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Design and construction of an underwater robot

Conference Paper · September 2017

DOI: 10.1109/ICAEE.2017.8255367

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Proceedings of the 2017 4th International Conference on Advances Electrical Engineering (ICAEE)
28-30 September, Dhaka, Bangladesh

Design and Construction of an Underwater Robot

Sanjib Kumar Deb1, Jahed Hossen Rokky2, Tuton Chandra Mallick3, Ms. Juliana Shetara4
1234
Department of Electrical and Electronic Engineering, Premier University,
Chittagong-4203, Bangladesh
1
[email protected], [email protected], [email protected], [email protected]
2

Abstract—This paper describes a wirelessly controlled one high power DC motor and a servo motor can change the
underwater robot that can move under water and it can be even direction of thrust [4].
controlled by an android smart phone very easily. An arduino
based platform in used to process, transmit and receive all For the purpose of localization and tracking system, a team
information. There are many kinds of robots have been designed of researchers have done an experiment with underwater robot
and constructed with the development of computer and whose speciality is acoustic localization system [5]. A semi-
information processing technology. A low cost underwater robot autonomous submarine is used specially for marine
and its propulsion system are complete wirelessly using the environmental research [6]. A remotely operated vehicle
combination of a pair of arduino board and a pair of RF module (ROV) which has a camera system and a gripper system has
that makes our project different. Six handmade waterproof been constructed by PVC is designed by some researchers [7].
thrusters control the propulsion system horizontally and A navigation technology for autonomous underwater vehicle
vertically of this robot. The camera of this robot works as eyes. has been developed with advance battery capacity and the
This robot can be used in various purpose such as underwater development of hydrogen fuel cell. The navigation system of
environmental monitoring, oceanographic survey, pipeline and this accurate and it can be part of a longer mission [8].
subsea structure inspection, debris inspection and more related
purpose. Another remotely operated vehicle has constructed
includes a manipulator arm, water sampler, light penetration,
Keywords—Underwater robot, Low cost, Wireless system,
temperature and depth [9]. The researcher of Kyushu Institute
Waterproof, Underwater monitoring
of Technology has developed an AquaBox series for shallow
I. INTRODUCTION water observation [10]. After some years the researchers of
University of Science and Technology of China have been
In recent years, besides other robots various kinds of designed a mini underwater robot which detects the
underwater robot have been designed, constructed and underwater situation by high definition camera [11]. There are
developed by many interested researchers. Various kinds of various controlling systems for underwater vehicles such as
difficult work can do easily using underwater robot in ocean zigbee communication, light approach, etc [12].
or any source of water. The important part of this project is
every parts of this robot have to be waterproof and it is the In our laboratory, we have designed and constructed of an
main challenge of this project. underwater robot (Fig. 1 & 2) which can control wirelessly by
an android smart phone via software. Six propeller propulsion
Researchers of CSIRO ICT Centre of Australia the robot forward, backward, right, left, up and down. A
successfully constructed a new robot for environmental camera has attached with it and a pair of light for brightens
monitoring on the great barrier reef which has been focused at underwater darkness. The body of robot has made by PVC.
truly low cost robot [1]. A cylindrical shaped autonomous
underwater vehicle whose main purposes are real-time visual
simultaneous localization and mapping (SLAM), cooperative
multi-vehicle navigation and perception-driven control have
designed and constructed at University of Michigan [2].
A cylindrical and long shape autonomous underwater
vehicle has designed by the researchers of Technical
University of Malaysia and University of Malaysia. The
propulsion system of this robot is smooth. A horizontal
propeller moves the vehicle forward and backward, a servo
turn it left and right, a water pump system moves it up and
down. When water inject into the water tank in vehicle, the
vehicle get down and when water inject out of the vehicle
from water tank the vehicle flood on water [3]. There are
various shaped underwater vehicle have been designed in
different area of robotics. An electrical system has designed
for a spherical underwater robot. It used three vectored water-
jet thrusters for its propulsion system. Thrusters are driven by Fig. 1. Top view of Underwater Robot

978-1-5386-0869-2/17/$31.00 ©2017 IEEE

 Fig. 2. Robot under water

II. METHODOLOGY
An underwater robot is a waterproof robot which can move
in water depends on user command. This robot has a
transmitting part and a receiving part.
Fig. 4. Block diagram of Underwater Robot (receiving part)
In transmitting part, an android phone is used instead of
joystick. The android phone is connected with a bluetooth As remote controller joystick, an android phone is used.
module BC-05. The bluetooth module is connected with ATC software is android software which can control arduino
microcontroller (arduino) and arduino hold a RF Transmitter via bluetooth. Firstly, commands send via android phone with
(RF433Tx). In receiving part, we used RF receiver (RF433Rx). ATC software to bluetooth module in remote controller part.
The receiver is connected with microcontroller (arduino mega). Bluetooth module sends these commands to arduino and
Arduino mega hold motor driver IC. arduino process the commands as preset program. Then
arduino transmit the commands to main robot via RF
When user sends a command through android phone, the transmitter with transmitting antenna. Fig.3 shows the
transmitter transmits the command to receiver by preset controller system of this robot.
program. The receiver receives the command and gives it to
arduino. Arduinio process the command by preset program. The main parts of robot contain an antenna, RF receiver,
Then arduino command to motor driver and the robot starts arduino, motor drivers, motors, lights, and camera. RF
move. To move forward, horizontally installed motor of both receiver receives the transmitted command from remote
side have to rotate in clockwise direction. To move backward controller part of Robot via receiving antenna. Then RF
these motor have to rotate in anti-clockwise. The vertically receiver sends the command to arduino. Arduino process the
installed motors will remain stop. To move left, one motor commands as preset program and send command to motor
rotate in clockwise and another in anti-clockwise. To move drivers. Motor drivers drive the motors clockwise and
right, one motor rotate in anti-clockwise and another in anticlockwise as preset program. Fig.4 shows the operation
clockwise. The upper motors will remain stop. To move system of this robot.
upward, all upper motor have to rotate in anti-clockwise. To
move downward, all upper motor have to rotate in clockwise. B. Main Hardware
The both side motors will remain stop. Arduino: Two arduino boards are used in this project.
Arduino uno is used for controller circuit and arduino mega is
III. SYSTEM DESIGN used for main robot as the brain of this robot.
A. Block Diagram of the Underwater Robot Bluetooth Module: A bluetooth module (BC-05) is used to
connect smart phone with controller circuit. Any joystick
software can be used from an android smart phone to control
robot. In this project ATC software is used as joystick. ATC
software is joystick controller software which can be
configured as per requirement.
RF Module: A pair of RF module (RF433MHz) is used to
connect controller to robot. RF module is very good for low
cost communication. It can communicate and send command
up to 100 mitre distance in open space.
Motor Driver: Motor drivers (L293D) are used for driving
motors, light and camera. It this project the supply voltage of
Fig. 3. Block diagram of controller of Underwater Robot (command
transmitting part) motor drivers is 9 volts and logic voltage is 5 volts.
 DC Motor: Small and 9 volt DC motors are used to make Arduino input 6 volts. Rx pin of bluetooth module is
thrusters. A big challenge is to make motors waterproof is connected with Tx pin of arduino & Tx pin of bluetooth
successfully overcome. Tape, wax, grease, glue stick and glue module is connected with Rx pin of arduino. Vcc pin of
gun is used to make motors waterproof. bluetooth module is connected with +5 volts of arduino and
ground to ground. Then Vcc of RF module also connected +5
Propellers: volts of arduino. RF module data pin connected with Arduino
digital pin 12. RF module antenna pin connected with an
Omni-directional antenna. An LED (green) is connected with
arduino digital pin 13 to indicate command transmission.
Another LED (green) is connected with parallel the power
supply to show the power on. And a LED (red) with connected
with charging portion to show charger connection.

Fig. 5. Thruster with propeller

In this project, thrusters are fully handmade. Turnigy 3

blade boat propellers (R3Px31x11), cartridge of empty pen,
steel epoxy and sharp blade are used to make thrusters.
Camera: Camera is eyes of a robot. There are some
waterproof cameras in market. A camera is connected in front
of robot body. It requires 9 volts power supply. An important
thing of this project is the camera and lights need not to be
Fig. 7. PCB of Underwater Robot (receiving part)
always on. User can do off or on anytime with giving
command by controller. No wires sighting outside of robot The main circuit (Fig.7) of robot contains RF receiver,
that is the beauty of robot. arduino mega, motor drivers (L293D), 3 LED, Diode. Vcc of
Battery: Because of power hunger, battery as power supply RF module is connected with output of arduino +5 volts. Data
is an important issue in a robot. Two 6 volts and 4.5Ah pin of RF module is connected with digital pin of 11 arduino.
rechargeable battery in series (total 12 volts and 4.5Ah) are RF module antenna pin is connected with an Omni-directional
used to feed power to the robot. antenna. An LED (green) is connected with arduino digital pin
13 to indicate for command transmission. Another LED (green)
C. PCB Design is connected with parallel the power supply to show the power
on. And an LED (red) with connected with charging portion to
show charger connection.
D. Structure Design

Fig. 6. PBC of controller of Underwater Robot (command transmitting part)

Every robot has a motherboard. Motherboard commands a

robot for movement. In this project, a PCB is designed as a
motherboard of robot. Designing PCB is the main work of
electrical circuit. Drawing PCB layout in Proteus is the 1st
step of PCB design. Then the PCBs are printed & install the
electrical components is the final stage of completion of PCB
circuit.
The controller circuit (Fig.6) contains RF module,
bluetooth module, Arduino and an Omni-directional antenna. Fig. 8. Structure of Underwater Robot in AutoCAD
It also contains a charging system. Its input voltage is 6 volts.
 A mechanical structure is an important issue for designing and some sensor will be connected with this. We are going to
a robot. Designing a structure in AutoCAD (Fig.8) is the first have an experimental drive in the ocean to observe
step of mechanical structure design of a robot. In this project a oceanographic environment and take data, images and videos.
rectangular shaped mechanical structure is designed for robot.
All mechanical view represents in figure 6 and the Isometric ACKNOWLEDGMENT
views of Underwater Robot. Measurement is important to This work has been supported by the Department of
indicate the robot size. Electrical and Electronic Engineering (EEE), Premier
University Chittagong, Bangladesh. The authors would like to
thank the Electrical and Electronic Engineering department of
Premier University Chittagong.

REFERENCES
[1] M. Dunbabin, J. Roberts, K. Usher and P. Corke, “A New Robot for
Environmental Monitoring on the Great Barrier Reef,” CSIRO ICT
Centre, P.O. Box 883, Kenmore QLD4069, Australia, 2004.
[2] H. C. Brown, A. Kim and R. M. Eustice, “An Overview of Autonomous
Underwater Vehicle Research and Testbed at PeRL,” Marine
Technology Society Journal, Volume 43, Number 2, 2009.
[3] M. S. M. Aras, H. A. Kardirin, M. H. Jamaluddin, M. F. Basar and F. K.
Elektrik, “Design and Development of an Autonomous Underwater
Vehicle (AUV-FKEUTeM),” Malaysian Technical Universities
Conference on Engineering and Technology, June 20-22, 2009.
[4] C. Yue, S. Guo, M. Li and L. Shi, “Electrical System Design of a
Spherical Underwater Robot (SUR-II),” Proceeding of the IEEE
Fig. 9. The Structure of Underwater Robot International Conference on Information and Automation, Yichuan,
China, August 2013.
In Fig.9 shows final mechanical structure of Underwater
[5] P. Corke, C. Detweiler, M. Dunbabin, M. Hamilton, D. Rus and I.
Robot. It is made by PVC pipe, pipe joint and glue.
Vasilescu, “Experiments with Underwater Robot Localization and
Rectangular shaped structure is easy to build with PVC so that
Tracking,” 2007 IEEE International Conference on Robotics and
this shape is chosen for this project.
Automation, Ruma, Italy, 10-14 April 2007.
IV. ADVANTAGES [6] P. Chotikarn, W. Koedsin, B. Phongdara and P. Aiyarak, “Low Cost
Submarine Robot,” Songklanakarin J. Sci. Technol. 32(5), 513-518,
The main advantages of this project are its simple design,
low cost, wireless system and easy controlling. Applications September-October 2010.
of this robot are underwater environmental monitoring, [7] A. Wong, E. Fong, F. Wong, A. Nehmzow, C. Fischer and C. Zau,
oceanography survey, telecommunication support, underwater “2013 MATE ROV Competition Technical Report,” The Mechanics
life inspection, pipeline and subsea structure inspection, debris Swiss International School, Hong Kong, Hong Kong SAR, 2013.
inspection. [8] L. Stutters, H. Liu, C. Tiltman and D. J. Brown, “Navigation
Technologies for Autonomous Underwater Vehicles,” IEEE
V. CONCLUSION Transactions on Systems, Man and Cybernetics – Part C: Applications
Being a full charged The Underwater Robot can run about and Reviews, 20 June 2008.
25-30 minutes. This duration increases if camera and lights [9] G. Martos, A. Abreu and S. Gonzalez, “Remotely Operated Underwater
remains off. The overall power consumption of this robot is 16 Vehicle,” A B.S. Thesis Prepared in Partial Fulfillment of the
watts. Requirement for the Degree of Bachelor of Science in Mechanical
Engineering, September 21, 2013.
In this paper, we focused on the design of low cost
[10] S. Ohata, Y. Eriguchi and K. Ishi, “AquaBox Series: Small Underwater
controller and the motherboard of robot for easy and wireless
controlling. There was some challenge to make every parts of Robot Systems for Shallow Water Observation,” UT07+SSC07, Tokyo,
this robot waterproof. Overcoming challenges the robot has Japan, 17-20 April 2007.
successfully constructed and run in a big pond. The [11] Y. Wei, F. Liu, F. Hu and F. Kong. “The Structure Design of the Mini
controlling system of this robot is very easy, smooth and fully Underwater Robot,” Applied Mechanics and Materials Vol. 307 (2013),
wireless. Approximately the robot can be controlled from 50 pp: 121-125, 2013.
mitre distance. One of the master side is the robot is [12] Govindarajan.R, Arulselvi.S and Thamarai.P, “Underwater Robot
constructed by local parts instead of ready robotic kits such as Control System,” International Journal of Scientific Engineering and
thrusters, RC controller. Technology, Volume 2 Issue 4, pp:222-224, 1 April 2013

Currently, our team is working for enlarging the range of

robot and minimize the size of the structure. We also planned
to change the shape of mechanical structure into cylindrical
for better stability and fast movement. A 4k camera, an arm

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