The document describes the design and implementation of a solar-powered floating robot to clean rivers and waterways. It discusses using Arduino, DC motors, a conveyor belt, and Bluetooth to autonomously collect solid waste from the water's surface. Hardware components include a cork frame, motor driver, batteries, and sensors to propel and navigate the robot while the conveyor belt collects debris into a storage bin. The system is designed to operate remotely without human intervention to efficiently reduce pollution in water sources.

1. 1
Chapter One
1. INTRODUCTION
1.1 Introduction
The Over two thirds of Earth's surface is covered by water; less than a third is taken up by land.
As Earth's population continues to grow, people are putting ever-increasing pressure on the
planet's water resources. In a sense, our oceans, rivers, and other inland waters are being
"squeezed" by human activities so their quality is reduced. Poorer water quality means water
pollution. This invention relates to skimmer boats, i.e., work boats for collecting and disposing
of floating solid waste materials in harbors and waterways. The invention is more specifically
directed to highly maneuverable vessels equipped with means for picking up floating debris,
means for storing the debris on the vessel, and means for discharging the debris from the vessel
to a storage area, which may be ashore or which may be another vessel such as barge. Many
work boats and vessels have been proposed for collection of floating solid waste and other
debris. These may typically be formed as a catamaran-type hull, i.e., a pair of pontoons or
sponsors, or as a monohull, with paddle wheel or screw driver propulsion, and an operator
station. In one typical trash skimmer design, one or more hydraulically powered open mesh
conveyors are positioned between the pontoons of a catamaran-type twin-hull vessel. The
problem of flooding and climate change has become outrageous because of its recent trends in
our environment today. This has become a cause of major concern to the world, especially the
developing countries. Water running through a water drainage system mostly carries along
waste materials most which are non-biodegradable which not only cause flooding but also
climate change. Overflow of water drainage system occurs when there is a blockage of an end
of the drainage system forcing the water to find its way elsewhere apart from the mapped out
drainage system, therefore the running water spills over the horizontal height of the drainage
systems spreading to regions alongside the drainage system, thereby causing problems such as
pushing down of structures such as fences, water logging of farm lands and residential building,
etc. The impurities present in water can cause hazardous and disease. As long as the draining
system is considered the function of the main drainage system is to collect, transport and
dispose of the water through an outfall or outlet. Impurities in drainage water can be only like

2. 2
empty bottles, polythene bags, papers, etc. It’s an Industrial Working Prototype of Entirely
Solar Powered Water Cleaning Mechanism which Can auto collect floating garbage and solid
waste from the water surface and collect it into its floating bin. It can be programmed, scaled up
to any size and can operate remotely. The system is indigenous and efficient to tack river
cleaning cause [1].
a. It’s reduces the human efforts.
b. It efficiency is better than human being.
1.2 Objective of the Project
1. To Design and implementation of a low cost floating waste removing robot.
2. To make this happen without external power source and also with no human intervention.
.
1.3 Organization of the Report
The project works consists of five chapters and the rest of the chapters are organized as follows:-
i. Chapter 2 present theoretical backgrounds.
ii. Chapter 3 elucidate design and implementation of the robot
iii. Chapter 4 present result and discussion
iv. Chapter 5 presents conclusion.

3. 3
Chapter Two
2. THEORETICAL BACKGROUND
2.1Introduction
The cleaning robot used in that places where there is waste debris in the water body which need
to be removed. This machine is consist of waterwheel driven conveyer mechanism which collect
& remove the wastage, garbage & plastic wastages from water bodies [14].
2.2Reason behind using DC Motor
A DC motor is any of a class of rotary Electrical Motor that converts direct current electrical energy
into mechanical energy. The most common types rely on the forces produced by magnetic fields.
Nearly all types of DC motors have some internal mechanism, either electromechanical or
electronic, to periodically change the direction of current in part of the motor.
DC motors were the first form of motor widely used, as they could be powered from existing
direct-current lighting power distribution systems. A DC motor's speed can be controlled over a
wide range, using either a variable supply voltage or by changing the strength of current in its
field windings. Small DC motors are used in tools, toys, and appliances. The universal motor can
operate on direct current but is a lightweight brushed motor used for portable power tools and
appliances. Larger DC motors are currently used in propulsion of electric vehicles, elevator and
hoists, and in drives for steel rolling mills. The advent of power electronics has made
replacement of DC motors with AC motors possible in many applications.
2.3 Reason behind using Servo Motor
Servos are used in radio-controlled airplanes to position control surfaces like elevators, rudders,
walking a robot, or operating grippers. Servo motors are small, have built-in control circuitry and
have good power for their size [14].

4. 4
2.4 Reason behind using Arduino
Arduino is an open-source electronics platform based on easy-to-use hardware and
software. Arduino boards are able to read inputs - light on a sensor, a finger on a button, or a
Twitter message - and turn it into an output - activating a motor, turning on an LED, publishing
something online [14].
2.5 Reason behind Using Bluetooth Model
Bluetooth is a wireless technology standard used for exchanging data between fixed and mobile
devices over short distances using short-wavelength UHF radio waves in the industrial, scientific
and medical radio bands, from 2.400 to 2.485 GHz, and building personal area networks (PANs).
It was originally conceived as a wireless alternative to RS-232 data cables.
Bluetooth is managed by the Bluetooth Special Interest Group (SIG), which has more than
35,000 member companies in the areas of telecommunication, computing, networking, and
consumer electronics. The IEEE standardized Bluetooth as IEEE 802.15.1, but no longer
maintains the standard. The Bluetooth SIG oversees development of the specification, manages
the qualification program, and protects the trademarks. A manufacturer must meet Bluetooth SIG
standards to market it as a Bluetooth device. A network of patents apply to the technology, which
are licensed to individual qualifying devices. As of 2009, Bluetooth integrated circuit chips ship
approximately 920 million units annually [12].
2.6 Reason behind using Battery
A major reason to use battery is power supply. DC power supply is easy to use and safe. It is the
main source of power management system [14].

5. 5
Chapter Three
3. DESIGN AND IMPLEMENTATION
3.1 Introduction
Water is the source of life. Though 70% of the earth is covered with water, about 97% of it is in the
form of oceans and hence not fit for human consumption. The remaining 3% is stored in various
sources like glaciers, rivers, lakes and under-ground aquifers. Rivers and lakes which are found on
the earth’s surface are very much essential for the mankind. River water is used for irrigation which
in return gives food to the people. Rivers also maintain the ecology of the region and bring in
prosperity. Unfortunately, most of the rivers and lakes are getting polluted. This is due to human
actions like letting domestic and industrial wastes into such water bodies. Thus rivers like Ganges,
Yamuna and Narmada have become highly polluted. Even the South Indian River Knavery is
affected by pollution. Solid waste which floats on the river surface is a cause of serious concern.
Disposal of solid waste is the first step towards minimizing surface water pollution. Some machines
have been developed to clear the solid waste found on the surface of the water bodies [13].
3.2 Hardware Component
River water cleaning machine essential parts:
3.2.1 Frame
3.2.2 Arduino board
3.2.3 Motor Driver L298N
3.2.4 DC Motors
3.2.5 Bluetooth Module
3.2.6 Conveyer Belt
3.2.7 Servo motor
3.2.8 Battery
3.2.9 Bread Board
3.2.10 Male to Female Jumper Wires and Male to Male Jumper Wires
3.2.11 1k and 2k Ohm Resistor
3.2.12 Roller

6. 6
3.2.13 Propeller
3.2.14 Block Diagram of Project
3.2.15 Implementation process
3.2.16 Process Requirement
3.2.17 Circuit Diagram
3.2.18 Arduino IDE
3.2.1 Frame
Cork Sheet has been used to make the structure of the cleaner robot. It is cheap, easy to reshape
and float easily.
Fig.3.1: Frame (Cork Sheet)
3.2.2 Arduino
The Arduino Uno is an open source single-board microcontroller that is based on
theATMega328. It can be powered by a 5V Universal Serial Bus (USB) connection, or
alternatively with an external power supply. The board has 14 digital input/output pins, among
which 6 can be used as pulse-width modulation (PWM) outputs. There are also 6 analog input
pins on the board, along with a reset button. The Programming of the board is done with the
Arduino software, and the programming language is C with the Arduino library included. The
capability of the ArduinoUno was deemed to be sufficient to control the solar panel mechanism.

7. 7
Arduino is an open source, computer hardware and software company, project, and user
community that designs and manufactures microcontroller kits for building digital devices and
Interactive objects that can sense and control objects in the physical world. The project's
products are distributed as open-source hardware and software, which are licensed under the
GNU Lesser General Public License (LGPL) or the GNU General Public License (GPL)
permitting the manufacture of Arduino boards and software distribution by anyone. Arduino
boards are available commercially in preassembled form, or as do-it you kits. Arduino board
designs use a variety of microprocessors and controllers. The boards are equipped with sets of
digital and analog input/output (I/O) pins that may be interfaced to various expansion boards
(shields) and other circuits. The boards feature serial communications interfaces, including
Universal Serial Bus (USB) on some models, which are also used for loading programs from
personal computers. The microcontrollers are typically programmed using a dialect of features
from the programming languages C and C++. In addition to using traditional compiler tool
chains, the Arduino project provides an integrated development environment (IDE) based on the
Processing language project.
Fig.3.2: Arduino Uno R3
Reprinted from the Arduino Board Uno Fig 1 shows the ArduinoUno Board manufactured by the
Arduino in Italy. It can be powered via a USB connection or with an external power supply. As
can be seen in Fig 1, pins A0 to A5 are the analog input pins, pins 0 to 13 are 14 digital

8. 8
input/output pins and the pins with a “~” sign can be used asdigital pins PWM o can be used as
input or output pins by selecting the mode by using the function Pin-Mode () and then using the
function digitalRead() or digitalWrite() according to the ne-cessity. Pins 0(RX) and 1(TX) are
used for serial communication while pins 10(SS), 11(MOSI), 12(MISO) and 13(SCK) are used
for SPI (Serial Peripheral Interface) communication. In addition to pin 0 and 1, a Software Serial
library allows serial communication on any of the Uno’s digital pin.
3.2.3 Motor Driver L298N
The L298N Motor Driver Board is built around the L298 dual full-bridge driver, made by
STMicroelectronics. With this motor driver you can control DC.
Fig.3.3: Motor Driver L298N
DESCRIPTION
L298N is a high voltage, high current motor driver chip. The chip use 15-pin package. The main
features are: high voltage, maximum operating voltage up to 46V; output current, instantaneous
peak current up to 3A, continuous operating current of 2A; rated power 25w,Contains two H-
bridge high-voltage and high current full-bridge driver can be used to drive DC motors and
stepper motors, relays, coils and other inductive load; using standard logic level signal control;
having two enable control terminal, in allows input signal without being affected or disable the

9. 9
device has a logic supply input, the internal logic circuit part of the work at a low voltage; can be
an external sense resistor, the amount of change back to the control circuit. Drive motor using
L298N chip, the chip drive a tow-phase stepper motors or four-phase stepper motor, can drive
tow DC motor
Table 3.1
The name of the
module
Dual H bridge motor
driver module
Working mode H bridge driver (dual)
Main control chip L298N Packaging form Electrostatic bag
Logic voltage 5V Drive voltage 5v-35v
Current logic OmA-36mA Drive current 2A(MAX single bridge)
Storage temperature -20C to +125C The most powerful 25W
weight 30g The peripheral size 43*43*27mm
Features
1. The module uses L298N chip as the main drive, with driving ability, low heat, anti-jamming
features.
2. It can be used to take power through the built-in 78M05 drive power part of the work,but in
order to avoid damage to the regulator chip, when a drive voltage greater then 12V please use an
external 5V logic supply.
3. Uses high-capacity filter capacitors, freewheeling diode protection, reliability can be
improved.
Table 3.2
Dc motor Rotating way IN1 IN2 IN3 IN4 Speed control PWM signal
Control port A Control port B
M1
positive direction high low / / high /
0ppositive direction low high / / high /
Stop low low / / high /
M2
positive direction / / high low / high
opposite direction / / low high / high
Stop / / low low / high

10. 10
Table 3.3
Stepper Signal The first
step
The second
step
The third
step
The
fourthstep
Returns The firststep
Positive
direction
IN1 0 1 1 1 return
IN2 1 0 1 1 return
IN3 1 1 0 1 return
IN4 1 1 1 0 return
opposite
direction
IN1 1 1 1 0 return
IN2 1 1 0 1 return
IN3 1 1 1 1 return
IN4 0 0 1 1 return
Note
1.When you drive voltage (the figure identified as 12V input, can accept the actual input range is
7-12V) to 7V -12V,You can enable the on-board 5V logic supply, when using the onboard 5V
power supply, interface +5V Do not enter the power supply voltage, but can lead to 5V voltage
for external use.(This is the routine use!)
2. When the drive voltage higher then 12V, equal to less than 24V(chip can support manual
proposes to 35V, but in accordance with an 298 Conservative general inspections to 24V
maximum voltage support has been very great! Time), such as to drive the rated voltage 18V
motor. First, you must unplug the onboard 5V output enable jumper caps, And then 5V 5V
output port External Access L298N internal voltage logic circuitry.(This is high voltage driver
unconventional application.
3.2.4 DC Motors
The Blucontrol android app it’s send’s the signal to the arduino system. The arduino system
controls all the DC motors with using driver Ckt. There are three DC motors used in the River
Water Cleaning Machine. First motors are used to control the direction of machine. The
Blucontrol android app it’s send’s the signal to the arduino system. The arduino system control
the all DC motors with using driver Circuit. Next motors are used to control CONVYOR BELT

11. 11
Fig.3.4: Motors
3.2.5 Bluetooth Module
•Android is an open source operating system which means that any manufacturer can cause it in the
phones for free of costs.
•It was buildable truly open.
•Android is built on the open Linux Kernel. Furthermore, it utilizes a custom JAVA virtual
machine that was designed to optimize memory and hardware resources in a mobile environment.
Android Application on Mobile Phones
•An android app is meant for phones with an android Based operating systems. They can be
downloaded from the Android app Market which is pre-loaded on every android phone.
•Blue control APP and Bluetooth APP are some example
Fig 3.5: Bluetooth Module

12. 12
3.2.6 Conveyor Belt
In the River water Cleaning Machine we have used the polyvinyl Conveyor Belt. The conveyor
belt is controlled by the arduino system with using motor driver circuit. The conveyor collects all
floating garbage from water’
Fig.3.6: Conveyor belt
Specifications of conveyor belt
1. Belt Capacity: 0.25 kg
2. Belt Speed: 5-25ft/min
3. Belt Width: 100 mm
4. Belt Length: 280 mm
5. Roller Dia: 32mm
3.2.7 Servo Motor
A servomotor is a rotary actuator or linear actuator that allows for precise control of angular or
linear position, velocity and acceleration. It consists of a suitable motor coupled to a sensor for
position feedback. It also requires a relatively sophisticated controller, often a dedicated module
designed specifically for use with servomotors. Servomotors are not a specific class of motor
although the term servomotor is often used to refer to a motor suitable for use in a closed-loop
control system. A servomotor is a closed-loop servomechanism that uses position feedback to
control its motion and final position. The input to its control is a signal (either analogue or
digital) representing the position commanded for the output shaft. The motor is paired with some
type of encoder to provide position and speed feedback. In the simplest case, only the position is
measured. The measured position of the output is compared to the command position, the
external input to the controller. If the output position differs from that required, an error signal is
generated which then causes the motor to rotate in either direction, as needed to bring the output

13. 13
shaft to the appropriate position. As the positions approach, the error signal reduces to zero and
the motor stops. The very simplest servomotors use position-only sensing via a potentiometer
and bang-bang control of their motor; the motor always rotates at full speed (or is stopped). This
type of servo motor is not widely used in industrial motion control, but it forms the basis of the
simple and cheap servos used for radio-controlled models. More sophisticated servomotors use
optical rotary encoders to measure the speed of the output shaft and a variable-speed drive to
control the motor speed. Both of the seen hancements, usually in combination with a PID control
algorithm, allow the servomotor to be brought to its commanded position more quickly and more
precisely, with less overshooting.
Fig 3.7: Servo motors
3.2.8 BATTERY
It is an 8-cell battery (a series of 3 banks), making the whole package 11.1V and 4Ah. So each
individual 18650 cell is the typical 3.7V and 2Ah.
Fig.3.8: Battery

14. 14
SPECIFICATIONS
Voltage: 3.7 Volt li-ion
Capacity: 4000mAh
Type: Nickel Metal Hydride
Battery
Rechargeable: Yes
3.2.9 Bread Board
A breadboard is a construction base for prototyping of electronics. Originally it was literally a
bread board, a polished piece of wood used for slicing bread. In the 1970s the solder less
breadboard (AKA plug board, a terminal array board) became available and nowadays the term
"breadboard" is commonly used to refer to these. "Breadboard" is also a synonym for
"prototype". Because the solder less breadboard does not require soldering, it is reusable. This
makes it easy to use for creating temporary prototypes and experimenting with circuit design.
For this reason, solder less breadboards are also extremely popular with students and in
technological education. Older breadboard types did not have this property. A strip board (Vero
board) and similar prototyping printed circuit boards, which are used to build semi-permanent
soldered prototypes or one-offs, cannot easily be reused. A variety of electronic systems may be
prototyped by using breadboards, from small analog and digital circuits to complete central
processing units (CPUs).
Fig. 3.9.Breadboard

15. 15
3.2.10 Male to Female Jumper Wires and Male to Male Jumper Wires
Fig. 3.10 a: Male to Female Jumper Wires
Fig.3.10.b: Male to Male Jumper Wires
3.2.11 1k and 2k Ohm Resistor
Fig.3.11: Resistor

16. 16
3.2.12 Roller
It has been used to carry the conveyor belt. Roller has been made with the combination of
Teflon and pipe.
Fig.3.12: Roller
3.2.13 Propeller
Propeller has been made in the measurement and instrumentation lab using plastic. Two
propellers have been made. Per propeller there are 8 blades.
Fig. 3.13: Propeller

17. 17
3.2.14 Block Diagram of Project
Fig. 3.14: Block Diagram of Project
3.2.15 Implementation Process
Step 1
Firstly we implemented structure of the robot then install HC Bluetooth application in an Android
Phone.
Step 2
Connect 9V battery in L298N motor driver device. Use separate 9V battery for Arduino board.
Step 3
Connect Servo motors to the Arduino board.
Step 4
Connect two DC motors with L298N.
Step 5
Connect L298N to Arduino board.

18. 18
Step 6
Connect HC-05 Bluetooth module to Arduino.
3.2.16 Process Requirement
1. Pair Bluetooth module with Android Phone.
2. Run Android Application.
3. Select the paired Bluetooth.
4. Press button 1 for move Robotic arms forward
5. Press button 6 for move Robotic arms backward
6. Press button 2 for move Conveyer belt forward
7. Press button 7 for move Conveyer belt backward
8. Press button 4 for slow the Conveyer belt.
9. Press button 3 for move Boat forward
10. Press button 8 for move Boat backward
11. Press button 9 for slow the boat.
12. Press button 5 for off all the motors.
Fig. 3.15: Front View of the Cleaning Robot

19. 19
Fig. 3.16: Back View of the Cleaning Robot
Fig. 3.17: Left View of the Cleaning Robot

20. 20
Fig. 3.18: Right View of the Cleaning Robot
Fig. 3.19: Implemented Floating Waste Cleaning Robot

21. 21
3.2.17 Circuit Diagram
Fig.3.20: Circuit Diagram of implemented project

22. 22
Chapter Four
4. RESULT AND DISCUSSION
4.1 Results
Consider designing the hull of the robot; there were several technical matters that are geometric
design, reducing hydrodynamic resistance, minimizing weight and preventing drown because of
leakage. While the waste container is full or empty, there must be no difficulties for a robot in
water steadily.
The control system is examined by giving instructions on the remote that are well received by
the robot with the appropriate motion response with the commands written on the program.
The robot is controlled round moves supposed moving with the trajectory as in figure 4.1 and
collects garbage along the path. The robot can operate well and able to accommodate garbage
loads up to 100 gm.
Fig. 4.1: Path of Robot motion during testing
4.2 Advantages
I. This cleaning system is easy to operate and flexible.
II. This system is Eco-friendly.
III. This requires less man power.
IV. This system is Cost effective (Initial and Maintenance cost is low).
V. This is efficient method.

23. 23
Chapter Five
5. CONCLUSSION
5.1 Conclusion
A water surface cleaning Robot was a relative success; the team has created an outline for future
improvement in terms of research work.
Consider designing the hull of the robot; there were several technical matters that are geometric
design, reducing hydrodynamic resistance, minimizing weight and preventing drown because of
leakage. The primary requirement of the hull design is to generate a sufficient force suspending
the robot in water.
This project is emphasis to provide flexibility in operation. This is easy in operation and cost of
maintenance is low. Hence this prototype project is mostly designed to make system very much
economical and helpful to remove water impurities like plastics, trashes, water debris which is
floating on river and pond surface. This is mainly very useful maintaining human health and for
increasing the life of aquatic animals.
5.2 Advantages
I. This cleaning system is easy to operate and flexible.
II. This system is Eco-friendly.
III. This requires less man power.
IV. This system is Cost effective (Initial and Maintenance cost is low).
V. This is efficient method
5.3 Applications
I. Useful to reduce the water pollution in river
II. It is applicable to reduce water debris, impurities, and all types of impurities which are
floating on water surface in swimming pool.
III. It is useful to remove the environmental marine pollution at Godavari River.

24. 24
IV. It is useful in fishery plant to collect dead fishes.
5.4 Advantages
I. Waste collecting capacity is limited.
II. Only useful to collect waste which is floating on river surface.
5.5 Future Scope
Now day by day world facing biggest problem of floating garbage. And it is increasing in
tremendous amount so it is very difficult to clean all this floating garbage because of more
requirement of manpower. So, in future this remote operated floating river cleaning robot has
more scope to remove large capacity of garbage automatically as fast as possible. And by
making modifications in this robot, this is used for automatically removing garbage from
beaches also.

25. 25
REFERENCES
[1]M. Mohamed Idhris, M.Elamparthi,C. Manoj Kumar, Dr.N.Nithyavathy, Mr. K.
Suganeswaran, Mr. S. Arunkumar, “Design and fabrication of remote controlled sewage cleaning
Machine”, IJETT – Volume-45 Number2 -March 2017
[2] Mr.Abhijeet.M. Ballade, Mr. Vishal.S. Garde, Mr.Akash.S. Lahane and Mr.Pranav.V.Boob,
“Design & fabrication of river cleaning system”, IJMTER Volume 04, Issue 2, [February– 2017]
ISSN (Online):2349–9745
[3] Mr. P. M. Sirsat, Dr. I. A. Khan, Mr. P. V. Jadhav, Mr. P. T. Date, “Design and fabrication of
River Waste Cleaning Machine”, IJCMES 2017 Special Issue-1 ISSN: 2455-5304
[4] Pankaj Singh Sirohi, Rahul Dev, ShubhamGautam, Vinay Kumar Singh,
SarojKumar,“Review on Advance River Cleaner”, IJIR Vol-3, Issue-4, 2017 ISSN: 2454-1362.
[5] Ndubuisi c. Daniels, “Drainage System Cleaner A Solution to Environmental Hazards”,
IRJES) ISSN (Online) 2319-183X,Volume3, Issue 3(March 2014)
[6] OsianyNurlansa, DewiAnisaIstiqomah, and MahendraAstuSangghaPawitra, “AGATOR
(Automatic Garbage Collector) as Automatic Garbage Collector Robot Model” International
Journal of Future Computer and Communication, Vol. 3, No. 5, October 2014.
[7] BasantRai, “Polltution and Conservation of ganga river in modern India”, International
Journal of Scientific and Research Publications, Volume 3, Issue 4, April 2013 1 ISSN 2250-315
[8] Huang Cheng, Zhang Zhi*,Identification of the Most Efficient Methods For Improving Water
Quality in Rapid Urbanized Area Using the MIKE 11 Modelling System”, 2015 Seventh
International Conference on Measuring Technology and Mechatronics Automation.
[9] Emaad Mohamed H. Zahugi, Mohamed M. Shanta and T. V. Prasad,“Design Of Multi-Robot
System For Cleaning Up Marine Oil Spill”, IJAIT Vol. 2, No.4, August 2012.
[10] Prof. N.G. Jogi, AkashDambhare, KundanGolekar, AkshayGiri, Shubham Take, “Efficient
Lake Garbage Collector By Using Pedal Operated Boat”, IJRTER Volume 02, Issue 04; April
2016 ISSN: 2455-1457

26. 26
[11] AnkitaB.Padwal, Monica S. Tambe, Pooja S. Chavare, Reshma K. Manahawar, Mitali S.
Mhatre, “Review Paper on Fabrication Of Manually Controlled Drainage Cleaning System”,
IJSER, Volume 8, Issue 3, March-2017 ISSN 2229-5518.
[12] Cary, Howard B; Helzer, Scott C.(2005).“Modern Welding Technology Upper Saddle
River”, New Jersey: Pearson Education. ISBN 0-13-113029-3,2019, IRJET,From Wikipedia
[13] Kalpakjian, Serope; Steven R. Schmid (2001). “Manufacturing Engineering and Prentice
Hall”. ISBN 0-201-36131-0.
[14]River Cleaning Machine-IRJET. www.ijsdr.org › papers ,
IJSDR1807049.JAMECO,rhttps://en.wikipedia .org/wiki/DC motor,www.lifewrie.com

27. 27
APPENDIX
Cost Estimation
SL NO Equipment Name Unit Price (BDT)
01 Motor Driver Module (L298N) 250
02 Micro Servo Motor (2 piece). 180*2=360
03 DC Motor (2 piece) 100*2 = 200
04 Arduino Uno 400
05 Bread Board 120
06 Frame 100
07 Battery (4 piece) 380
08 Conveyor belt 40
09 Resistor 1Kohm 5
10 Wire 50
Total Cost 1905 BDT