Water is the most important Nature’s gift to mankind. Without water there is no life, especially now that fresh water is endangered. So, water management should reduce its wastage. As a first step, this controller will automatically switch ON and OFF the domestic water pump system depending on the water tank and underground sump levels (to prevent dry run of pump). In this paperwork an effort is made to design a cost-effective circuit and complete system using Arduino and Ultrasonic transducers, to be used in water level indication. It will control the storage level of water in a tank through SPST relay to provide water thoroughly, without any wastage of water or power.

1. 1
Automatic Ta n k Level
Control Using A r d u i n o Mega
JANUARY 2nd, 2020
A dissertation submitted in
partial fulfilment
Of the requirement for the degree of
BACHELOR OF ENGINEERING
‘APPLIED ELECTRONICS AND
INSTRUMENTATION
ENGINEERING’
SUBMITTED By:
1. Koushik Mandal (2016-4007)
2.Upamanyu Ray (2016-
4023) 3. Souvik Saha
(2016-4025)
4. Debkumar Das (2016-4030)
5. Kunal Adhikari (2016-4036)
6. Asit Baran Roy (L2017-4058)Under the guidance of:
Er. Faruk Bin Poyen
Assistant Professor, Dept. of AEIE,
University Institute of Technology,
BU
Department ofApplied
Electronics and
Instrumentation
Engineering

2. 2
ACKNOWLEDGEMENT
It’s a great privilege for us to express our profound and sincere gratitude to
our revered professors of Department of Applied Electronics &
Instrumentation Engineering, University Institute of Technology, University
of Burdwan, for all valuable guidance, suggestions, and their constant
rebukes and commendations, throughout our course of study.
This group also thanks our project mentor, Er. Faruk Bin Poyen who has
been a constant inspiration to us young aspiring engineers, without whom
this project would have been impossible to complete in time.

3. 3
CONTENTS
1. LIST OF COMPONENTS
2. (Chapter i) ABSTRACT
3. (Chapter ii) MOTIVATION FOR THE PROJECT
4. (Chapter iii) INTRODUCTION
5. (Chapter iv) OBJECTIVES OF THE PROJECT
6. (Chapter v) PROJECT PARAMETERS
7. (Chapter vi) LOGIC AND ARDUINO DEVELOPMENT BOARD
PROGRAM
8. (Chapter (vii) BLOCK DIAGRAM OF THE SYSTEM
9. (Chapter viii) CIRCUIT DIAGRAM
10. (Chapter ix) SNAPSHOTS
11. (Chapter x) CONCLUSION
12. (Chapter xi) FUTURE WORK
13. (Chapter xii) REFERENCES

4. LIST OF COMPONENTS
Sl.
No Component Quantity
Model
No.
Maker’s
Name
1
Arduino
Mega
16V-TF
355E3F
ATMEL
2 US Sensor HC-SR04 -
3
LCD Display
and Module
RG2004A
PCF8574T
MH
4
Relay
Module
JQC3F HONG WEI
4

5. 5 Pump Motor Elegant ZIGMA
6 Sump - -
7 Tank - -
8 Water Pipe - -
9
Connecting
Wires
- -
5

6. 10 Jumper Wires - -
11 Breadboard - -
6

7. 7
CHAPTER I
ABSTRACT
Water is the most important Nature’s gift to mankind. Without water there is
no life, especially now that fresh water is endangered. So, water management
should reduce its wastage. As a first step, this controller will automatically
switch ON and OFF the domestic water pump system depending on the water
tank and underground sump levels (to prevent dry run of pump). In this
paperwork an effort is made to design a cost-effective circuit and complete
system using Arduino and Ultrasonic transducers, to be used in water level
indication. It will control the storage level of water in a tank through SPST
relay to provide water thoroughly, without any wastage of water or power.
Keywords: Water, Management, Pump, Arduino, Ultrasonic,
Transducer, Relay

8. CHAPTER II
MOTIVATION FOR THE PROJECT
Water is the most important Nature’s gift to the mankind. Without Water
there is no life. One might think everybody understands its importance,
especially where water is not easily available, but it’s not always so. In many
households and offices, even in industries it is seen that water spillage is very
common, and tanks which need maintenance are not bothered about (it has
no direct connection to the project but it highlights the lacklustre attitude of
humans that has a direct connection to every sort of wastage). On 19th June,
2019 Chennai, the 6th largest city ran out of water completely (a woman was
stabbed due to one of many conflicts over water). On the other hand, many
times during emergencies and inside bathrooms, water supply suddenly
stops, leaving us in a mess.
Still, as a generation we are careless and
apathetic towards water, at large. As a
direct result, Automatic water level
monitoring came into existence because
of gross error and inconsistence that is
associated with manually operated water pumping machine. This is because
it takes time for the individual who is manually operating the water pump to
turn it off and this may cause water spillage because many times he may not
even know whether the tank is full or not; and at times the individual might
not know the water level until the tank is completely empty. This problem
motivated us to the development of an automatic water level control.
On research, other reasons found for the requirement of this system are:
1. to prepare for future droughts and rising agricultural demands.
2. to guard against rising costs and potential conflicts
3. to preserve the environment
4. to strengthen communities
5. to preserve enough water for recreational purposes.
8

9. CHAPTER III
INTRODUCTION
Manual switching on of pump when taps go dry and switching off when the
overhead tank overflows is the general approach towards water tank storage
in general. This results in the unnecessary wastage and sometimes non-
availability of both water and energy which are increasingly valuable assets
of the world as of now.
“Automatic Tank Level Control using Arduino Mega” is a project that aims at
control of the level of an overhead tank, according to available water level of
the storage tank and underground. The water level must be controlled at
these two points. This water level control system controls, monitors and
maintains the water level in the overhead tank and ensures the continuous
flow of water round the clock whenever deemed proper by conditions set by
the user, without the stress of going to switch the pump on or off thereby
saving time, energy, water, and prevent the pump from overworking.
The
system
has an
automatic
pumping
system
attached
to it so as
to refill
the tank
once the
water is below a certain minimum sump threshold and above a certain
minimum tank threshold, when measured from the top. An AC pump is used
for the same. The control logic is independently defined according to the
sump depth and tank height respectively (both manually measured).
9

10. 10
The control action is performed by interfacing level measuring sensors and
SPST relay to Arduino Mega by various jumper wires, and displaying the
output on a Liquid Crystal Display. Similar liquid level control systems are
widely used in monitoring of liquid levels in small to large scale reservoirs,
silos, etc., especially due to its simple control logic coupled with low cost
(cost of this project was <₹2000).

11. 11
CHAPTER IV
OBJECTIVES OF THE PROJECT
The goal or objectives of which the designed device is expected to
accomplish is to build an automatic water level control system. In this project
sensors are placed at both reservoir and overhead tank with the aid of level
measurement sensors, and the control board monitors the level of the liquid
at any particular point in time, some of the objectives are:
 to design an automatic water monitoring system
 to incorporate an interactive medium between the end user and the
machine
 to prevent over labour of the pumping machine and prevent it from
burning out
 to avoid wastage of water
 since the demand of electricity is very high, automatic water level
control saves energy, and time

12. 12
CHAPTER V
PROJECT PARAMETERS
1. ARDUINO MEGA 2560REV3
Arduino Boards have revitalized the automation industry with their easy to
use platform where everyone with little or no technical background can get
started with learning some basic skills to program and run the board. The
Arduino Mega 2560 is a microcontroller board based on the ATmega2560. It
has 54 digital input/output pins (of which 15 can be used as PWM outputs),
16 analog inputs, 4 UARTs (hardware serial ports), a 16 MHz crystal
oscillator, a USB connection, a power jack, an ICSP header, and a reset
button. It contains everything needed to support the microcontroller; simply
connect it to a computer with a USB cable or power it with an AC-to-DC
adapter or battery to get started. The Mega 2560 board is compatible with
most shields designed for the Uno. It is as open source platform means the
board and the software are readily available.
There are three ways to power the board. You can either use a USB cable to
power the board and transfer code to the board or you can power it up using
Vin of the board or through Power jack or batter. Last two sources to power
the board are required once you already built and compile code into the
board through USB cable.
Technical Specifications:
 Microcontroller:
 Operating Voltage:
ATmega2560
5V
 Input Voltage (recommended): 7-12V
 Input Voltage (limit):
 Digital I/O Pins:
 Analog Input Pins:
 DC Current per I/O Pin:
 DC Current for 3.3V Pin:
6-20V
54 (15 provide PWM output)
16
20 mA
50 mA

13. 13
 Flash Memory:
 SRAM:
 EEPROM:
 Clock Speed:
 LED_BUILTIN:
 Length:
 Width:
 Weight:
Pin Specifications:
256 KB (8 KB used by bootloader)
8 KB
4 KB
16 MHz
13
101.52 mm
53.3 mm
37 g
5V & 3.3V: This pin is used to provide output regulated voltage around 5V.
This regulated power supply powers up the controller and other components
on the board. It can be obtained from Vin of the board or USB cable or
another regulated 5V voltage supply. While another voltage regulation is
provided by 3.3V pin. Maximum power it can draw is 50mA.
GND: There are 5 ground pins available on the board which makes it useful
when more than one ground pins are required for the project.
Reset: This pin is used to reset the board. Setting this pin to LOW will reset
the board.
Vin: It is the input voltage supplied to the board which ranges from 7V to
20V. The voltage provided by the power jack can be accessed through this
pin. However, the output voltage through this pin to the board will be
automatically set up to 5V.
Serial Communication: RXD and TXD are the serial pins used to transmit
and receive serial data i.e. Rx represents the transmission of data while Tx
used to receive data. There are four combinations of these serial pins are used
where Serial 0 contains RX(0) and TX(1), Serial 1 contains TX(18) and
RX(19), Serial 2 contains TX(16) and RX(17), and Serial 3 contains TX(14)
and RX(15).

14. External Interrupts: Six pins are used for creating external interrupts i.e.
interrupt 0(0), interrupt 1(3), interrupt 2(21), interrupt 3(20), interrupt 4(19),
interrupt 5(18). These pins produce interrupts by a number of ways i.e.
providing LOW value, rising or falling edge or changing value to the
interrupt pins.
LED: This board comes with built-in LED connected to digital pin 13. HIGH
value at this pin will
turn the LED on and
LOW value will turn
it off. This gives you
the change of nursing
your programming
skills in real time.
AREF: AREF stands
for Analog Reference
Voltage which is a reference voltage for analog inputs.
Analog Pins: There are 16 analog pins incorporated on the board labelled as
A0 to A15. It is important to note that all these analog pins can be used as
digital I/O pins. Each analog pin comes with 10-bit resolution. These pins
can measure from ground to 5V. However, the upper value can be changed
using AREF and analogReference() function.
I2C: Two pins 20 and 21 support I2C communication where 20 represents
SDA (Serial Data Line mainly used for holding the data) and 21 represents
SCL(Serial Clock Line mainly used for providing data synchronization
between the devices)
SPI Communication: SPI stands for Serial Peripheral Interface used for the
transmission of data between the controller and other peripherals
components. Four pins i.e. 50 (MISO), 51 (MOSI), 52 (SCK), 53 (SS) are
used for SPI communication.
14

15. 15
Programming:
Arduino Mega 2560 can be programmed using Arduino Software called IDE
which supports C programming. The code you make on the software is called
sketch which is burned in the software and then transferred to the board
through USB cable. This board comes with a built-in bootloader which rules
out the usage of an external burner for burning the code into the board.
The bootloader communicates using STK500 protocol.
Once you compile and burn the program on the board, you can unplug the
USB cable which eventually removes the power from the board. When you
intend to incorporate the board into your project, you can power it up using
power jack or Vin of the board.
Applications:
 Developing 3D printer
 Controlling and handling more than one motors
 Interfacing of number of sensors
 Sensing and detecting temperature
 Multi-level liquid detection projects
 Home automation and security systems
 Embedded Systems
 IoT applications
 Parallel programming and Multitasking
2. ULTRASONIC SENSOR
An ultrasonic sensor is an instrument that measures the distance to an object
using ultrasonic sound waves. It sends and receives ultrasonic pulses that
relay back information about an object’s proximity. High-frequency sound
waves reflect from boundaries to produce distinct echo patterns.
Working Principle:

16. Ultrasonic sound vibrates at a frequency above the range of human hearing.
Transducers are the microphones used to receive and send the ultrasonic
sound.
Our ultrasonic sensors, like many others, use a
single transducer to send a pulse and to
receive the echo.
The sensor determines the distance
to a target by measuring time lapses
between the sending and receiving
of the ultrasonic pulse. HC-SR04
Ultrasonic (US) sensor is a 4 pin
module, whose pin names are Vcc, Trigger,
Echo and Ground respectively. This sensor is a very
popular sensor used in many applications where measuring distance or
sensing objects are required. The module has two eyes like projects in the
front which forms the Ultrasonic transmitter and Receiver. The sensor works
with the simple high school formula of Distance = Speed × Time
The Ultrasonic transmitter transmits an ultrasonic wave, this wave travels in
air and when it gets objected by any material it gets reflected back toward the
sensor this reflected wave is observed by the Ultrasonic receiver module.
Now, to calculate the distance using the above formulae, we should know the
Speed and time. Since we are using the Ultrasonic wave we know the
universal speed of US wave at room conditions which is 340m/s. So using
the time taken by the wave to reflect back and be detected by the receiver
one can easily calculate the distance of the object from the point of
observation.
Specifications:
 No. of pins: 4 (5V Supply, Trigger Pulse Input, Echo Pulse Output,
Ground)
 Operating voltage: +5V
 Theoretical Measuring Distance: 2cm to 450cm
 Practical Measuring Distance: 2cm to 80cm
1
8

17. 17
 Accuracy: 3mm
 Measuring angle covered: <15°
 Operating Current: <15mA
 Operating Frequency: 40Hz
 Trigger Input Signal: 10uS TTL pulse
 Echo Output Signal: Input TTL lever signal and the range in
proportion
 Dimension: 45*20*15mm
Applications:
 Used to avoid and detect obstacles with robots like biped robot,
obstacle avoider robot, path finding robot etc.
 Used to measure the distance within a wide range of 2.5cm to 400cm
 Can be used to map the objects surrounding the sensor by rotating it
 Depth of certain places like wells, pits etc. can be measured since the
waves can penetrate through water
3. LIQUID CRYSTAL DISPLAY (I2C):
A liquid-crystal display (LCD) is a flat-panel display or other electronically
modulated optical device that uses the light-modulating properties of liquid
crystals. Liquid crystals do not emit light directly, instead using a backlight
or reflector to produce images in colour or monochrome. LCDs are available
to display arbitrary images (as in a general-purpose computer display) or
fixed images with low information content, which can be displayed or
hidden, such as preset words, digits, and seven-segment displays, as in a
digital clock. They use the same basic technology, except that arbitrary
images are made up of a large number of small pixels, while other displays
have larger elements. LCDs can either be normally on (positive) or off
(negative), depending on the polarizer arrangement. For example, a character

18. positive LCD with a backlight will have black lettering on a background that
is the colour of the backlight, and a character Negative LCD will have a
black background with the letters being of the same colour as the backlight.
Small LCD screens are common in portable consumer devices such as digital
cameras, watches, calculators, and mobile telephones, including smart
phones. LCD screens are also used on consumer electronics products such as
DVD players, video game devices and clocks. LCD screens have replaced
heavy, bulky cathode ray tube (CRT) displays in nearly all applications. The
LCD screen is more energy-efficient and can be disposed of more safely than
a CRT can. Its low electrical power consumption enables it to be used in
battery-powered electronic equipment more efficiently than CRTs can be. By
2008, annual sales of televisions with LCD screens exceeded sales of CRT
units worldwide, and the CRT became obsolete for most purposes.
4. RELAY MODULE:
It is a 4-channel SPST Relay
module that consists of 4 SPST
Relays capable of both NO and
NC connections. The Relay
output state is shown by a red
LED. It finds applications in any
sort of simple switching.
It has the following terminals:
COIL A - This is one end of the
coil.
COIL B- This is the other end of
the coil. These are the terminals
where we apply voltage to in
order to give power to the coils
(which then will close the
18

19. switch). The polarity does not matter. One side gets positive voltage and the
other side gets negative voltage.
NO - This is Normally Open switch. This is the terminal where the device is
connected that we want the relay to activate when the relay is powered. The
device connected to NO terminal will be deactivated when the relay has no
power and will turn on when the relay receives power. We will use this
terminal for powering the pump.
NC - This is the Normally Closed Switch. This is the terminal where we
connect the device that we
want powered when the relay
receives no power. The device
connected to NC will be active
when the relay has no power
and will deactivate when the
relay receives power.
COM - This is the common
terminal of the relay. When
the relay is powered and the switch is closed, COM and NO will be shorted.
If the relay isn't powered and the switch is open, COM and NC get shorted.
Specifications:
 4-Channel Relay interface board, and each one needs 15-20mA Driver
Current
 Both controlled by 12V and 5V input Voltage
 Equipped with high-current relay, AC250V 10A ; DC30V 10A
 Standard interface that can be controlled directly by microcontroller
(Arduino , 8051, AVR,
 PIC, DSP, ARM, ARM, MSP430, TTL logic active low
 Dimension: 50mm*70mm*15mm
 Opto-isolated inputs
 Indication LED’s for Relay output status.
19

20. 5. PUMP MOTOR:
The pump motor for the project level
working is taken as a submersible
pump, made by the company Zigma
(picture attached). The shell is made
of high quality stronger ABS. It is
water proof and has good
performance of insulation.
It is of compact size, easy to install
and has multiple usage. It is easy to clean and runs on supply power
(230VAC, 50Hz).
Specifications:
 Voltage supply: 165-230V/50Hz
 Power: 19W
 Max. head: 1.9m
 Output: 1100Lph
Applications: Cooler, aquarium, garden and other small to medium
household/office applications.
6. JUMPER WIRES:
A jump wire (also known as jumper wire, or
jumper) is an electrical wire, or group of
them in a cable, with a connector or pin at
each end (or sometimes without them –
simply "tinned"), which is normally used to
interconnect the components of a
20

21. 21
breadboard or other prototype or test circuit, internally or with other
equipment or components, without soldering.
Individual jump wires are fitted by inserting their "end connectors" into the
slots provided in a breadboard, the header connector of a circuit board, or a
piece of test equipment.
There are different types of jumper wires. Some have the same type of
electrical connector at both ends, while others have different connectors.
Some common connectors are:
Solid tips – are used to connect on/with a breadboard or female header
connector. The arrangement of the elements and ease of insertion on a
breadboard allows increasing the mounting density of both components and
jump wires without fear of short-circuits. The jump wires vary in size and
colour to distinguish the different working signals.
Crocodile clips – are used, among other applications, to temporarily bridge
sensors, buttons and other elements of prototypes with components or
equipment that have arbitrary connectors, wires, screw terminals, etc.
Banana connectors – are commonly used on test equipment for DC and low-
frequency AC signals.
Registered jack (RJnn) – are commonly used in telephone (RJ11) and
computer networking (RJ45).
RCA connectors – are often used for audio, low-resolution composite video
signals, or other low-frequency applications requiring a shielded cable.
RF connectors – are used to carry radio frequency signals between circuits,
test equipment, and antennas.

22. 7. BREADBOARD: A breadboard is a construction base for prototyping
of electronics. Originally the word referred to a literal bread board, a
polished piece of wood used for slicing bread. Nowadays the term
"breadboard" is commonly used to refer to these 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 popular with students and in
technological education. Older breadboard types did not have this property.
A "full size" terminal breadboard strip typically consists of around 56 to 65
rows of connectors, each row containing the above-mentioned two sets of
connected clips. Together with bus strips on each side this makes up a typical
784 to 910 tie point solder less
breadboard. "Small size" strips
typically come with around 30 rows.
Miniature solder less breadboards as
small as 17 rows can be found, but
these are only suitable for small and
simple designs.
Due to relatively large parasitic
capacitance compared to a properly
laid out PCB (approx. 2pF between
adjacent contact columns), high
inductance of some connections and a
relatively high and not very
reproducible contact resistance, solder
less breadboards are limited to
operation at relatively low frequencies,
usually less than 10 MHz, depending
on the nature of the circuit. The relatively high contact resistance can already
be a problem for some DC and very low frequency circuits. Solder less
breadboards are further limited by their voltage and current ratings.
22

23. 23
CHAPTER VI
LOGIC AND ARDUINO DEVELOPMENT BOARD PROGRAM
DISTANCE1
(cm)
DISTANCE2
(cm)
PUMP
STATUS
LOW (>=23) LOW (>=15) LOW (OFF)
LOW (>=23) HIGH (<=3) LOW (OFF)
HIGH (<23) LOW (>=15) HIGH (ON)
HIGH (<23) HIGH (<=3) LOW (OFF)
#include <LiquidCrystal_I2C.h>
#define triggertank 9
#define echotank 10
//tank
#define triggersump 11
#define echosump 12
//sump
LiquidCrystal_I2C lcd(0x27,20,4);
float time1=0.00, distance1=0.00, time2=0.00,
distance2=0.00, tankp=0.00;
float low=3;
const int MOTOR = 7;
String buf;
void setup()
{
Serial.begin(9600);
pinMode(triggertank,OUTPUT);

24. 2
6
pinMode(triggersump,OUTPUT);
pinMode(echosump,INPUT);
pinMode(echotank,INPUT);
pinMode(MOTOR, OUTPUT);
lcd.init();
lcd.backlight();
lcd.setCursor(0,0);
lcd.print("WATER LEVEL CTRL SYS");
lcd.setCursor(0,1);
delay(1000);
lcd.print(" Dept of AEIE ");
delay(3000);
}
void loop()
{
lcd.clear();
digitalWrite(triggersump,LOW);
delayMicroseconds(2);
digitalWrite(triggersump,HIGH);
delayMicroseconds(10);
digitalWrite(triggersump,LOW);
delayMicroseconds(2);
time1=pulseIn(echosump,HIGH);
distance1=time1*0.034/2;
//SUMPSTUFF
digitalWrite(triggertank,LOW);
delayMicroseconds(2);

25. 25
digitalWrite(triggertank,HIGH);
delayMicroseconds(10);
digitalWrite(triggertank,LOW);
delayMicroseconds(2);
time2=pulseIn(echotank,HIGH);
distance2=time2*0.034/2;
//TANKSTUFF
Serial.print("Sump: ");
Serial.println(distance1);
Serial.print("Tank: ");
Serial.println(distance2);
if(distance1>=23)
{
digitalWrite(MOTOR, HIGH);
lcd.setCursor(1,0);
lcd.print("SUMP : EMPTY");
lcd.setCursor(1,1);
lcd.print("PUMP : OFF");
delay(500);
}//00_01
else if(distance1<23)
{
lcd.setCursor(1,0);
lcd.print("SUMP : NOT EMPTY");
if(distance2<low)
{
digitalWrite(MOTOR, HIGH);

26. 26
lcd.setCursor(1,1);
lcd.print("PUMP : OFF");
low=15.00;
delay(100);
}//11
else if(distance2>=low)
{
digitalWrite(MOTOR, LOW);
lcd.setCursor(1,1);
lcd.print("PUMP : ON");
delay(100);
}//10
}
tankp=(1-distance2/9.52)*100;
buf = String(tankp, 2);
lcd.setCursor(1,2);
lcd.print("TANK LEVEL: ");
lcd.print(buf);
lcd.print("%");
delay(1200);
}//ENDOFPROGRAM

27. CHAPTER VII
BLOCK DIAGRAM OF THE SYSTEM
27

28. CHAPTER VIII
CIRCUIT DIAGRAM
28

29. CHAPTER IX
SNAPSHOTS
29

30. 30
CHAPTER X
CONCLUSION
With the help of the code in the Arduino and interfacing with the sensors and
LCD, we have successfully assembled a circuit which allows the pump to fill
the water tank within upper and lower heights, 15 and 3 cm respectively,
depending upon water presence in sump.
As an added practical application, we provided a tap to remove the water,
which signifies the usage of water through taps and showers in household
and offices.
The circuitry works perfectly and has been tested various times under
varying conditions and sump/tanks.

31. 31
CHAPTER XI
FUTURE WORK
The water level controller designed in this project can be used to control
water flow, as per normally occurring logic (provided earlier). We have
already taken care that the pump will not perform dry run and the tank will
start filling again only after it reaches a low height.
In future work, we think of considering the ambient temperature of the
surroundings and temperature of water, to set the window of upper and lower
limits, and use a geyser in case the ambient is cold enough for a warm, cozy
bath.
Also, the rate of water filling the sump must always be equal to or greater
than the rate of water output. To make this happen we could use a speed
regulator.

32. CHAPTER XII
REFERENCES
1. Store.arduino.cc. (2020). Arduino Mega 2560 Rev3 | Arduino
Official Store. [online] Available at:
https://store.arduino.cc/usa/mega-2560-r3
2. ISLAM (2020). Project report. [online] Slideshare.net.
Available at:
https://www.slideshare.net/MDJAHIDULISLAM6/project-report-
64330060
3. A Course In Electrical And Electronic Measurements And
Instrumentation A. K. Sawhney
4. Katsuhiko Ogata, “Modern control engineering”, Pearson
education 2011, 5th edition
5. Google.co.in. (2020). Google Images. [online] Available at:
https://www.google.co.in/imghp?hl=en&tab=wi&authuser=0&ogbl
6. Maker Pro. (2020). HC-SR04 Datasheet | Ultrasonic Proximity
Sensor | Custom. [online] Available at:
https://maker.pro/custom/tutorial/hc-sr04-ultrasonic-proximity-
sensor-datasheet-highlights
7. Elecfreaks.com. (2020). 4 Channel 12V Relay Module BK_RL4_01.
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