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Pamantasan ng Cabuyao

Laguna, Philippines 4025

COLLEGE OF COMPUTING AND ENGINEERING iii

LIST OF TABLES

Table Number Title Page


1 Top Regional and National 22
generators of Microplastics
of Waste in Mt y-1 for 2015.

2 Quantity of Microplastic and 25


3 size range in all of the four
sampling stations.

4 Microplastic identified in 42
various bodies around the
globe.

5 Performance of classifiers 46
using the complete set of
features and the cascade
architecture.

6 List of the files selected for 60


the experiment.

7 Materials for the 62


construction of the ROV
structure.

8 Weights of the ROV’s 63


materials.

9 Summary of the 65
specifications for the
OpenROV platform.

10 Components and Function. 90


Pamantasan ng Cabuyao
Laguna, Philippines 4025

COLLEGE OF COMPUTING AND ENGINEERING iii

LIST OF FIGURES

Figure Number Title Page


1 Assumption of planar cross- 7
section in thin beam.
2 Conceptual Framework 10
3 Semi-transparent 28
Microplastics that found in
the collected sample mussel
4 Fiber Microplastics that 28
found in the collected
sample mussel
5 Three-level cascade 46
classifier
6 Environmental Pollution 48
7 The pictures of surface, 52
middle and bottom water
sampler and collecting
samples…
8 Images of microplastic 53
material found in Lake
Winnipeg from whole water
samples taken…
9 Geographical location and 58
abundance of microplastics
from 15 sediment and 15
surface water…
10 3D Design view of the 63
proposed ROV
11 Movements of the ROV… 64
12 ROV frame and vessel 67
drawing
13 ROV Structure 68
14 The structure and 69
composition of “ROVer”
15 System configuration of the 70
R-ROV…
16 Overall design 71
Pamantasan ng Cabuyao
Laguna, Philippines 4025

COLLEGE OF COMPUTING AND ENGINEERING iii

17 Float Hardware design & 72


18 Overall Hardware design
19 Methodology flowchart 73
20 Block diagram of the 74
embedded system
21 Prototype of underwater 74
obstacle detection system
using sonar sensor
22 Block diagram of the 75
proposed ROV
23 The OpenROV- 76
Cockpit/Master and the
OpenROV-Software-Arduino
24 Block Diagram 78
25 ROV System 83
26 Power Carrier 84
27 Benthic working scenario of 85
the M-Lander and R-ROV
system
28 Prototyping Model 88
Incremental Development
29 Prototype Model and 89
Dimension
30 Flowchart for ROV 95
Submersible
31 Flowchart for ROV 96
Submersible Controller
32 Flowchart for Remote 97
Controller
33 Flowchart for ROV Motor 98
Control
34 Flowchart for ROV Range 100
and Depth Measurement

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