Abstract: - Sediment causes serious water problems, including flooding, water pollution, and other issues

related to water sediment. The data found that 82% of the 550 rivers in Indonesia were polluted and in critical

sediment. The electronic circuits, block diagrams, and programs used are described in detail in this paper and

discuss sensor accuracy and accuracy of measurement results.

The result is the device can detect the sediment, measure the height of the sediment, trace the sediment to

measure its length, and then rotate to measure the width of the sediment. All movements are carried out by

utilizing the capabilities of Arduino. The PID algorithm can precisely determine the initial position of the

sensors. It can detect sediment accurately. The measurement results show that the device can work well with a

relatively small error.

Key-Words: - Arduino, sediment, electronic circuits, infrared sensor, DC motor, accuracy.

many causes, one of which is sediment in rivers.

According to the report, 550 of Indonesia’s rivers

were contaminated and in serious condition in 82%

of the cases, [1].

techniques in the velocity regulation of the DC

motor, [2].

Underwater Target Detection and Tracking: An

Integrated Underwater Architecture provided a

comprehensive survey of Unmanned Underwater

Vehicles (UUV) and other ray tracing, models.

These were essential in target detection and tracking

to answer several questions regarding the current

waters of East Aceh, Lhokseumawe. The results

showed that the value of the reflected signal from

the pipe and the unknown object are 1- 2.5

Voltage/Div, silty sand of 0.5 - 1 Voltage/Div, and

mud is 0-0.5 Voltage/Div. Using FFT calculation of

the amplitude spectrum, the value of the pipe is

higher than other objects, and it is about 1412

Volt/dB. The value of amplitude unknown object,

mud, and silty sand are 834.0728 Volt/dB, 106.2367

Volt/dB, and 238.9427 Volt/dB.

needs of tracking submerged vehicles and scuba

divers to environmental research and management

implications such as monitoring pelagic fauna, [5].

sedimentation, or erosion, of marine sediments has

been developed and tested. The method uses the

difference in the electrical conductivity of seawater

and sediments (up to a factor of 4). The conductivity

change grossly distorts the voltage field generated

by a current source close to the interface. The sensor

Positioning System (GPS) data. The present work

proposes to exploit information from GPS sensors to

track a boat in real time. KF theory examines GPS

coordinates and compares current marine vessel

itineraries to previously noted ones to solve the

ship’s absence and presence problem. The system

was constructed in C++ to evaluate tracking

performance, and simulation results show that the

propulsion, forward or rotating. A rotary encoder is

prepared to calculate the number of revolutions

produced by the motor and then begins to predict

the sediment length, width, and height. The

microcontroller used was selected Arduino Mega

2560.

3 Problem Solution

The microcontroller used is Arduino Mega 2560 the

controller and is equipped with an infrared sensor to

detect objects in the river. Two DC motors are

equipped with a rotary encoder, which is needed to

regulate the movement of the infrared sensor.

sensor switch, and a rotary encoder. The processing

section contains Arduino Mega 2560. Then the

output section consists of LCD, PG 45 motor,

BTS7960 driver and PG28 motor, and Servo motor.

The design of this block diagram is intended to

make it easier to make the device.

Fig. 1: Block Diagram System

PG28 motor with internal Rotary Encoder, Hitec

a 5 Volt DC source. The installed components are

categorized into two parts: input and output. The

details included in the input category are the

Adjustable Infrared Sensor Switch. The details

included in the output category are the BTS 7960

motor driver, LCD (Liquid Crystal Display) + I2C,

PG45 motor, motor PG28 with internal Rotary

Motor driver. Motor driver BTS 7960 is connected

to the PG28 motor on pin 6 Arduino for pin

L_PWM motor driver and pin 7 Arduino for motor

driver R_PWM pin. Each output pin of the

Adjustable Infrared Sensor Switch is attached to a

different pin (pin 23 for the left sensor, pin 25 for

the centre sensor, and pin 27 for the right sensor).

LCD (Liquid Crystal Display) + I2C is attached to

pin 42 for the SDA LCD pin and 44 for the LCD

SCL pin. The Hitec HS-5625MG Servo Motor is

position. One form of setting that uses PID was

experimental data from an SRV-02 DC motor to

regulate the shaft position of the motor, [12].

coupled tank control system that has two inputs,

which are the inlet flow rate to the tanks, and two

outputs, which are the liquid level height inside the

tanks. PID controllers are designed and simulated

nonlinearity to obtain an excellent control

performance, [13].

motor in lowering the infrared sensor so that it can

be done automatically and immediately stops at a

predetermined position. The Kp, Ki, and Kd search

results were investigated using trial and error under

two conditions. The state when the sensor detects an

object at the bottom, but the sensor is not submerged

in water, and when the sensor is underwater. Both

the PI control is the best, the Ki values are modified

as written in Table 3.

Table 3. Searches for the value of Kp, Ki, and Kd

where objects must be detected by the sensor when

the motor is not in the water. Thus the sensor used

also does not need to be immersed in water. The

results of this search produce optimal values for Kp,

Ki, and Kd, where the optimal value is Kp = 1.6; Ki

= 0.8 and Kd = 0, where the oscillations are tiny at

these values, and the time taken to reach the target is

relatively small. These values compare the values

obtained if the object is actually in the water, so the

sensor must also be submerged in the water.

logic controller is expected to be able to adjust the

sensor position more accurately and automatically.

In contrast, the sonar sensor can detect objects in the

water, even though the water is cloudy and the

colour of the sediment tends to be dark. It also adds

to the repertoire of knowledge of controlling electric

vehicles that are activated in water.

Arduino as a controller can be used to measure the

volume of sediment, with an electronic circuit

consisting of Arduino Mega 2560, two BTS 7960

motor drivers, three Adjustable Infrared Sensor

source, and a 5 Volt DC.

lowering the infrared sensor so that it can be done

automatically and immediately stops at a

predetermined position. The optimal values if the

sensor and the object to be detected were out of the

water are Kp=1,6, Ki = 0,8 dan Kd = 0. The optimal

values if the sensor and the object to be detected

were in the water are Kp=1,2, Ki=0,6, and Kd=0.

conditions outside the water, it takes 12.11 seconds,

[2] A. Rodríguez-Molina, M. G. Villarreal-

[4] S. P. Sari, “Deteksi dan Interpretasi Target

[15] C. Lorenzini, A. S. Bazanella, and L. F. A.

[16] C. Sankar Rao, S. Santosh, and V. Dhanya

Contribution of Individual Authors to the

Creation of a Scientific Article (Ghostwriting

Policy)

-Sri Arttini Dwi Prasetyowati coordinated the

research, checked the device, controlled the PID

program, monitored the process, and made the

research results.

program to run the device, and controlled the PID

Sources of Funding for Research Presented in a

Scientific Article or Scientific Article Itself

This research was funded by:

Creative Commons Attribution License 4.0

(Attribution 4.0 International, CC BY 4.0)

This article is published under the terms of the

Creative Commons Attribution License 4.0

https://creativecommons.org/licenses/by/4.0/deed.en

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