@thesis{thesis,
		author={Ahmad  and FITRI YANTI  and Rossi },
		title ={PERANCANGAN SISTEM KONTROL POMPA PADA ROBOT KAPAL SEMI SELAM MENGGUNAKAN ATMEGA16},
		year={2015},
		url={https://repository.unsri.ac.id/16570/},
		abstract={This final report describes about design of the pump control system on the semi-submersible robot using atmega 16. The underwater robot has system that can sink or float in water, where boats can float even though given the loads which adapted from semi ship namely diving ballast system, is a system to manipulate heavy objects in the water, underwater robots can dive in water according to the depth that you want and float to initial conditions using water pump system. The ballast system is able to make remoted Operated Vehicles (ROV) can sink and float quickly and efficiently and can be submerged at a depth of 50 cm invitation dive time and float by 5 m/s. ROV is an underwater robots that controlled directly by humans, components that used to control pump is Microcontroller ATmega 16 that can control the pump on the robot ship semisubmersible, Proximity Sensor Photodioda functions as monitoring the volume of water in ballast tanks, DC pumps used to control the sink and the float of the robot. There are six pump in this system. Four pumps to make robot go down and two pumps to make robot go up and H-Bridge Motor Driver using DPDT Relay that have function to controlled pump that make robot go down or go up.}
		}