CHAPTER IIntroduction

I. Background of the StudyHuman civilization have always developed through time and, as a result, paved way for the explosive growth of the technology and brought different advance devices and gadgets which eventually lead us to the introduction of robots.Robots are used in different fields like in healthcare, agricultural, and industrial. They may also be used in military operations especially in cases where in it becomes dangerous for humans. Also, some people use robots to complete personal tasks like in doing the household chores.Also, making robots are sometimes done by people for a bit of fun. In this study, robot fish is introduced which is able to swim through the use of servo motors and recognize tank edges and obstacles through the use of IR sensors.Modern robots are usually an electro-mechanical machine guided by a computer program or electronic circuitry. In this study, Arduino is used as a computer program which is an open-source electronics prototyping platform based on flexible, easy-to-use hardware and software. Its intended for artists, designers, hobbyists, and anyone interested in creating interactive objects or environments.

II. General ObjectiveThe general objective of this study is to make a robot which can swim like a fish, float when placed in the water and balance itself and has the ability to avoid nearby obstacles by scanning its path, thus changing the direction of its movement. The body uses common insulating material and a few servo motor controlled by Arduino and two sensors which can detect obstacles and battery which sustains its operation.

III. Specific Objectives The following are the specific objectives of the study:1. To be able to create a body that would allow it to swim like a fish and float once placed in the water.2. To be able to create a body like a fish from an insulating material and once encased in a plastic bag, have the ability to operate in water.3. It must be that the body would be able to balance itself while half of its body is submerged into the water and the other half is exposed.4. To be able to use two infrared sensors with digital output to sense a near body and change its course of direction.5. To be able to use the Arduino and Arduino program.

IV. Scope and DelimitationsThis Robofish is an obstacle robot which is designed to move like a fish and has an intelligence of sensing obstacles from its environment, thus turning 90 to avoid collision.For the validity of the project, the researchers worked on developing the program needed using Arduino C for the software to instruct GizDuino328 kit V4.1 and act as the main microcontroller of the project.The materials used in the study are limited to: gizDuino328 kit V4.1, three SG90 Dc servo motor 1.98kg/cm(new), two Sharp GP2Y0E03 SENSOR DIST-MEAS 10CM-50CM ANLG infrared sensors with digital output, Battery 6V/1800mAh green, 2 IR collision detector kit, magnetic switch, and common polystyrene for the body. The robot is limited to swim, float and balance itself when placed in the water and detects obstacles thus avoiding contact with the environment.The project would be conducted within the Second Semester for A.Y 2014-2015 at Columban College, Olongapo City.

V. Significance of the StudyThis concept of study proves that robots are not only for land and air but can also be used in water. Its significance is to introduce a robot fish that can be used in the water, swim like a real fish, and detect tank edges and obstacles.Future work can be a controlled robot in underwater that can be used as a surveillance for observing living creatures underwater.Upon completion of this project, the following benefits the study: the study provides an eye view for the students of how a robot works thus creating a guide for their own projects, teachers in the field of mechanical engineering and others relating to this field can use this as a reference and an instructional guide, and the project could be a prototype for a better and useful robot thus contributing to the industry.

Chapter IITheoretical FrameworkI. Review of Related LiteratureThis part shows the definition and functions of the materials that are needed in this study. The following are the materials that were used for the study: IR sensors, DC servo motors, battery, IR collision detector kit, and Arduino.ArduinoArduino is a tool for making computers that can sense and control more of the physical world than your desktop computer. Its an open-source physical computing platform based on a simple microcontroller board, and a development environment for writing software for the board. (http://arduino.cc/en/Guide/Introduction)The Arduino software company designs and manufactures kits for building digital devices and interactive objects that can sense and control the physical world. A variety of switches and sensors is used as the input and controls a variety of lights, motors, and other physical outputs.The Arduino can operate either independently like in a robot, or connected to a computer thereby giving the computer access to sensor data from the outside world and provides feedback. It can also be connected to other Arduino or other electronic devices and controller chips.For programming the microcontrollers, the Arduino platform provides an integrated development environment (IDE) based on the processing project, which includes support for C and C++ programming languages.Arduino simplifies the process of working with microcontrollers, but it offers some advantage for teachers, students, and interested amateurs over other systems since it is inexpensive, can be operated in other operating systems and not just limited to Windows, has a simple and clear programming environment, and has an open source and extensible hardware.

Infrared SensorsAn infrared sensor is an electronic instrument which is used to sense certain characteristics of its surroundings by either emitting and/or detecting infrared radiation. They are capable of measuring the heat being emitted by an object and detecting motion. (http://www.azosensors.com/Article.aspx?ArticleID=339)

Figure 2.1: Simple IR Sensor modelFigure 1 shows a very simple black box model of the IR Sensor. The IR Sensors work by using a specific light sensor to detect a select light wavelength in the Infra-Red spectrum. By using a Light Emitting Diode (LED) which produces light at the same wavelength as what the sensor is looking for, you can look at the intensity of the received light. When an object is close to the sensor, the light from the LED bounces off the object and into the light sensor. This results in a large jump in the intensity, which we already know can be detected using a threshold. (http://www.education.rec.ri.cmu.edu/content/electronics/boe/ir_sensor/1.html)

Figure 2.2: Depiction of the operation of an IR SensorThe IR Sensor can also be used to detect brightness by determining the value of the reflected light. It measures how bright the object is and is useful for tasks like line tracking.The IR Sensor consists of an emitter, detector and associated circuitry. The circuit required to make an IR sensor consist of two parts namely: the emitter circuit and the Receiver circuit.The emitter is simply an IR LED and the detector is simply an IR photodiode which is sensitive to IR light of the same wavelength as that emitted by the IR LED. When IR light falls on the photodiode, its resistance and correspondingly, its output voltage, change in proportion to the magnitude of the IR light received. (http://vtc.internshala.com/course/content.php?topic_id=15&module_id=2&course=robotics101&demo=true)

Figure 2.3: The IR Emitter Circuit and the Receiver Circuit

DC Servo MotorsAn electrical motor is an electromechanical device that converts electrical energy to mechanical energy. It involves rotating coils of wire which are driven by the magnetic force electrical energy into mechanical energy. The principle of an electrical motor is that force is experienced in the direction perpendicular to magnetic field and the current, when field and current are made to interact with each other. An electrical motor is utilized as servo motor if it is controlled by servomechanism. This means that if a DC motor is controlled by any means of servomechanism, it is referred to as a DC servo motor.DC servo motors have separate DC source for field winding and armature winding. The control can be archived either by controlling the field current or armature current. The control of the DC servo motor can be either field control or armature control and choosing between the two depends upon the specific applications.

II. Review of Related Studies

Obstacle Avoiding RoboCar (2014) by Razal, Richard, Nobleza, Cortez, Montanez, Bautista and Gelacio. Is an Arduino based RoboCar designed to avoid any obstacle in its path. The designed RoboCar includes 3 Servo Motors and 1 ping sensor. The 2 servo motors are connected to 2 wheels and the other servo motor is connected to the ping sensor. It also includes a castor wheel to freely rotate the RoboCar. This robot uses 4 Double A batteries for the 3 servo motor and a 9v battery for the Arduino.Published SourcesAutonomous Modular Optical Underwater Robot (AMOUR) Design, Prototype and Feasibility Study (2012) by Kotay and Rus. The main idea of this study is to propose a novel modular underwater robot which can self-reconfigure by stacking and unstacking its component modules. To accomplish this, four primary subsystems are required: (1) buoyancy control, (2) propulsion, (3) power, (4) and computation. The researchers intend to segregate these subsystems into separate module types. A functional robot will contain at least one of each of these modules. Each module will have docking and communication capability, as well as a small onboard battery. The power module will contain several high capacity batteries and function as the primary power source for the robot. Modules will also have various sensors dependent on the module function. Applications for this robot include underwater monitoring, exploration, and surveillance.Design of Water Quality Measurement Sensor Robot based on Wireless Communication Environment (2013) by Ku ,Jung and Park. This study proposed a movable sensor robot that could be used to solve problems in order to acquire real-time information in the field of the existing water quality environment monitoring and limit the measuring areas and proposed a location-based GPS and remote management system to acquire real-time reliable information and take a very systematic monitoring on the pollution status of water quality.Internet SourcesFish Tank (http://letsmakerobots.com/node/31265). Fish tank is a robot made from a couple of little IR beacons built into little plastic fish toys. It includes 3V coin cell battery powering a Radio Shack High-Output Infrared LED (part # 276-0143). A small resistor limits current to the LED. The beacon is turned on when it is placed on the floor and the lead of the resistor contacts the battery. It also has an obstacle avoidance sensor which can help for the robot to move freely and avoid obstacles. Robot Fish (http://letsmakerobots.com/robot/project/robot-fish). The main objective of this study is to submerge the robot and swim like a normal fish. This project used ArduinoNano and a smallservo TypeSG-90 for the fins of the fish. The researcher used 3D printing for the body of the fish. Though this robot can swim in water its disadvantage is that it doesnt have sensors for avoiding obstacles.Arduino Obstacle Avoidance Robot (http://www.instructables.com/id/ArduinoObstacle-Avoidance-Robot/). This is a robot that could sense and avoid obstacles. The microcontroller used was Arduino. Other parts include Parallax Continuous Rotational and 180 Degree Hi-Tec HS-422 Servos. Its purpose is for when the robot sense a barrier on its way, it would find another passage and can move freely without hitting anything.

III. Conceptual Framework

Figure 2.4. Conceptual Framework of the Study

The conceptual framework of the study shows the relationship between the input which are the primary materials that forms the robot, the process which includes the programming using the Arduino C and the assembling of the body, and the output which is the RoboFish.

IV. Definition of TermsThe following terms were defined conceptually to add supplementary insight to the study:Robots - a machine capable of carrying out a complex series of actions automatically, especially one programmable by a computer.Microcontroller - (sometimes abbreviated C, uC or MCU) is a small computer on a single integrated circuit containing a processor core, memory, and programmable input/output peripherals.Infrared - (of electromagnetic radiation) having a wavelength just greater than that of the red end of the visible light spectrum but less than that of microwaves. Infrared radiation has a wavelength from about 800 nm to 1 mm, and is emitted particularly by heated objects.Motors - a machine, especially one powered by electricity or internal combustion, that supplies motive power for a vehicle or for some other device with moving parts.Sensors - a device that detects or measures a physical property and records, indicates, or otherwise responds to it.

Chapter IIIMethodologyI. Project Research DesignGizDuino325 Kit Ver 4.1

Programming Using Arduino C Software

Sensor

DC Servo Motors

Construction of the Circuit

Circuit Assembly

Construction of the Structure

Building the Circuit to the Structure

RoboFish

Figure 3.1: Project Research Design

Experimental Research is a research where the researchers will control over all the variable or factors that can affect the experiment.The manipulated variable is the Arduino C programming since it is where the microcontroller will depend while the controlled variable are the parts of the robot.

II. Project DevelopmentFrom knowing the problem on hand, to applying the knowledge of a thousands of mind, to building the concept and constructing it for the use in real world, the project development takes us from imagination to construction.The project development framework guides the researchers and must be able to achieve the following at the end of the project: to create a prototype that automates effectively and functionally, to have a step by step procedures and provides a good project planning including an organized design and implementation of the project.For a successful achievement of the project, a step by step procedures must be followed. Below are the processes which are followed by the researchers.

NOYES

WAS THE OBJECTIVE ACHIEVED?APPLICATION OF THE PROGRAM TO THE ROBOTPROGRAMMINGCONSTRUCTING THE ROBOTPROBLEMCONCEPT DEVELOPMENTDESIGN PROCESS

Figure 3.2: Development Process

III. Evaluation Procedure

IV. Evaluation Criteria

V. Instruments and Techniques Used

Chapter IVResults and DiscussionI. Project Technical DescriptionThe following are the materials used for the construction of the RoboFish:Hardware:1. E-Gizmo gizDuino is where the program is installed and acts as the brain of the robot.Figure 4.1 gizDuino

2. Servo Motors the RoboFish consists of 3 servo motors. One is for the tail, one for the torso and the other one for the fin. The servo motors are the ones which enables the robot to move and contributes to the balancing factor.Figure 4.2: Servo Motors

3. Sensors the project uses two sensors which enables the fish to sense any obstacles and avoids it.Figure 4.3: Sensors

4. Battery the project uses a 6Vbattery which supplies electricity for the whole robot.Figure 4.4: 6V Battery

5. Common Polystyrene - the researchers recycled a kickboard made from polystyrene material which was used for the body.Figure 4.5: Body of the Robot

Software:Arduino C Program the motions of the servo motors and the functions of the sensors were programmed using the Arduino C Program. Codes were arranged for computer language which were encoded and installed in the gizDuino. The three servo motors were programmed to move in different directions and turn at a specific angle for the motion of the fish and also for the balancing of the robot. The sensors were programmed to sense obstacles. When the sensors received a change in the reflection of the light, which means that there might be an obstacle in the path, it changes its motion, thus avoiding contact to the environment. The Firmware// ROBOFISH // di Segatello Mirco#include Servo Servo1, Servo2, Servo3; // create servo object to control a servo int i, time, obstacle;int pos1, pos2, pos3; int pos1R, pos2R, pos3R; int phase=45;int velocity=2000; int maxDeflexion=20; int maxDefobs=20; int actualTime;float shift;const int center1=98; const int center2=90;const int center3=105;const int sens_SX=5; const int sens_DX=6; const int lostTime=3000; void setup(){Servo1.attach(4); Servo2.attach(3); Servo3.attach(2); pinMode(sens_SX, INPUT);pinMode(sens_DX, INPUT);pinMode(13, OUTPUT);time=velocity/360;shift=0; } void loop(){for (i=0; i359) pos1-=360;if (pos2>359) pos2-=360;if (pos3>359) pos3-=360; if (pos1>179) pos1=360-pos1; if (pos2>179) pos2=360-pos2;if (pos3>179) pos3=360-pos3; pos1R=map(pos1,0,180,center1-maxDeflexion-obstacle,center1+maxDeflexion-obstacle);pos2R=map(pos2,0,180,center2-maxDeflexion-obstacle,center2+maxDeflexion-obstacle);pos3R=map(pos3,0,180,center3-maxDeflexion-obstacle,center3+maxDeflexion-obstacle); Servo1.write(pos1R); Servo2.write(pos2R); Servo3.write(pos3R); delay(time); obstacle=int(shift); if (digitalRead(sens_DX)==0) { if (obstacle (-maxDefobs)) shift=shift-0.05;actualTime=millis();} if (digitalRead(sens_SX)==1 && digitalRead(sens_SX)==1 && obstacle!=0)if (millis()>actualTime+lostTime) {if (shift>0) shift=shift-0.05;if (shift