Contriving of ROV

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Contriving of ROV

A A Priyanka

Dept. of E&CE

Ayesha Tasleem

Dept. of E&CE

Rajeev Institute of Technology Hassan, India

Clarence Christeen Dsouza

Dept. of E&CE

Rajeev Institute of Technology Hassan, India

Abstract Collection of Data by Survey and Observation in the real underwater condition is fundamental for studies and improvement. Study about sea, for example, Marine Environment Monitoring, Submarine Earthquakes, Ocean life, Marine Resource Research are done with the assistance of a submerged vehicle. ROVsthen got fundamental where a significant part of the new seaward improvement surpassed the range of human divers.Remotely operated vehicles (ROVs) are unoccupied robots worked submerged by an individual on a boat or vessel. They are anything but difficult to move through the water and are connected to the boat through the signs to and fro between the administrator and the ROV. This task presents the structure and usage of a ROV-based securing framework intended for water quality observing through the procurement of oceanographic boundaries of Peruvian water assets, for example, waterways, lakes and seas. To measure the particles in water Turbidity Sensor is used which measures the suspended particles level that are invisible to naked eyes. The robotic platform integrates BLDC motor controlling unit, Node MCU, Antenna, Adafruit cloud and an array of three thrusters in order to drive ROV. The movement of ROV can be monitored by using android app installed in the mobile. The flexibility of a submerged vehicle is misused by unifying information procurement and signing in a sole adaptable stage.

KeywordsTurbidity Sensor; BLDC motor; Node MCU; Antenna; Adafruit cloud; Thrusters;


    Submerged vehicles and robots, for example, ROVs (Remotely Operated Vehicles), AUVs (Autonomous Underwater Vehicles) and gliders have become well known robotics platform in oceanographic and ecological investigation because of its abilities of performing long haul activities, securing geo-referenced information and route mobility[1]. These studies will permit the assessment of the natural status of marine territories which are hard to access for people. Water contamination in waterways, lakes and seas are created by anthropogenic and mechanical exercises through strong, substance squander and submerged clamor.

    A submerged remotely operated vehicle (ROV) likewise can be called as a portable robot intended for amphibian workplaces. Remote control is typically brought out through copper or fiber optic links are called umbilical link. The ROV activity is completely constrained by a human administrator who sits in a shore-based station, pontoon or submarine air pocket while watching a presentation that shows what the robot sees[2][3]. The administrator can move with the robot to stay away from certain hindrances or for some

    Rajeev Institute of Technology Hassan, India

    Tanuja K S

    Dept. of E&CE

    Rajeev Institute of Technology Hassan, India

    other reason. ROV activities are generally more straightforward and more secure than submarine or scuba jumping and can be sent for longer timeframes [4][16]. They can likewise be utilized in circumstances where it would be perilous or costly to send a submarine or divers, for example, clearing mine fields or during terrible climate. The Fig. 1. shows the ROV setup in underwater.

    Fig. 1.ROV setup in underwater

    The arrangement of ROV in submerged. The first and important step in this project is, it is like the identification of a destination before undertaking a journey. This plays a most crucial part of the journey as the quality and relevance of this ROV project entirely depends upon it. We have overcome with several problems which includes, human divers cannot reach the depth of the water hence this underwater vehicle can operate in deeper and riskier areas. For any such underwater activities require huge investments, therefore this ROV lowers the cost, improves ability and increases safety. The water harshness with respect to the suspended particles is difficult to be identified and it can be overcome from the proposed system. It has been found from the methodology that, the turbidity sensor is worn and its basic purpose is to identify the haziness of water, hence it is highly desirable for underwater exploration.

    The organization of the paper is as follows:The methodology is presented in section 2. The implementation in detail is explained in section 3. Results and conclusion are described in section 4 and 5 respectively.


    Here, a simplified yet an efficient system is proposed that can help human divers by providing necessary information.The system makes use of turbidity sensor to measure the turbidity level of water, turbidity driver for ADC, GPS to provide location of the ROV in underwater. As a part of controlling, BLDC motor controlling unit and Node MCU is used.The Fig. 2. shows the proposed system block diagram.

    the command provided by the smart app antenna receives the signal and to microcontroller RH-850 is made to insist the BLDC motor to drive based on command given by the user this represents the second part. This BLDC motor drive the thrusters, for the purpose of driving the vehicle at different direction we make use of three thrusters one is situated at the top in order to control the vertical direction i.e., the depth of driving the ROV, Similarly remaining two thrusters are implemented across from one another for the horizontal motion in order to control to and fro motion of underwater vehicle. This simplified design reduces the overall hardware and also computational complexity of the controller.

    In this paper, we proposed to use it independently in order to avoid the delay due to processing and to increase the efficiency of the device. This used a part of simplification and reduced hardware it means, the interface of Node MCU with turbidity sensor is one part; whereas RH-850, BLDC motor, antenna and thrusters is another interface. Even though they are kept as separate, they are kept under same roof.

    Fig. 2. Block diagram of the proposed system

    An adafruit cloud environment is incorporated to receive and store the data. A mobile app is developed to observe the location and to operate the ROV in underwater via antenna. The BLDC motor controls the movement of thrusters. Over all, the complexity of the hardware is reduced.


    The proposed system makes use of Node MCU, turbidity sensor, turbidity driver, power supply, antenna, RH- 850 microcontroller, three thrusters and BLDC motor. The components list is simplified in-order to reduce the hardware and design complexity. On the other hand, the device must not miss out with its actual application. In the first part of the design, Node MCU and its interface with the turbidity sensor is described. Further, it will be taken a step ahead that connects to adafruit cloud. The Node MCU consists of interface with turbidity sensor and its turbidity driver. Here, turbidity sensor is being used and its usage is to identify the presence of suspended particles i.e., haziness of water. This turbidity sensor is placed at the bottom in order to reach the water at different levels and it is useful to identify the haziness or cloudiness of water at different positions in water bodies.In which this ESP8266 will send the data to the cloud. This adafruit cloud has the capacity to get the information from a Node MCU. In order to track the changes in turbidity value we have used adafruit cloud different dashboards such as chats, graphs, gauges etc.

    One more concept that is implemented in this is the real time remote tracking uses android smart app, Through an interface developed in the app it will make out the directions to monitor the underwater vehicle through commands based on


This section is based upon the methodology applied to develop this ROV. This part describes the different section of turbidity values in pure, detergent and mud water and it includes data generated by driving the ROV is represented through Adafruit Cloud using graphs. These figures generally refer to the ROV driving in different waters and their respective turbidity values are plotted on adafruit IoT platform. The Fig. 3. showsthe ROV in pure water.

Fig. 3. ROV in pure water

The testing of turbidity value at various locations by submerging ROV below the pure water free surface.The Fig.

4. shows the change in turbidity values in pure water with respect to various time zone.

Fig. 4. Graph shows the turbidity values in pure water

The turbidity values in pure water is shown in the graph with respect to various time zones indicating small

haziness i.e, less suspended particles in pure water is stored in adafruit IOT platform. The corresponding turbidity values are tabulated in the Table 1.

Table 1. Turbidity values at different time zone in pure water


Turbidity Values[NTU]

10:11:56 AM


10:30:30 AM


10:44:33 AM


10:45:46 AM


Change in turbidity values in pure water with respect to various time zone are stored in adafruit IOT platform. The Fig. 5. shows the ROV in the detergent water.

Fig. 5. ROV in detergent water

The testing of turbidity value at various locations by submerging ROV in the detergent water surface.The Fig. 6. shows the change in turbidity values in detergent water with respect to various time zone.

Fig. 6. Graph shows the turbidity values in detergent water

The turbidity values in detergent water is rapidly increasing with respect to various time zones indicating huge haziness i.e., more suspended particles in detergent water is stored in adafruit IOT platform. The corresponding turbidity values are tabulated in the Table 2.

Table 2. Turbidity values at different time zone in detergent water


Turbidity Values[NTU]

10:50:22 AM


11:41:58 AM


11:50:43 AM


12:03:18 PM


To check the change in turbidity value we have made use of detergent water to drive ROV based on commands given through smart android application. The turbidity values in detergent water is rapidly increasing with respect to various time zones indicating huge haziness i.e, more suspended particles in detergent water is stored in adafruit IOT platform. The Fig. 7. Shows the ROV in mud water.

Fig. 7. ROV in mud water

Measuring the change in turbidity value is done successfully by driving ROV in mud water providing required commands through android application. The Fig. 8. shows the change in turbidity values in mud water with respect to various time zone.

Fig. 8. Graph shows the turbidity values in detergent water

The graph of Adafruit cloud is plotted between the turbidity value v/s time. The turbidity values in mud water is rapidly increasing with respect to various time zones indicating haziness i.e.,suspended particles in mud water is stored in adafruit IOT platform. The list of turbidity values in mud water are taken into an account which as slightly fluctuating in different levels is as shown in Table 3.


Turbidity Values[NTU]

12:03:07 PM


12:13:52 PM


12:14:02 PM


12:15:58 PM



Turbidity Values[NTU]

12:03:07 PM


12:13:52 PM


12:14:02 PM


12:15:58 PM


Table 3. Turbidity values at different time zone in mud water


    The ROVs of future will have expanded shrewd independent conduct and will utilize rationale driven hardware for routine assignments like turning valves, pulling and introducing flying leads, investigating resources for respectability, introducing hubs. They will likewise have better sensors, progressively able controllers and tooling alongside dainty fiber optic umbilical's, that decline the framework's general weight. Deepwater docking frameworks for independent Hybrid ROVs are likewise in progress, as these would permit charging batteries, transfers of information and downloads of new order boundaries without carrying the HROV's to the surface.


Submersible ROVs are the best instrument for the assessment and the study of naturalas well as artificial water bodies. The smaller ROVs can be utilized to pick up information requires by neighborhood angler and procurement of required information for logical purposes. The ROV introduced in this paper can be utilized for the equivalent in lakes and waterways because of its minimal effort, little size and simple control. It primarily recognizes the haziness of water utilizing turbidity sensor. It is appeared in this work compelling devices might be utilized created utilizing minimal effort and simple accessible material for such applications.


I would like to express our very great appreciation to Mr. Yashwanth N, Assistant Professor, Department of E & C Engineering, Rajeev Institute of Technology, Hassan, for his valuable and constructive suggestions for writing this technical paper. His willingness to give his time so generously has been very much appreciated.

I would also like to thank Mr. Chiranth R, CEO, Pincore Technologies India Pvt. Ltd., Bengalurufor helping us to implement our ideas and for carrying out the experiments in their company.

The values are set from 0 to 1024 in which the threshold is 450. When the values are below 450, the water is considered to be pure and portable for drinking and when the values are above 450, the water is impure.


Remote control range for the underwater ROV is limited by several factors, Radio waves in the form of the electromagnetic field do not propagate well through the water unless the frequency is so low that the bandwidth is limited. The restriction on the frequency makes the high data transfer rates which are required for the transmission of full- motion video impossible.

The direct-beam optical communications systems range is limited by the lines of sight and the turbidity of the water. It is impractical to have the cable of any type longer than a few kilometers.


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