A

MINI PROJECT REPORT ON

AUTOMATIC SOLAR PANEL CLEANING SYSTEM USING IoT

Submitted in partial fulfillment of the requirement
for the award of the degree of

BACHELOR OF TECHNOLOGY
IN
COMPUTER SCIENCE AND ENGINEERING

by
R N N Sai Lakshmi - 16P61A0591
S Manoj - 16P61A0579
Ch Mounika - 16P61A0585

Under the guidance of

Mr. S. Rajesh
Assistant Professor

VIGNANA BHARATHI INSTITUTE OF TECHNOLOGY

(A UGC Autonomous Institution, Approved by AICTE, Affiliated to JNTUH,
Kukatpally
Accredited by National Board of Accreditation (NBA),
National Assessment and Accreditation Council (NAAC))
Aushapur (V), Ghatkesar (M), Medchal(dist.).

2019-2020
 (A UGC Autonomous Institution, Approved by AICTE, Affiliated to JNTUH,
Kukatpally
Accredited by National Board of Accreditation (NBA),
National Assessment and Accreditation Council (NAAC))

DEPARTMENT OF COMPUTER SCIENCE AND

ENGINEERING

CERTIFICATE

This is to certify that the mini project report titled “AUTOMATIC SOLAR
PANEL CLEANING SYSTEM USING IoT” is being submitted by R N N Sai
Lakshmi(16P61A0591), S Manoj(16P61A0579), Ch Mounika(16P61A0585)
in B. Tech IV-I semester Computer Science & Engineering is a record of bonafide
work carried out by them. The results embodied in this report have not been
submitted to any other University for the award of any degree.

INTERNAL GUIDE HEAD OF THE DEPARTMENT

Mr. S. Rajesh Dr K. Sreenivasa Rao

EXTERNAL EXAMINER

DATE:
 DECLARATION

We, R N N Sai Lakshmi, S Manoj, Ch Mounika bearing

hall ticket number 16P61A0591, 16P61A0579, 16P61A0585
hereby declare that the project report entitled “AUTOMATIC
SOLAR PANEL CLEANING SYSTEM USING IoT” under the
guidance of Mr. S.Rajesh Department of Computer Science And
Engineering, Vignana Bharathi Institute of Technology,
Hyderabad, is submitted to Jawaharlal Nehru Technological
University Hyderabad, Kukatpally, Hyderabad in partial fulfillment
of the requirements for the award of the degree of Bachelor of
Technology in Computer Science And Engineering.

This is a record of bonafide work carried out by us and the

results embodied in this project have not been reproduced or copied
from any source. The results embodied in this project report have not
been submitted to any other university or institute for the award of
any other degree or diploma.

R N N Sai Lakshmi(16P61A0591)

Ch Mounika(16P61A0585)

S Manoj(16P61A0579)
 ACKNOWLEDGEMENT

Self-confidence, hard work, commitment and planning are essential to

carry-out any task. Possessing these qualities is sheer waste, if an opportunity
does not exist. So, we whole-heartedly thank Mr. Dr.G. AMARENDER RAO,
Principal, and Dr.K. Sreenivasa Rao, Head of the Department, Computer
Science and Engineering for their encouragement and support and guidance in
carrying out the project.

We thank our Project Guide, Mr. S. Rajesh for providing us with an

excellent project and guiding us in completing our project successfully.

We would also like to thank our project coordinator Mr. G. Arun for
his/her valuable advice and suggestions from time to time and for being a
constant source of inspiration to us.

We would also like to express our sincere thanks to all the staff of
Computer Science and Engineering, VBIT, for their kind cooperation and
timely help during the course of our project. Finally, we would like to thank our
parents and friends who have always stood by us whenever we were in need of
them.
 CONTENTS

CHAPTER NO TITTLE PAGE NO

ABSTRACT 1

LIST OF FIGURES 2

1 INTRODUCTION 3

2 LITERATURE SURVEY: 5
2.1. Photo Voltaic Energy
2.2. Solar Panel
2.3. Solar Plant
2.4. Cleaning methods

3 SYSTEM ANALYSIS: 11
3.1 Feasibility Study
3.2 Hardware Requirements
3.3 Software Requirements

4 SYSTEM DESIGN: 32
4.1 Block Diagram
4.2 Control Flow
4.3 Circuit Diagram

5 IMPLEMENTATION: 34
5.1 Process of Creation
5.2 Code

6 OUTPUT SCREENSHOTS: 38
6.1 Code compilation
CONCLUSION 39

BIBLIOGRPHY 40
 (A UGC Autonomous Institution, Approved by AICTE, Affiliated to JNTUH,
Kukatpally
Accredited by National Board of Accreditation (NBA),
National Assessment and Accreditation Council(NAAC))

DEPARTMENT OF COMPUTER SCIENCE AND

ENGINEERING

CERTIFICATE

This is to certify that the project report titled “AUTOMATIC SOLAR

PANEL CLEANING SYSTEM USING IoT” is being submitted by
“RAJANALA NAGA NARASIMHA SAI LAKSHMI-16P61A0591” in
B. Tech IV-II semester Computer Science & Engineering is a record bonafide
work carried out by him/her. The results embodied in this report have not
been submitted to any other University for the award of any degree.

INTERNAL GUIDE HEAD OF THE DEPARTMENT

Mr. S. Rajesh Dr K. Sreenivasa Rao

EXTERNAL EXAMINER

DATE
 (A UGC Autonomous Institution, Approved by AICTE, Affiliated to JNTUH,
Kukatpally
Accredited by National Board of Accreditation (NBA),
National Assessment and Accreditation Council(NAAC))

DEPARTMENT OF COMPUTER SCIENCE AND

ENGINEERING

CERTIFICATE

This is to certify that the project report titled “AUTOMATIC SOLAR

PANEL CLEANING SYSTEM USING IoT” is being submitted by
“SADDANAPU MANOJ-16P61A0579” & Engineering is a record
bonafide work carried out by him/her. The results embodied in this report
have not been submitted to any other University for the award of any degree.

INTERNAL GUIDE HEAD OF THE DEPARTMENT

Mr. S. Rajesh Dr K. Sreenivasa Rao

EXTERNAL EXAMINER

DATE
 (A UGC Autonomous Institution, Approved by AICTE, Affiliated to JNTUH,
Kukatpally
Accredited by National Board of Accreditation (NBA),
National Assessment and Accreditation Council(NAAC))

DEPARTMENT OF COMPUTER SCIENCE AND

ENGINEERING

CERTIFICATE

This is to certify that the project report titled “AUTOMATIC SOLAR

PANEL CLEANING SYSTEM USING IoT” is being submitted by
“CHERUKUPALLY MOUNIKA-16P61A0585” in B. Tech IV-II semester
Computer Science & Engineering is a record bonafide work carried out by
him/her. The results embodied in this report have not been submitted to any
other University for the award of any degree.

INTERNAL GUIDE HEAD OF THE DEPARTMENT

Mr. S. Rajesh Dr K. Sreenivasa Rao

EXTERNAL EXAMINER

DATE
 ABSTRACT

Sun power is a standout amongst the most productive yet clean wellsprings of vitality we approach.
There are no expanded fuel expenses or conditions, no connections to toxins, and it's both
dependable and reasonable. Obviously, keeping in mind the end goal to bridle sun-oriented power
you require access to particular innovation. But the main problem of solar panels is soil and dust
particles accumulating on them reduce the solar energy consumption, thereby falling overall power
performance. We are trying to solve this problem using the Internet of things IoT. We are developing
the simple and useful dust cleaning device for solar panel using IoT. The main motive of this project
is to develop system for dust cleaning for solar panel using IoT and maintaining the clean solar
panels and so to maintain efficiency.

1
 LIST OF FIGURES

Fig no Description Page No

2.1 NASA’s Mars Exploration rover 6

2.2 Global Variation in irradiation 6

2.3 Energy potential from PV across World 7

3.1 Arduino 12

3.2 Filter 19

3.3 Voltage Regulator 20

3.4 Symbol of relay module 20

3.5 Relay module circuit diagram 20

3.6 DC Motor 22

3.7 Internal Structure of DC Motor 23

3.8 Bisection of DC Motor 26

3.9 A DC Motor Generator 27

3.10 Arduino IDE 29

4.1 Block Diagram of System 32

4.2 Control Flow of System 32

4.3 Circuit Diagram of System 33

6.1 Code Compilation Screen Shot 38

2
 CHAPTER 1

INTRODUCTION
Energy is one of the major issues that the world is facing in India, the supply of energy has been
one of the major problems for both urban and rural households. About 60% to 70% of the energy
demand of the country is met by fuel wood and agriculture residues. Solar energy is a renewable
source of energy, which has a great potential and it is radiated by the sun. Renewable energy is
important to replace the using of electric energy generated by petroleum. Solar power has become
a source of renewable energy and solar energy application should be enhanced. The solar PV
modules are generally employed in dusty environments which are the case tropical countries like
India. The dust gets accumulated on the front surface of the module and blocks the incident light
from the sun. It reduces the power generation capacity of the module. The power output reduces as
much as by 50% if the module is not cleaned for a month. The cleaning system has been designed
cleans the module by controlling the Arduino programming. To remove the dust in the PV modules
to improving the power efficiency.

The sun emits energy at an extremely large rate hence there is abundant availability of solar energy
in the nature. If all solar energy could be converted into usable forms, it would be more enough to
supply the world’s energy demand. However, this is not possible because of conditions in the
atmosphere such as effect of clouds, dust and temperature. Solar energy can be converted to more
usable energy forms through solar panel. There is unprecedented interest in renewable energy,
particularly solar energy, which provides electricity without giving rise to any carbon dioxide
emission. Of the many alternatives, photovoltaic method of extracting power from solar energy have
been considered has promising toward meeting the continuously increasing demand for energy. The
efficiency of solar panel is limited due natural conditions so it is very much essential to take care of
parameters like dust, humidity and temperature. In this regard the work has been taken up to study
the efficiency of solar panel with and without dust collected on it. The developed project includes
design and to implementation of microcontroller-based dust cleaning system. The main aim of the
project is providing automatic dust cleaning mechanism for solar panel. Traditionally cleaning
system was done manually.

The manual cleaning has disadvantages like risk of staff accidents and damage of the panels,
movement difficulties, poor maintenance etc. The automatic dust cleaning system of solar panels
has taken to overcome the difficulties arise in the traditional cleaning and also produces an effective,
non- abrasive cleaning and avoids the irregularities in the productivity due to the deposition of dust.

3
The studies carried out to evaluate the efficiency of solar panel for dust collected on it for one day,
one week and a month. The efficiency of solar panel also calculated after cleaning the surface for
one day, one week and a month. And finally comparing both the efficiencies it is proved that solar
panel efficiency increases considerably. Thus, the developed model enhances the solar panel
performance. Various source of energy like coal, gas, hydro, nuclear, renewable, diesel and there
are some of them are going to be exhausted within few years.

1.1 Problem Statement:

Dust or other particle`s speck on solar panels that causes a decrease in optical efficiency of systems.
Accumulation of dirt or particles like dust, water, sand on the surface of solar panel obstruct or
distract light energy from reaching the solar cells and result is reduction in energy produce. The
manual cleaning has disadvantages like risk of staff accidents and damage of the panels, movement
difficulties, poor maintenance etc.

1.2 Existing System:

Heliotex is a cleaning system that washes and rinses solar panel surfaces.

1.3 Proposed System:

An Automated solar panel cleaning system that basically works on the bases on Internet of Things
(IoT). Our System will automatically turn when there is dust on solar panel. It won't perform any
deep cleaning it will just remove the dry dust like mud etc. This system uses the dry-cleaning
method.

4
 CHAPTER 2

LITERATURE SURVEY

The recent upsurge in the demand of PV systems is due to the fact that they produce electric power
without hampering the environment by directly converting the solar radiation into electric power.
Solar energy is completely natural, it is considered a clean energy source. So, the study on improving
the efficiency of solar panel is very necessary. various methods of efficiency improvement of solar
panel, we can improve efficiency of solar panel by using solar tracker with panel which continuously
tracks sunlight throughout the day to get maximum solar energy. Second method to improve the
efficiency is dust cleaning. Dust is barrier between sunlight and solar panel. Third method is cooling
technique. As panel temperature increases output voltage of solar panel decreases so cooling of
panel is necessary for improvement of efficiency. [1]

Shading and overheating of photovoltaic cells can result in a significant energy reduction of PV
systems. Tilting and natural ventilation allows the buildup of fine sand to be blown off from the PV
array’s surface. However, dust particles tend to gradually accumulate on the PV surface making the
cleaning task more difficult and reduces the overall PV panel efficiency due to the combined effect
of shading and heating.[2]

Accumulation of dust from the outdoor environment on the panels of solar photovoltaic (PV)
system is natural. There were studies that showed that the accumulated dust can reduce the
performance of solar panels, but the results were not clearly quantified. The objective of this
research was to study the effects of dust accumulation on the performance of solar PV panels.
Experiments were conducted using dust particles on solar panels with a constant-power light source,
to determine the resulting electrical power generated and efficiency. It was found from the study
that the accumulated dust on the surface of photovoltaic solar panel can reduce the system’s
efficiency by up to 50%.[4]

Current labor-based cleaning methods for photovoltaic arrays are costly in time, water and energy
usage and lack automation capabilities. In this paper a novel design is presented for the first ever
human portable robotic cleaning system for photovoltaic panels, which can clean and maneuver on
the glass surface of a PV array at varying angles from horizontal to vertical.[5]

In order to regularly clean the dust, a automatic cleaning system has been designed, which senses
the dust on the solar panel and also cleans the module automatically. This automated system is

5
implemented using 8051 microcontroller which controls the DC gear motor. This mechanism
consists of a sensor (LDR). While for cleaning the PV modules, a mechanism consists of a sliding
brush has been developed. In terms of daily energy generation, the presented automatic-cleaning
scheme provides about 30% more energy output when compared to the dust accumulated PV module
(module kept stationary on ground).[5]

A small but important uptick in electrical output from the solar panels on NASA's Mars Exploration
Rover Spirit this month indicates a beneficial Martian wind has blown away some of the dust that
has accumulated on the panels.[6]

The cleaning boosts Spirit's daily energy supply by about 30 watt-hours, to about 240 watt-hours
from 210 watt-hours. The rover uses about 180 watt-hours per day for basic survival and
communications, so this increase roughly doubles the amount of discretionary power for activities
such as driving and using instruments. Thirty watt-hours is the amount of energy used to light a 30-
watt bulb for one hour. The last prior cleaning event that was as beneficial as this one was in June
2007. Winds cleaned off more of the dust that time, but a dust storm in subsequent weeks undid
much of the benefit.[1]

Fig.2.1 NASA's Mars Exploration Rover

The statistical information base for the solar energy resource is very solid. The US National Solar
Radiation database, for example, has logged 30 years of solar radiation and supplementary
meteorological data from 237 sites in the USA.

6
 Fig.2.2 Global variations in irradiation

Figure 2.3 shows the estimated potential energy output from solar PV generators in different parts
of the world. The calculation used here takes into account the average efficiency of modules and
converters as well as the correct angle to the sun required at different latitudes.

Fig.2.3 Energy potential from PV around the world

2.1 Photovoltaic Energy:

“Photovoltaic” is a marriage of two words: “photo”, meaning light, and “voltaic”, meaning electricity.
Photovoltaic technology, the scientific term used to describe what we use to convert solar energy into
electricity, generates electricity from light. We use a semi-conductor material which can be adapted
to release electrons, the negatively charged particles that form the basis of electricity. The most
common semi-conductor material used in photovoltaic (PV) cells is silicon, an element most
commonly found in sand. All PV cells have at least two layers of such semi-conductors, one positively
charged and one negatively charged. When light shines on the semi-conductor, the electric field
across the junction between these two layers causes electricity to flow, generating DC current. The
greater the intensity of the light, the greater the flow of electricity. A photovoltaic system therefore
does not need bright sunlight in order to operate. It also generates electricity on cloudy days by a
rationing of the energy output that depends on the density of the clouds. Due to the reflection of

7
sunlight, days with slight cloud can even result in higher energy yields than days with a completely
cloudless sky. Generating energy through solar PV is quite different from how a solar thermal system
works, where the sun’s rays are used to generate heat, usually for hot water in a house, swimming
pool etc. [2]
2.2 Solar Panel:

Solar panel refers to a panel designed to absorb the sun's rays as a source of energy for generating
electricity or heating. A photovoltaic (PV) module is a packaged, connect assembly of typically
6×10 solar cells. Solar Photovoltaic panels constitute the solar array of a photovoltaic system that
generates and supplies solar electricity in commercial and residential applications. Each module is
rated by its DC output power under standard test conditions, and typically ranges from 100 to 365
watts. The efficiency of a module determines the area of a module given the same rated output – an
8% efficient 230 watt module will have twice the area of a 16% efficient 230 watt module. There are
a few commercially available solar panels available that exceed 22% efficiency and reportedly also
exceeding 24%. A single solar module can produce only a limited amount of power; most installations
contain multiple modules. A photovoltaic system typically includes a panel or an array of solar
modules, a solar inverter, and sometimes a battery and/or solar tracker and interconnection wiring.

The price of solar power has continued to fall so that in many countries it is cheaper than
ordinary fossil fuel electricity from the grid (there is "grid parity").[3]

2.3 Solar Plant:

Solar energy is the energy from sun radiation. This energy can be harnessed as solar thermal energy
and solar photovoltaic. Solar power plant uses solar PV to generate energy, let us see in detail how
solar power plant works. Solar panel generate DC power when sun rise directly hit the panel. This
DC power intern feed into an inverter that convert it to an AC power. This AC power is feed in to
your distributor board from their it flows to the electrical load. This is the basic layout of solar plant.
But solar plant needs some backup source. The backup power source could be grid for instant or a
storage mechanism as battery. Why is this backup required, the sunshine is not constant it varies
during the day due to the weather change? A passing cloud can reduce the amount of sunshine hitting
the solar panel reducing the power generation. This variation in some condition can damage the load.
In order to avoid this problem, the power from solar plant is linked with the power from other source.
By using this solar power with other source, we can ensure that load receive steady safe and reliable
power.

Solar power plant can be integrated with

8
Grid Type: In this grid type plant, they have no other backup power source. This is known as grid
type plant as it is always in synch with grid. This is recommended to plant only to organization that
has a guaranteed supply of grid power. This will not suit you if you suffer from frequent power
interruption.

Off Grid Type: This type does not integrate with grids instead it only integrates with battery bank and
diesel generation. This can be used in location that are not connected the grid at all. This can be used
for home application.

Hybrid Type: In this type the solar power plant can integrated with grid as well as battery and diesel
generation. This is recommended to plant who has grid power but with frequently interruption and
need with critical load to be powered continuously. Most of the industrial and commercial consumer
in India are under this category and required this type of solar plant.[3]

2.4 Cleaning Methods for Solar Panels:

2.4.1. Natural Removal of Dust:

The natural powers are employed to remove the dusts, such as wind power, gravitation and the scour
of the rainwater. The effect of this method is not very well. It is seen that the solar cell array can be
turned to vertical or oblique position to remove the dusts easily when early morning, late evening,
night and a rainy day. However, the rotation of the large solar cell array is very difficult.

2.4.2. Mechanical removal of dust:

The mechanical methods remove the dusts by brushing, blowing, Vibrating and ultrasonic driving.
The brushing methods clean the solar cell with something like the broom or brush that were driven
by the machine was designed just like windscreen wiper. However, firstly, because of the small size
and the strong adhesively of the dusts, the cleaning method is inefficient. Secondly, the abominable
working environment of the solar cell makes the maintenance of the machine difficult. Then, due to
the large area of the solar cell array, the cleaning machine is powerful. Lastly, the surfaces of the solar
cell maybe were damaged by the brush when wiping. The blowing method cleaning the solar cell
with wind power is an effective cleaning one except the low efficiency, high energy-consumption and
the unsatisfactory maintainability of the blower.

9
 2.4.3 Electrostatic removal of dust:

If there are a high potential on the surface of the solar panels, the charged and uncharged dusts will
attract to the panels because of the electrostatic forces. Then, the dust particles will be charged by the
solar panels finally, so they have the same electric charge and the electrostatic forces between them
are repulsion. At last, the dust particles will float away the solar panels. However, this strategy cannot
be used in PV system, because of the effecting of the rain on earth.

10
 CHAPTER 3

SYSTEM ANALYSIS

3.1 Feasibility Study:

3.1.1 Economic Feasibility:

This project is not so costly and is economically feasible. We can install the whole unit on the solar
panel at the considerable amount of price. As the price is very low when compared to amount that we
save by which we save by increasing the efficiency of solar panel. So, we can say that this project is
economically feasible.

3.2.2 Technical Feasibility:

In this project we are using the IoT which is now the trending technology and this can be easily
implemented using the basic C Language. So, it is technically feasible.

3.2.3 Social Feasibility:

This project can be implemented in household very easily and its installation can be easily. This
project will be easily adapted to all the conditions. So, it is socially feasible.

3.2 Hardware Requirements:

3.2.1 Arduino:

An Arduino microcontroller board can be thought of as a user-friendly, open-source input-output

system. An input can range from anything from a finger pressing a button to a change in light
intensity, and outputs can range from lighting up a simple LED light to sending out a Twitter message.

11
 Fig 3.1 Arduino Board

Technical features of Arduino:

 Operating Voltage 5V
 Input Voltage (recommended) 7-12V
 Input Voltage (limits) 6-20V
 Digital I/O Pins 14 (of which 6 provide PWM output)
 Analog Input Pins 6
 DC Current per I/O Pin 40 mA
 DC Current for 3.3V Pin 50 mA
 Flash Memory 32 KB of which 0.5 KB used by
 bootloader
 SRAM 2 KB
 EEPROM 1 KB
 Clock Speed 16 MH

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Features:

There are several features of Arduino that truly make is stand out from the rest of the microcontrollers
on the market. For example, the software is open source, so you can “look under the hood” so to
speak, and is free to download, modify, and re-use (which is always a plus for more advanced
developers). Even the basic plans for the Arduino are open source, so users can build their own
without having to buy one. There are several companies that make the Arduino boards, too, and you
can buy full kits breadboards, wiring sensors, and more. Even fully assembled, Arduino is on the
lower end of the cost spectrum, and is compatible with Windows, Mac, and Unix systems. Most
importantly for beginners, perhaps, is the fact that the development environment for the Arduino is
aimed at people with little to no microcontroller experience, but powerful and flexible enough
experienced users. There is a great deal of quality information out there to help even the most
inexperienced user navigate the Arduino and put it to use in exciting and creative ways In short, it
had made microcontrollers accessible to everybody, even those with a minimal computer background,
regardless of age. There are many different flavors or Arduino boards, too

Working with Arduino:

To work with the Arduino, we need a laptop, desktop, or tablet that you can download the Arduino
development environment onto. It is written in Java, and can be downloaded on Windows, Mac OS
X 10.7 Lion or newer, and Linux 32 or 64 bit. To connect your board with your computer, you will
need a USB data cable. Unlike USB charging or synching cables, they have a square, blocky-shaped
interface instead of a small interface like the micro-USB. It is recommended that, unless you are a
well-established electronics hobbyist with tons of cool sensors and the like lying around, you invest
in a kit. These vary in price, and can save you time and money by helping you obtain the electronic
components that are compatible with your board – and they usually come with tutorials and source
code. For testing and prototyping, your laptop provides the power for the Arduino via the USB data
cable. However, for laptop independent projects you will probably want to provide an independent,
portable power source for your project. A link is provided under online resources that shows how to
use battery power for your Arduino.

EEPROM:

EEPROM stands for Electrically Erasable Programmable Read-Only Memory. This is a type of
computer chip that can be written and re-written with code (instructions). Notice that it is electrically

13
erasable. This means that an electric current can be used to erase it so that it can be used again.
However, when it is erased, the entire chip must be erased. This is different from RAM, or Random

Access Memory, which can have just certain bytes erased. RAM is more like writing on sheet of
paper with a pencil, where you can erase and rewrite just the parts you want. EEPROM is like a
writing on a sheet of paper with a pen, where if you erase you need start with a fresh sheet of paper.
The electrical erasure is the equivalent to providing a clean, empty sheet of paper.

External Interrupt:

We all know what it means to be interrupted. An external interrupt means that something has occurred
outside of the computer system or processor and needs attention.

Flash Memory:

Flash memory is another type of memory. It retains data whether power is supplied to it or not. A
good example is the typical flash drive: it still stores you files even when it is not plugged into your
computer. It is good for storing memory that may change, but needs to remain even when powered
down.

Input/Output:

Digital Input /Output:

Digital pins can have one of two values: low or high, where low corresponds to 0 or false and high
corresponds to 1 or true. The number of available digital pins is another major difference between the
different Arduino boards.

The largest boards have 54 input pins and 15 output pins. These would be the MEGA 2560 and the
MEGA ADK (both using the ATmega2650 processor). The next largest is the DUE (with an
ATSAM3X8E processor), with 54 input pins and 12 output pins. The smallest is the Gemma (using
the ATtiny85 processor) with only 3 input pins and 2 output pins.14 digital pins on the Uno can be
used as an input or output, using pinMode(), digitalWrite(), and digitalRead() functions. They operate
at 5 volts. Each pin can provide or receive a maximum of 40 mA and has an internal pull-up resistor
(disconnected by default) of 20-50 kOhms. In addition, some pins have specialized functions:

14
Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial data. These pins are
connected to the corresponding pins of the ATmega8U2 USB-to-TTL Serial chip. External
Interrupts: 2 and 3. These pins can be configured to trigger an interrupt on a low value, a rising or
falling edge, or a change in value. See the attachInterrupt() function for details.

PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with the analogWrite() function.

SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI communication, which,
although provided by the underlying hardware, is not currently included in the Arduino language.

LED: 13. There is a built-in LED connected to digital pin 13. When the pin is HIGH value, the LED
is on, when the pin is LOW, it's off.

Analog Input/Output:

Analog is the opposite of digital. Analog involves a continuous electrical signal, while digital focuses
on a signal that has a value of either one or zero (binary). Another way that the Arduino boards differs
is based on how many analog input and analog output pins they have. An analog input pin can receive
an analog signal as input to the processor. An analog output pin can provide an analog signal as output
from the processor.

The Uno has 6 analog inputs, each of which provide 10 bits of resolution (i.e. 1024 different values).
By default they measure from ground to 5 volts, though is it possible to change the upper end of their
range using the AREF pin and the analogReference() function. Additionally, some pins have
specialized

Functionality:

I2C: 4 (SDA) and 5 (SCL): Support I2C (TWI) communication using the Wire library.

There are a couple of other pins on the board:

AREF: Reference voltage for the analog inputs. Used with analogReference().

Reset: Bring this line LOW to reset the microcontroller. Typically used to add a reset button to
shields which block the one on the board.

The Esplora (with an ATmega32U4 processor) does not have any analog I/O pins. Most boards have
input pins but not output pins, like the Fio (with an ATmega328P processor) which has 8 analog input
pins and no output pins. The exceptions are the Zero (with an ATSAMD21G18 processor) which has

15
6 analog input pins and one analog output pin, and the Due (with an ATSAM3X8E processor) which
has 12 analog input pins and 2 analog output pins.

One of the interesting things is that you can use analog pins and digital pins by just setting the either
to a high value (to represent a digital 1, or true) or a low value (to represent a digital 0, or false).

Processor:

The processor is what takes computer instructions, figures out what to do with them, and then runs
them – or “executes” them, as the classic computer lingo goes. The Arduino boards typically use one
of the following processors: ATtiny85, ATmega168V, ATmega2560, ATmega168, ATmega328P,
ATmega32U4, AR9331 Linux, ATSAMD21G18, or the ATSAM3X8E/A processors speed is a
measure of how fast it can process instructions, and is given in units of MHz (or GHz for laptops,
desktops, and tablets). Most of the processors listed above run between 8 MHz and 16 MHz with two
exceptions: the AR9331 Linux 400 MHz, and the ASTSAMD21G18 runs at 48MHz.

3 PWM Pins:

PWM stands for Pulse-width modulation, which is used to encode data in a pulsing signal (as opposed
to, say, a serial signal). A PWM pin supports transmitting data using pulse-width modulation.

Serial Communication:

When serial communication is occurring, it means that two systems are sending digital pulses back
and forth between each other at an agreed upon rate.

Let’s say you and a friend are talking on a cell phone. You agree to take turns with each person saying
what they want to say for five seconds. When you five seconds are up, you have to stop – even if you
aren’t finished. When their five seconds are up, it’s your turn to talk again and you will need to pick
up where you let off. That is serial communication in a nutshell.

SPI:

The acronym SPI stands for serial peripheral interface, and is a synchronous data communication
protocol for use over short distances.

SRAM:

SRAM is an acronym for Static Random-Access Memory. It differs from RAM, also known as
DRAM for Dynamic Random-Access Memory, in that it does not need to be periodically refreshed.

16
As long as an SRAM has power, it retains memory. That makes it faster than RAM or DRAM. You
can think of RAM as a forgetful person who needs to keep checking something to remember what it
is. SRAM doesn’t need to double check because it always remembers.

UART:

The acronym UART stands for Universal Asynchronous Receiver/Transmitter. It is a microchip that
is used to convert between serial and parallel data. For example, it may receive information from
several parallel streams of data, but it can convert those multiple, parallel streams into a single serial
stream. On the other hand, it may receive a single serial stream of data from an outside source (such

as a modem) and converts that into a set of multiple, parallel streams that the system can work with
better.

In short, a UART chip empowers your system to communicate not just using data sent in parallel, but
also data sent in a single, serial stream.

The Arduino Uno has a number of facilities for communicating with a computer, another Arduino, or
other microcontrollers. The ATmega328 provides UART TTL (5V) serial communication, which is
available on digital pins 0 (RX) and 1 (TX). An ATmega8U2 on the board channels this serial
communication over USB and appears as a virtual com port to software on the computer. The '8U2
firmware uses the standard USB COM drivers, and no external driver is needed. However, on
Windows, an *.inf file is required.

The Arduino software includes a serial monitor which allows simple textual data to be sent to and
from the Arduino board. The RX and TX LEDs on the board will flash when data is being transmitted
via the USB-to serial chip and USB connection to the computer (but not for serial communication on
pins 0 and 1).

A Software Serial library allows for serial communication on any of the Uno's digital pins.

Power pins:

The Arduino Uno can be powered via the USB connection or with an external power supply. The
power source is selected automatically.

External (non-USB) power can come either from an AC-to-DC adapter (wall-wart) or battery. The
adapter can be connected by plugging a 2.1mm center-positive plug into the board's power jack. Leads
from a battery can be inserted in the Gnd and Vin pin headers of the POWER connector.

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The board can operate on an external supply of 6 to 20 volts. If supplied with less than 7V, however,
the 5V pin may supply less than five volts and the board may be unstable. If using more than 12V,
the voltage regulator may overheat and damage the board. The recommended range is 7 to 12 volts.

VIN: The input voltage to the Arduino board when it's using an external power source (as opposed
to 5 volts from the USB connection or other regulated power source). You can supply voltage through
this pin, or, if supplying voltage via the power jack, access it through this pin.

5V: The regulated power supply used to power the microcontroller and other components on the
board. This can come either from VIN via an on-board regulator, or be supplied by USB or another
regulated 5V supply.

3V3: 3.3-volt supply generated by the on-board regulator. Maximum current draw is 50 mA.

GND: Ground pins.

Power Supply:

The input to the circuit is applied from the regulated power supply. The AC input i.e., 230V from the
mains supply is step down by the transformer to 12V and is feeded to rectifier to convert the AC to
DC with help of diodes and capacitor.

3.2.2 Filter:

Capacitive filter is used in this project. It removes the ripples from the output of rectifier and
smoothens the D.C. Output received from this filter is constant until the mains voltage and load is
maintained constant. However, if either of the two is varied, D.C. voltage received at this point
changes. Therefore, a regulator is applied at the output stage.

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 Fig 3.2 Filter

3.2.3 Voltage regulator:

As the name itself implies, it regulates the input applied to it. A voltage regulator is an electrical
regulator designed to automatically maintain a constant voltage level. In this project, power supply
of 5V and 12V are required. In order to obtain these voltage levels, 7805 and 7812 voltage regulators
are to be used. The first number 78 represents positive supply and the numbers 05, 12 represent the
required output voltage levels. The L78xx series of three-terminal positive regulators is available in
TO-220, TO-220FP, TO-3, D2PAK and DPAK packages and several fixed output voltages, making
it useful in a wide range of applications. These regulators can provide local on-card regulation,
eliminating the distribution problems associated with single point regulation. Each type employs
internal current limiting, thermal shut-down and safe area protection, making it essentially
indestructible. If adequate heat sinking is provided, they can deliver over 1 A output current. Although
designed primarily as fixed voltage regulators, these devices can be used with external components
to obtain adjustable voltage and currents.

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 3.3 Voltage Regulator

3.2.4 Relay module:

A relay is an electrically operated switch. Many relays use an electromagnet to mechanically operate
a switch, but other operating principles are also used, such as solid-state relays. Relays are used where
it is necessary to control a circuit by a separate low-power signal, or where several circuits must be
controlled by one signal. The first relays were used in long distance telegraph circuits as amplifiers:
they repeated the signal coming in from one circuit and re-transmitted it on another circuit. Relays
were used extensively in telephone exchanges and early computers to perform logical operations.

Fig 3.4 Symbol of Relay module

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 Fig 3.5 Relay Module circuit diagram

A type of relay that can handle the high power required to directly control an electric motor or other
loads is called a contactor. Solid-state relays control power circuits with no moving parts, instead
using a semiconductor device to perform switching. Relays with calibrated operating characteristics
and sometimes multiple operating coils are used to protect electrical circuits from overload or faults;
in modern electric power systems these functions are performed by digital instruments still called
"protective relays".

Magnetic latching relays require one pulse of coil power to move their contacts in one direction, and
another, redirected pulse to move them back. Repeated pulses from the same input have no effect.
Magnetic latching relays are useful in applications where interrupted power should not be able to
transition the contacts.

Magnetic latching relays can have either single or dual coils. On a single coil device, the relay will
operate in one direction when power is applied with one polarity, and will reset when the polarity is
reversed. On a dual coil device, when polarized voltage is applied to the reset coil the contacts will
transition. AC controlled magnetic latch relays have single coils that employ steering diodes to
differentiate between operate and reset commands.

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 3.2.5 DC Motor :

An electric motor is an electrical machine that converts electrical energy into mechanical energy.
The reverse of this is the conversion of mechanical energy into electrical energy and is done by
an electric generator, which has much in common with a motor.

Fig 3.6 DC MOTOR

Most electric motors operate through the interaction between an electric motor's magnetic
field and winding currents to generate force. In certain applications, such as in regenerative
braking with traction motors in the transportation industry, electric motors can also be used in reverse
as generators to convert mechanical energy into electric power.

Found in applications as diverse as industrial fans, blowers and pumps, machine tools, household
appliances, power tools, and disk drives, electric motors can be powered by direct current (DC)
sources, such as from batteries, motor vehicles or rectifiers, or by alternating current(AC) sources,
such as from the power grid, inverters or generators. Small motors may be found in electric watches.
General-purpose motors with highly standardized dimensions and characteristics provide convenient
mechanical power for industrial use. The largest of electric motors are used for ship propulsion,
pipeline compression and pumped-storage applications with ratings reaching 100 megawatts. Electric

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motors may be classified by electric power source type, internal construction, application, type of
motion output, and so on.

Electric motors are used to produce linear or rotary force (torque), and should be distinguished from
devices such as magnetic solenoids and loudspeakers that convert electricity into motion but do not
generate usable mechanical powers, which are respectively referred to as actuators and transducers.

Fig 3.7 Internal Structure of DC Motor

Working Principle of DC motor:

A motor is an electrical machine which converts electrical energy into mechanical energy.
The principle of working of a DC motor is that "whenever a current carrying conductor is placed in
a magnetic field, it experiences a mechanical force". The direction of this force is given by Fleming's
left hand rule and it's magnitude is given by F = BIL. Where, B = magnetic flux density, I = current
and L = length of the conductor within the magnetic field.

Fleming's left hand rule: If we stretch the first finger, second finger and thumb of our left hand to be
perpendicular to each other AND direction of magnetic field is represented by the first finger,
direction of the current is represented by second finger then the thumb represents the direction of the
force experienced by the current carrying conductor.

Above animation helps in understanding the working principle of a DC motor. When connected to a
DC supply, current sets up in the winding. Magnetic field may be provided by field winding
(electromagnetism) or by using permanent magnets. In this case, current carrying armature
conductors experience force due to the magnetic field, according to the principle stated above.

23
Commutator is made segmented to achieve unidirectional torque. Otherwise, the direction of force
would have reversed every time when the direction of movement of conductor is reversed the
magnetic field.

Back EMF:

According to fundamental laws of nature, no energy conversion is possible until there is something
to oppose the conversion. In case of generators this opposition is provided by magnetic drag, but in
case of dc motors there is back emf. When the armature of the motor is rotating, the conductors are
also cutting the magnetic flux lines and hence according to the Faraday's law of electromagnetic
induction, an emf induces in the armature conductors. The direction of this induced emf is such that
it opposes the armature current (Ia). The circuit diagram below illustrates the direction of the back emf
and armature current. Magnitude of Back emf can be given by the emf equation of DC generator.

Significance of Back EMF:

Magnitude of back emf is directly proportional to speed of the motor. Consider the load on a dc motor
is suddenly reduced. In this case, required torque will be small as compared to the current torque.
Speed of the motor will start increasing due to the excess torque. Hence, being proportional to the
speed, magnitude of the back emf will also increase. With increasing back emf armature current will
start decreasing. Torque being proportional to the armature current, it will also decrease until it
becomes sufficient for the load. Thus, speed of the motor will regulate.

On the other hand, if a dc motor is suddenly loaded, the load will cause decrease in the speed. Due to
decrease in speed, back emf will also decrease allowing more armature current. Increased armature
current will increase the torque to satisfy the load requirement. Hence, presence of the back emf
makes a dc motor ‘self-regulating’.

Types of DC Motors:

DC motors are usually classified of the basis of their excitation configuration, as follows -

 Separately excited (field winding is fed by external source)

 Self-excited
 Series wound (field winding is connected in series with the armature)
 Shunt wound (field winding is connected in parallel with the armature)
 Compound wound

24
  Long shunt
 Short shunt
Generator components:

A DC generator consist of the following components

Rotor:

In its simplest form, the rotor consists of a single loop of wire made to rotate within a magnetic field.
In practice, the rotor usually consists of several coils of wire wound on an armature.

Armature:

The armature is a cylinder of laminated iron mounted on an axle. The axle is carried in bearings
mounted in the external structure of the generator. Torque is applied to the axle to make the rotor
spin.

Coil:

Each coil usually consists of many turns of copper wire wound on the armature. The two ends of each
coil are connected either to two slip rings (AC) or two opposite bars of a split-ring commutator (DC).

Stator:

The stator is the fixed part of the generator that supplies the magnetic field in which the coils rotate.
It may consist of two permanent magnets with opposite poles facing and shaped to fit around the
rotor. Alternatively, the magnetic field may be provided by two electromagnets.

Field electromagnets:

Each electromagnet consists of a coil of many turns of copper wire wound on a soft iron core. The
electromagnets are wound, mounted and shaped in such a way that opposite poles face each other and
wrap around the rotor.

Brushes:

The brushes are carbon blocks that maintain contact with the ends of the coils via the slip rings (AC)
or the split-ring commutator (DC), and conduct electric current from the coils to the external circuit.

25
 Fig 3.8 Bisection of DC Motor

Working:

The commutator rotates with the loop of wire just as the slip rings do with the rotor of an AC
generator. Each half of the commutator ring is called a commutator segment and is insulated from the
other half. Each end of the rotating loop of wire is connected to a commutator segment. Two carbon
brushes connected to the outside circuit rest against the rotating commutator. One brush conducts the
current out of the generator, and the other brush feeds it in. The commutator is designed so that, no
matter how the current in the loop alternates, the commutator segment containing the outward-going
current is always against the "out" brush at the proper time. The armature in a large DC generator has
many coils of wire and commutator segments. Because of the commutator, engineers have found it
necessary to have the armature serve as the rotor (the rotating part of an apparatus) and the field
structure as the stator (a stationary portion enclosing rotating parts). Which is the inverse of an AC
Generator.

26
 Fig 3.8 A DC Generator

Types of DC Generators:

In some DC generators, the direct current needed for the electromagnets that make up the field
structure comes from an outside source, just as it does in most AC generators. These DC generators
are called separately excited generators. Many other DC generators use part of the direct current they
produce to operate their own electromagnets. These generators are called self-excited generators. A
self-excited DC generator depends on residual magnetism--that is, a small amount of magnetism
remains in the electromagnets after the generator is shut off. Without this residual magnetism, it
would be impossible to start a self-excited generator once it had stopped. The direct current needed
for a self-excited generator's electromagnets can be drawn from its armature by means of three
different connections: Shunt, Series and Compound, a combination of shunt and series connections.
The type of generator used for a certain task depends on the amount of voltage control required. For
example, a DC generator used to charge a battery needs only simple voltage control. It might be a
shunt generator. A DC generator that supplies electricity for a passenger elevator needs more
complicated voltage control. It would be a separately excited generator.

Uses of DC Generators:

Many DC generators are driven by AC motors in combinations called motor-generator sets. This is
one way of changing alternating current to direct current. Factories that do electroplating and those
that produce aluminum, chlorine, and some other industrial materials need large amounts of direct
current and use DC generators. So do locomotives and ships driven by diesel-electric motors. Because
commutators are complex and costly, many DC generators are being replaced by AC generators

27
combined with electronic rectifiers. Rectifiers are devices that let current flow in one direction only.
They permit use of simpler, more rugged AC generators, even when DC is required.

3.3 Software Requirements:

3.3.1 Arduino IDE:

Arduino can sense the environment by receiving input from a variety of sensors and can affect its
surroundings by controlling lights, motors, and other actuators. The microcontroller on the board is
programmed using the Arduino programming language (based on Wiring) and the Arduino
development environment (based on Processing). Arduino projects can be stand-alone or they can
communicate with software on running on a computer (e.g. Flash, Processing, MaxMSP). Arduino is
a cross-platform program. You’ll have to follow different instructions for your personal OS.

The Development Process:

Here is the process for creating a program to run on your Arduino:
1. Create the sketch in the Arduino software
2. Verify the sketch
3. Correct any errors that are indicated (like typos or misspelled variable names)
4. Compile the sketch
5. Upload the resulting program to your Arduino
6. Test your program
7. Rewire or rewrite code as needed
8. Return to Step 2
In the Arduino software, you will notice that 4 and 5 occur at the same time. You will probably notice
that Steps 3 and 7 are the most frustrating and time consuming, but they are.

The first step is to plug the square end of a USB data cable into your Arduino, and the other end into
your computer.

Next, start the Arduino program. You firewall may block it, but you need to give it permission to be
allowed through the firewall. Next, you will see the Arduino development interface.

28
Fig 3.10 Arduino IDE

29
 3.3.2 Basic Arduino Command Library:

There are a set of basic commands needed to interact with the Arduino board. In this chapter, we look
at the most common digital and analog I/O functions you would use in a sketch for the Arduino.

Digital I/O Functions:

There are three functions for digital input and output: one to set the mode of the pin (is it going to be
an input pin or an output pin), one to write to the pin (is it going to be set to HIGH or LOW), and one
to read the current status of the pin (is it set at HIGH or LOW). The commands and their basic
structure are shown below. The values that are italicized are called parameters and are used to provide
information to the functions so that they can work properly.

pinMode(pin, mode)

The pin number must be an integer value. There are three possible modes: INPUT, OUTPUT,
INPUT_PULLUP

digitalWrite(pin, value)

The pin number must be an integer value. The values are either HIGH or LOW

digitalRead(pin)

The pin number must be an integer value. Will return a value of HIGH or LOW

Analog I/O:

As discussed earlier, the Arduino boards include pins for performing analog input and output. One
command is used to set a reference voltage (the value used as the maximum range of the input
voltage), another is used to read the analog voltage, and the last is used to write the analog voltage.

analogReference(type)

You can choose from 5 options

DEFAULT is going to be 5 volts (on 5V Arduino boards) or 3.3 volts (on

3.3V Arduino boards)

INTERNAL is a built-in reference that varies with the type of processor

30
INTERNAL1(V1) is a built-in 1.1V reference, but is only available on the

Mega

INTERNAL2 (V56) is a built-in 2.56V referenced hat is also available only on

the Mega

EXTERNAL this means that you will use whatever voltage is applied to the

AREF pin for the reference voltage

analogRead(pin)

This reads whatever the analog voltage level is at pin. It returns an integer value representing
the voltage reading at the pin

analogWrite(pin, duty cycle)

This command writes a PWM value to the pin

The duty cycle is a value between 0, which means always off, and 255,

which means always on. This can be used for things like strobing a LED light

31
 CHAPTER 4

SYSTEM DESIGN

4.1 Block Diagram:

The system consisted of the two DC motors connected to the Arduino UNO via control circuit. The
monitoring circuit and the dust sensor were also connected to the Arduino UNO board.

Fig 4.1 Block Diagram of the System

4.2 Control Flow:

The below Flowchart Shows how the system functions.

Fig 4.2 Control flow of the System

32
4.3 Circuit Diagram:

The below picture shows the Circuit diagram of the system.

Fig 4.3 Circuit Diagram of the system

33
 CHAPTER 5

IMPLEMENTATION

5.1 Process of Creation:

In this we are going to look at the Arduino project creation process for programming and using
an Arduino microcontroller. We are going to study the phases involved, then revisit the simple
example from the previous.

There are phases to creating a working microcontroller project:

1. Specify

2. Design

3. Prototype

4. Algorithm

5. Sketch

6. Compile and Upload

7. Test and Debug

Now we are going to look at these phases in more detail.

5.1.1 Specify:

Before We can create a good microcontroller project, we must decide exactly what it needs to
accomplish. Then, ask things like this. What kind of input does it need? What kind of output
needs to be achieved? What will you do with the input? How will We generate the output?

5.1.2 Design:

We will need to design a circuit, within the limitations of your Arduino board, to achieve the
input and output. At this stage, we will begin to look what kind of electrical or electronic parts
you will need, such as resistors, sensors, etc. Make a list of what you need, and research what
you don’t know. We will also need to select which pins you want (or must) use.

34
 5.1.3 Prototype:

The next step is to build a prototype of your circuit. We can do this directly on the breadboard,
or if you prefer you can use an online prototyping tool.

5.1.4 Algorithm:

This is an often-neglected aspect of program development. Before we dive into writing sketch
code, take some time to think through what we sketch needs to do. When we open up the Arduino
environment to create a new Sketch,

The Sketch is divided into two parts: setup and loop. Consider this their first guidelines on how
to develop a working sketch.

The setup portion is where we put code that needs to run only once. This includes things like
setting certain pins to HIGH, specifying whether a pin should be used as input or output,
assigning certain values to variables, etc. This code will run once each time the Arduino board is
powered up. Decide what commands need to run once, and plan to place them here.

The loop section is the main portion of the code that will keep running until you power off the
Arduino. This is the more challenging part of developing the algorithm.

5.1.5 Sketch:

Here is where we begin to type in the actual commands, being careful about spelling and syntax.

5.1.6 Compile and Upload

In the example, we saw that we could verify and compile the code at the same time. This is a step
that takes place under the hood, so to speak. As long as we have typed in the code in a way the
computer can understand, then there shouldn’t be any issues with compiling. Next, the code must
be uploaded to the Arduino. It doesn’t do you any good until it is uploaded.

35
5.2 Code:

#include <AFMotor.h>

#define trigPin 12

#define echoPin 13

AF_DCMotor motor1(1, MOTOR12_64KHZ);

AF_DCMotor motor2(2, MOTOR12_8KHZ);

void setup()

pinMode(trigPin, OUTPUT);

pinMode(echoPin, INPUT);

void loop()

long duration, distance;

digitalWrite(trigPin, LOW);

delayMicroseconds(2);

digitalWrite(trigPin, HIGH);

delayMicroseconds(10);

digitalWrite(trigPin, LOW);

duration = pulseIn(echoPin, HIGH);

distance = (duration / 2) / 29.1;

if (distance < 20)

36
 motor1.setSpeed(255);

motor2.setSpeed(0);

motor1.run(BACKWARD);

motor2.run(BACKWARD);

delay(2000);}

else

motor1.setSpeed(160);//DEFINING THE SPEED OF ROBO.

Motor2.setSpeed(160);

motor1.run(FORWARD);

motor2.run(FORWARD);

37
 CHAPTER 6

OUTPUT SCREENS

6.1 Code Compilation:

Before going to compile the code, we need to install the Adafruit Motor Shield Library to drive
the DC motors. Since we are using the L293D motor driver shield and it add to library files in the
IDE.

Fig 6.1 Code Compilation Screen Shot

38
 CONCLUSION AND FURTHER ENHANCEMENTS

The main conclusions can be summarized as: The losses of the output power of the fixed solar
panel at a tilt angle (35) is about 25% of the rated yield and can be higher depending on the dust
form. The dirt and bird drop make a hotspot in the panel, and it can make temporary fail in the
panel. Dry cleaning can' not remove all the dirt on the surface of the solar panel, but it is able to
remove the outer layers of the dust. Cleaning solar panel with water increases the cleaning
efficiency by removing majority of the dirt deposited on the panel. No external powers are required
as the self- cleaning system takes its power from the battery of the solar panel. This device is made
up of lightweight material, so the power consumed is low. Comparing the costs of cleaning by
Manual operation and Automatic operation the cost for automatic cleaning is proved to be more
economic and significantly less cumbersome particularly in systems having large number of solar
panels. Also, frequent periodic cleaning ensures that the solar panel works with a good
transmittance consistently at all times. In Future, we can Try to develop a large integrated which
is not only used for small scale panels. But also, for the solar panels that are used for industry
purpose.

39
 BIBLIOGRAPHY

[1]. “EFFECTS OF DUST ON THE PERFORMANCE OF PV PANELS” paper by Shaharin A. Sulaiman, Haizatul H.
Hussain, NikSiti H. NikLeh, and Mohd S. I. Razali, International Science Index, Mechanical and
Mechatronics Engineering Vol:5, No:10, 2011 waset.org/Publication/10305
[2]. "IMPROVEMENT OF EFFICIENCY OF SOLAR PANEL USING DIFFERENT METHODS" published Rupali
Nazar , IJEEE, Volume 07, Issue 01, Jan- June 2015, ISSN- 2321-2055 (E)
[3]. "SELF-CLEANING OF SOLAR PHOTOVOLTAIC: A CASE STUDY FOR IMPROVING THE PERFORMANCE OF
SOLAR PHOTOVOLTAIC" published Minu K.S., ITRO, VOLUME-2, ISSUE-7, 2015.
[4]. "ROBOTIC DEVICE FOR CLEANING PHOTOVOLTAIC PANEL ARRAYS" Mark Anderson, Ashton Grandy,
Jeremy Hastie, Andrew Sweezey, Richard Ranky, Constantinos Mavroid, September 2009, DOI:
10.1142/9789814291279_0047.
[5]. "MICROCONTROLLER BASED AUTOMATIC CLEANING OF SOLAR PANEL" published S. B. Halbhavi S. G.
Kulkarni Dr. D. B. Kulkarni, IJLTET, Vol. 5 Issue 4 July 2015, ISSN: 2278-621X.
[6]. NASA Jet Propulsion Laboratory, “Spirit Gets Energy Boost from Cleaner Solar Panels”, Press Release
February12,2009, http://www.jpl.nasa.gov/news/news.cfm?release=2009-020a.
[7]. OSC Energy Inc., Solar Wash, 7 Nov. 2008, http://www.ocsenergy.com.
[8]. https://oceancontrols.com.au/DEC-015.html

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