Enhancing Tilapia Harvesting through Semi-

automated Fish Pen Elevating System and Single-

input-multiple-output Aquaculture Pump System
Althea Tiffanie A. Bejar1, Jon Kinsly T. Ouyang1, Vince Miguel D. Villabroza1, Aurelle Mikael Correa1, Ronnie Concepcion II1, Maria
Gemel Palconit2, Ryan Rhay Vicerra1, Bernardo Duarte3,4, Vanessa F. Fonseca3,5
1Department of Manufacturing Engineering and Management, De La Salle University, Manila, Philippines
2Department of Electronics and Computer Engineering, De La Salle University, Manila, Philippines
3MARE—Marine and Environmental Sciences Centre & ARNET – Aquatic Research Infrastructure Network Associated Laboratory,

Faculdade de Ciências da Universidade de Lisboa, Campo Grande, 1749-016 Lisbon, Portugal

4Departamento de Biologia Vegetal, Faculdade de Ciências, Universidade de Lisboa, Lisbon, Portugal
5Departamento de Biologia Animal, Faculdade de Ciências, Universidade de Lisboa, Lisbon, Portugal

{althea_bejar, aurelle_correa, vince_villabroza, jon_ouyang, ronnie.concepcion, maria_gemel_palconit, ryan.vicerra}@dlsu.edu.ph,

{baduarte, vffonseca}@fc.ul.pt

Abstract—Fish is a staple in the diet of nations globally and aquaculture production. The Philippines in particular has
is cultured and harvested using various practices such as open produced over 2 million metric tons which are valued at USD
sea fishing and aquaculture. In fact, the fisheries and 2.3 billion [5]. On a local scale, this industry alone accounts
aquaculture industry are valued at 250 billion as a whole and for 1.52% of the country’s Gross Domestic Product valued at
contribute to almost 2% of the Philippines' Gross Domestic approximately PhP 260 billion. This is made possible due to
Product; therefore, it is an industry with constant great demand. major fishing ground locations such as the Cebu Strait, South
Aquaculture practice is where fish, shellfish, and other Sulu Sea, Burias pass, and Laguna de Bay. Looking at regional
consumable marine species are cultivated by fishermen using
data, the Bangsamoro Autonomous Region in Muslim
traditional methods and experience typically manually operated
Mindanao (BARMM), Region IX, and Region IV-B are the
via fish pens. However, occupational hazards exposed to
fishermen in the industry often result in injury and long-term
top three producers in the industry wherein their production
health effects. Thus, there is a need to semi-automate the labour- totals 46% of the total. Similarly, the fisheries industry mostly
intensive task of fish harvesting by applying concepts from consists of practices from capture fishing, gleaning, and
common current aquaculture practices and control systems aquaculture [6,7].
engineering. This study develops two systems, namely: a fish pen This study focuses on practices done in freshwater fish
elevating system and a single-input-multiple-output cage production in Laguna de Bay since this is the major
aquaculture pump system, for harvesting of tilapia in the
fishing spot that is nearest to Metro Manila and nearby
Laguna de Bay, Philippines, based on the vastness of the lake,
provinces. Moreover, the fish considered for this is the tilapia
the quantity of open water fish pens located in the area, and the
species being the most produced in this type of fish pen as a since it has the highest production rate among other species in
whole. The discussion of existing aquacultures around the world terms of location related to Laguna de Bay (National Capital
is also included in this study to show advancements in Region and Region IV-A) with nearly 55,000 metric tons [6].
technology when it comes to this industry. The two proposed Maintaining fish pens during propagation until harvest is
systems presented integrate the automation of the process where a very tedious task that may cause several occupational
fish is brought to the surface via raising the base frame of the hazards such as cuts, eye irritations, sunburn, bacterial and
fish pen or its surrounding poles. The proper application of each
parasitic infections, and other accidents [8]. With this, there is
system should result in more efficient harvests, fewer injuries to
fishermen, and improved production volumes.
a need to develop new systems to semi-automate manual tasks
in order to lessen or eliminate these occupational hazards
Keywords—automated aquaculture system, fish harvesting through developing several new fish pen harvesting systems
control system, pump system, tilapia aquaculture that collaborates with current tilapia harvesting practices in
fish pens located in Laguna de Bay and concepts from control
I. INTRODUCTION systems engineering. This study contributes to the: (1)
Aquaculture is a method where consumable seafood is development of a semi-automated fish harvesting system that
propagated and harvested using traditional knowledge and will benefit the fisheries sector of the country; (2)
farmers’ experience. The use of aquaculture directly results in enhancement of current fish pen harvesting practices and
the continuous expansion in terms of natural, social, design; and (3) alleviation of overfishing problems brought
economic, and cultural environments [1]. Additionally, it is about by high seafood demand.
also known as systematic fish farming, and it is the process II. AQUACULTURE IN THE PHILIPPINES
that sets conditions for fish farming that maximizes fish
production while maintaining the lowest possible cost [2]. In The Philippines, being a maritime country, has a long
the past 20 years, there has been a cultivation increase of history when it comes to aquaculture. The earliest practices
consumable aquatic species by 40% which is valued at about are the use of fishponds in brackish water that were used to
USD 250 billion on a global scale with Asia consistently produce milkfish. With an average consumption of 40 kg per
named as the top producing region [3,4]. According to the year per capita of fish in the country [9], it is undeniable that
latest data, the region alone accounts for about 92% of global fish is an important source of protein for the country.

XXX-X-XXXX-XXXX-X/XX/$XX.00 ©20XX IEEE

Aquaculture also provides jobs. According to the Bureau of offshore fish pen that allows fish farmers to harvest 1,200 tons
Fisheries and Aquatic Resources, from 1987 to the present, of fish annually due to the sheer size of 14,500 cubic meters.
over two hundred sixty thousand fishermen are employed in It was designed to be this large to maximize its production and
this industry [10]. Because of this, fish stock in the Philippines avoid crowding in the fish pens [20]. Another aquaculture
is harvested 30% higher than normal [11]. According to the technology that exists in the market is Watbots’ autonomous
Philippine Statistics Authority (PSA) [12], there are 150,273 robot which aims to remove algae growth and prevent fish
hectares of existing water ponds in the country with a total of from escaping. This autonomous robot aims to eliminate those
2,246.32 thousand metric tons of goods produced in the year factors by utilizing machine learning, 3D vision analysis, and
2021. However, these fish farms have a significant Artificial Intelligence (AI). The robot mainly functions to
environmental impact. A common practice done by these clean the nets autonomously daily, while plotting trends based
companies is trawling, a fishing technique in which a on real-time data, and checking for net holes via the use of
weighted net is pulled along the seafloor destroying the plants numerous sensors that is capable of mapping about 8,000 m2
and coral populations to ensure increased capture of fish. The with a maximum of 200-m circumference farms at 0.01 mm
use of such practice is mainly driven by the constantly high resolution [21].
demand for consumable aquatic species [10, 12,13].
D. Fish Pen Operations
A. Laguna de Bay Setting for Aquaculture Fries, or young fish, are sent to the fish pen to mature and
One of the more known lakes for fisheries in the country be cultured by the farmers for them to grow to the intended
is Laguna de Bay in Luzon. This lake is the largest in the size and to populate to the desired quantity. After the growth
country having a surface area of 911 km2, a watershed area of process of the fish, the nylon nets are pulled by the farmers to
2,920 km2, and a shallow depth of 2.8 meters. In 1974, the reel in the fish for harvesting. This is a simple method of fish
Laguna Lake Development Authority (LLDA) introduced farming compared to modern aquaculture technology in
milkfish cultivation into pen enclosures. This practice utilizes foreign countries [22]. In open-type fish pens, the cages are
strategically placed nets that form and serve as walls that are (1) located off-shore (within 25 nautical miles from the shore),
held up by bamboo and palm-trees poles dug into the bottom (2) the depth of the water would be three times the size of the
mud. Double walling is often used to protect the pens from cage height to allow fish wastes to be better dispersed, and (3)
fields of water hyacinths. The size of the fish pen in Laguna the water current must be within 0.5 m/s to 1 m/s to minimize
de Bay can vary from 0.5 to 100 hectares [14]. As of 2022, turbulence within the cage. A limitation pointed out by the
aquaculture in the country holds over 55% of the market researchers is that the facility would have little access to a
followed by marine municipalities at 22.5% [15]. The existing power supply and other supporting services that would allow
problem of aquaculture in Laguna de Bay is the overcrowding the maintenance of the fish pen [23]. The advantage of having
of fish pens in the area. Common reasons are strong opposition the fish pen offshore is that it is away from land pollution
from fish pen operators, political influence and which ensures a better water environment for the fish.
accommodation, poor monitoring, and conflicting laws in However, a disadvantage of this method is that diseases from
Laguna de Bay. This resulted in twice the production time the farmed fish might transmit to the fishes passing by outside
needed to make the fish reach its marketable size, from six of the fish pen and vice versa. The cage is also of concern
months to twelve months [16]. because the fish inside and outside of the fish pen could
damage the cage and cause the farmed fish to escape and breed
B. Tilapia Production with the outside fish [24].
Since the 1950s, five types of tilapias have been added to
the Philippines’ ecosystem, namely: the (1) Mozambique Additional measures are taken from a foreign project led
tilapia (Oreochromis mossambicus), (2) Nile tilapia by a Malaysian researcher. They utilized an Arduino-based
(Oreochromis niloticus), (3) Red tilapias (Oreochromis spp. system that allows the operators to monitor the water
hybrids), (4) Blue tilapia (Oreochromis aureus), and (5) Black temperature and pH level of the location of the fish pen. The
chinned tilapia (Sarotherodon melanotheron). Tilapias are data acquired from these instruments are then used to regulate
farmed because of their ability to easily adapt and thrive in the the said parameters so that the farmed fish would be
environment they are placed in. An average weight per fish of accommodated in their environment. A piping system also
350 - 500 g is what is normally sold in global markets. was created, connecting the pond to the creek and the well.
However, tilapia in the Philippines has an average weight per This would allow the pond to discharge the fish waste to the
fish of 150 - 200 g to be considered for consumption. creek and allow the water from the well to replenish the water
Depending on the conditions of the lake, the tilapia can take in the pond while also maintaining the desired temperature of
between four to six months to reach the sizes in which they the water. The major contributor to the changes in temperature
can be sold. For example, tilapia in Laguna de Bay will grow in the water came from the change of time throughout the day.
and feed naturally but require six months to grow to reach The coldest temperatures came at around midnight and the
marketable size [17,18]. hottest was at noon. These are the times when the system
creates the flow of water from the well to the pond to cool off
C. Existing Aquaculture Technologies the fish’s environment [25].
Technological advancements made in aquaculture can be E. Aquaculture Pumping System
seen in various areas of the United States of America and
Indonesia focusing on its impact on benthic ecosystems for One of the many methods in aquaculture is through a
oysters and seaweed cultivation via drone-captured images pumping system which has two main purposes: harvesting fish
[19]. Another modern marvel of aquaculture is developed by and maintaining the fish pen area while optimizing energy.
Innovasea, a company established in 2014 that specializes in For the number of pumps that are needed to generate the
modernizing aquatic solutions for fish tracking and farming. required flow, the operator will control the percentage of flow.
Innovasea created the project, “Open Blue.” This is an The direct benefit of using this method is that it could lower
the costs of operation and maintenance of the engines,
potentially decrease the generation of hazardous waste,
reduction of greenhouse gas emissions, and reduction of noise
generated by diesel engines. With this, it will give benefits to
the private sector, the general population, and the planet
[26,27]. The second main purpose of aquaculture pumping is
for fish farm management which is supplementary for
obtaining water, aerators, and lifting water in sites depending
on the tidal fluctuations. There are five types of pumps used
for aquaculture, namely, centrifugal pumps, deep-well turbine
pump, propeller pumps, dragon wheel pumps, and push
pumps [28]. Despite the benefits previously discussed, some
disadvantages of pumping systems for aquaculture are their
high upkeep and costs for it to operate versus traditional
methods, possible energy losses when used in large volumes,
and clogging of sediments that can cause machine
breakdowns. For fish lifts, in particular, incorrect pump flow
and high-volume processing commonly cause fish fatigue and Figure 1. System flowchart of fish pen elevating system in harvesting tilapia.
pump clogging. In extreme cases, the lack of space due to high
output can cause machine breakdowns and fish mortality thus,
resulting to further loss for those managing this type of system
[29,30]. In addition to mechanical issues, one setback that may
cause delays in the system control and feedback is the loss of
network connection for systems that integrate Internet of
Things (IoT) based operations. For the second system to be
proposed in particular, the control panel communicates with
the system via an internet connection. If this connection is lost,
Figure 2. Control system flowchart of fish pen elevating system in harvesting
it will sever the communication between the operators and the tilapia.
machine which further results in it not operating as intended
[31]. B. System Features
III. FISH HARVESTING SYSTEM 1: FISH PEN ELEVATING The structure of the enclosure is entirely made of bamboo
SYSTEM (FPES) poles stuck and formed together by a waterproof adhesive.
This enables the raft to stay above water level due to the
A. Fish Pen Elevating System Design buoyant properties of the bamboo. The net below the raft is
The first solution is to create a fish pen-elevating made of nylon polymers to increase its resistance against
harvesting system (FPES) that allows the farmers to gather the underwater currents and internal movement. It is also
fish without having to pull on the net. The sequence begins equipped with flex sensors along the lining to allow the
with a push button and initiates the system to take the current operators to find an approximate density within the net. To
time and stores it as a timestamp for the second initiation (Fig. secure the frame, lead sinkers are placed on the bottom so that
1). The system then checks whether the time is between now the structure would not float away due to harsh currents.
and the initial initiation. If the calculation shows that the Additionally, the reeling lines and reeling motors are
difference is less than the indicated duration, the poles will not submerged, these act as an anchor for both the bottom frame
actuate. Likewise, if the duration of growth is greater than or and the net. Information from the underwater flex sensor will
equal to the indicated parameter, the system’s poles will be transmitted to the remote-control panel found on the
actuate and reel the fish net upwards. The depth of the water surface through the heat-sunk cables. Predetermined
surface to the bottom frame will depend on the fish frequency. information (fish fry quantity, net size, target harvest time)
This is done through an internal counting system where every will be considered with the gathered information and will
time a fish hits the net, a flex sensor will be triggered. These notify the operators when the fish are ready for harvesting. To
sensors are located along the vertical sides of the net. When start the harvesting process, the operators will use the control
the farmers have finished harvesting manually, the operators panel to communicate to the machine and actuate the motors
will tell the system that the process has been completed and to raise the net. Once the net is raised, the harvesters will guide
the cycle may begin again. and pull on the net to direct it to the boxes/containers for
processing.
Translating the system flowchart in Fig. 1 into a control
system-based block diagram as seen in Fig. 2, the input of the 1) Floating Bamboo Raft
FPES is the timestamp when the machine is switched on and The frame of the enclosure is mainly built from bamboo
the output is the harvested Tilapia. The main system will poles. The properties of bamboo enable it to become buoyant
utilize a time controller and pole actuator controller which due to the segments of the structure. It is made up of air-tight
determines if the time between the time the last harvest was chambers that prevent water from entering the tube.
conducted and the current time is greater than 6 months, and
the height of the net to raise based on the flex sensors, 2) System Control Panel
respectively. After harvesting, the timestamp when post-
The entire system is monitored by a control panel that is
harvesting occurred is stored and will be used as the basis for
connected to the frame by a waterproof heat shrink tubing to
the next cycle.
prevent water from interfering with the circuitry. The control
panel is programmed using MATLAB and simulated by IV. FISH HARVESTING SYSTEM 2: SINGLE-INPUT-MULTIPLE-
Simulink. OUTPUT AQUACULTURE PUMP (SIMOAP) SYSTEM

A. Single-input-multiple-output Pump System Design

The second system is to create a fish pen harvesting system
that would collect fish with the use of a pump that could
control the water flow depending on the volume of the fish
gathered. The process starts with harvesting the fish and
pumping them into the machine-generated by a motor. If the
fish gets crowded within the system due to high volume, the
pressure will be increased and will go back to the normal flow
once the volume of the fish coming out of it becomes constant.
The main purpose of this system is to lessen the use of diesel
to power the engine while increasing efficiency. The whole
process is derived from the concept of a single-input-multiple-
output (SIMO) system with a slight variation on the end
system to separate the fish and water being pumped

Figure 3. Side view of the developed design for fish pen elevating system
when deployed on aquaculture site

3) Nylon Net
The main material of the net to be used is nylon, which
also contains other polymers that will help reinforce the
durability of the net. It is better to use quality material for the
net to allow better containment of the system’s components. It
is recommended to use nylon net from the Philippine Nylon
Net Manufacturing Company because it is locally available.
4) Flex Sensor
The net is equipped with flex sensors that will help
determine if the fish net is reaching its maximum capacity.
The flex sensors are embedded in the corners of the net, they
actuate when the fish push up against the walls. The more fish
grow and populate, the more likely they are to look for space
to avoid overcrowding. It is recommended to use Nitto 1-axis
evaluation kit flex sensor because it is waterproof and thin.
5) Bottom Frame with Lead Sinkers
The bottom of the net is supported by a frame with lead
sinkers. This frame will give shape and maximize the ability
of the net. Lead sinkers will be attached to the frame so that Figure 4. System flowchart for the single-input-multiple-output aquaculture
the net will remain stable underwater. It is recommended to pump system
use YL190670 because of its customizability when it comes
to its weight. Translating the system flowchart in Fig. 4 into a control
system-based block diagram as seen in Fig. 5, the input of the
6) Submerged Reeling Motors SIMOAP system is the timestamp when the machine is
The reeling motors are encased in a waterproof enclosure switched on and its outputs are the harvested Tilapia and the
that houses the DC motors that have the reeling lines attached water from the pond. The main system will utilize a time
to them. Combimac’s submersible motors are the controller and pump controller which determines if the time
recommended brand because they have submersible electric from the time the last harvest was conducted and the current
motors. time is greater than 6 months, and the pump speed is based
on the fish traffic within the system, respectively. After
7) Reeling Line
harvesting, the timestamp when post-harvesting is stored will
The reeling line will be made of a nylon-silk composite. be used as a basis for the next cycle.
This is the usual material that makes up common industry
fishing lines. The team opted out of using steel lines to avoid
corrosion and prevent less damage to the system. King Eagle
Super Strong Nylon is the selected brand because of its local
availability in the region.

Figure 5. Control system flowchart for the single-input-multiple-output

aquaculture pump system
B. System Features V. DISCUSSION
In this proposal, the main components of the machine are Both systems require power to operate it may be difficult
the bamboo enclosure, fish net and the system inlet and outlet. to obtain a stable power source for offshore fish pens,
The bamboo enclosure is designed to stay afloat because of incorporating manual labour and automated processes,
the buoyancy properties of bamboo poles. This is to ensure lessening injuries due to occupational risks. However, some
that the fish stay within the enclosure during the growing benefits of the first system (FPES) are: (1) it is easier to
process. The highlight of this design is the automated pumping maintain due to the parts being independent of each other and
system which consists of three pumps (one inlet and two can be easily replaced, (2) it is closer to the original process
outlets). The inlet is where the fish will be gathered and since it just automates one part of the full practice, and (3)
suctioned into the system. The first outlet will contain the fish offers better fish containment because of the high net
separated from the water, and the second outlet will be for the enclosures above the water surface. On the other hand, the
residue water to be pumped back into the enclosure. Once the benefits of the second system (SIMOAP) are as follows: (1)
fish have been separated from the water, a conveyor belt will the processing of harvested fish is within the system as
direct them to containers for further processing. The system is opposed to the first where it is still mostly manually processed,
monitored by a control panel that is remotely situated on the (2) power is optimized since the pump is being controlled
shore near the enclosure. based on the fish traffic, and (3) it is optimized since
operations will be continuous leaving little room for human
error since it is mostly machine-based. The Philippines has a
strategic plan for rearing tilapia in both saltwater and
freshwater regions [32,33] and chemicals in marine
transitional systems have the negative potential to impact the
growth of this industrial fish [34,35], hence, must be
monitored properly. The extension of this study would be an
intelligent harvesting system equipped with cameras that
would activate the harvesting subsystem based on the
morphological feature (size and weight) of fish [36-39].
Inversely, the cons of the two systems are as follows:
system one may result in injuries due to occupational risk
since the actual harvesting must be done manually, and it is
also prone to net tearing and flex sensor damage due to
Figure 6. Top view of the single-input-multiple output aquaculture pump excessive fish movement. Moreover, due to the nature of the
system
second system being more automated than the first, there may
be a drop in demand for manpower. Secondly, if any
1) Floating Bamboo Raft with Enclosure
component within it is damaged, it will be difficult to repair
The frame of the enclosure is mainly built from bamboo back to its original state. Lastly, fish may clog the system and
poles. The properties of bamboo enable it to become buoyant cause further damage.
due to the segments of the structure. It is made up of air-tight
chambers that prevent water from entering the tube and it is VI. CONCLUSION
cost-effective due to its high supply. The suggested materials The use of control systems can be incorporated into
are the same as the first fish harvesting system. industry-level processes. In this study, semi-automated tilapia
2) System and Control Panel harvesting systems for the Laguna de Bay setting, namely, the
fish pen elevating system (FPES) and single-input-multiple-
The entire system is monitored by a control panel that is output aquaculture pump (SIMOAP) system, have been
connected to the engine that can increase or decrease the developed based on the vastness of the lake, the quantity of
pressure depending on the volume of fish being processed open water fish pens located in the area, and the species being
within the system. It is also connected to a system inlet, system the most produced in this type of fish pen. These harvesting
outlet, and a conveyor belt. A proximity sensor will also be systems are cored in control systems engineering. Using the
installed to detect the number of fish that passes through knowledge gained from local and international aquaculture,
within a certain amount of time. It is recommended to use the recommendation on the construction and materials to be used
Honda WB20XT Water Pump because it is available for in the components of the system has been made in this current
purchase in the market. study. The developed systems and corresponding semi-
automated processes do not completely automate the process
3) System Inlet
of fish farming, but it does aid the fishermen in the process. It
The fish and some water from the fish pen will first pass is recommended to integrate high-level artificial intelligence
through the system inlet and the pump will be connected to the for the automation of fish harvesting systems.
main system.
ACKNOWLEDGEMENT
4) System Outlet
The authors would like to thank the Intelligent Systems
The system has two main outlets that filter the fish and Laboratory and the Office of Vice President for Research and
water that will be returned to the fish pen. Innovation for all granted supports. The authors would like to
thank Fundação para a Ciência e a Tecnologia (FCT) for
5) Processing Area funding the research at MARE (UIDB/04292/2020 and
The processing area is where the fish will be filtered out UIDP/04292/2020) and ARNET – Aquatic Research
and could be carried out for local markets and export Infrastructure Network Associated Laboratory
(LA/P/0069/2020). B. Duarte and V. Fonseca were supported [20] J. Thomas, “An overview of emerging disruptive technologies and key issues,”
Development, 2019, vol. 62 no. 1, pp.5-12.
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