IoT Based Surface Vehicle System for Water

2024 6th International Conference on Electrical Engineering and Information & Communication Technology (ICEEICT) | 979-8-3503-8577-9/24/$31.00 ©2024 IEEE | DOI: 10.1109/ICEEICT62016.2024.10534461

Quality Analysis and Surveying

Md. Sifat Alam Omar Faruk Joy
Md. Ali Al Jaman Chaudhuy
Dept. of Electrical and Electronic Dept. of Electrical and Electronic
Dept. of Electrical and Electronic
Engineering Engineering
Engineering
American International University- American International University-
American International University-
Bangladesh Bangladesh
Bangladesh
Dhaka, Bangladesh Dhaka, Bangladesh
Dhaka, Bangladesh
sifatrahaman2016@gmail.com omarfarukjoy2001@gmail.com
alialjaman11@gmail.com
Bishwajit Banik Pathik
Md. Kamrul Hassan
Dept. of Electrical and Electronic
Dept. of Electrical and Electronic
Engineering
Engineering
American International University-
American International University-
Bangladesh
Bangladesh
Dhaka, Bangladesh
Dhaka, Bangladesh
bishwajit.b.pathik@gmail.com
mdkamrul@aiub.edu

Abstract— In addressing the pressing problem of water
pollution, this study highlights how vitally important efficient
monitoring and surveys are to the sustainability and health of
ecosystems. As communication technology advances, smart
solutions for water quality monitoring are becoming
increasingly important. The study presents a cutting-edge
solution: a surface vehicle equipped with sensors that can
measure temperature, turbidity, pH, and enable location
tracking. The vehicle is Internet of Things (IoT) enabled.
Navigation in distant areas and shallow waters is made easier by
the combination of solar power and remote-control
technologies. The collected information is sent to a centralized
server and made available via an intuitive mobile application,
enabling users to make knowledgeable decisions. System
efficiency and operator safety are boosted by secondary goals
such mobile application development, real-time data collecting
and analysis, and improved remote-control capabilities. This
innovative approach holds the potential to revolutionize distant
region water monitoring by improving its efficacy, accessibility,
and efficiency.
Keywords—Coastal Area, Temperature, pH, Turbidity
I. INTRODUCTION
Coastal water plays a vital role in supporting ecosystems,
providing resources, and serving as centers for recreation and
economic activities. However, the increasing threat of water
pollution poses significant challenges to the health and
sustainability of these coastal environments [1,2]. To address
this issue, efficient and accurate monitoring and surveying
systems are essential for detecting and mitigating potential
threats to water quality. In recent years, the Internet of Things
(IoT) has emerged as a transformative technology, enabling
the integration of smart devices and sensors for real-time data
collection and analysis [4]. Leveraging the power of IoT, this
paper proposes an innovative approach to coastal water
monitoring and surveying through the development of an IoT-
based surface vehicle.
The primary objective of this research is to design and
implement an IoT-enabled surface vehicle that can navigate
coastal water and collect crucial water quality parameters. The
surface vehicle will be equipped with sensors to measure pH,
turbidity, temperature, and location tracking [1] [2] . By
integrating these sensors with the IoT infrastructure, the
collected data will be transmitted to a central server for
analysis and visualization.
The proposed system offers several advantages over
traditional monitoring methods. Firstly, the use of a surface
vehicle allows for increased coverage, enabling access to
shallow water and remote areas that are challenging to reach
using conventional monitoring techniques. Secondly, the
integration of IoT technology provides real-time data
monitoring, allowing for prompt detection and response to
changes in water quality parameters [3]. Lastly, the remote
control capabilities of the surface vehicle ensure operator
safety and reduce the risk of exposure to potentially
contaminated waters.
In this paper, we will discuss the architecture of the IoT-
based surface vehicle system, including the design
considerations, sensor integration, data transmission
protocols, and control mechanisms. We will also explore the
system's integration with a mobile application, providing users
with a user-friendly interface to visualize and analyze the
collected data. Additionally, the management principles,
economic viability, and potential impact of the proposed
system on coastal water management will be addressed.
Through the development of this IoT-based surface vehicle
system, we aim to contribute to the advancement of coastal
water monitoring and surveying methodologies, facilitating
informed decision-making for the management and
preservation of these valuable ecosystems.
II. RELATED STUDIES
Numerous previous research studies have delved into
diverse facets concerning the monitoring of water quality in
coastal areas through Internet of Things (IoT)-based
approaches and the utilization of surface vehicles. The study
primarily concentrated on devising a remotely operated
surface vehicle equipped with sensors to monitor crucial
water quality parameters such as pH, dissolved oxygen, and
turbidity in coastal water.

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 The research in underscored the significance of real-time
data collection and the incorporation of IoT technology to
enhance monitoring and management effectiveness[4]. Their
research initiative aimed to create an autonomous surface
vehicle for monitoring water quality in estuarine settings. The
study centered on integrating sensors, GPS, and data
transmission systems to gather and analyze data concerning
parameters like temperature, salinity, and nutrient levels. The
results emphasized the importance of autonomous systems
for continual and precise water quality monitoring [5]. Here
delineated the design and execution of a solar-powered,
remote-controlled boat dedicated to monitoring water quality
in shallow coastal regions. The research underscored the
application of renewable energy sources and remote-control
functionalities to facilitate efficient and sustainable
monitoring practices. The boat was equipped with sensors
capable of measuring parameters such as pH, turbidity, and
temperature [6]. This investigation delved into the fusion of
IoT and wireless sensor networks for water quality
monitoring. The study expounded on the use of sensors,
communication protocols, and data analytics to seamlessly
collect and analyze real-time water quality data. The findings
emphasized the potential of IoT-based systems for
comprehensive and cost-effective water quality monitoring
[7]. Here wireless physiochemistry sensing system is
presented. The result indicates the appropriate calibration
also reliable monitoring system can be presented[8].
The result indicates the appropriate calibration also
reliable monitoring system can be presented. The catchment
manager monitoring water quality continuously with spatial
resolution and it helps to understand the behavior of aquatic
animals [9]. This paper presents a smart water quality
monitoring system for a remote area which is Fiji. By using
IoT and remote sensing technology the overall monitoring
system are established [10]. Here IOT based water quality
measuring system implement by using pH, conductivity, salt,
and LDR sensors. The most exceptional case is ZigBee &
GSM module are present here. Zigbee module are used to
transferred sensing data by sensors. ZigBee delivered data
Raspberry Pi and then the GSM module transfers data to
smart phone [11].This paper also a IoT based water
monitoring system. It measures various parameters of water
and also indicates level of water tank. The micro controller
unit (MCU) are connected to those sensors and further
processing is performed at PC. And one more thing is here all
obtained data are stored in cloud by using IoT based think
speak app to monitoring the water quality [12]. This paper
shows water quality monitoring by using application of
wireless sensor network. Here the parameters involved in
water quality those are measured in real time by sensor and
send the measured data to the base station. Here also indicate
how such monitoring system can be setup with low cost[13]
[4]. This paper proposes a low-cost water quality monitoring
and controlling by using IoT. All parameters are sensing by
sensors and all sensing data transferred to Raspberry then
transferred data stored in cloud. Which is visible by cloud
computing [14]. Here IOT based system are implemented by
using radio frequency identification system. Also, wireless
sensor network and internet protocol base communication
into a single platform for water quality monitoring system.
Campus's lake are considered for experiment of this system
[15] .
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III. METHODOLOGY AND MODELING
A. System Architecture and Design Considerations
First the IoT-based surface vehicle for coastal water
monitoring and surveying is designed to integrate various
components for efficient data collection, transmission, and
analysis. The system architecture consists of three main
components: the surface vehicle, the IoT infrastructure, and
the central server.
The surface vehicle is equipped with sensors to measure
pH, turbidity, temperature, and location tracking. These
sensors are carefully selected for accuracy and reliability in
harsh coastal environments. The surface vehicle is powered by
solar panels, ensuring sustainable and uninterrupted operation.
It is also equipped with a remote-control mechanism for safe
and efficient navigation.
The block diagram consists of an Arduino microcontroller
that serves as the central processing unit for data acquisition
and control. The Arduino board is interfaced with several
sensors, including a turbidity sensor, a temperature sensor, and
a pH sensor. These sensors are submerged into the water and
acquire respective data, which is then transmitted to the
Arduino board for processing. The system also integrates a
solar panel responsible for charging a battery, which powers
the entire system. A voltage sensor is connected to this battery
to monitor its state of charge, voltage levels, and other status
information. This data is also fed into the Arduino board,
providing critical information about the system's power status.
The IoT infrastructure includes wireless communication
modules and microcontrollers integrated into the surface
vehicle. These components enable real-time data transmission
from the sensors to the central server. The wireless
communication modules utilize established protocols such as
Wi-Fi or cellular networks for reliable and secure data
transfer.
Fig. 1. Model of the boat
The central server acts as the hub for data storage, analysis,
and visualization. It receives the sensor data transmitted by the
surface vehicle and stores it in a secure database. The server
also hosts data processing algorithms and provides a user-
friendly interface for data visualization and analysis through a
mobile application.

Fig. 2. Connection diagram.
B. Flowchat
This graph displays how the system's processing
functions. To activate the Arduino, the microcontroller hits the
start button. As we previously discussed, the Arduino controls
all sensors. Therefore, each sensor starts functioning as soon
as the Arduino is powered on. The pH sensor is turned on and
begins measuring the pH of the water, displaying the value on
the screen if found. If detection fails, an invalid display will
appear. The temperature, turbidity, and GPS sensors follow
the same process. Lastly, the system takes all parameters and
ends.
Fig. 3. Flow chart of water monitoring and surveying vehicle
The modelling used to create an IoT-based smart surface
vehicle for coastal water monitoring and surveying efficiently
are discussed. The model has been designed using Autodesk
Fussion 360, a powerful computer-aided design (CAD)
Fig. 4. 3D Model of the boat.
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software that enables the creation of realistic models. The
hardware and software aspects of the proposed prototype
model have been highlighted in this research.
C. Sensor Integration and Data
The sensors integrated into the surface vehicle are
calibrated and configured to accurately measure pH, turbidity,
temperature, and location tracking. pH is used to measure the
water quality. it is help to know the water is acid or base. pH
measuring range is 0 to14. It’s accuracy is ±0.1 pH. if pH is
less than 7 it indicates acid and pH is more the 7 indicates base
or alkali also normal water pH is 7. the temperature range of a
water are 0 to 60 (°C). Turbidity means measurement of water
quality. Drinking water turbidity is 0.5- 1.0 NTU. Low
turbidity don't indicates good water. The accuracy of pH and
turbidity Sensor data is acquired at regular intervals and
transmitted wirelessly to the central server through the IoT
infrastructure.
To facilitate efficient data transmission, a communication
protocol is established between the surface vehicle and the
central server. The protocol defines data packet structures,
error handling mechanisms, and encryption techniques to
ensure secure and reliable transmission. Data packets are sent
at predetermined intervals, considering factors such as
bandwidth availability and power consumption.
TABLE I. QUALITY RANGE OF TURBIDITY
Standard Range Status
Below 10 Clear
10 to 50 Cloudy
Above 50 Dirty
TABLE II. QUALITY RANGE OF PH
Standard Range Status
Below 6 Acidic
6 to 8 Neutral
Above 8 Alkali
TABLE III. QUALITY RANGE OF TEMPERATURE
Standard Range Status
Below 20 Degree Centigrade Cold
20 to 33 Degree Centigrade Normal
Above 33 Degree Centigrade Hot
D. Mobile Application Development and User Interface
A mobile application is developed to provide users with a
user-friendly interface for controlling the surface vehicle,
displaying real-time sensor data, and receiving alerts when
water quality parameters exceed acceptable levels. The
application is designed to be compatible with major mobile
platforms, ensuring broad accessibility.
The user interface of the mobile application presents
the collected data in a visually appealing and easily
interpretable manner. Users can view sensor readings, track
historical trends, and access comprehensive reports. The
application also allows users to remotely control the surface
vehicle, providing navigation commands and adjusting
monitoring parameters.
E. Management Principles and Economic Viability
Effective project management principles are applied
throughout the development and implementation of the IoT-
based surface vehicle system. This includes sound
communication strategies, comprehensive project planning
and control, proactive risk management, and stakeholder
engagement.
Economic viability is evaluated through a cost-benefit
analysis, return on investment analysis, and life cycle cost
analysis. The costs associated with system development,
operation, and maintenance are considered alongside the
potential benefits, such as improved coastal water
management, reduced environmental impact, and economic
gains. This evaluation ensures the long-term financial
sustainability of the project.
In summary, the methodology of the IoT-based
surface vehicle system encompasses the system architecture
and design considerations, sensor integration and data
transmission, mobile application development, and
management principles. These methodologies and modelling
approaches lay the foundation for the successful
implementation and utilization of the system, ensuring
efficient coastal water monitoring and surveying.
IV. PROJECT IMPLEMENTATION
The implementation of the IoT-based surface vehicle
system for coastal water monitoring and surveying involved
several stages, including hardware and software development,
integration, and testing. This section provides an overview of
the project implementation process.
A. Hardware Development and Integration
The hardware development phase focused on constructing
the surface vehicle and integrating the necessary components.
The vehicle was designed to withstand harsh coastal
conditions while accommodating the sensors, solar panels,
communication modules, and remote-control mechanisms.
The selected sensors for measuring pH, turbidity, temperature,
and location tracking were integrated into the surface vehicle.
Fig. 6. Simulation of the circuit diagram.
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Careful consideration was given to sensor placement to ensure
accurate and representative measurements. The sensors were
connected to microcontrollers, which facilitated data
acquisition and preprocessing. Solar panels were installed on
the surface vehicle to provide sustainable power for its
operation. The solar panels were positioned to maximize
exposure to sunlight and to recharge onboard batteries. This
design ensured continuous monitoring capabilities without the
need for external power sources. Communication modules
were incorporated into the surface vehicle to establish wireless
connectivity with the IoT infrastructure. These modules
enabled real-time data transmission to the central server,
ensuring seamless and efficient data transfer.
Fig. 5. Measuring sensors and hardware model.
B. Hardware Development and Integration
The software development phase focused on creating
the necessary software components for data transmission,
storage, analysis, and visualization. This included developing
firmware for microcontrollers on the surface vehicle, server-
side software for data management, and a mobile application
for user interaction. An app was developed to enable sensor
data acquisition, preprocessing, and wireless transmission.
The app incorporated communication protocols for seamless
integration with the IoT infrastructure. It also included errors
in handling mechanisms to ensure reliable data transmission.
Server-side software was developed to receive, store, and
process the sensor data transmitted by the surface vehicle. The
software included a secure database for data storage,
algorithms for data analysis and visualization.

Fig. 7. App development on MIT app inventor website
Another mobile application was developed to provide
users with a user-friendly interface for system control and data
visualization. The application allowed users to remotely
control the surface vehicle, view real-time sensor data, track
historical trends, and receive alerts. It was designed to be
intuitive, visually appealing, and compatible with major
data can be accessed for previous months or specific dates for
analysis and comparison. The graphical representation aids in
visualizing trends, patterns, and anomalies in the water
parameters. In order to evaluate the water quality for their
study, assessed took samples from four separate locations
from Turag River and carefully noted the results. They also
computed the mean values of these observations. The pH and
temperature of the Turag River were observed as 7.74, 48.48
NTU turbidity, and 25.7°C, respectively [16]. In their
research, the researchers observed the pH of the Buriganga
River to be 7.2, with a turbidity value of 53.5 NTU, and a
temperature of 17.5°C. They conducted their observations
once and recorded the entirety of those values from various
locations[17].
TABLE IV. COLLECTED SAMPLES FOR WATER MONITORING

Readings (NTU)
pH readings

Readings (°C)
mobile platforms.

Temperature
Bangladesh)
Location (in

Turbidity
Dhaka,
V. RESULT ANALYSIS AND CRITICAL REVIEW
1 2 3 4 5
A. Results Analysis Kuril 6.5 6.6 6.3 6.5 50.1 30
The implementation and deployment of the IoT-based Kachkura 6 6.7 6.4 6.69 6.2 20 15
Dakshinkhan 7.8 7.2 7.70 7.3 8.01 11 10
Buriganga 8 7.72 7.70 6.9 7.5 61 18
Turag 7.6 6.58 6.67 7.1 6.8 38 17

B. Critical Design Review

Through a critical design review, several aspects of the
implemented IoT-based surface vehicle system were
evaluated to identify strengths, weaknesses, and areas for
improvement. The following key points emerged from the
review.
a) Strength:
• Comprehensive sensor integration: The system
(a) Kuril Bishwa Road, Dhaka (b) Dakshin khan, Dhaka successfully integrated sensors for measuring pH,
(23.82136° or 23° 49' 17" N, (23.8519° N, 90.4267° E) turbidity, temperature, and location tracking,
90.41887° or 90° 25' 8" E) providing a comprehensive understanding of coastal
water quality.
• Real-time data transmission: The IoT infrastructure
facilitated efficient and reliable real-time data
transmission from the surface vehicle to the central
server, enabling prompt analysis and decision-
making.
• User-friendly mobile application: The mobile
application offered an intuitive and visually appealing
interface for system control, data visualization, and
alerts, enhancing user engagement and interaction.
b) Weaknesses:
(c) Kerani Ganj, Dhaka (23° 37' (d) Kachkura, Dhaka (23.86281°
59.99" N, 90° 25' 59.99" E ) or 23° 51' 46" N, 90.45645° or 90° • Limited sensor range: While the implemented sensors
27' 23" E) provided valuable insights into water quality, the
Fig. 8. Sample collection from different locations. system could benefit from additional sensor
integration, such as dissolved oxygen and nutrient
surface vehicle system for coastal water monitoring and sensors, to further enhance data collection and
surveying yielded promising results. This section presents an analysis.
analysis of the results obtained, including data accuracy,
system performance, and user feedback. • Environmental robustness: Although the surface
vehicle demonstrated resilience in coastal water
The graphs are updated and logged every second, ensuring environments, additional measures should be
real-time monitoring and data collection. This allows users to
view the water status at any given moment, and the logged

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 considered to improve its resistance to extreme
weather conditions and physical impacts.
c) Areas for improvement:
• Advanced data analysis algorithms: Incorporating
advanced data analysis algorithms, such as machine
learning techniques, can further enhance the system's
capabilities for predictive analytics and anomaly
detection.
• Enhanced remote control capabilities: Introducing
autonomous navigation capabilities or intelligent
obstacle avoidance mechanisms can improve the
surface vehicle's efficiency and safety during
operations.
• Scalability and network optimization: Further
optimization of the IoT infrastructure, including
network protocols and bandwidth utilization, can
enhance system scalability and accommodate larger-
scale deployments.
These findings from the results analysis and critical design
review will guide future enhancements and refinements of the
IoT-based surface vehicle system for coastal water
monitoring and surveying. By addressing the identified
weaknesses and implementing the suggested improvements,
the system's overall performance, accuracy, and usability can
be further enhanced, making it a more effective tool for
coastal water management and sustainability. It is important
to remember that it loses effectiveness when exposed to
prolonged periods of high wave activity or catastrophic
natural catastrophes. Its applicability also goes beyond
coastal regions because it may function within constrained
spaces while staying within its operating parameters. Setting
itself apart from substitutes, the system may run on solar and
battery power simultaneously. The system smoothly switches
to solar power in case of battery failure or depletion while in
use. Furthermore, the entire system is fitted into heavy-duty
watercraft, guaranteeing operation under challenging
circumstances.
VI. CONCLUSION
The implementation of IoT-based surface vehicle systems
for surveying and monitoring system provides precise and
trustworthy data, allowing for informed decision-making,
thanks to the successful integration of pH, turbidity,
temperature, and location tracking sensors. The use of real-
time data transmission and a user-friendly mobile application
has increased accessibility and usefulness, allowing
stakeholders to actively participate in coastal water
management. The results have proven the system's efficacy in
data collecting and analysis, with field tests proving high
accuracy and strong performance. The system's real-time data
availability, remote control capabilities, and ease of use have
all been highlighted by users as essential advantages. Further
the system's capabilities can be increased by adding more
sensors, improving environmental durability, and using
sophisticated data analysis algorithms. By addressing these
flaws and putting recommended changes into practice, we can
advance our knowledge of coastal water quality and enable
preventative, conservation, and sustainable management
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actions. The system's creative blend of solar energy, remote-
controlled boats, and Internet of Things technology paves the
way for a more accessible, effective, and efficient method of
monitoring coastal water.
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