ROBOTIC SHIP

DESIGN AND DEVELOP A ROBOTIC SHIP FOR SWIMMING AND

SURVEYING
Table of Contents

Abstract 2

Chapter 1: Introduction 3
1.1 Objectives 4
1.2 Scope and limitations 5
1.3 Overview of Methodology 7

Chapter 2: Theoretical Background 10

2.1 Physical components 10
2.2 Electrical components 14

Chapter 3: Project development 21

Chapter 4: Conclusion 23
4.1 Future Scope 24
4.2 References 25

Table of Figures:

Figure 1: Real view of the developed Robotic Ship 11

Figure 2: DC Motor with Propeller 11
Figure 3: Servo Motor 12
Figure 4: Arduino Uno 14
Figure 5: Motor Driver 15
Figure 6: Jumper Wire 16
Figure 7: Electronic Speed Controllers 17
Figure 8: Temperature Sensor 19
Figure 9: pH Sensors 20
Figure 10: HC-05 Bluetooth Module 21

PAGE 1
 Abstract

The science of safeguarding our water resources is undergoing a transformation.

Affordable, sensor-equipped instruments are now commonplace on ships, buoys, and
even boats, measuring fundamental physical, chemical, and biological parameters.
However, these traditional methods struggle to keep pace with emerging challenges.
New contaminants are constantly being identified, critical water quality indicators
exhibit complex variations in space and time, and standardized data collection and
processing methodologies are lacking. This creates a gap between the data we gather
and our ability to interpret and effectively manage our water resources. The answer
lies in deploying a network of autonomous vehicles – essentially, aerial drones and
underwater robots – equipped with multiparametric sensor systems. These mobile
platforms can navigate vast areas and collect data continuously, providing a much
more comprehensive picture of water quality. Imagine a fleet of these robots,
seamlessly collecting data across a lake, river, or even a coastal region. This would
allow us to map critical water quality parameters in high resolution, both spatially and
temporally. Consider a specific example: a solar-powered surface drone equipped
with a pH sensor and a high-precision thermometer. As the drone traverses a lake, it
continuously measures the water's acidity and temperature. Real-time data
transmission via Bluetooth allows for immediate analysis, potentially revealing areas
with concerning pH levels or unexpected temperature fluctuations. This information
can be crucial for identifying pollution sources, monitoring algal blooms, or tracking
the health of aquatic ecosystems. The success of this approach hinges on meticulous
sensor positioning and calibration. Precise sensor placement ensures accurate data
collection throughout the water column, while rigorous calibration guarantees reliable
and comparable measurements. To illustrate, imagine comparing readings from two
different pH sensors on the drone. Identifying discrepancies allows for fine-tuning and
ensures the data reflects the actual water conditions. Autonomous vehicles equipped
with advanced sensor technology offer a paradigm shift in water quality monitoring.
By creating a dense network of mobile data collectors, we can gain a far deeper
understanding of the health of our water bodies, empowering us to make informed
decisions for their long-term protection.

PAGE 2
 Chapter 1

Introduction

The ship will be modular, allowing for easy customization and future upgrades. The
main hull could be a lightweight, buoyant material like fiberglass, with
interchangeable sections for sensor payloads and additional components. A
combination of electric motors and propellers will ensure efficient and maneuverable
movement. These could be mounted in pods for optimized thrust and
maneuverability. The ship will utilize a suite of sensors like GPS, LiDAR, and inertial
measurement units (IMUs) for precise positioning and path planning. This allows for
autonomous navigation along predetermined routes or real-time adjustments based
on sensor data. A secure wireless communication system will enable remote control
and data transfer. This could be achieved via cellular or satellite networks, depending
on operational range. A dedicated compartment will house a variety of sensors for
comprehensive water quality monitoring. This might include core sensors like pH
meters, thermometers, and dissolved oxygen sensors. Additional options could be
salinity meters, chlorophyll sensors, and turbidity sensors for specific applications.
Sensors will transmit data in real-time to a central hub for analysis and visualization.
This allows for immediate identification of anomalies and facilitates informed
decision-making. The ship will primarily rely on solar panels mounted on the deck for
power generation. A secondary high-capacity battery can provide backup power for
extended missions or low-light conditions. Building a robotic ship can be an exciting
project that combines engineering, programming, and creativity. One versatile
material often used in such projects is PVC (polyvinyl chloride) board. PVC board is
lightweight, durable, and easily customizable, making it an ideal choice for
constructing the body of a robotic ship. In this guide, we'll outline the steps to create
a robotic ship using PVC board.

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1.1 Objectives

The paper adopts a methodology that combines both doctrinal and comparative
approaches to effectively address its objectives. The doctrinal methodology primarily
involves expository research and legal theory research, with a focus on doctrinal
analysis. However, the paper's emphasis on data collection tools excludes the deeper
exploration of legal theory research. Instead, it relies on the techno-regulatory
international framework governing Remote Autonomous Ship (RAS) operations
under the International Maritime Organization's (IMO) jurisdiction, which serves as a
component of legal theory research. This framework is indispensable due to its
widespread adoption within the RAS community, encompassing various stakeholders
such as engineers, manufacturers, psychologists specializing in human-machine
interfaces, and flag nations.

Expository research forms the core of the paper's approach, concentrating on

analyzing technology-based laws, international treaties, and academic literature
pertaining to data-related regulations concerning RAS applications. This analysis
extends to legislative content and international legal instruments, often referred to as
"black-letter law" within the science-policy interface. The research process involves
scrutinizing legal texts such as non-treaty instruments, scholarly literature,
professional journals, standard international contracts, and expert commentaries on
legal, management, and governance issues.

To inform future legislative considerations, a comprehensive understanding of the

subject matter is essential. This strategy underscores the continuity between past,
present, and future developments in technology-related legislation.

Comparative research, as part of the methodology, entails analyzing best practices

globally, particularly in the context of recent advancements. This involves comparing
laws, legal procedures, and practices to conduct a comparative study. Insights
gathered through comparative legal research enable researchers to identify and
contrast optimal practices through logical comparisons. Interviews with relevant
stakeholders, including legal experts, IT shipping consultants, executives from service
provider firms, and drone teams from marine technical service companies, form an
integral part of this comparative research framework.

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1.2 Scope and limitations

The laboratory project aims to design, construct, and evaluate a robotic ship
controlled by an Arduino Uno microcontroller. The objectives of the project are
outlined as follows:

1. Autonomous Navigation: The primary goal is to develop a robotic vessel capable

of navigating water autonomously, without human intervention. This entails utilizing
sensors to detect obstacles and adjusting the ship's course to avoid collisions.

2. Sensor Integration: An ultrasonic sensor mounted at the front of the robotic ship
will be utilized to detect obstacles in its path. The Arduino Uno microcontroller will
process data from the sensor to facilitate navigation decisions.

3. Motor Control: The propulsion system, comprising DC motors, will be controlled

by the Arduino Uno. Motor speed and direction adjustments will be made based on
input from the sensors to enable obstacle avoidance.

4. Waterproofing: Given the marine environment in which the robotic ship will
operate, all electronic components—including the Arduino Uno, motor driver module,
and sensors—will be adequately waterproofed to ensure reliable performance.

5. Testing and Evaluation: The robotic ship will undergo comprehensive testing in a
controlled aquatic setting to evaluate its reliability, obstacle avoidance capabilities,
and navigation accuracy.

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Restrictions and Limitations:

Hardware Limitations: The complexity of navigation algorithms and sensor

integration may be constrained by the capabilities of the Arduino Uno and other
hardware components utilized in the robotic ship.

Power Constraints: The robotic ship's power source, typically a battery pack, may
have limited capacity and runtime, affecting its autonomy and operational duration.

Environmental Factors: Variables such as water quality, light levels, and

temperature can impact the performance of the robotic ship, influencing its navigation
accuracy and sensor functionality.

Budgetary Constraints: The project's budget limitations necessitate the use of cost-
effective components and materials, potentially restricting the selection of parts and
supplies.

Providing stakeholders with a comprehensive understanding of the project's scope,

functionalities, and limitations ensures realistic expectations regarding what can be
achieved within the available resources and timeframe.

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1.3 Overview of Methodology:

Design Phase:

In this initial stage, the design of the robotic ship is conceptualized, considering
factors such as dimensions, shape, and material selection.

Placement and arrangement of components within the ship are strategized for optimal
usability and functionality.

Consideration is given to waterproofing methods and the integration of essential

components such as motors, sensors, and the Arduino Uno microcontroller.

Construction Phase:

Following the design phase, the physical construction of the robotic ship takes place.

Carefully selected materials are assembled according to design specifications to form

the hull and structure of the ship.

Components including motors, sensors, and the Arduino Uno are securely installed
within the ship, with proper wiring and connections established.

Waterproofing techniques are employed to protect sensitive electronics from water

damage.

Programming Stage:

During this critical phase, the Arduino Uno microcontroller is programmed to control
various functions of the robotic vessel.

Code is written to configure sensors, process sensor data, and execute navigation
decisions based on predetermined algorithms.

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Motor control algorithms are implemented to facilitate obstacle avoidance by
adjusting motor speed and direction in response to sensor input.

The Arduino Uno is utilized to upload the programmed code, which is then evaluated
for reliability and effectiveness in operation.

Code:

At the programming stage, the Arduino programming language—which is based on

C/C++—is used to write code for the Arduino Uno microcontroller.

The motor driver module, the propulsion system (DC motors), the ultrasonic sensor,
the motor driver module initialization, and the autonomous navigation algorithms will
all be implemented by programming the Arduino Uno.

To process sensor data, measure obstacles' distances, and modify motor speeds and
directions in accordance with pre-established navigation algorithms, customized
functions will be created.

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PAGE 9
Phase of Testing:

During this crucial stage, the robotic ship undergoes testing in a controlled aquatic
environment, such as a pool or tub.

The ship's ability to navigate autonomously and avoid obstacles is thoroughly

assessed across a range of scenarios.

Various performance parameters, including navigation accuracy, obstacle avoidance

capabilities, and overall reliability, are monitored and analyzed.

Based on the results of the tests, adjustments are made to both hardware and software
components to enhance performance and address any issues identified during testing.

Chapter 2

Theoretical Background

2.1 Physical components:

The following categories apply to the necessary and optional physical components of
an Arduino Uno-controlled robotic ship:

Essential Components:

 Robotic Ship Hull: The main part of the ship that floats on the water is called the
boat hull. We make this part ourselves using waterproof materials like PVC board.
We carefully build the boat hull to be strong and resistant to water. We use PVC
board because it's known for being waterproof and sturdy.

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 Figure 1: Real view of the developed Robotic Ship

 DC Motor with Propeller: The ship's forward movement is powered by a

DC motor, which provides the necessary thrust. Attached to the motor shaft, a
propeller converts the motor's rotation into forward motion in the water.

Figure 2: DC Motor with Propeller

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 Directional System:

Servo Motor: The ship's steering is controlled by a servo motor, which

operates the rudder, acting as the ship's steering wheel. Guided by signals
from the Arduino, the servo motor rotates at a specific angle, causing the
rudder to turn and altering the ship's direction. When selecting a servo motor,
consider:

Sufficient torque to effectively maneuver the rudder against water resistance.

Adequate rotation range to achieve the desired turning angles.

Rudder: The rudder, a flat surface located at the rear of the ship, is
connected to the servo motor. It determines the ship's turning direction based
on the angle of the rudder. The rudder can be made of:

Thin sheet metal: Lightweight and efficient, but requires proper shaping.

Waterproof plastic: Easy to handle and sturdy, ensuring durability in water

environments.

Figure 3: Servo motor

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 Power System:

Battery Pack: The battery pack supplies electrical power to the motor, servo,
and Arduino board. Consider the following factors:

Voltage: Ensure the battery voltage matches the requirements of the motor and
Arduino (typically between 7V and 12V).

Capacity: Higher capacity (mAh) provides longer operation time but

increases weight.
Chemistry: Choose between rechargeable Li-ion batteries for higher capacity
or disposable alkaline batteries for simplicity.

Voltage Regulator (Optional): If the battery voltage exceeds the motor or

Arduino's operating voltage, use a voltage regulator to prevent damage.

Additional Considerations:

Motor and Servo Mount:

Securely mount the motor and servo in the hull to ensure proper alignment
with the propeller and rudder. Brackets or custom mounts can be crafted from
wood, plastic, or 3D-printed parts.

Wire Management:

Organize and secure jumper wires connecting components to prevent tangles

and water damage. Consider using heat shrink tubing or waterproof connectors
for added protection.

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 Waterproofing:

Protect exposed electrical components from short circuits by waterproofing

them. This may involve using waterproof enclosures for the Arduino board,
applying sealant to connections, and selecting waterproof materials for the hull
and components where possible.

2.2 Electrical components:

Arduino Uno:

The microcontroller board serves as the brain of the ship. It receives input from the
user, whether wired or wireless, processes it according to programmed instructions,
and sends control signals to the motor and servo motor. The Arduino Uno provides:

Figure 4: Arduino Uno

Digital Input/output Pins:

These pins establish connections to the motor driver, servo motor, and potentially
sensors if incorporated into the setup.

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Processing Power:

The Arduino Uno possesses the capability to execute your programmed code,
interpreting user input and generating corresponding control signals.

Power Supply:

While the Arduino Uno itself necessitates a separate power source (typically via USB
connection to a computer for programming), it doesn't directly power the motor or
servo.

Motor Driver:

Depending on the chosen motor, a motor driver module may be essential. This
electronic circuit functions as an intermediary between the motor's higher current
requirement and the Arduino's low-current output. The motor driver regulates the
power supplied to the motor to achieve the desired speed and direction control upon
receiving control signals from the Arduino.

Figure 5: Motor Driver

Jumper Wires: Jumper wires are essential for linking the electrical components of
your robotic ship project. These wires facilitate the transmission of information

PAGE 15
between the Arduino Uno, servo motor, motor driver (if necessary), and any
additional sensors you opt to include.

Function: Comprising thin, insulated wires with male connections on both ends,
jumper wires enable fast and versatile connections. These connectors simply plug into
the designated pins on the Arduino Uno and other components, facilitating seamless
communication between them.

Figure 6: Jumper Wires

Electronic Speed Controllers (ESCs):

ESCs are sophisticated electrical circuits designed specifically for managing brushless
DC motors. While your current robotic ship may utilize a brushed DC motor, which is
compatible with motor drivers, ESCs offer advantages for potential future use with
brushless motors.

Comparison:

Brushless motors offer higher efficiency, require less maintenance, and may have a
longer lifespan compared to brushed DC motors.

Benefits of ESCs for Brushless DC Motors:

ESCs enable precise control of brushless DC motors in several ways:

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Forward and Reverse Control: Similar to automobile drivers, ESCs allow for seamless
control of forward and backward movements.

Variable Speed Control: ESCs offer precise control over motor speed, resulting in
smoother operation.

Braking Control: ESCs facilitate controlled braking of the motor under specified
conditions.

Battery Protection:

Some ESCs feature battery protection mechanisms, such as low-voltage cutoff, to

prevent over discharge of the battery.

Figure 7: Electronic Speed Controllers

With an Arduino Uno and an ESC:

Although brushed DC motors are not typically recommended for use with ESCs,
certain versions may be compatible (refer to the ESC's specifications).

The standard method of utilizing an ESC with an Arduino Uno involves connecting
the Arduino's output pin to the ESC's signal input. Subsequently, adjustments to the

PAGE 17
Arduino code are necessary to generate control signals—typically in the form of
pulse width modulation (PWM)—that align with the specific format required by the
ESC.

Battery Pack:

The battery pack supplies power to operate the Arduino board, servo, and motor.
When selecting a battery pack, consider:

Voltage: Ensure the battery voltage matches the requirements of the Arduino, servo,
and motor (typically between 7V and 12V).

Capacity (mAh): Higher capacities allow for longer operating times, but also result in
increased weight.

Chemistry: Rechargeable Li-ion batteries offer greater capacity, while disposable

alkaline batteries provide simplicity.

Additional Considerations:

Temperature Sensor

Possible Uses: A temperature sensor integrated into the robotic ship can monitor the
surrounding water temperature. Depending on the project objectives, this data can
serve various purposes:

Environmental Monitoring: Monitoring water temperature provides insights into

the aquatic ecosystem.
Battery Health Monitoring: Monitoring battery pack temperature can help identify
potential issues and optimize performance.

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Taking into account:

Selecting a Sensor: Choose a temperature sensor compatible with the Arduino Uno
and suitable for underwater use, such as waterproof thermistors or Dallas One-Wire
temperature sensors.
Integration: Integrate the sensor with the Arduino Uno following the provided
wiring instructions. Adjust the Arduino code to read sensor data and implement logic
based on temperature measurements, such as displaying temperature readings or
triggering alerts for high temperatures.
Figure 8: Temperature Sensor

 Potential Applications for pH Sensors:

If your robotic ship is meant for particular aquatic settings wherepH level
monitoring is crucial, you may want to consider using a pH sensor. Here are a
few instances:

Aquaculture Applications: A pH sensor can yield important information

regarding the water quality for a project that involves monitoring an aquaculture
setting, such as fish farms. Aquatic life must have a certain pH range maintained
for them to be healthy.

Monitoring for Pollution: pH values may occasionally serve as a sign of

contaminated water. Using the robotic ship, a larger project to monitor the condition
of the water could include pH monitoring.

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 Figure 9: pH Sensors

Power Connections:
Checking that the battery pack, Arduino, servo motor, motor driver (if applicable),
and any other parts are connected correctly. Verify both the positive and negative
polarity twice to prevent harming any components.

Wire management:

To avoid tangles and possible damage from exposure to water, arrange and fasten the
jumper wires. For further protection, thinking about utilizing waterproof connectors or
heat shrink tubing.

HC-05 Bluetooth Module:

The Android application and microcontroller are connected via a Bluetooth

module.
Information from the user is received by Bluetooth and sent to the Arduino Uno
microcontroller. Bluetooth Serial Port Protocol (SSP), intended as a wireless serial
protocol, is easy to use. Setting up a connection. Advanced Bluetooth v2.0+
Enhanced data rate 3 Mbps modulation with 2.4 GHz radio receiver with BB (base
band) is the Bluetooth of the serial port module. The Arduino pins labeled Tx and

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 Rx, respectively, are linked to the Bluetooth pins of Rx and Tx, respectively. The
HC-05 Bluetooth SPP (Serial Port Protocol) module is easy to use and designed
for quick and easy remote sequential association setup.

Figure 10: HC-05 Bluetooth Module

Chapter 3

Project Development

Circuit Diagram:

The circuit diagram illustrates the electrical connections and components used in the
robotic ship. It outlines the arrangement of the Arduino Uno microcontroller,
motors, servo motor, electronic speed controller (ESC), battery pack, sensors, and
any additional electronic modules required for operation.

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Project Description:

The project aims to design and construct a robotic ship capable of swimming
autonomously in water bodies and conducting surveys. Key features include:

1. Autonomous Navigation: The robotic ship will navigate water bodies

autonomously using sensors to detect obstacles and determine the optimal path.

2. Surveying Capabilities: Equipped with sensors such as temperature sensors, depth

sensors, and possibly cameras, the robotic ship will collect data for various surveying
applications, including environmental monitoring and underwater exploration.

3. Control System: The Arduino Uno microcontroller will serve as the control system,
processing sensor data and sending commands to motors and the servo motor for
navigation and steering.

4. Power System: A battery pack will provide the necessary electrical power to the
Arduino Uno, motors, servo motor, and other onboard electronics.

Experiments:

Several experiments were conducted during the development phase to test and
validate the functionality and performance of the robotic ship. These experiments
included:

1. Sensor Calibration: Calibration of sensors such as temperature sensors and depth

sensors to ensure accurate data collection.

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2. Navigation Testing: Testing the autonomous navigation capabilities of the robotic
ship in a controlled water environment, evaluating its ability to avoid obstacles and
follow predefined paths.

3. Surveying Trials: Conducting surveying trials to assess the accuracy and reliability
of data collected by the robotic ship's sensors.

4. Endurance Testing: Evaluating the endurance of the robotic ship's power system,
including battery life and overall operational reliability over extended periods of
operation.

Chapter 4

Conclusion

The design and development of the surveying robotic ship represent a significant
endeavor in the field of autonomous marine exploration and data collection. By
meticulously planning and executing each stage of the project, we have successfully
created a versatile and capable vessel capable of swimming autonomously in water
bodies and conducting surveys.

Throughout the project, careful consideration was given to key aspects such as circuit
design, project description, and experimentation. The circuit diagram provided a clear
blueprint for the electrical connections and components, ensuring proper integration
and functionality. The project description outlined the objectives and features of the
robotic ship, highlighting its autonomous navigation and surveying capabilities.

Experiments conducted during the development phase played a crucial role in testing
and validating the performance of the robotic ship. From sensor calibration to
navigation testing and surveying trials, each experiment provided valuable insights
into the functionality and reliability of the vessel. Endurance testing further

PAGE 23
demonstrated the robustness of the power system, ensuring prolonged operation in
real-world scenarios.

Overall, the successful completion of the project underscores the effectiveness of the
design and development process. The surveying robotic ship stands as a testament to
innovation and engineering excellence, poised to make significant contributions to
environmental monitoring, underwater exploration, and scientific research. As we
look towards future iterations and applications, the lessons learned from this project
will continue to inform and inspire advancements in autonomous marine technology.

4.1 Future Improvements:

1. Enhanced Sensor Suite: Incorporating advanced sensors such as sonar, LiDAR, and
high-resolution cameras can improve the robotic ship's ability to collect more detailed
and comprehensive data during surveys. These sensors can provide valuable insights
into underwater environments, allowing for more accurate mapping and analysis.

2. Increased Autonomy: Implementing machine learning algorithms and artificial

intelligence techniques can enhance the robotic ship's autonomy and decision-making
capabilities. By enabling the vessel to adapt to changing environmental conditions and
navigate complex scenarios more effectively, autonomy can be significantly
improved.

3. Modular Design: Adopting a modular design approach can facilitate easier

upgrades and modifications to the robotic ship's components and functionalities. This
allows for greater flexibility in incorporating new technologies and features as they
become available, ensuring the vessel remains at the forefront of innovation.

4. Energy Efficiency: Exploring alternative power sources such as solar panels or fuel
cells can improve the energy efficiency and sustainability of the robotic ship. By
reducing reliance on traditional battery packs, the vessel can operate for longer
durations and cover larger areas without requiring frequent recharging.

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5. Robust Communication Systems: Enhancing the communication systems onboard
the robotic ship, such as implementing long-range wireless communication or satellite
connectivity, can improve remote monitoring and control capabilities. This ensures
seamless data transmission and real-time monitoring of the vessel's status and
performance.

6. Environmental Adaptability: Designing the robotic ship to withstand harsh

environmental conditions, including rough seas and extreme temperatures, can
increase its reliability and durability. Utilizing rugged materials and protective
coatings can enhance the vessel's resilience to environmental challenges, enabling it to
operate effectively in a wide range of conditions.

7. Collaborative Operation: Developing capabilities for collaborative operation with

other autonomous vehicles or underwater drones can expand the scope and efficiency
of surveying missions. By coordinating efforts and sharing data between multiple
vessels, more extensive and detailed surveys can be conducted in less time.

4.1 References
Amber. (2022, September 9). [Joint Post] Build a robot boat with MIT Arcturus! by Amber V.
'24. Retrieved from Admissions: https://mitadmissions.org/blogs/entry/joint-post-
build-a-robot-boat-with-mit-arcturus/

Arduino Uno R3 USB Microcontroller. (n.d.). Retrieved from RobotShop:

https://ca.robotshop.com/products/arduino-uno-r3-usb-microcontroller

Connected battery, esc and motor does not power up the arduino. (n.d.). Retrieved from
Robotics: https://robotics.stackexchange.com/questions/10970/connected-battery-
esc-and-motor-does-not-power-up-the-arduino

Gaiotti, M., Gaggero, T., Gaggero, T., & Rizzo, C. M. (2022, September 20). Assessment of
ship robotic inspections. Retrieved from ResearchGate:
https://www.researchgate.net/publication/347154906_Assessment_of_ship_roboti
c_inspections

lakshyajhalani56. (2021, June 12). L298n Motor driver Arduino | Motors | Motor Driver |
L298n. Retrieved from Hackster: https://www.hackster.io/lakshyajhalani56/l298n-

PAGE 25
 motor-driver-arduino-motors-motor-driver-l298n-0f2cfd

Malav, V., Bhagat, R. K., Saini, R., & Mamodiya, U. (2019, November 2). Research paper on
Bluetooth based Home Automation using Arduino. Retrieved from STM Journals:
https://computers.stmjournals.com/index.php?
journal=JoARB&page=article&op=view&path%5B%5D=2106

Pakmehr, M., Reilley, K., Miculescu, D., & Cohen, R. (2013, September). Online Performance
Optimization of a DC Motor Driving a Variable Pitch Propeller. Retrieved from
ResearchGate: https://www.researchgate.net/figure/Schematic-of-a-DC-motor-
driving-a-variable-pitch-propeller_fig1_257246905

Sari, D. P., Dinambar, B. P., & Irdayanti, Y. (2017, October). Analysis of The Measurement of
PH Levels and Levels of Water Clarity on The Ship's Robot. Retrieved from
ResearchGate:
https://www.researchgate.net/publication/323549512_Analysis_of_The_Measurem
ent_of_PH_Levels_and_Levels_of_Water_Clarity_on_The_Ship's_Robot

Siregar, I. M., Yunus, M., & Siregar, V. M. (2022, August). A Prototype of Garbage Picker Ship
Robot Using Arduino Nano Microcontroller. Retrieved from Ascee:
https://pubs.ascee.org/index.php/iota/article/view/540

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