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
