizable to similar systems. The prototype design consists of basic
components, including main haull, two horizontal propellers, four vertical thrusters,
two batteries, an external frame, and electronics inside the main haul [16].

2.14 Modelling and Control of an Unmanned Underwater Vehicle

The design of UUV on the study made by J.H.A.M Vervoort states that in
able to control the UUV a kinematic and dynamic model is derived for the six degrees
of freedom operating range. . The AUV is able to operate in six degrees of freedom
and the dynamics of an AUV are nonlinear and subjected to a variety of disturbances
[17].

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2.15 Underwater Remote Controlled Minivehicle

The goal of this project by O. Robu is to achieve an underwater observation
system and to perform utilitarian activities in order to obtain data, probes and to
make measurements in marine medium, to a depth of 300 meters. In this paper, the
SUV will be tested on a rectangular pool area wherein the range of the sensors that
will be used is about 3ft only [18].

2.16 Operations and Control of Unmanned Underwater Vehicle

The development and deployment of unmanned underwater vehicles has
contributed to the development and, in some cases, to eld-tests of paradigms,
vehicles and sensor systems for oceanographic and environmental data collection.
One paradigm developed by researchers in the United States that has received
signicant attention is the Autonomous Ocean Sampling Network [19].

2.17 Simulation and Control of Submarine

According to Erik Lind and Magnus Meijer, when designing control systems for real
applications, it is important to first do testing in a simulated environment, to ensure
adequate performance. This is especially important when designing control systems
for applications that have high operation costs [20].

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2.18 Simulation of Underwater Propulsion Submersible Vehicle Based on
Pitch-Depth Controlling
The algorithm used in the project is PSO algorithm, in order to find optimal
parameters to be used on the PID controller to get feedback controls for this model.
The pitch-depth double loop feedback control system has been designed to control
the movement of underwater vehicle [21].

Synthesis of the Literatures

A lot of related literature on developing and implementation of Unmanned
Underwater Vehicle were conducted on the studies above, the main objective of this
study is to design and implement a SUV for stable and altitude controlled vehicle
with data acquisition using a number of sensors. One factor that is common to all
the studies discussed is the cost-effectivity of the project to be considered. The
weight of the vehicle should be neutrally buoyant in order to make it float, sink, and
hover to a specific location. On the review of literature above, the area of
implementation is on a large bodies of water whereas in this study it is limited to a
rectangular pool only. Using Arduino microcontroller will make this project a different
one. In that course, the proponents will develop an unmanned underwater vehicle
for the purpose of steady positioning of the SUV. The used of PID algorithm will help
the researchers to make a more stable, accurate and steady- state system. The use
of sensors for data acquisition make this project different and novel compared to the
studies discussed above.

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Table 1 lists the comparison of related literature on the basis of the following
parameters: a) title b ) description of the study; c) hardware and software used; and
d) test of method used.

Table 1. Table of Comparison

Title

Description

Software/Hardware

Method of Test

Used

Used

A
Feasibility
Assessment of
a
New
Navigation
System
for
Unmanned
Underwater
Vehicles
with
Adaptive Gain
Sliding
Mode
Differentiation
A
New
Electronic
Control System
for Unmanned
Underwater
Vehicle

The
device
was
originally designed for
use on an airborne
vehicle. Translating
the functionality of this
device to underwater
vehicles is one of the
objectives of
this
work.

GPS
Kalman Filter

In this paper a new

electronic
control
system
that
implements the basic
functionality of the
UUV vehicles using
generic
electronic
components
is
presented.

CANBus
Ethernet.

Advanced
control of a
remotely
operated
underwater
vehicle
Advances
in
Unmanned
Underwater
Vehicles
Technologies:

This
thesis
have
focused
on
the
modeling
and
stabilizing control of
an ROV

IMU sensor

A great array of
vehicle types and
applications has been
produced along with a
wide
range
of

Battery, Fuel
Propulsion
Sensor

Inspection/Station
Keeping

and

Navigation

Inspection/Station
Keeping

Cells,
and

N/A

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Modelling,
Control,
and
Guidance
Perspectives
Conceptual
Design
of
Future
Undersea
Unmanned
Vehicle (UUV)
System for Mine
Disposal
Design
and
Fabricate
Remote
Controlled
Submarine with
On
Board
Wireless
Camera
Design
and
Implementation
of
an
Unmanned
Vehicle using a
GSM Network
with
Microcontroller

innovative
approaches
for
enhancing
the
performance of UUVs.
A conceptual design is
proposed
for
an
effective
mine
countermeasure
(MCM) system.

Design of LowCost Unmanned

Underwater
Vehicle
for
Shallow
Waters

Modelling and
Control of an
Unmanned
Underwater
Vehicle
Underwater
Remote

N/A

N/A

This project are used

to build a local RC
submarine with on
board
wireless
camera.

Wireless Camera

Control for ballast

system

In this paper, phones

using GSM network
interfaced
with
a
microcontroller
is
used to remotely
control an unmanned
robotic vehicle.

GSM Module
Mobile Phone
Microcontroller
Motor Driver

N/A

Thus,
this
paper
presents a low cost
UUV
prototype
emphasizing
the
unique design issues
and
solutions
developed for this
task.
The AUV is able to
operate in six degrees
of freedom and the
dynamics of an AUV
are nonlinear and
subjected to a variety
of disturbances.
The goal of NETROV
Project is to achieve
an
underwater

Main Haull, propellers,

thrusters, batteries

Inspection/Station
Keeping

N/A

parameter selection
method

Utilitarian sensor
Navigation sensor

Control/Data
acquisition

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Controlled
Minivehicle

Operations and
Control
of
Unmanned
Underwater
Vehicle

Simulation
of
Underwater
Propulsion
Submersible
Vehicle Based
on Pitch-Depth
Controlling

Unmanned
Underwater
Vehicle
(Uuv)
Deployment
And
Retrieval
Considerations
For Submarines

observation system
and
to
perform
utilitarian activities in
order to obtain data,
probes and to make
measurements
in
marine medium, to a
depth of 300 meters.
The development and
deployment
of
unmanned
underwater vehicles
has contributed to the
development and, in
some cases, to eldtests of paradigms,
vehicles and sensor
systems
for
oceanographic
and
environmental
data
collection.
When
designing
control systems for
real applications, it is
important to first do
testing
in
a
simulated
environment,
to
ensure
adequate
performance.
The paper will report
on issues relating to
whether the UUV
deployment/recovery
system should be
maintained dry or wet,
manned
or
unmanned,
pressurised or not,
integral
to the submarine or
not, optimised for
automation and the
consequential effect
on system complexity.

N/A

Scaling Method

N/A

static test

N/A

N/A

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Morphing
Unmanned
Underwater
Vehicles

Development Of
A
New
Unmanned
SemiSubmersible
(Uss)
Vehicle
Intelligent
Navigation For
A
Solar
Powered
Unmanned
Underwater
Vehicle

Simulation and
Control
of
Submarine

Morphing
and
adaptive
structures
have experienced a
surge in research due
to their ability to
optimize
the
operational envelopes
of complex vehicles.
The primary goal of
the USS project is to
develop a new vehicle
which performs better
than a survey launch.

N/A

N/A

GPS Module

N/A

In this paper, an
intelligent navigation
system
for
an
unmanned
underwater
vehicle
powered
by
renewable energy and
designed for shadow
water inspection in
missions of a long
duration is proposed.
When
designing
control systems for
real applications, it is
important to first do
testing in a simulated
environment,
to
ensure
adequate
performance.

Side scan sonar

Video camera

Data Acquisition

Simulator

N/A

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CHAPTER III

CONCEPTUAL AND THEORETICAL FRAMEWORK

This chapter intends the proponents to establish a conceptual framework and

discuss theoretical issues related to the basics of Unmanned Underwater Vehicles
that serves as the foundation of the study. As an introduction a few laws and basic
equations will be mentioned before getting into detail. This includes, but not limited
to tools, processes and equipment used in the design and development of the
proposed project.

Conceptual Framework
The study aimed to design and implement a system that is capable of
maintaining the position of SUV more stable underwater with the help of sensors and
actuators. Presented in Figure 1 is the conceptual framework of the Submersible
Underwater Vehicle (SUV).

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LCD Display

Computer
DATA
ACQUISITION
SUPPLY

U
F

B
JOYSTICK

MCU
(PID)

MOTOR
DRIVER

ULTRASONIC
SENSOR
ULTRASONIC
SENSOR

D
SUPPLY

ALTITUDE SENSOR

TEMPERATURE
SENSOR
UNDERWATER
CAMERA

Figure 1. Conceptual Framework

For the submersible underwater vehicle follows the following process: (1)
The controller receives input from the user through a joy stick interface. (2) The data
gathered by the sensors and other parameters being used are displayed on an LCD
Display is connected to a microcontroller. (3) The system uses a microcontroller
platform called Arduino. This microcontroller plays an important role in the whole
system because it controls the operation of the sensors, actuators, and the overall
processes required for proper operation. It is also a programmable device whereas
it consists of codes to be set regarding to the flow of the system. (4) The data for the
detection of distance of the ultrasonic sensor is set as the X and Y coordinates and

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an altitude sensor is used to monitor the height information, which tells the
microcontroller the exact location (in terms of distance from nearby objects) of the
SUV. A USB-powered camera connected to a computer allows remote and real-time
underwater viewing. For the SUV to stay in place, the motors spin at certain speed,
as determined by the microcontroller. In this way, the SUV can be easily maneuvered
and controlled precisely by the user.

IPO Chart and Discussion

Figure 2. IPO Chart

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Input
In order to implement a PID-based altitude control for the SUV, a number of
ultrasonic sensors will be used as input to gather information about the SUVs
position. While other submersible underwater vehicles would likely encounter
problems in maintaining position, use of a number of ultrasonic sensors for data
acquisition (through a PID-based control) will allow the SUV to maintain its position
and hover to that specific position. Manual control can be achieve through a remote
controller, with user input through a joystick. Other sensors such as temperature
sensor and altitude sensor will be used for data acquisition.

Process
Design and implement a wired PID-based altitude controlled SUV with data
acquisition. The SUV will submerge and maintain its position using PID algorithm.
Proportional-Integral-Derivative (PID) control is the most common control algorithm
used in industry and has been universally accepted in industrial control. The
movement of the SUV will be controlled using a joystick with six (6) input commands.
The collection of data such as temperature of the water can be achieve using
temperature sensor

Output
The output of this device is primarily its ability to maintain its location. By
processing the data acquired by the ultrasonic sensors, the SUV is able to measure

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distances from nearby objects and determine whether the SUV is in its intended
place. Underwater propellers will be used to maintain its position and altitude.

System Design Process

Establishment of Objectives

Specification and Requirements

Design of the Circuit

Collection and Analysis of data

Experimentation

Development of the Circuit

Data recording and evaluation

of result

Figure 3. System Design Process

Establishment of objectives: In this stage, the researchers identified the
hardware and software requirements needed to meet the objectives of the project.

Specification and requirements: This part focuses on the assembly of the system
hardware components. This includes:

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1. Ultrasonic Sensor - The Ultrasonic sensor module is a convenient way for
measuring distances from objects. The module sends an ultrasonic signal,
eight pulses of 40 kHz square wave from the transmitter; the echo is then
picked up by a receiver and outputs a waveform with a time period
proportional to the distance. The connected microcontroller accepts the
signal and performs necessary processing.

2. Microcontroller - Arduino Uno is a microcontroller board based on the

ATmega328P (See datasheet). It has 14 digital input/output pins (of which 6
can be used as PWM outputs), 6 analog inputs, a 16 MHz quartz crystal, a
USB connection, a power jack, an ICSP header, and a reset button. It
contains everything needed to support the microcontroller.

3. Motor Driver - the L298N driver module, with ST L298N chip can directly drive
two 3-30V DC motors, provides a 5V output interface and supports 3.3V
MCU control. It can easily control a DC motors speed and direction.

4. Temperature Sensor - The LM35 series are precision integrated-circuit

temperature devices with an output voltage linearly-proportional to the
Centigrade temperature scale. The LM35 device has an advantage over
linear temperature sensors calibrated in Kelvin, as the user is not required to

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subtract a large constant voltage from the output to obtain convenient
Centigrade scaling.

Design of the circuit: This stage is responsible on creating and designing a system
that will maintain the position of the underwater vehicle using ultrasonic sensors.
The device is operated by the microcontroller Arduino Uno R3.

5.
Submersible
6.
Underwater
7.Vehicle

8.
Conclusion
9.

Analyzing the
Problem

Interpretation
of test results

Data gathering

Test procedure

10.

11.
Recommendation
12.

Figure 4. Research Design Process

The research method applied in the study is the experimental method. The
experimental method involves manipulation of one variable which determines if this
variable affects the other variable. This method relies on controlled methods, random
assignment, and the manipulation of variables to test a hypothesis.

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In this research, the thesis which the researchers intended to prove, states
that the submersible underwater vehicle (SUV) can effectively maneuver and
maintain position, with data acquisition. By indicating the exact desired location in
which the user wanted to position the SUV with the use of the controller to move the
vehicle on the horizontal and vertical distances on the aquarium, the researchers
are able to determine the effect of varying the position and altering the direction of
the SUV. Through this process, depending on the results, researchers are able to
resolve the proper and accurate maneuvering, position, and altitude control of the
SUV.

Theoretical Framework
Remotely Operated Vehicles (ROVs)
Underwater vehicles, namely (Submersible) Remotely Operated Vehicles or
"ROVs", have been used in the offshore mining and exploration industries for around
thirty years. Often used in places inaccessible to scuba divers, they routinely carry
out tasks from inspecting pipelines to recording environmental data and
photographing shipwrecks.
In 1953, photographer Dimiri Rebikoff developed the first known ROV [22]. He
termed it "Chien Plongeur" which loosely translates from French to "Plunger Dog".
In a Cold War effort by the Americans during the early 1960s, the U.S. Navy
developed an ROV. This ROV was later used in 1966 to recover a Nuclear Warhead
lost off the coast of Spain. The same model ROV was used again in 1976 to save

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the lives of two pilots trapped in a sunken submersible vehicle off the coast of Cork,
Ireland.
Ultrasonic Sensors
Ultrasonic sensors produce sound pulses that reflect off objects in the wave
field. The reflected sound is then received by the sensor. The detection of the sound
generates an output signal to be use by an actuator, controller, or computer.
Ultrasonic sensors are capable of detecting most objects metal or non-metal, clear
or opaque, liquid, solid, or granular that have sufficient acoustic reflectivity. The
ultrasonic sensing technology is based on the principle that sound has a relatively
constant velocity this means that the distance to the object is directly proportional
to the time for an ultrasonic sensors beam to strike the target and return. Ultrasonic
sensors are also used for distance measurement applications such as level control
[23].
Ultrasonic Sensors are tools to measure distance without actual contact and
used for applications such as water level measurement and distance measurement.
It can
also be used to determine the distance of an obstacle from the sensor. The
ultrasonic distance measurement is based on the sounds echo. When sound
waves are transmitted, the waves return back to the point of origin as the echo. By
measuring the time it takes for the echo to return, the distance of objects from the
sensor can be calculated.

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The sensor module consists of ultrasonic transmitter, receiver, and the control circuit
[24].
Ultrasonic waves normally have frequencies higher than 20 kHz--these frequencies
cannot be heard by humans. The basic characteristics of ultrasonic waves are
explained below. [25]
1. Wavelength and Radiation The velocity of sound wave propagation in air is
as slow as about 344 m/s (at 20 C). Wavelengths are short at slower velocities that
can obtain a higher resolution of distance and direction. Higher resolution will obtain
measurements of higher accuracy.
2. Reflection Ultrasonic waves are reflected by objects. Metal, wood,
concrete, glass, rubber, and paper, etc. reflects approximately 100% of ultrasonic
waves and can be easily detected. However, other objects such as cloth, cotton,
wood, etc. are difficult to detect because of the materials absorption of ultrasonic
waves.
3. Effects of Temperature The velocity of sound wave propagation, c, is
expressed by the formula:
c = 331.5 + 0.607t (m/s)
Where t = temperature, in degree Celsius
4. Attenuation The frequency of ultrasonic waves are directly proportional to
the attenuation rate and indirectly proportional to the distance the ultrasonic wave
reaches.

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Speed of Sound in Liquid
Water
In fresh water, sound travels at about 1481 m/s at 20 C
Seawater
In salt water that is free of air bubbles or suspended sediment, sound travels at
about 1500 m/s. The speed of sound in seawater depends on pressure (hence
depth), temperature (a change of 1 C ~ 4 m/s), and salinity (a change of 1% ~ 1
m/s), and empirical equations have been derived to accurately calculate the speed
of sound from these variables.
Temperature Measurement
Units of Temperature
Degrees Fahrenheit, (developed in the early 1700's by G. Daniel Fahrenheit),
are used to record surface temperature measurements by meteorologists in the
United

States.

However,

since

most

of

the

rest

of

the

world

uses

degrees Celsius (developed in the 18th Century), it is important to be able to convert

from units of degrees Fahrenheit to degrees Celsius:

C= (F - 32) x 5/9

Kelvin is another unit of temperature that is very handy for many scientific
calculations, since it begins at absolute zero, meaning it has no negative numbers.

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(Note...the word "degrees" is NOT used with Kelvin.) The way to convert from
degrees Celsius to Kelvin is:

K= C +273

Types of Temperature Sensor

Temperature is one of the most commonly measured variable. Temperature can
be measured either by direct contact or by without a direct contact with the heat
source. There are five types of temperature sensors today [26].
Types of Temperature Sensors
1. Thermocouple There are two parts of this type of sensor. The hot junction
and the cold junction. A small voltage, referred to as EMF (Electro-motive force), is
created when there is a difference in temperature between these two junctions.
2. RTD this type of temperature sensor whose resistance varies with the
temperature.
3. Thermistors A highly sensitive device and ideal for set-point applications.
4. Semiconductor sensors these sensors offer high accuracy and linearity
over an operating range of about 55 C to +150 C.
5. Sensor ICs These temperature sensor ICs can operate from -55 C to 150
C. With these type of ICs, temperature can be continuously measured and can be
read at any time. It can be programmed to monitor temperature and display an output
pin high or low if the temperature exceeds the programmed limit. Thus, these

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sensors can be used for reliable temperature monitoring in microprocessor-based
systems.

Proposed Design
The proponents came to a design of SUV with data acquisition using Arduino
microcontroller. The PID algorithm will be implemented to make the system stable.
The used of ultrasonic sensor will aid the SUV to measure the distance from the X
and Y coordinates. The temperature underwater will be measured using the LM35
sensor for the purpose of data gathering. The planned design structure should be
neutrally buoyant for the vehicle to make it float and sink. The actuators (motors)
that will be used are brushless motors, it has magnetic contact and has a slower
speed compared to brush motors. In order to have a remote and underwater viewing,
a camera will be installed for real-time viewing and can be monitored on a computer
or laptop. The wired controller will help the microcontroller to aid the motors and
propellers on which direction it will moved. The altitude of the vehicle will be
measured using altitude sensor and can be observed simultaneously on a LCD
display.

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Figure 5. SketchUp Design of the SUV

The proposed dimension of the SUV is 25x712 inches. The six (6) thrusters
are placed in their respective positions for the purpose of maneuvering the SUV in
6 different directions. The camera will be placed in front in order to view the
heading of the moving SUV. The ultrasonic sensors for the X and Y coordinates
will be placed in front and left side respectively. The temperature sensor will be
suspended at the bottom of the SUV.

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Block Diagram

Figure 6. Block Diagram

The block diagram of the system that shows all the parameters and variables
included in the study. The controller which will serve as the control interface that will
received input from the user and will be sent to the microcontroller to be processed
through the actuators. The data gathered by the sensors will be displayed on the
LCD through a monitor. The actuators (motors and propellers) will be controlled by
the signals sent on the microcontroller.

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System Flowchart

End

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Figure 7. System Flowchart

Pseudocode

Initialize X and Y distance, motor

ELSE Manual Off motors

speed, sensors and camera

Repeat read in input switches

Read in input buttons

ENDIF

IF(button=U|D|L|R|F|B)

Initialize sensors

THEN: Activate sensors, motors,

Read in sonar1

camera

Read in altitude sensor

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IF sonar1>=3

ELSE Continue read in sonar2

THEN: Hover the SUV

ENDIF

ELSE Continue read in

Read in input buttons

sonar1,altitude sensor

IF(button=ON)

Initialize sensors

THEN: Activate motors, sensors and

Read in sonar2

camera

IF sonar2>=3"
THEN: Hover the SUV

ELSE Turn off motors

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Table 2. Hardware Requirements
Quantity
1 unit

Description
Arduino UNO R3 Microcontroller:
ATmega328
Operating Voltage: 5V
Input Voltage (recommended): 7-12V
Digital I/O Pins: 14
PWM Digital I/O Pins: 6
Analog Input Pins: 6
DC Current per I/O Pin: 40 mA
DC Current for 3.3V Pin: 50 mA
Flash Memory: 32 KB

2 units

Ultrasonic Module HC-SR04

Working Voltage: 5V DC
Working Current: 15mA
Static Current: Less than 2mA
Output Signal: Electric Frequency signal, high level
5V, low level 0V
Sensor angle: not more than 15 degrees
Detection Distance: 2cm to 450cm
High Precision: Up to 3mm
Mode of Connection: VCC / Trig / Echo / GND
Adopt I/O trigger through supplying at least 10s
sequence of high level signal
Dimensions: 1.77in x 0.79in x 0.51in (4.5cm x
2.0cm x 1.3cm)
Weight: 10g

3 unit

L298N Dual Bridge Motor Controller Module

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Dimensions: 55mm X 60mm X 30mm
Driver chip: L298N dual H-bridge driver chip
Terminal driver supply: VMS: +5 V ~ +35 V
Driver peak current Io: 2A / Bridge
Logical part power supply range Vss :4.5-5 .5 V
Logical part operating current range: 0 ~ 36mA
6 units

12V DC Motor
Rated Voltage: Dc 3-12V
Speed: 1500-10000RPM
Mounting Hole Diameter: 1.5mm/0.6
Propeller Length: 6cm/2.4
Shaft Size: 2 x 6mm/0.08 x 0.24mm/1.2 x 0.9

1 unit

MPL3115A2 Altitude Sensor

1.95 V to 3.6 V Supply Voltage
Compensated Pressure: 20-bit measurement (Pa)
Altitude: 20-bit measurement (meters)
Temperature: 12-bit measurement (degrees
Celsius)

1 unit

LM35 Temperature Sensor

Calibrated Directly in Celsius (Centigrade)
Linear + 10-mV/C Scale Factor
0.5C Ensured Accuracy (at 25C)
Rated for Full 55C to 150C Range
Suitable for Remote Applications
Low-Cost Due to Wafer-Level Trimming
Operates from 4 V to 30 V
Less than 60-A Current Drain
Low Self-Heating, 0.08C in Still Air

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Non-Linearity Only C Typical
Low-Impedance Output, 0.1 for 1-mA Load
1 unit

GoPro Underwater Camera

Resolution Modes:
1920x1080 @30fps,1280x720@60fps
1024x768@30fps,800x600@60fps
1280x1024@30fps640x480@120fps
320x240@120fps

1 unit

LCD 4x20 With Back Light (Blue)

It can be used to display corresponding

characters in ASCII code.

The module will automatically convert and

display the data according to its data type.

255 steps backlight control

For continuous inputs, the module will carriage

return automatically

Cursor position assignment and Tab function

with configurable Tab steps and HOME
function.

Destructive backspace, clear to end of line or

end of screen from the cursor position

Set the user defined characters to display

various creative characters.

Display off command to reduce power

consumption.

1 unit

Joystick/Controller Module

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Specification: Dimensions: 70mm x 54mm Operating
Voltage: 3v - 5v

The table below clearly manifest the consideration of the following constraints: 1)
Economic; 2) Environmental; 3) Manufacturability; 4) Ethical; and 5) Health and
Safety.

Table 3. Multiple Realistic Constraints

Number

Constraints

ECONOMIC

ENVIRONMENTAL

MANUFACTURABILITY

Explanation

The wired submersible underwater vehicle

will make use of materials that are already
available on the market today. Please see
the appendix for the estimated cost of
components. Additionally, this project's
estimated development time will be on or
before the last month of the next semester,
SY 2016-2017.

The project, being a Submersible

Underwater Vehicle, will make use of a
swimming pool for actual testing and data
gathering. The researchers will use
nonhazardous plastic material as the
submarines body.
The main challenge with the prototype's
manufacturing is the choice of material
that would make of the actual submarine:
selecting the right wall thickness of the hull,
confirming any material defects by
performing tests before and after the
machining, adding a small positive
buoyancy to ensure that the system floats

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in case of any electronics failure. Since this
research will be wired, the proponents
researched the appropriate wire/cable that
could be used underwater to receive power
and communicate from its operator.

ETHICAL

New technology allows us to advance in

many ways, improving our quality of life
and allowing us to create machines that will
accomplish tasks for us.
These
underwater vehicles can be used in a
number of ways, in our case: it is for the
gathering of temperature, altitude, and
video/image gathering. Misuse of the
project may also arise such as
unnecessary usage of the camera and/or
for use to illegal surveillance.

HEALTH AND SAFETY

Since the prototype will work underwater,

the possible concerns with regards to this
project would be how the sensors and the
components be sealed to prevent any short
circuit once the Submersible underwater
vehicle be tested underwater.

Table 4. Standards Used

Number

Materials

CODE

Electronic
Components

ANSI
676

Description
UL Standard
for
Underwater
Luminaires
and
Submersible
Junction
Boxes,
These
requirements
cover
electric
luminaires for installation below the
surface of the water in swimming
pools, permanently installed spas,
hot tubs, and similar watercontaining vessels intended to
accommodate the complete or

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Wire

AWG 18

CAT5e

partial immersion of persons, and

for operation on supply circuits
rated 150 volts or less, in
accordance with the National
Electrical Code, NFPA 70.
Encased outdoor and waterproof
wire, made for use with our
stainless steel IP68 junction boxes
or any other indoor or outdoor LED
lighting project. Use this wire with
our underwater and outdoor RGB
LED fixtures, Strip Lights, Modules,
or any other low voltage DC
system. If used properly with our
junction boxes this wire can be fully
submersible and dust concealed to
supply an RGB Control signal to as
many fixtures as your junction box
will allow. This wire is also a great
option for any indoor or outdoor
RGB LED projects requiring a 4
conductor encased wire. Wires are
sold in 10ft and 50ft increments and
will be shipped in one length when
possible. Maximum wire lengths
available is 650ft
This
type
of cable is
used
in structured cabling for computer
networks such as Ethernet over
twisted pair. The cable standard
provides performance of up to 100
MHz and is suitable for 10BASET, 100BASE-TX (Fast Ethernet),
and 1000BASE-T (Gigabit
Ethernet).
10BASE-T
and
100BASE-TX Ethernet connections
require two wire pairs. 1000BASET Ethernet connections require four
wire pairs. Through the use
of power over Ethernet (PoE), up
to 25 watts of power can be carried
over the cable in addition to
Ethernet data. Cat 5 is also used to

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carry
other
signals
as telephony and video
3

Safety

IEC 61508

such

IEC
61508 is
an international
standard published
by
the International Electro technical
Commission of rules applied in
industry. It is titled Functional
Safety
of
Electrical/Electronic/Programmable
Electronic
Safety-related
Systems (E/E/PE, or E/E/PES).
The standard requires that hazard
and risk assessment be carried out:
'The EUC (equipment under
control) risk shall be evaluated, or
estimated, for each determined
hazardous event.

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Year 2016-2017
August

July
Tasks
1st

2nd

3rd

4th

1st
wk

2nd
wk

3rd
wk

September
4th
wk

1st
wk

2nd
wk

3rd
wk

Ocotober
4th
wk

1st
wk

2nd
wk

3rd
wk

1.Preparation and Planning

1.1a Submission of RRL
a.Development of topic proposal
2.Data Collection
Research work
2.1 Chapter I Introduction
2.1a Working with chapter 1
related studies for introduction
2.1b Adviser's checking for
suggestions and revisions
2.1c Submission of Chapter 1
2.2 Chapter 2 Related Literature
2.2a Compilation of related articles
2.2b Adviser's checking for
suggestions and revisions
2.2c Submission of Chapter 2
2.3 Chapter 3 Methodology
2.3a Gathering of data
2.3b System Flow(Design)
2.3b1 Conceptual Framework
2.3b2 Process Flow(Flowchart)
2.3c Adviser's checking for
suggestions and revision
2.3d Submission of Chapter 3
3. Proposal Defense

Figure 7. Gantt Chart

Table 5 is the projected costing of materials that the proponents will be using in
order to design and implement the SUV.

4th
wk

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Table 5. Costing and Projected Bill

Estimated Bill of Materials

Material
Qty Individual Price
Arduino Uno Microcontroller
1
600
Ultrasonic Sensor Module
2
325
LM35 Temperature Sensor
1
60
Altitude Sensor
1
180
Underwater Camera(GoPro Live
Underwater Camera)
1
10,000
Joystick
1
601.25
Bilge Underwater pump
6
600
L298N Motor Driver Module
3
500
Submarine Body
1
2000
LCD (4x20 with Back Light)
1
480
Total

Price
600
650
60
180
10,000
601.25
2100
1500
2000
480
18171.25