REMOTE MONITORING OF DAMS USING A FISH ROBOT

OLATUNJI INIOLUWA ESTHER

16CK020842

A PROJECT REPORT SUBMITTED TO THE DEPARTMENT OF

ELECTRICAL AND INFORMATION ENGINEERING, IN PARTIAL
FULFILMENT OF THE REQUIREMENTS FOR THE AWARD OF THE
BACHELOR OF ENGINEERING DEGREE

ELECTRICAL AND ELECTRONICS ENGINEERING.

SUPERVISORS:

PROF. MISRA SANJAY

MRS LAWAL COMFORT

AUGUST 2021

i
 DECLARATION

I hereby declare that I carried out the work reported in this thesis under the supervision

of Prof. Sanjay Misra and Mrs Lawal Comfort in the Department of Electrical and

Information Engineering, Covenant University. I also solemnly declare that to the best

of my knowledge, no part of the report has been submitted here or elsewhere in a

previous application for the award of a degree. All sources of knowledge used herein

have been duly acknowledged.

…………………………………….

Olatunji IniOluwa Esther

16CK020842

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 CERTIFICATION

This is to certify that the project titled Remote “Monitoring of Dams using a fish robot”

by Olatunji IniOluwa Esther meets the requirements and regulations governing the

award of the Bachelor of Engineering, B.Eng. (Electrical and Electronics Engineering)

degree of Covenant University and is approved for its contribution to knowledge and

literary presentation.

Supervisor 1: Sign: ___________________ Date: ________________

Name: Prof. Sanjay Misra

Supervisor 2: Sign: ___________________ Date: ________________

Name: Mrs Comfort Lawal

Head Of Department Sign: ___________________ Date: ________________

Name: Prof. Emmanuel. A. Adetiba

Internal Examiner Sign: ___________________ Date: ________________

Name__________________________________________

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 DEDICATION

I dedicate this work to God Almighty and give special thanks to Him for seeing me

through this project from the start to its completion.

I also dedicate this project to my lovely parents Engr Saheed A. Olatunji and Mrs

Oluwatoyin T. Olatunji, who were both very supportive and understanding.

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 ACKNOWLEDGEMENTS

I thank God for the gift of life and the Holy Ghost for His ever-abiding presence in my

life. I am ever grateful for the provision, guidance, everlasting love, favour, grace, and

mercies. He deserves all the praise.

I would like to appreciate further my supervisors - Prof. Sanjay Misra and Mrs Lawal

Comfort, for their untiring efforts and significant contribution in guiding me through

the completion of the project, as well as for mentorship. I would also like to appreciate

Mr John Wejin for his support and advice all through my project

Special thanks go to the expert who guided me in designing and building the system,

To my very good friend, Egbaiyelo Ayomide, who took his time to make sure I got my

report right.

Finally, I would like to acknowledge my friends Jumbo, Simisola, Mitchel, Stephanie,

Adediwura, Tolulekan, Peter, Moses, Sani, Diagbonya, Joan and many others who gave

me the right support and encouragement I needed to complete this project. My profound

gratitude goes to my lovely sister Olatunji MoyinOluwa who supported me with her

time and effort throughout this project, and my dear brother Olatunji OreOluwa. I will

forever remain grateful to my parents Engr and Mrs Olatunji, for their contributions

and sacrifices to my academics, finances, prayers, and encouragement. I love you all

so much and could have never asked for a better set of family and friends. Thank you

for believing in me.

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 ABSTRACT

The cost and time for restoration and conservation are pretty high when implementing
social infrastructure projects, such as dams and bridges. As a result of age, deterioration
is advancing on numerous completed projects during the expansion phase of the
economy. The problem is in the inefficient maintenance practices utilised on these
buildings, which requires new and better ways. Although visual confirmation in the
inspection of underwater structures is restricted to divers due to safety, this job for dams
and bridges is a very tough one. So, to deal with these kinds of issues, inspection
methods that use underwater robots have been created and studied. This project
proposes a fish robot as a solution. It reduces the risk of divers getting hurt underwater
and reads and sends the instantaneous values of pressure, temperature, and water level
of the dam automatically without the need for human intervention and excess
instruments. This reduces the level of errors that may be introduced due to manual
records and the cost of human labour.
Key words: Dams, underwater, structures, divers, safety.

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 Table of Contents

DECLARATION ............................................................................................................. II

CERTIFICATION ........................................................................................................... III

DEDICATION............................................................................................................... IV

ACKNOWLEDGEMENTS ............................................................................................... V

ABSTRACT .................................................................................................................. VI

TABLE OF CONTENTS ................................................................................................. VII

LIST OF TABLES ............................................................................................................ X

LIST OF FIGURES ......................................................................................................... XI

CHAPTER ONE ............................................................................................................. 1

1.1 BACKGROUND OF STUDY ................................................................................... 1

1.3 STATEMENT OF PROBLEM ................................................................................. 4

1.4 AIM AND OBJECTIVES ........................................................................................ 5

1.5 DESIGN METHODOLOGY .................................................................................... 5

1.6 SCOPE OF PROJECT ............................................................................................ 6

1.7 LIMITATION OF STUDY ....................................................................................... 6

1.8 PROJECT ORGANISATION ................................................................................... 6

CHAPTER TWO ............................................................................................................ 8

2.1 INTRODUCTION ................................................................................................. 8

2.1.1 Fundamental Concept in Dams Design.......................................................... 8

2.1.2 Major Causes Of Dam Failure ...................................................................... 10

2.1.3 Monitoring Frequency ................................................................................. 11

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 2.2 IMPORTANCE OF THE MEASURED PARAMETERS. ............................................ 12

2.3 LITERATURE REVIEW ........................................................................................ 13

2.4 WHY ROBOTICS IS VITAL FOR DAM SAFETY AND UPKEEP................................. 21

2.4.1 Operation In Darkness ................................................................................. 21

2.4.2 Diver Safety Is Paramount. .......................................................................... 22

2.5 CONCLUSION ................................................................................................... 22

CHAPTER THREE .........................................................................................................24

3.1 INTRODUCTION ............................................................................................... 24

3.2 DESIGN SPECIFICATIONS AND CONCEPT .......................................................... 24

3.3 DESIGN COMPONENTS .................................................................................... 26

3.3.1 Arduino Nano .............................................................................................. 26

3.3.2 Power Supply ............................................................................................... 28

3.3.3 Servo Motor ................................................................................................ 29

3.3.4 ESP32 CAM .................................................................................................. 30

3.3.5 Bluetooth Module ....................................................................................... 31

3.3.6 BME280 Sensor ........................................................................................... 32

3.3.7 DC Pump ...................................................................................................... 33

3.3.8 Body Of the Fish-Model............................................................................... 33

3.4 CONCLUSION ................................................................................................... 34

CHAPTER FOUR ..........................................................................................................35

4.1 INTRODUCTION ............................................................................................... 35

4.2 TESTING ........................................................................................................... 35

4.2.1 Testing of Arduino Nano Board ................................................................... 35

4.2.2 Testing the power supply ............................................................................ 36

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 4.2.3 Testing the servo motors............................................................................. 36

4.2.4 Testing the BME280 sensor ......................................................................... 36

4.2.5 Testing the ESP32-CAM ............................................................................... 37

4.3 MECHANICAL DESIGN ...................................................................................... 37

4.3.1 Design using a computer-aided design tool ................................................ 37

4.3.2 Design Fabrication ....................................................................................... 38

4.4 SOFTWARE DESIGN .......................................................................................... 39

4.5 RESULTS ........................................................................................................... 40

4.6 DISCUSSION ..................................................................................................... 42

4.6.1 Relationship between pressure and depth ................................................. 42

4.6.2 Relationship between temperature and altitude ........................................ 43

4.6.3 Relationship between Pressure and Temperature ...................................... 43

4.7 CONCLUSION ................................................................................................... 44

CHAPTER FIVE ............................................................................................................45

5.1 INTRODUCTION................................................................................................ 45

5.2 SUMMARY ....................................................................................................... 45

5.3 RECOMMENDATIONS ...................................................................................... 46

5.4 ACHIEVEMENTS ............................................................................................... 46

5.5 CONCLUSION ................................................................................................... 47

REFERENCES ...............................................................................................................48

APPENDIX A ...............................................................................................................50

APPENDIX B ...............................................................................................................51

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 LIST OF TABLES

Table 3.1:Design parameters .......................................................................................25

Table 3.2:Arduino datasheet ........................................................................................27

Table 4.1:Parameters from the BME Sensors in a swimming pool. ............................41

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 LIST OF FIGURES

Figure 2.1:Design scheme for the Robot system based on multi-sensor fusion ......... 17

Figure 2.2: Hirai's dam inspection robot system ........................................................ 19

Figure 2.3: block diagram of Nireeksha's system ....................................................... 20

Figure 3.1:Design Flowchart ...................................................................................... 26

Figure 3.2:Arduino Nano Board ................................................................................. 27

Figure 3.3:Arduino Integrated Development Environment (IDE).............................. 28

Figure 3.4:Servo motor ............................................................................................... 29

Figure 3.5:ESP32-CAM.............................................................................................. 30

Figure 3.6:HC-05 Bluetooth Module .......................................................................... 31

Figure 3.7:BME280 Sensor ........................................................................................ 32

Figure 3.8:DC Pump ................................................................................................... 33

Figure 3.9: Robotic fish Block diagram...................................................................... 34

Figure 4.1:Screenshot of blink code in the Arduino IDE ........................................... 35

Figure 4.2:Screenshot of Servomotor test in Arduino IDE ........................................ 36

Figure 4.3:Design of fish head using AutoCAD......................................................... 38

Figure 4.4:Complete design of fish using computer Aided design............................. 38

Figure 4.5: 3-D print out of body ................................................................................ 39

Figure 4.6:Fish head with ESP CAM, DC pump and BME280 sensor ...................... 39

Figure 4.7: Screenshot of the servomotor code .......................................................... 40

Figure 4.8:Screenshot of the BT Terminal app showing the parameter result ........... 41

Figure 4.9:Graph showing Pressure against Altitude ................................................. 42

Figure 4.10:Graph showing Temperature against Altitude ........................................ 43

Figure 4.11:Graph showing relationship between pressure and temperature ............. 44

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 CHAPTER ONE

INTRODUCTION

1.1 BACKGROUND OF STUDY

Water can be regarded as life as it is very essential, and the need to preserve and make

it safe for use is vital. It is one of the primary resources for human survival. People

throughout history have constructed dams to enhance the utilisation of this essential

resource. Dams have been a stable source of water supply for humanity for over 5000

years. A dam is a structure that can obstruct, direct, or slow water flow and is frequently

used to create a reservoir, lake, or impoundment [1]. About two-thirds of dams have

more than one function, and the advantages of their operations are numerous.

Dams are believed to be a vital source of water and significant for a variety of other

reasons. They provide water for a variety of reasons, including residential consumption,

irrigation, and industrial applications. They are also used to generate hydroelectric

power and facilitate river transportation. The use of these dams is becoming

increasingly significant in daily activities such as cooking, cleaning, bathing, washing,

drinking water, gardening, and agriculture[2].

Except for the automated monitoring of water levels in some dams, it is generally

monitored using traditional surveillance techniques and water management. The

management gets complicated when the number of users who rely on its use grows,

and their interests may clash. Dam monitoring is a time-consuming and long-term

endeavour that must be refined over time. Therefore, a new system for monitoring and

managing dam water should be created, giving real-time water levels and making

precise, rapid decisions on the dams' safety operations[3].

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Real-time monitoring and protection of dams are essential for social, economic, health,

safety and environmental reasons. Examining the difference between predicted

displacements and water levels over time might disclose if the structure has been

damaged, an indication that could eventually signal a breach in the safety expectation.

This would allow for the proper operation and long-term durability of a dam. This

would also allow for the correction of any potential structural flaws[4].

Robotics, on the other end has seen an incredible increase in both academic study and

real-world applications in the past three decades[5]. According to Bill Gates, robots

will emerge in every home soon, like how personal computers became widespread

years ago[6]. In recent years, with increasing underwater activities and research work,

such as underwater archaeology, oil pipe leakage detection, military activity and dam

monitoring, Autonomous Underwater Vehicle (AUV) is receiving more and more

attention. Traditional AUV, usually thrust by rotatory propellers, may not be

satisfactorily efficient, manoeuvrability and noise control posing challenges also. As a

result, a new form of AUV is required.

Bio-inspired robots are the most unique and appealing of all types of robots. Unlike

industrial robots, which are designed to perform repetitive tasks in industrial

applications, bio-inspired robots are inspired by animals or humans and are designed

by emulating the behaviour of animals in the natural world or human people.

In line with the above trend is the fish-like robot. Many efforts have been made to

investigate how actual fishes move, attracted by the fascinating qualities that natural

fishes exhibits, such as power efficiency, manoeuvrability, flexibility, and noiseless

propulsion[7]. The major goals of robot fish development are great speed and

efficiency. In military applications, the noiseless propulsion is an advantage. They are

2
more modern swimming machines than traditional AUVs, with better efficiency,

exceptional agility, and lower noise levels[8].

Study reveals that Nigeria has about 323 dams in only 17 LGAs; out of these, 200 are

operational. About 50 to 56 are large dams, while the rest are small dams. Study also

shows that 33 states are vulnerable to dam failure[1]. Farmers, for example, are often

ignorant of general factors such as water level, gate opening, the quantity of rainfall,

temperature, humidity, and so on. As a result, they confront several issues in farming,

which have a significant impact on farm output. The dam's water level rises rapidly due

to heavy rain, forcing the dam authorities to open the gates to prevent the dam from

becoming unstable. Therefore, people in surrounding villages are subjected to

significant problems, such as evacuation from flood plains and flooding in their crop

farms, as a result.[9]. Dams must therefore be monitored regularly as well as

maintained to reduce or stop dam failures.

1.2 SIGNIFICANCE AND MOTIVATION OF PROJECT

This project design will be relevant to farmers, power engineers, and others who use

the dam for their daily jobs. It will also be relevant to the marine industry and society

in various ways highlighted below.

1. The development of an automated fish-robotic system that will enable safe and

cost-effective underwater inspection.

2. To help avoid any dam failures that might compromise the environment and lead

to economic losses.

3. To help concisely and precisely inspect and identify conditions relevant for dam

inspection and provide timely recommendations for further maintenance and

inspection work, when applicable.

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1.3 STATEMENT OF PROBLEM

The necessity for constructing dams has expanded as the population grows and

migrated to dry or flood-prone areas. Dam failures are usually caused by an extreme

weather event, overtopping, piping, deterioration of the poor condition, under-

investigation, spillway, dam deficiency, foundation deficiency, equipment malfunction

or failure, etc. [10], [11].

Manual observation and data transfer lead to a significant time lag between the data

observed, transmission, and decision-making. This may leave little time for decision-

making in some cases. This also results in real-time data loss, which can occasionally

lead to tragedy[12]. Therefore, when the dam's backwater rises over its danger level, it

may cause harm to neighbouring farms, communities, and industries, as well as the

lives of the people who live there.

Some types of dam operations required the monitoring of the operational status or

investigation of issues around it. These are sometimes difficult to be accomplished

solely and thoroughly through sheer human effort. Thus, the quest for advanced

technological tools such as fully autonomous robots to improve the capability to

enhance the safety and knowledge of dams.

Regular IoT sensors are common in monitoring the pressure, temperature, PH level and

water level of dams but are limited in the sense of active surveillance underwater. In

the quest to introduce underwater surveillance, AUVs were introduced.

This project work is geared towards solving the problem of observation/monitoring of

dam structures via a fish-like model. The model will monitor the temperature, pressure

and water level of the dam. It will also inspect the dam's wall to give access to the state

4
of the physical structure for safety purposes. This will help reduce dam failures which

will, in turn, save lives and properties. It will also help to reduce the use of conventional

noisy AUV's. The fish-like model is a robust device as it can also monitor bridge

abutments and piers and other underwater water structures.

1.4 AIM AND OBJECTIVES

1.4.1 Aim

This project aims to implement the monitoring of Dam structure using a fish-like model

that will help to improve dam safety to prevent undesired consequences.

1.4.2 Objectives

The objectives therefore includes;

i) To develop a model that can be used by farmers, power engineers and others who

use dams for their daily jobs to monitor the behaviour of these dams precisely and

quickly to avoid adverse effects. The monitoring system will be built to identify

any odd behaviour and operational changes.

ii) To develop a model that provides visuals of underwater parts of the dam covered

with water

iii) To implement this model in a dam-like structure

iv) To create awareness of the concept of bio-inspired robots to technologists and the

public.

1.5 DESIGN METHODOLOGY

The fish model will consist of the input devices, control unit, output devices and power

supply.

i) The input unit consists of the ESP32-CAM which has an in-bult Wi-Fi module used

for surveillance of the dam water and structure below the water, and the Bluetooth

5
 module for reading necessary parameters to diagnose the dam behaviour. It is

powerful but of low cost even with its Wi-Fi and Bluetooth feature. This unit will

be functioning as an input device to the microcontroller.

ii) The micro-controller used is an Arduino Nano ATMEGA328. The control program

is written on the Arduino software with c++ and then uploaded to the board for

control functions and operations.

iii) The output unit consists of four servo motors and two DC pumps. The fish is able

to swim and turn with the help of the servo motor. Water is pumped out of the fish

to aid buoyancy with the use of the DC pump.

1.6 SCOPE OF PROJECT

This project is an application of underwater robotics for remote monitoring purposes.

The project uses input devices such as ESP32-CAM for surveillance and output devices

such as the servo motor for movement of the fins, tail and head. The project is a tool

geared towards the monitoring of dams to reduce dam failures as well as solving health

and environmental hazard caused by methods of monitoring.

1.7 LIMITATION OF STUDY

The project is limited to open dams as the BME sensors also measures temperature

based on evaporation. It is also limited to small dams as larger dams would need bigger

and faster equipment but with the same technology.

1.8 PROJECT ORGANISATION

This project report consists of five chapters. The subsequent chapters contain the

following details:

Chapter 2 covers the reason behind the idea of the system and some literature reviews

of different methods and projects concerning remote monitoring of dams.

6
Chapter 3 covers the complete system design and specification, incorporating both the

hardware and software sections. This chapter contains information about the

components and modules used and the circuit arrangement and programming method.

Chapter 4 covers the practical procedure for simulation, implementation, testing

methods, procedures and expected results of the system.

The final section, chapter 5, provides the conclusion and recommendations for future

study.

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 CHAPTER TWO

LITERATURE REVIEW

2.1 INTRODUCTION

Dams for human use are erected to supply water, irrigation of desert and semi-arid

regions, and industrial activities. They enhance the quantity of water available for

hydroelectric power generation and minimise the peak discharge of floodwater caused

by major storms or high snowfall. They also increase water depth in a river to improve

navigation and make it easier for barges and ships to navigate. Dams may also create a

lake that can be used for leisure purposes like swimming, boating, and fishing. Many

dams serve several purposes; for example, water in a single reservoir can be utilised

for fishing, hydropower generation, and agriculture. Multipurpose dams are the name

given to water-control structures of this sort[13]. They can perform several tasks

simultaneously, including water supply for residential, agricultural, industrial, and

community usage, flood control, recreation, and clean, renewable electricity via

hydropower.

2.1.1 Fundamental Concept in Dams Design

Dams can be categorised into various classes based on different factors, which

includes: their intended function, design characteristics, structural dimensions, danger

potential, and more.

Classification based on the intended purpose include the following:

i) Municipal water supply reservoirs (such as for storing water for future use, as well

as generating hydroelectric power)

ii) Diversion reservoirs (providing irrigation canals and transferring water to a storage

reservoir for municipal or industrial use)

8
iii) Detention reservoirs (for storing water and generating hydroelectric power and to

minimise the impact of flooding and restrict the flow rate of a particular channel).

Large dams may function as a combination of the three primary kinds.

Dams may also be categorised based on their many construction features, such as

material composition and structural design. Dams may be divided into two types based

on these criteria, each of which is further subdivided into:

i) Embankment Dams: The most prevalent form of dams in use today is

embankment dams. They are constructed of earth and/or rockfill and can withstand

the pressure from the water by their weight. They must either find an impermeable

substance or have a waterproof core if the material is not inherently watertight.

Waste materials derived from mining or milling activities are commonly utilised

for embankment dams. Whether it is a compacted earth or rockfill dam, an

embankment dam is referred to as an "earth fill" or "rockfill" dam. Building the

embankment dam requires considerable mass, type, and strength of materials,

influencing the dam's ability to support water pressure. They can also be designed

to exceed this certain weight, type, and strength specifications to increase their

resistance to reservoir water pressure.

ii) Concrete Dams: Concrete dams are classified based on the designs utilised to

withstand the stress caused by reservoir water pressure. Gravity dams, buttress

dams, and arch dams are the three most frequent forms of concrete dams.

iii) Gravity dams: Their cross-sectional shape is generally triangular, and they also

withstand water pressure because of their weight. As the name suggests, these dams

are the most widely dispersed kind of concrete dams, making over two-thirds of the

total.

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iv) Arc dams: A typical concrete arch dam has a narrow cross-section. As water from

the reservoir presses on an arch dam, the force is transmitted to the abutments via

the abutment support piers. In general, the shape of the arch can take on any of the

following forms: It may resemble a section of a circle or an ellipse, and it may also

be bent in the vertical plane. Dams of this type are made from stacks of thin vertical

blocks interconnected, with barriers between the blocks to prevent water from

flowing. A common form of the arch dam has two or more curved sections. These

are referred to as multi-arch dams, as well as arch-gravity dams[11].

v) Buttress Dams: The water weight is distributed over a triangle buttress, and three

additional buttresses are angled parallel to the river's flow [14].

2.1.2 Major Causes Of Dam Failure

i) Tremendous Rainfall

Extremely high amounts of rainfall can lead to dams failure because of the volume of

water that floods into the reservoir. Dams are almost always built to endure harsh

weather and extended seasons of heavy rain and floods. However, when the dams are

under such an endless amount of strain, they are at risk of failure. Some of China's

dams were destroyed in the storm's aftermath before they reached capacity because of

the unexpected floods. In 2005, due to excessive flooding, Pakistan's Shadi Kaur Dam

broke, resulting in 70 deaths and 1,000 serious injuries[15].

ii) Poor Maintenance

Poor maintenance is the other most common cause of dam failure. To maintain a dam's

safety, it must be often inspected and maintained. International dam safety regulations

need certified specialists to undertake regular inspections and maintenance operations.

Weakening of dams might result if dam inspections are discontinued. In 1985, the Val

10
di Stava Dam in Italy failed due to inadequate maintenance. Sediment blocked the

drainage pipe in the dam, causing catastrophic flooding. The dam failed because the

drainage maintenance was ineffective. The problem might have been discovered earlier

if routine maintenance had been conducted on the dam [16].

iii) Error In Design

Design errors often cause dam collapses. Errors can arise when critical design variables

are overlooked during dam building. Taum Sauk Dam in the United States collapsed in

2005 due to faulty design in the monitoring system. A failure in the dam's reservoir

monitoring system caused the reservoir to overflow. New monitoring devices were

included in the dam's structure after the dam reconstruction in 2007 to help avoid future

failure. [10]

iv) Use Of Sub-Standard Construction Materials

Dam collapses can also be attributed to the use of inferior building materials. It is

essential to utilise permitted building materials during the construction of a dam.

Quality building materials are generally not used, and they are unable to bear the weight

of the dam. Another similar example is Italy's Gleno Dam, which was built with

defective materials. The dam was constructed in 1916. local officials were concerned

about the contractors' incorrect mortar. Only two months after the multiple-arch dam

was erected, it collapsed. Researchers speculated that inaccurate reinforcing material

was used in the dam's arches, resulting in the dam's breakdown.

2.1.3 Monitoring Frequency

Many variables contribute to the frequency of sensor observations at a dam. These

include the age and height of the dam, the amount of water it is holding, and its overall

seismic risk. When water levels are high and big storms and earthquakes have taken

11
place, extremely frequent observations should be made for the first time during the

filling of a reservoir. At least monthly, there should be significant seepage, movement,

and stress-strain measurements.

Visual observations have their importance, and their correctness depends on the

observational skills of the observer. The best time to examine the dam is every month,

not less often. Some types of equipment and for different phases require different

frequencies of measurements[17].

2.2 IMPORTANCE OF THE MEASURED PARAMETERS.

i) Pressure

Pressure measurement is to determine the level of water pressure behind the dam. This

is important to protect the physical structure of the dam. The dam is designed to

withstand specific parameters to which pressure on the dam results from the water

backing upon it. So, to ensure this is not surpassed, it is crucial always to measure the

dam's pressure.

ii) Temperature

Temperature measurement is essential to determine the rate of evaporation around the

dam. This is important in the determination and prediction of available water in the

dam for use. Monitoring the temperature of concrete during the casting of the concrete

blocks is also essential to prevent undesirable microcracks. Temperature variation is

also one of the major factor causing stress on the surface of the dam that results in

material fatigue.

iii) Altitude of the water

12
Measuring the height of water behind the dam is also vital to determine the height to

which the dam may become unstable, tip-over and eventually fail.

2.3 LITERATURE REVIEW

Monitoring the health of dam infrastructures has a crucial role in ensuring their safety

conditions and maintaining their operational functions. Dam failures represent a high

risk for people, human settlements, infrastructures, and the environment. Consequently,

careful surveillance to detect any possible critical situations is required[18].

A report proposed the use of submersible pressure transducers to measure water level

as well as pressure. Submersible pressure transducers are one of the easiest ways of

measuring water level as they can be installed quickly, and the cost of maintenance is

very low. A few of them are utilised when temporary installation is required, while

others are installed in remote locations. The major disadvantage of this project is that

they must be in one place and constantly immersed in water. It operates on the principle

of applying hydrostatic pressure to a strain gauge, which in turn is translated into water

level, discharge, and pressure level by the data logger at the base station. Measurements

of several key variables, including absolute and relative displacements, stress and

strains in the concrete, discharges through the foundation, and visual surveillance of

the surroundings of the dam and dam structures, play a significant role in managing the

dam safety[19].

In [20], the researchers proposed a system that uses sensor networks and the Internet

of Things (IoT). The goal of this system was to employ wireless sensor networks and

IoT to automate the process of dam control. This system has three critical parties in its

implementation. The first is the water level sensor setup; the local base station is the

second, and the Central Command Centre is the third. The sensor used in the

13
measurement of the water level around the dam is the ultrasonic sensor. The ultrasonic

sensors are placed along the riverbanks, both on the dam's walls and in the water. The

ultrasonic sensors are then connected to a micro-controller which will read the level of

the water. This information will be relayed to the local base station. With the increase

in the number of ultrasonic sensors, the water level measurements will be more precise.

The base stations located near dams are usually equipped with sensors that monitor the

water levels. The data gathered is then forwarded to the command centre through the

cloud[20].

While this project is a very good one, it still lacks some basic requirements. The

Pressure sensor can make the data collection broader and enable data gathering

pertaining to dam strength. To determine if pipes near the dam are broken or leaking,

differential pressure sensors may be used. In addition to it, CCTV footage and

underwater camera may be used to provide information about the dam's environment

and in the dam before the water is released. With a centralised network of dams, we

can regulate water flow everywhere to lessen the consequences of floods, and we can

use a decentralised system to provide water in states where it is needed.

Article [21] proposed the concept of a system web portal that gives parameters relating

to water level, gate position, temperature, rainfall, humidity using IoT etc. The idea

behind this system was to create a web portal that will monitor and provide accurate

time parameters related to dam and weather conditions. This system also creates a

graphical user interface (GUI) program that offers two modes of operation for the

software: autopilot mode and manual data mode. The software's back end collects

parameter information from related sensors and stores it in a database. The leaked data

can be utilised to host a web portal and make additional decisions. This suggested

14
method is based on the Internet of Things (IoT), and it allows for data exchange using

a web database.

Since IoT is involved, the delay associated with human data observation and

transmission may be reduced, thereby decreasing the chance of data loss. Better data

management will be achieved when information is shared to remote systems, and

improvements in data management will follow. Using the same technology, the entire

dam may be automated, such as automatic gate control with rainfall, current, and past

water level information correlated[21].

Another project is dam level monitoring using ultrasonic water level sensors [22]. Here,

the article suggested that one of the best things to do to avoid a flood disaster is to

install an ultrasonic water level sensor at the dam to monitor the change in water level.

The additional level sensor can monitor the level of a dam since it is unable to gather

large amounts of data and provide timely "responses" to changes in the level because

of its design structure and traditional measurement principles. In other words, wireless

liquid level sensors have transitioned from dam level sensors to wireless liquid level

solution sensors. A large part of the purpose of its wide application has been to assist

in preventing floods and droughts, significantly reducing the damage caused by natural

disasters and thereby helping with the advancement of the overall economy.

As more and more water workers' pay attention to remote tamping and remote level

monitoring, these advanced technologies will become more common. The ultrasonic

water level sensor also supports environmental monitoring and protection. This

reservoir is well known because it has two significant functions: flood control and

maintaining water resources imbalance. When a flood disaster occurs, both the local

economy and the ecological environment are at risk of significant losses. To prevent

15
disasters such as flooding, water management officials usually use ultrasonic water

level sensors to monitor the water level in the dam to be aware of changes before they

happen, so they can provide actionable responses in time to avoid disasters. Also, water

level sensors for dams use ultrasonic technology to reduce labour intensity and increase

work efficiency. Next, reading the water level in real-time requires reading intuitively.

In addition, the water level should be monitored remotely, ahead of time. In order to

obtain the above advantages, sensor input is not an option[22].

Although it uses ultrasonic waves and wireless liquid level sensors, the price is too high

for the ultrasonic water level sensor to be a practical choice. This statement may be

divided into two parts. First, the ultrasonic wave needs to gather and process data via

the computer. Next, the operator requires computer operation and sensor expertise to

use that data[22].

In [23], Dam monitoring system using wireless sensor networks was proposed. It is a

system that includes sensors such as a temperature sensor, humidity sensor, water level

sensor, PH sensor and raindrop sensor. These sensors collect actual physical quantities,

and the information is wirelessly transmitted to the microcontroller. This data is used

to calculate information which includes the current temperature, water level, etc. This

is then displayed on the LCD. The system also has advanced options for opening dam

gates based on the water levels. The system made use of GSM wireless technology to

send the information across a long distance. An IoT app was also created to update the

data on an internet webpage for public access. The android application was also

provided to instantly warn for sudden changes in the rise of water level or PH level.

This technique is simple and can help prevent floods and other problems caused by

abrupt fluctuations in dam water levels[23].

16
In article[24] "Autonomous Dam Surveillance Robot System Based on Multi-Sensor

Fusion", went further and used robots instead of only IoT. In this article, a generic robot

system for dam surveillance is suggested. Mobile internet and an IoT network connect

the robot to cloud servers and terminal users. The robot moves around the dam,

gathering data from monitors and managing some online detection apps. The cloud

server manages data processing and transmission. Users can monitor the dam, do

manual analysis, and control the robot remotely through real-time video streaming as

needed. Mobile internet and WIFI connect the robot to the server. The Internet and

LAN link the server and terminal users. Figure 2.1 below depicts the overall structural

diagram. The server can communicate job commands and global navigation plans to

the robot, and the robot can receive them. In an emergency, a remote controller based

on real-time video streaming is used as a backup. The focus of this project was more

on infiltration detection and dam deformation detection[24].

Figure 2.1:Design scheme for the Robot system based on multi-sensor fusion

In a research paper by [17], The importance of monitoring concrete dams and their

foundation was discussed. Maintaining a concrete dam and its base is critical to

concrete dam performance. In almost any case, such parameters as stress, strain,

temperature, joint openings, foundation movement, and pore water pressure may be

17
monitored. Knowing this is important for us to choose the measure of what we will

measure and why. All concrete dams must take readings on factors such as temperature,

uplift pressure, seepage deformation, and movement. While this is correct, the client

may require optional measures, such as seismic parameters, stress, and strain.

Monitoring instruments should be easy to maintain, reliable, and capable of being

calibrated on a long-term basis. All parameters' threshold levels (determined based on

the dam's design) must be reviewed ahead of time for anomalous readings to be noted

and any corrective actions to be implemented ahead of schedule[17].

Article [25] proposed developing a dam inspection underwater robot in his project with

his colleague. They concentrated on the importance of time in creating the underwater

inspection robot, attempting to reduce the amount of effort required for field

preparation. The roots comprise three elements, a Remotely Operated Vehicle (ROV),

the ground station, and the floating unit. The ground station is operated on land and

connected to the ROV underwater via a neutral buoyancy cable. A line of power

connects the two systems, and another transmits and receives data through the same

line, known as the Power Line Communication. The floating unit uses ZigBee protocols

to talk to the ground station wirelessly.An azimuth sensor, a depth sensor, and a USB

camera are all included in the ROV. When employing the sensors, numerical value

acquisition is feasible. At the same time, a built-in, onboard computer on the ROV

handles the operation of the motor driver and video from the USB camera, as well as

still photography and LED illumination. The fishing line connects the floating device

to the ROV, which is powered by batteries. It also has a GPS and uses ZigBee protocols

to send the output value to the ground station[25].

When an underwater inspection robot is used to check a dam, not only is the underwater

structure continually shot with the built-in camera, but the coordinates and position of

18
the object are also recorded at the same time. A position maintaining function coupled

to a feedback control function placed on the ROV may also take smooth and continuous

photographs with a broad range. Furthermore, the size of a picture may be precisely

measured and approximated in post-production if necessary[25]. Figure 2.2 depicts the

typical look of the project.

From the figure, it can be seen that the project is a very good one, but it is also bulky.

It contains too many things when it can easily be fit into one robot.

Figure 2.2: Hirai's dam inspection robot system

Although robotic fish has not been used to measure dams before, it has been used in a

lot of other areas. A group of scientists led by Hemavathi and Nireeksha developed an

underwater robotic fish that serves as a surveillance device. The design incorporates

two sensor types: IR sensors and temperature sensors. It is also equipped with four

servomotors that allow for the creation of directional changes. The fish have been

connected to the Servo motors for the seamless transitions. Two motors are installed

on the fins, while a third motor is in the body of the model. The last motor is installed

on the tail. In Automatic or manual mode, the fish use Bluetooth to move about in three

options, which include, forward, to move to the left, or to move to the right. In addition,

19
it uses the waterproof camera to monitor the water bodies. This wireless surveillance

camera will record and save live pictures and videos.[26].

Figure 2.3: block diagram of Nireeksha's system

Sodisetty and Reddy also developed an underwater robot fish used for various

underwater applications. The fish's tail is connected to the rest of the body by rotating

springs and the hydrodynamic force is applied to each segment sequentially. The fish

robot can do some inspection in water, like to capture images in water and using the

Bluetooth wireless module to transfer the photos to a monitor connected to the module

and then use GPS to locate the way. As seen in figure 2.4, this project was not

completed as the simulation of the tail was left out[27].

[28]discussed in their article about the creation of an autonomous robotic fish to do

various underwater tasks, such as detecting and monitoring underwater objects,

navigating, and being used as a source of entertainment. Based on result, it was found

that the robotic fish efficiency will increase as less power is required for propulsion.

An optical and ultrasonic sensor combination was utilised to capture environmental

information. The Pixy CMUcam5 (a custom-made image sensor) was included in the

robotic fish and collected data on the object's location relative to the fish. It then

20
transferred the data to the central platform through Bluetooth. The success of tracking

a red toy fish has been realised with the help of the robotic fish's mobility[28].

Figure 2.4:Sodisetty's fish robot model

2.4 WHY ROBOTICS IS VITAL FOR DAM SAFETY AND UPKEEP

Robotic devices are being used increasingly, guaranteeing the security, safety, and

upkeep of dam and tunnel infrastructure. Owners and operators understand that

technology helps them protect their facility's integrity by providing critical data for

immediate and long-term resource management. In the meanwhile, insurers and

regulatory agencies recognise that the information gathered can aid in the mitigation of

supply and infrastructure risks. Robots are a sophisticated resource that can collect

comprehensive high-intensity imagery, video film, and data to locate, measure, and

record the exact position of faults, corrosion, and blockages, as well as remove debris

when practicable.

2.4.1 Operation In Darkness

Robotic systems can work in low visibility, high currents, and challenging to reach

places such as inspection hatches. They can also go over 20 km over tunnels, hills, and

tight curves.

21
Automation has made robotics smaller, more intelligent, and able to handle ever more

sophisticated cameras and sensors while moving precisely around and within

complicated buildings as well as through lengthy tunnels. They are widely used

internationally, with one example originating from Thailand. Robotic vehicles can

investigate for leaks and debris obstructions, as well as support diver operations and

safety. It has the power and intelligence to remain stable in the powerful flow while

watching the inflow and delivering information to the surface at each of the dams.

2.4.2 Diver Safety Is Paramount.

Underwater robots are available in a variety of sizes, power, and resource

combinations. Advanced intelligent distributed control architecture, combined with

accurate power control, provides the operator with precision vehicle manipulation and

the ability to add and alter data gathering technologies as needed. This sophisticated

system design can also more easily accept technological improvements, making the

vehicle as future proof as feasible.

General diver assistance and safety is one of its most essential aspects. A robotic

vehicle can preview the site of interest before a dive, lay a safety line, supervise the

diver throughout the mission, and transfer items back and forth. It can also travel areas

that divers cannot, such as penstock pipelines, tunnels, and turbine inlets, while in

operation [29].

2.5 CONCLUSION

In conclusion, when proper monitoring is not done, the failure status is not entirely

reached, but the operating conditions cannot be fully guaranteed. A severe economic

loss may result from the interruption of energy production or other related activities

22
such as hydraulic regulation and water storage. The complexity of dams calls for the

use of multiple sensors for monitoring. Each sensor focuses on a different area of the

main barrage, the slopes surrounding the water reservoir, and the utility structures. In

addition, different processes (structural deformations, water seepage, corrosion, and

weathering) must be measured using a suitable data acquisition rate comparable to the

velocity of the observed ongoing processes. Monitoring has not only the purpose of

pre-alerting a coming collapse. However, it may provide helpful information to verify

the design parameters, investigate the causative reasons of deformation processes, and

learn lessons to be implemented in future projects [1].

23
 CHAPTER THREE

SYSTEM DESIGN

3.1 INTRODUCTION

This section provides information on the system design and methodology used to

achieve the project's objectives in detail. It will also provide information on the physical

implementation of the hardware of the project.

3.2 DESIGN SPECIFICATIONS AND CONCEPT

The model comprises the power supply unit, the input unit, the output unit, and the

control unit. The power supply unit is simply made up of a 5v battery. The input,

control, and output units would all be powered by the battery source. The input unit

includes the Bluetooth module and the ESP32-CAM, which is also made up of the

camera and WI-FI module. Each of these components operates in 5v.

The ATMEGA328 controller, which has 2 kilobytes of RAM, and 32 kilobytes of

ROM, are collectively the control unit. The working voltage for the controller is also

5-volt dc.

All the servo motors are of 5v each, and the dc pumps make up the output unit. The

fish model communicates to the user through two android mobile applications known

as the CareCam and the BT terminal. The model uses a BME280 sensor to measure the

pressure, temperature and altitude of the dam. This sensor communicates the

parameters read to the users through the Bluetooth module; these figures are then

displayed on the BT terminal application.

The model also uses the ESP32-CAM module as a surveillance device to view what is

underwater. The module is a single module that has a camera and Wi-Fi

24
connection(hotspot) embedded. The users see what the camera receives using the

CareCam application on an android device.

Figure 3.1:System's Proteus Design

Table 3.1:Design parameters

ITEM CHARACTERISTIC

Actuator mode DC servomotor

Onboard Sensors ESP32-CAM, BME32 sensors

Microcontroller ATMEGA 328

Power supply 5V DC rechargeable battery

Mode of operation Wi-Fi/Bluetooth mode

25
 Figure 3.1:Design Flowchart

3.3 DESIGN COMPONENTS

3.3.1 Arduino Nano

The Arduino Nano is a tiny, comprehensive, and breadboard-friendly board. It includes

input and output pins and the ATmega328 microcontroller unit, and memory for storing
26
instructions. Even though it has many of the same features as the Arduino

Duemilanove, it is packaged differently. Instead of a conventional USB cable, it has a

DC power connector and a Mini-B USB cable attached to it.

Figure 3.2:Arduino Nano Board

The Arduino Nano ATMEGA328 characteristics are described in the table below.[30]

Table 3.2:Arduino datasheet

Microcontroller ATmega328

Voltage of Operation 5 V

Flash Memory 32KB

SRAM 2 KB

Clock Speed 16 MHz

Analog I/O Pins 8

EEPROM 1 KB

Input Voltage 7-12 V

Digital I/O Pins 22

PWM Output 6

Power Consumption 19 mA

27
 PCB Size 18 x 45 mm

The Arduino Nano ATMEGA328 is the brain of the circuit in this project. As the

circuit's microcontroller, it's in charge of instructing the other components what to do

and when to do it. As a result, all the circuit's other components are linked to its pins.

All the instructions for the components connected to the Arduino Nano board are stored

in memory on the board. These instructions are typed in the C++ programming

language in the Arduino IDE and then transmitted to the Arduino's memory.

Figure 3.3:Arduino Integrated Development Environment (IDE)

3.3.2 Power Supply

The power supply, as earlier discussed, is a 5v dc battery. In the real sense, 5v batteries

do not exist and so are gotten from other existing values. In this project, a 9v battery

which was regulated to 5v, was used.

The Arduino has a voltage regulator inbuilt. It provides regulated 5v or 3.3v to power

external circuits. The Vin is supplied with a voltage between 6 and 12v and is regulated

depending on the case.

28
In this project, the positive terminal of the 9v battery was connected to the Vin pin,

while the negative terminal was linked to the GND pin. The Vin on the PCB is linked

to the 5v port.

3.3.3 Servo Motor

The servo motor is used primarily for turning. It is a self-contained electrical device

that efficiently and precisely rotates machine components. It is a linear or rotary

actuator used in closed-loop applications that offers accurate position control. It

regulates the motor position feedback's speed and ultimate position. It is not utilised

for continuous energy conversion applications, as are standard industrial motors. It is

made up of a dc motor, gear assembly and feedback control circuitry. It has three pins;

one is for power, the other is for ground, and the last is for the control signal.

Figure 3.4:Servo motor

In this project, there are four servo motors: two for the flapping of the fins, one for the

head rotation and the last for the tail. Each of the control signal pins is connected to the

Arduino board; the controller sends a digital signal (0 or 1) to it to energise it, that is,

either they come on or go off. As a result, they are causing movement. The CareCam

mobile app has four direction arrows: up, down, left and right. These arrows control

the servo motors.

29
3.3.4 ESP32 CAM

The ESP32-CAM is a single module that comprises a camera and WI-FI module. This

device is a low-power, compact camera module designed based on ESP32. It includes

an OV2640 camera and an inbuilt TF card slot.

The ESP32-CAM is well suited for a broad range of Internet of Things (IoT)

applications, including wireless video monitoring, picture upload over Wi-Fi, QR code

decoding, and so on.

Figure 3.5:ESP32-CAM

A 32-bit CPU powers the controller with a clock speed of up to 240MHz. It features an

internal 520 KB SRAM and an external 4M PSRAM. It comprises an 802.11b/g/n Wi-

Fi and Bluetooth/BLE SoC module and enables picture upload over Wi-Fi. The camera

has no screen. Hence, if viewing is needed, it must be connected to another platform.

In this project, the camera works with the WI-FI module and displays what the camera

is capturing via the CareCam mobile app. When the model is turned on, a WI-FI hotspot

is created, and with the app, the user may join the model's hotspot. This links the model

with the app, and the app becomes the screen of the camera.

30
 3.3.5 Bluetooth Module

It is utilised in various consumer applications like wireless headsets, game controllers,

wireless mouse, wireless keyboards, and many more. The transmitter and receiver

range between zero and 100 meters, depending on atmospheric, geographic, and urban

conditions. It communicates with devices via serial communication. It uses the serial

port to interface to the microcontroller (USART).

The Bluetooth module used in this project is the HC-05 module. The HC-05 Bluetooth

module is intended for wireless communication.

Figure 3.6:HC-05 Bluetooth Module

The module has six pins.

1. Key/EN: This command is used to put the Bluetooth module into AT command

mode. If the Key/EN pin is set to high, the module will operate in command mode.

Otherwise, it is in data mode by default. The HC-05's default baud rate in command

mode is 38400bps and 9600bps in data mode.

The HC-05 module has two operating modes.

• Data mode: Data transfer between devices.

• Command mode: AT commands are used to alter the HC-05's settings. These

commands are sent to the module serial (USART) port.

31
2. VCC: This pin should be connected to 5 V or 3.3 V.

3. GND: The module's ground pin.

4. TXD: Serial data transmission (wirelessly received data by Bluetooth module

transmitted out serially on TXD pin)

5. RXD: Serially receive data (received data will be transmitted wirelessly by Bluetooth

module).

6. State: Indicates whether the module is connected.

In this project, the Bluetooth module is used to read the parameter values. Using the

BT terminal app in an android device, the Bluetooth device is paired. Whatever the

sensors in the model read are displayed via the app.

3.3.6 BME280 Sensor

BME280 sensor module measures barometric pressure, temperature, and humidity.

You can also estimate altitude since pressure changes with altitude. This sensor module

is available in a variety of configurations. To communicate with a microcontroller, the

BME280 sensor employs the I2C or SPI communication protocols.

Figure 3.7:BME280 Sensor

32
The sensor is connected to the Arduino nano. The BME280 is a simple and affordable

way to measure pressure, temperature, and humidity.

3.3.7 DC Pump

DC powered pumps use direct current from the motor, battery, or solar power to move

fluid in various ways. Motorised pumps typically operate on 6, 12, 24, or 32 volts of

DC power. DC (direct current) pumps offer a more accessible and portable operation,

as they can function directly from a battery, making them preferable over AC

(alternating current) pumps. They are also more convenient to operate and control,

while AC systems generally require a controller to regulate the speed. Pumps using

direct current (DC) are also known to be more efficient. Also, DC pumps have an

operating lifespan that is longer than AC pumps.

In this project, the dc pump operates on 5v and pumps water in and out of the model to

enable the fish to float appropriately and aid buoyancy.

Figure 3.8:DC Pump

3.3.8 Body Of the Fish-Model

The exterior part of the final design is made of silica aldehyde. Two factors influenced

the choice of silica aldehyde. The first was the overall weight of the model. A light

33
metal couldn't also be used because it will rust quick. Plastic is also not a good option

as it is not as flexible. Silica aldehyde was best suited to reduce the weight of the fish.

In addition to that, silica aldehyde is inexpensive. Ideal components should be cheap

because engineers are trained to achieve maximum efficiency in result with minimal

cost.

Figure 3.9: Robotic fish Block diagram

3.4 CONCLUSION

This chapter discussed the system's requirements, specifications, and design in detail.

The system's different components and features and their linkages and ways of

functioning have been analysed. The overall notion of the system's development has

been described.

34
 CHAPTER FOUR

RESULTS AND DISCUSSION

4.1 INTRODUCTION

This chapter includes the implementation, construction, and testing processes of the

components of the system.

4.2 TESTING

After obtaining the essential components for the system, it is critical to test them to

ensure that they are in excellent working order. This must be done before circuit

construction begins, so that time and effort are not wasted creating a circuit that is

unlikely to operate. The individual components that were used to construct each unit

of the fish model were therefore tested.

4.2.1 Testing of Arduino Nano Board

The simplest way to test if an Arduino board is working is by connecting to a computer

with the Arduino's USB cable. The board was connected to the PC, and then the LED

came on, confirming the PC detected it. The Arduino IDE was then opened, and the

blink sample code was run and compiled. Once that was completed, the LED on pin 13

starts blinking at a rate depending on the code confirming that it is working.

Figure 4.1:Screenshot of blink code in the Arduino IDE

35
4.2.2 Testing the power supply

Since the battery rating used in this project doesn't exist on its own, a voltmeter was

used to test if the voltage regulator used to regulate it had indeed done its job. As

discussed earlier, the Arduino was used to regulate the battery. Therefore, the voltmeter

was connected to the 5v pin of the Arduino to test if its output is 5v.

4.2.3 Testing the servo motors

The DC servo motor has three cables: the power cable, ground cable and signal cable.

The servo motor was tested using the Arduino and Arduino IDE. The power cable was

connected to a 5v pin, the ground cable was connected to the GND pin, and the signal

cable was connected to pin nine on the Arduino. Since the servo motor is a DC motor,

it rotated in both directions. If it were an AC motor, it'd have rotated in only one

direction continuously.

Figure 4.2:Screenshot of Servomotor test in Arduino IDE

4.2.4 Testing the BME280 sensor

Using a breadboard and four jumper wires, the BME280 sensor was connected to the

Arduino Nano board. The Vin was connected to the 5v pin, the GND to the Arduino's

36
GND, the other pins were connected to A5 and A4 pins. The PC was then linked to the

Arduino board. A basic BME280 sensor sample code was written and produced after

installing the BME280 sensor library in the Arduino IDE. The serial monitor supplied

in the Arduino development environment may be used to view the sensor's readings.

4.2.5 Testing the ESP32-CAM

Like the BME280 sensor test, the ESP32-CAM was also connected to the nano board.

The ESP32-CAM has 16 pins. Since the component is to be operated on 5v, the 5v pin

is connected to the Arduino 5v pin. The GND is also connected to the Arduino's GND;

the RX and TX are connected to the Arduino's RX and TX. Arduino's reset pin to GND.

The ESP32-CAM add-on was then installed, and an example code was run. An IP

address was generated in the serial monitor; the IP address was then copied and pasted

in a browser. The camera and video camera may be accessed via the IP address.

4.3 MECHANICAL DESIGN

4.3.1 Design using a computer-aided design tool

AutoCAD was used to design the model. The design is made up of head, body, tail,

which are interconnected to create the final design. The head section is defined to

manage the body motions using pectoral fins and a combination of forward and

backward movements. Each body section is linked in a sequence and gradually

tightened with the bolts. The links are moved freely with the use of the servomotors.

The tail fins are utilised for many purposes, with the primary function being to move

the fish in different directions and to execute a turn.

37
 Figure 4.3:Design of fish head using AutoCAD

Figure 4.4:Complete design of fish using computer Aided design

4.3.2 Design Fabrication

Each segment in the robotic fish was constructed from ABS (Acrylonitrile Butadiene

Styrene) plastic with various diameters. These multiple segments were all joined

together and interconnected with servomotors which will function in water for

increased hydrodynamic force. After printing out from a 3D printer, the material was

cut into suitable shapes to ensure the fish forms properly.

38
 Figure 4.5: 3-D print out of body

Components are placed where they are to be after the 3-D printer is completed. The

figure below shows the head of the fish with the ESP32-CAM, servomotor and dc

pump.

Figure 4.6:Fish head with ESP CAM, DC pump and BME280 sensor

4.4 SOFTWARE DESIGN

The software aspect of this project involves programming the Arduino Nano board.

This programming takes place in the Arduino Integrated Development Environment

(IDE) using the C++ language. The code was written in the IDE, compiled for

confirmation that it works and uploaded onto the Arduino Nano board. The code is

39
meant to interface all the other components of the system to the Arduino to receive

instruction on how to operate and give feedback.

The servomotor and ESPCAM, and BME sensors were programmed using the Arduino.

The servomotor for the fins and tail was programmed to move as the user uses the

CareCam app to control it. The CareCam app also serves as the television screen to see

what the ESP CAM sees. Finally, the BME sensor reads the Pressure, temperature and

altitude parameters and displays them via the BT terminal app.

Figure 4.7: Screenshot of the servomotor code

4.5 RESULTS

The table below shows the result obtained from the BME280 sensor and displayed via

the BT terminal.

40
 Figure 4.8:Screenshot of the BT Terminal app showing the parameter result

Table 4.1:Parameters from the BME Sensors in a swimming pool.

S/N Temperature (oc) Pressure (Pa) Altitude (cm)

Above sea level

1 32.00 101321 10

2 32.19 101300 15

3 32.67 101276 20

4 32.77 101264 25

5 33.41 101230 30

6 33.95 101118 35

7 34.12 101096 40

The table shows the temperature, pressure and altitude of a pool in place of an actual

dam. The BME280 sensor measures the water level using sea level as a reference. This
41
means it takes the sea level as point 0 and reads any value below sea level as negative

while reading values about sea level as positive. Therefore, the sensor must be used on

land first to determine the current sea level before using it underwater.

4.6 DISCUSSION

4.6.1 Relationship between pressure and depth

Pressure increases linearly with depth; that is, it increases with an increase in depth.

That is, the deeper the dam, the higher the pressure. As discussed earlier, the BME280

sensor uses the sea level as reference (zero); therefore, the line graph is a negative slope

because it starts taking its measurement from the bottom.

Pressure against Altitude

101350
101300
101250
101200
Pressure

101150
101100
101050
101000
100950
10 15 20 25 30 35 40
Altitude
Figure 4.9:Graph showing Pressure against Altitude

𝑃 = ℎρg (4.1)

Where p is the pressure of water at a particular height in Pascal (Pa)

h is the height in meter

ρ is the density of water= 1000kg/m3

g is the acceleration due to gravity=9.8m/s2

42
Equation 4.1 explains the linear Relationship between height and pressure.

4.6.2 Relationship between temperature and altitude

Unlike pressure, temperature decreases with depth; that is, the deeper the dam, the

lower the temperature. This is because when sunlight strikes the water, it heats the top

only. From the graph, it is seen that 40 is the highest level of the pool, otherwise referred

to as the surface of the pool, and so it has the highest temperature, and 10 is the lowest

level of the pool and therefore has the lowest temperature.

Temperature against altitude

34.5
34
33.5
Temperature

33
32.5
32
31.5
31
30.5
10 15 20 25 30 35 40
Altitude
Figure 4.10:Graph showing Temperature against Altitude

4.6.3 Relationship between Pressure and Temperature

As previously stated, pressure rises as depth increases, but temperature falls as depth

decreases. As a result, it is reasonable to assume that the pressure and temperature of

water in a dam are inversely related; that is, the higher the pressure, the lower the

temperature, and vice versa. In the most basic terms, this implies that the temperature

on the surface of the water where the sun warms is greater than the temperature below,

and the pressure there is lower than the pressure below.

43
 Pressure Against Temperature
101350
101300
101250
Pressure

101200
101150
101100
101050
101000
100950
32 32.19 32.67 32.77 33.41 33.95 34.12
Temperature
Figure 4.11:Graph showing relationship between pressure and temperature

4.7 CONCLUSION

Results from the testing process showed that the system satisfies all specifications set.

The aim and objectives of the project have been met, and the fish robot is functional.

The sensors, servomotors and ESP CAM work to set standards.

44
 CHAPTER FIVE

CONCLUSION

5.1 INTRODUCTION

This chapter gives the summary of the project. In this chapter, recommendations for

future work is also discussed as well as the challenges encountered while building the

project.

5.2 SUMMARY

The fish-model robot developed in this project has demonstrated the viability of

resolving the issues that farmers, power engineers, and others use dams for various

purposes when monitoring the dams' state. The model provides a cost-effective and

better solution over the traditional Remotely Operated Vehicles (ROVs) and

Autonomous Underwater Vehicles (AUVs). It also provides an additional feature of

underwater surveillance over regular IoTs and sensors. It was achieved using an

ESP32-CAM module, a Bluetooth module, a BME280 sensor and other components.

The experiments show that the ESP32-CAM is an ideal choice for implementing the

surveillance feature.

Dams are not used in this part of the world because of the reduced rate of flood and

rain. In flood-prone areas and have lots of dams, the absence of this technology may

be costly as the dams could fail due to poor surveillance practice, giving the people in

that flood plain environment little or no time to evacuate.

The federal government and dam safety organisations can deploy this technology

developed in this project. Also, this technology is not limited to dams as it can be used

for other underwater based projects like monitoring bridge piers and abutments.

45
5.3 RECOMMENDATIONS

The following recommendations can be implemented in future to improve the

efficiency and scope of the system

• PH sensors and other chemical sensors can also be added to test for the water quality

and changes in quality in terms of pollution and types of pollutants from upstream

activities if the dam is for drinking purposes. This gives room for early detection of

water quality and quick determination to apply remedies to maintain the water's

potability for consumption.

• Implementation of a bigger and better project for bigger and

• Use of a stronger Bluetooth module for a stronger Bluetooth connection.

• Use of an ESP32 Wi-Fi microcontroller in place of Arduino Nano to create a local

webserver for transmitting physical parameters.

• The battery in this project can last only 3-4 hours after full charge; a better battery

with a longer operational capacity is required.

• The model in the project does not have a flash for clear views at the bottom end of

the dam. Flash camera should therefore be added for a clearer view.

5.4 ACHIEVEMENTS

This project has been successfully utilised to achieve remote surveillance with the

assistance of the ESP32-CAM and CareCam app, as well as to monitor parameters such

as pressure, temperature, and water level in dams using a fish-model robot with the aid

of the Bluetooth module, BT terminal, and BME280 sensor.

Additionally, this project has resolved the common issues with dam failures, mainly

caused by a lack of monitoring systems. It has also fixed the case of a decrease in divers

diving underwater and the difficulty of locating things and sand deposits and sediments

46
on the dam, which could be detrimental to the dam performance and safety. It also aids

decision-makers in the determination of dam maintenance, such as dredging, and the

level of dredging required.

5.5 CONCLUSION

In conclusion, the project measured the temperature, pressure, and water level of a dam-

like structure. Some challenges encountered include:

• Bluetooth module: One of the challenges encountered is the limitation of the

Bluetooth module underwater. There is a requirement that the android Bluetooth

version is above 2.5GHz. If this isn't achieved, the device would not be able to read

the parameters.

• To avoid water penetration, a lot of readjustment of the body had to be made.

The recommendations made will be used to clear out these challenges making the

project a better one. The project can also be used in fish farming.

47
 REFERENCES
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9711.0503004.
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[10] “What Are the Primary Causes of Dam Failure? - WorldAtlas.”
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failure.html (accessed Jul. 08, 2021).
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(accessed Jul. 08, 2021).
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[13] “dam | Definition, Types, & Uses | Britannica.”
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2009, doi: 10.2495/978-1-84564-2-/14.
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https://theconstructor.org/structures/common-causes-failures-dam-
structures/20858/ (accessed Aug. 03, 2021).
[16] “Dam Failures and Incidents | Association of State Dam Safety.”
https://damsafety.org/dam-failures (accessed Aug. 03, 2021).
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Jul. 08, 2021. [Online]. Available: www.ijeas.org .
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and Remote-Sensing Sensors for Dam Deformation Monitoring,” Sensors 2018,
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[19] “Systems for Water Level, Flow and Quality MAIN LOGO LANDSCAPE
FORMAT FOR SMALL APPLICATION.”
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2019, doi: 10.2991/JRNAL.K.190531.004.
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ROBOTIC FISH,” International Research Journal of Engineering and
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detection and tracking,” International Journal of Advanced Robotic Systems,
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Jul. 15, 2021).

49
 APPENDIX A

#include <Servo.h>

Servo myservo [2]; // create servo object to control a servo

// twelve servo objects can be created on most boards

int pos = 30; // variable to store the servo position

void setup() {

myservo[0].attach(5);

myservo[1].attach(6);// attaches the servo on pin 9 to the servo object

void loop() {

for (pos = 30; pos <= 150; pos += 10) { // goes from 0 degrees to 180 degrees

// in steps of 1 degree

myservo[0].write(pos);

myservo[1].write(pos);// tell servo to go to position in variable 'pos'S

delay(15); // waits 15ms for the servo to reach the position

for (pos = 150; pos >=30; pos -= 10) { // goes from 180 degrees to 0 degrees

myservo[0].write(pos);

myservo[1].write(pos);// tell servo to go to position in variable 'pos'

delay(15); // waits 15ms for the servo to reach the position

50
 APPENDIX B

int state;

int flag=0;

void stp();

void fwd();

void left();

void right();

void back();

void setup()

pinMode(7,OUTPUT);

pinMode(8,OUTPUT);

pinMode(5,OUTPUT);

pinMode(6,OUTPUT);

Serial.begin(9600); // Baud rate set to 9600bps

void loop() {

if(Serial.available() > 0) // Ckeck for command Recieved

state = Serial.read();

Serial.println(state);

flag=0;

if (state == '1') // Checking Command from User

51
 stp();

if(flag == 0){

Serial.println("Stop");

flag=1;

else if (state == '2')

fwd();

if(flag == 0)

Serial.println("Forward");

flag=1;

else if (state == '3')

back();

if(flag == 0)

Serial.println("Backward");

flag=1;

else if (state == '4')

52
 {

left();

if(flag == 0)

Serial.println("Left");

flag=1;

else if (state == '5')

right();

if(flag == 0)

Serial.println("Right");

flag=1;

} //loop() ends here

void fwd() // Forward

digitalWrite(7,HIGH);

digitalWrite(5,HIGH);

digitalWrite(6,LOW);

digitalWrite(8,LOW);

53
void back() // Backward

digitalWrite(8,HIGH);

digitalWrite(6,HIGH);

digitalWrite(7,LOW);

digitalWrite(5,LOW);

void left() //LEFT

digitalWrite(7,HIGH);
digitalWrite(5,LOW);
digitalWrite(8,LOW);
digitalWrite(6,LOW);
}

void right() // Right

digitalWrite(7,LOW);
digitalWrite(5,HIGH);
digitalWrite(8,LOW);
digitalWrite(6,LOW);
}

void stp() // Robot STops

{
digitalWrite(7,LOW);
digitalWrite(8,LOW);
digitalWrite(5,LOW);
digitalWrite(6,LOW);

54