W.A.L.T.R.

(Water Assessment Level Turbidity Ranger): Water

turbidity probe in shrimp ponds

A Research Paper submitted to

Davao Oriental regional Science High School

In Partial Fulfillment for Junior High School Completion

Dave Francis S. Artiaga

Neilwin G. Guitguitin
John Smith Dela Rosa
Researchers

Gene Pearl A. Luna

Jaime S. Yu, Jr.
Research Advisers

March 2018
Date
W.A.L.T.R. (Water Assessment Level Turbidity Ranger): Water turbidity
probe in shrimp ponds
Dave Francis S. Artiaga
Neilwin G. Guitguitin
John Smith Dela Rosa
Davao Oriental regional Science High School
Dahican, Mati, Davao Oriental

ABSTRACT

Water quality is essentially important for shrimp farming. Without an

appropriate water quality, shrimps growth rate may decreased. Water quality is

divided into subsets where in water turbidity plays a huge role. Water turbidity is

defined as the haziness or cloudiness of the water. An appropriate factor of this is

fundamentally important because excessive turbidity prevent heat and light

penetration which can adversely affect shrimp growth. This study allowed us to know

the water turbidity of a shrimp pond using an autonomous boat mounted with a

processor and two sensors; one for assessing the turbidity levels and the other for

navigation of the said boat. The results showed that the robot named W.A.L.T.R. has

a consistency on measuring water turbidity in the shrimp pond. Also, the data

showed that there is very little difference from all the three trials made by the

researchers, having a mean average of 4.31 NTU on all the taken samples in the

shrimp ponds which mean the robot’s sensor and program is accurate and precise.

KEY WORDS: Water Assessment Level Turbidity Ranger, Turbidity sensor,

Turbidity
 August 2017

Republic of the Philippines

Region XI
Department of Education
Schools Division of the City of Mati
Davao Oriental Regional Science High School

APPROVAL SHEET

This Science Investigatory Project entitled “W.A.L.T.R. (Water

Assessment Level Turbidity Ranger): Water turbidity probe in shrimp
ponds”,has been prepared by Dave Francis S. Artiaga, Neilwin G.
Guitguitin, and John Smith Dela Rosa is submitted to the School Scientific
Review Committee for acceptance and approval for Oral Examination.

Gene Pearl A. Luna

Jaime S. Yu,Jr.
Research Advisers

SCHOOL SCIENTIFIC REVIEW COMMITTEE

Accepted and approved by the committee on Oral Examination with a grade

of _______.
Wilmar Adamos
Chairperson
John Mark Lopez
Member Member

Accepted and approved by the School Scientific Review Committee.

FLAVIA T. LATRAS
Secondary School Principal III
 Acknowledgement

This study wouldn’t be possible without the help and guidance of our Almighty

God that has been with the researchers throughout the entire research procedure.

We the researchers also would like to thank our supportive parents, who

helped us especially on our guidance and finances. With your help, you provide us

the finances for the materials that we needed on our research.

Ma’am Gene Pearl Luna, Ma’am Haidee M. Siason and Sir Jaime S. Yu, we

also thank you for being a great teachers. For you helped us making our research

and providing us also the materials we needed to conduct this research. We couldn’t

make this research without your great help. We wouldn’t forget of what you have

done all.

Lastly, we would also like to thank the Lazada shop for the materials that we

needed because without them our research would be incomplete.

 TABLE OF CONTENTS
TITLE PAGE
Title Page ……………………………………………………….…...i

Abstract ………………………………………………………….….ii

Approval Sheet …………………………………………….……….iii

Acknowledgement …………………………………………….…..iv

Table of Contents

CHAPTER 1 INTRODUCTION
Background of the Study
Statement of the Problem
Objective of the study
Hypotheses
Significance of the Study
Scope and Limitation
Definition of Terms

CHAPTER 2 REVIEW OF RELATED LITERATURE

Robotics
Coding and Development
Turbidity in shrimp ponds

CHAPTER 3 METHODOLOGY
Research Locale
Research Design
Robot Model
Procedure
Program
Data Gathering
Data Analysis

CHAPTER 4 RESULTS AND DISCUSSION

CHAPTER 5 SUMMARY, CONCLUSION AND

RECOMMENDATION
 INTRODUCTION

Appropriate water quality is fundamentally important for the growth rate

and yield of a shrimp pond. Water quality is defined as how good the water for

a certain species to live in, it include different parameters, some of which

these are pH level, salinity, dissolved oxygen, ammonia, temperature, and

turbidity. This study only focused on a single parameter, specifically water

turbidity which is a very general term that describes the “cloudiness” or

“muddiness” of water. Turbidity can be caused by many substances, including

microscopic algae (phytoplankton), bacteria, dissolved organic substances

that stain water, suspended clay particles, and colloidal solids (Hargreaves,

1999). Water turbidity can interfere with light penetration, thus limiting

photosynthesis in the lower part of the pond, which may limit or disrupt

aquaculture businesses like fish and shrimp production.

In the United States today, shrimp farmers measure water turbidity

through the use of different equipment, these equipment helps the farmers

know how turbid their ponds and do the countermeasures depending on the

situation. One of the best known instruments that measures water turbidity is

the Secchi disk, usually an eight-inch diameter with black and white

quadrants. It is lowered into the water slowly until it disappears at a certain

depth (Porter, 2002). However, it has a down side because the results may

vary through someone’s point of view, which gives an inaccurate way of

producing results.
 Given this possible factor that the water turbidity is measured, there is

an arising need of a solution to address this problem which is the part where

the study comes; in. The researchers want to know if there is any way to

measure water turbidity with preciseness and accuracy.

Following the trend of 21st century technological advancement, the

researchers have developed W.A.L.T.R. (Water Assessment Level Turbidity

Ranger), a low-budget robot that measures water turbidity for shrimp ponds.

The researchers used an Arduino microcontroller as the core processor

together with the different sensors specifically designed for this kind of study;

turbidity and distance sensor. The sensor uses light to detect suspended

particles in water by measuring the light transmittance and scattering rate,

which changes with the amount of total suspended solids in the water

(Circuitrocks, 2015). While the distance sensor uses an infrared light that

comes out from a transmitter that has a condense lens so that the light only

focuses on a single point (Sumobot Manual, 2016).

Specifically, this study evaluated a shrimp pond’s water level, which is

an essential factor to have an increased growth rate in shrimps. The shrimp

farm is located at Brgy. Dahican, Mati City, Davao Oriental. W.A.L.T.R. is

measuring the water turbidity through the water surface of the pond. This

study is fundamentally important especially for local shrimp farmers because

they don’t have any device that measure water turbidity other than by optical

observation. Also, it will boost the growth and the yield of the shrimp farm not

only for local farmer but also for the farmers nationwide by giving an accurate
measurement in turbidity level with a low-cost budget and eventually making

W.A.L.T.R. more affordable in the market.

Statement of the Problem

This study aims to discover whether or not a custom coded robot, the

W.A.L.T.R, can identify and distinguish turbid water from clean water or not.

Specifically, it seeks to answer the following questions:

1. Can the W.A.L.T.R swim across the pond and took all the samples?

2. Can W.A.L.T.R provide measurements on how turbid the water is?

3. Is there a significant difference between the turbidity range

measurements of a local shrimp pond and the data provided by

W.A.L.T.R?

Objectives of the study:

1. To figure out whether W.A.L.T.R can measure the level of turbidity of a

local shrimp pond?

2. To gather the data from the local shrimp pond provided by W.A.L.T.R.

Hypotheses:

Ho: W.A.L.T.R. cannot measure the water turbidity in the local shrimp pond.

Ha: W.A.L.T.R. can measure the water turbidity in the local shrimp pond.

Significance of the Study

In shrimp farming water quality is an essential factor in order to have a

productive yield during harvesting. This study however focuses on only a

single strand that a lines with the water quality assessment, that is the

turbidity level of the shrimp pond. In Mati City, most of the citizens especially

those that are located near the shore depends their livelihood in shrimp

farming. Despite all of that, they have no other equipment that measure the

turbidity level than optical observation. It is disappointing to see that tools that

can identify turbidity are only available in laboratories, which framers in

faraway lands seldom go to.

This study aims to aid that problem. It will provide an easy accessible

device that could measure the water turbidity of any local shrimp pond.

Scope and Limitations

“W.A.L.T.R” (Water Assessment Level Turbidity Ranger), couple with

the Turbidity Identification code, this study focuses on the W.A.L.T.R’s ability

to measure the turbidity level of the local shrimp pond.

Definition of Terms

Arduino- an open-source electronic prototyping platform enabling users to

create interactive electronic objects

Turbidity- Haziness or cloudiness of a liquid from a large number of particle.

 Chapter II

REVIEW OF RELATED LITERATURE

I. Robotics

A. Background and History

According to [Link], Robotics is the science of designing and

building machines that can be programmed to perform more than one

function traditionally performed by humans. The term “robot comes from Karl

Capek’s “RUR”, a story of an inventor who makes machines.

([Link], 2014) One of the first robots, according to history-

[Link], is the French inventor Pierre Jaquet-Droz’ automata, which

were dolls that could play a grand piano.

B. Common Usage

[Link] implies that robots are commonly used in the

automobile industry, where painting and welding are some of the most

common functions. Industrial robots are used commonly in factories; some

are used for military applications, and for household uses. ([Link],

2007.)

II. Coding and Development

A. Background and History

 The history of coding traces back to simple numerical computation,

from machines such as the absacus ([Link], 1999) Charles Babbage’s

difference engine, built in 1822, started the age of programming as it allowed

instructions to be relayed to machinations. ([Link], 1999)

The earliest predecessor of modern coding languages like C++ and

Java is Frotran, which stood for Formula Translating System, written in 1957.

([Link]) John McCarthy’s List Processing or LISP language was

designed in 1958, which was specifically conceived for Artificial Intelligence

development. (R. Wexelblat, History of Programming Languages. 1978)

A new language, ALGOL, was also used in 1958 by a certain scientific

community. It is the basis of major languages like C++ and Pascal, but the

ALGOL 68 version became too bloated, and was abandoned by its former

user. ([Link])

Soon afterwards followed Niklaus Wirth’s Pascal, designed in 1970,

and combined the best features of COBOL, FORTRAN, and ALGOL into one

compact language, being an orderly substitute to the former unfriendly

languages. ([Link], 2001)

An up-and-coming language then picked up favor with users in the

form of C. Created by Dennis Ritchie in 1972, it derived functions from

archaic languages like B, BCPL, and mostly Pascal. Its capabilities won over

the hearts of former Pascal users. (“Transition from Pascal to C.” 2006). C

was then modified by fan and user Bjarne Struoustroup, who made “C with
Classes”, now known as C++, and used by large number of modern software

and robots.

B. Use in Modern Robotics

Robot software is the set of coded command or instructions that

command a machine to

Perform specified actions. The most common languages used is C++ and its

derivatives, by newcomers to the robot scene and professionals alike. (“How

Do Robots Work?” 2010)

III. Turbidity in shrimp ponds

Turbidity and the appearance of water are important considerations in

pond aquaculture. If pond waters are clear and light can penetrate to the pond

bottom, underwater weeds consisting of both macrophytic algae and vascular

plants will develop. These plants compete with phytoplankton for nutrients,

and they impede various shrimp pond management procedures. Clear water

also makes aquatic animals more susceptible to bird predation. Production

will be less in clear ponds than in ponds within the proper turbidity range. The

appearance of water, such as color and presence of foam or scums, also can

provide clues to water quality characteristics. The most desirable form of

turbidity in ponds is a moderate plankton bloom. Plankton shades the bottom

to prevent weeds, it is a source of food for the culture species, and

phytoplankton produces dissolved oxygen and removes ammonia. Excessive

phytoplankton is undesirable because it creates a large oxygen demand.

Turbidity resulting from high concentrations of humic substances is not

directly harmful to shrimp, but water with large concentrations of humic

material are usually dystrophic because of acidity, low nutrient levels, and

light limitation for photosynthesis. A generally undesirable type of turbidity is

that resulting from suspended clay particles in pond water. Although not

directly toxic to the culture species, "muddy" ponds tend to have low

phytoplankton productivity and sedimentation within the ponds can be harmful

to shrimps life. Clay turbidity in shrimp ponds can result from both internal and

external factors. (Boyd et al., 1998)

 CHAPTER III

METHODOLOGY

Research Locale

The research was performed at a local shrimp farm in Barangay Dahican,

Mati City, located just beside Dona Rosa Garcia Rabat High School. The materials

and boat was assembled in the laboratory and was used in the pond site in taking

the samples of water turbidity. The length of the study is two and a half weeks (2 ½)

weeks.

Research Design

The researchers used the following sequence in working throughout the

research. Analysis Phase

1.) Assessing the project objectives
2.) Conducting a needs analysis
3.) Identifying the knowledge gap

Design Phase
1.) Designing the boat
2.) Changing the look of the robot

Development Phase
1.) Developing the program of the robot
2.) Testing the robot’s program

Implementation Phase
1.) Mounting the processor unto the boat
2.) The whole robot was completed
3.) Water turbidity samples was done

Evaluation Phase
 Figure 1. Iteration Process

Robot Model

ATX- 2 (Sumobot) is an autonomous robotic platform that is powered by DC

motors and can be connected to wheels and rubber tires. The kit has additional parts

and sensors coupled with different braces and locks for it to be converted into

different shapes due to its flexibility.

Figure 2 ATX-2 Sumo-Bot

 Some of the parts of the sumo-bot were used for the integration of W.A.L.T.R.

Specifically, it uses the INEX’s ATX2 controller board for monitoring and directing the

commands into the subset parts; motors, distance and turbidity sensor. Two motors

(located at both sides of the boat) were used for rotating the water pedals that’s

made using plastic spoons. The distance sensor was programmed for stopping the

motors once it detects an object in front of it like a shore at the pond. The turbidity

sensor on the other hand was enhanced to make it submersible and was place at the

bottom of the boat for getting a better data readings.

Figure 3. Image of W.A.L.T.R. Robot

Procedure:

Boat’s Assembly

First the researchers bought the materials needed for the construction of the

robot. These materials are as follows: Arduino microcontroller, turbidity sensor,

Styrofoam, stick glue, cutter, plastic covers, plastic spoon, wires or cables, batteries,
DC motors, solar panel, sumo-bot kit. Some of these materials however were

purchased online because of availability issues.

Configuring of the Microcontroller

The researchers then first form the boat’s framework using the Styrofoam.

Used some of the stick glue as an adhesive for the foam. The boat was then tested

for its buoyancy on a small pond located at the back of the science laboratory. After

the buoyancy test, the researchers then configure the microcontroller, the brain of

the robot. The custom coded code had a trial and error test in order to have an

efficient and successful data gathering.

Program

Using an Arduino programing software, the researcher compiled the

commands and codes that were suited for this study. Since the Arduino is an open

source software and hardware company, some of the codes were adapted from the

internet.

The program is as follows:

#include <ATX2.h>
#include <Timer.h>
float valsensor[100], average; {motor_stop(1);
int i = 1; motor_stop(2);}
Timer t; ave(); // CALL FUNCTION
void setup(){ [Link](valsensor[i]);
OK();// Wait for OK button [Link](",sample");
[Link](9600); [Link](i);
[Link](10000,takeReading); glcd(1,0,"%f ",valsensor[1]);
glcdClear(); glcd(2,0,"%f ",valsensor[2]);
setTextSize(2); glcd(3,0,"%f ",valsensor[3]);
motor (1,50); glcd(4,0,"%f ",valsensor[4]);
motor (2,50); glcd(5,0,"%f ",valsensor[5]);
delay (1000); glcd(1,7,"%f ",valsensor[6]);
} glcd(2,7,"%f ",valsensor[7]);
void loop(){ glcd(3,7,"%f ",valsensor[8]);
 START

Motor and turbidity

sensor start

Distance
sensor YES
detects

NO

Turbidity sensor
reads samples every
10 seconds
 Distance
sensor YES
detects

NO

Figure 4. Algorithm of the W.A.L.T.R. Program

 In the beginning of the process, the two motors, the distance sensor and the

turbidity sensor starts. The two motors will start rotating with 50 percent of its power.

The turbidity sensor also starts reading data with a 10 seconds gap for every 10

samples, then prints the results to the LCD screen. When it reaches to the tenth

sample, the turbidity sensor stops and waits until the distance sensor detects an

object like a shore. Then the motors will stop and prevent the robot from colliding to

the pond’s border. The distance sensor detects an object from a range of 11 to 16

cm.5

Data Gathering

In this study, the results were taken from the shrimp pond located in

Brgy. Dahican, Mati City, Davao Oriental. Every time W.A.L.T.R. finishes a full

cycle of water turbidity analysis in the said pond the researcher tabulated the

results on the logbook. Over 10 samples were taken with at least 3 replicates

to ensure accuracy of the said data. Analysis of Variance (ANOVA) and T-

Test were used as the statistical method for computing the data.

Simulation

Actual Run

Usage of the robot in the field was determined by the researcher

through this test. The boat was made to run a straight line from the edge of

the pond to the other side of it while taking samples. Wind direction and

speed was noted to ensure no resistance to the boat while taking the

samples. For the first trial, the dual DC-motors were turned on and then

manually clicking the start button for the robot to take samples, it was
predetermined that while the boat was running, it would take turbidity test

every ten (10) seconds until the desired amount of samples were taken. The

turbidity sensor is found below the water surface, with a depth of five (5)

inches. After reaching the other side of the pond through its distance sensor,

the robot itself would turn off its motor allowing the researcher to procure it.

The same path was also used for the second and third trial respectively.

Data Analysis

Analysis of Variance (ANOVA) and T-Test were used to determine

whether there was a consistency of the W.A.L.T.R. robot in taking the water

turbidity of the shrimp pond. At least three (3) trials were used in ensuring the

efficiency of the samples. Since repetition stabilizes the mean and the

standard variation, the statistics of the sample can well represent the

parameters of the population. Thus, the statistical inference will be reliable

(Hu., et. al 2011) .

BIBLIOGRAPHY

 Capek, K. (2014). [Link] from

[Link]

 Dalakov, G. (2011) “The Droz Automata.” retrieved from [Link]

[Link]/Dreamers/[Link]

 Davis, S. (2007) “Workers of the Future.” retrieved from

[Link]

the-future-89885

 Hung C., (2016) A highly sensitive underwater video system for use in

turbid aquaculture ponds. Sci Rep. 2016; 6: 31810.

 Muhammad Kasnir , (2015) Water Quality Parameter Analysis for the

Feasibility of Shrimp Culture.

 N.C., Bonetti, C. Seiffert, W.Q., (2011) Hydrological and Water Quality

Indexes as management tools in marine shrimp

[Link] in Press.i

 Statista (2014) Bekanntheit von QR-Codes im Bezug auf Mobile

Payment 2014 [Internet], Hamburg, Statista GmbH. Available from

[Accessed 19 December 2014].

 Wurts, W. A. and R. M. Durborow. (1992). Interactions of pH, carbon

dioxide, alkalinity and hardness in fish ponds. Southern Regional

Aquaculture Center Publication No. 464.

  Viet Linh (2015). Temporary process for safe brackish-water shrimp

farming in areas affected by diseases in Vietnam.

CHAPTER IV

RESULTS AND DISCUSSION

Actual Run

Three trials were made by the researcher for testing the robot, all three were

taken by making the robot swim from one edge of the pond to the other side. Every

ten (10) seconds, the robot would take samples from the water. The total of all the

samples and the average of each trial were also calculated. Total average of all the

samples was 4.3115 NTU.

Number of trials

Number of 1st 2nd 3rd

Sample
1 3.940 3.980 3.901

2 3.968 4.869 4.391

3 4.623 3.688 4.901

4 4.010 4.673 4.652

5 4.524 4.892 4.710

6 3.629 4.385 3.721

7 3.908 4.610 4.583

8 3.808 3.089 4.512

9 4.890 4.108 4.792

10 4.605 4.230 4.753

Total 41.905 42.524 44.916

Average 4.1905 4.2524 4.4916

 Table 1 Water Turbidity results from three trials

The actual run of the program showed that the tests made showed no

significant difference. This would suggest that there is a consistency in the detection

of the water turbidity levels of the robot and its sensor. The values have very little

distinctions from each other usually from the range of 3.6 to 4.9.

Analysis of Variance
Source DF ADj SS Adj Ms F-value P-value

Replicator 3 43.83 14.61 0.14 0.938

Error 39 4198.60 10.7.66

Total 43 4242.43

Note: P-value is greater 0.05 level of confidence this implies that the
replicators are not significantly different.
Table 2 ANOVA Analysis of the three trials

The T-Test analysis of the three trials showed very little differences with each

other. In computing the first and second trial, it showed that there is a P value of

0.982 between them, signifying the results that they have similarities. For the first

and third trial, the P value was 0.914 showing consistency of the two trials. Lastly,

comparing the second and third trial, the result was 0.932 which is also close with

two comparisons made by the researchers. The steadiness of the sensor and the

program is the same throughout the whole three trials, with each sample having the

same or within range of results. This indicates that the reliability of the program is

accurate and precise due to the little differences in the P values of all the trials.
Furthermore, in each of the trials, at least 10 samples were taken and are also still in

the same range.

T-Test

Estimate 95% CI for

Difference for Difference T-Value P-Value DF
difference

µ(1st) - µ -0.11 (-10.35, 0.02 0.982 19

(2nd) 10.12)

µ (1st ) - µ -0.55 (-11.07, -0.11 0.914 19

(3rd) 9.98)

µ (3rd) - µ -0.43 (-11.03, -0.09 0.932 19

(2nd) 10.17)

Table 3 T-Test Evaluation of the three trials

 CHAPTER V

SUMMARY, CONCLUSION AND RECOMMENDATION

Summary of the study

The primary objective of this study was to make an autonomous boat

that can get turbidity levels on shrimp ponds. It was coded using C++

language to run and gather the data needed. There are three trials that were

made by the researcher for testing the robot, all three trials were taken by

making the robot swim from one edge of the pond to the other side. Every ten

(10) seconds, the robot would take samples from the water. The total of all

the samples and the average of each trial were also calculated. Total average

of all the samples was 4.3115 NTU.

Conclusion

Based on the data, W.A.L.T.R. is efficiently consistent in measuring the water

turbidity of a shrimp pond. Both the distance sensor for detecting the edge of the

pond and the turbidity sensor exhibit proficiency in acquiring data. Also, it is

recommended for further studies to enhance the framework integration of the robot

to make it more durable during windy seasons. Also to waterproofing the INEX’s

ATX2 controller board will to prevent damage in the board. Also creating a program
where the boat returns from its starting point is also recommended. W.A.L.T.R. will

help the local shrimp farmers in producing a high value shrimp that will sell in the

market.

Recommendation

The researchers recommend the following:

 For the robot’s future improvement, it is recommended to make a

waterproof casing for the Arduino microcontroller to make it usable

during rainy seasons.

 It is also recommended to upgrade the coding algorithm to make

W.A.L.T.R. return from its starting point after gathering all the data.

 W.A.L.T.R. can be also be improved by adding more sensors that can

detect the water’s acidity level and etc.