ABSTRACT Title: Scintillating Aider Valiant Explorer Robot (SAVER) Keywords: Explorer Robot, First Person View Camera System, Human Detection, Ground Robot, Disaster Explorer Robot Researcher: Christia N. Tangin and Ma. Yvette O. Conde Grade Level: Grade 12 - STEM School: Science and Technology Education Center – Senior High School (STEC, SHS) Address: Basak, Lapu-Lapu City Adviser: Mr. Bryant C. Acar
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ABSTRACT
Title: Scintillating Aider Valiant Explorer Robot (SAVER)
Keywords: Explorer Robot, First Person View Camera System, Human Detection, Ground Robot, Disaster Explorer Robot
Researcher: Christia N. Tangin and Ma. Yvette O. Conde
Grade Level: Grade 12 - STEM
School: Science and Technology Education Center – Senior High School (STEC, SHS)
Address: Basak, Lapu-Lapu City
Adviser: Mr. Bryant C. Acar
2
Table of Contents
A. SCOPE AND LIMITATION
Introduction …………...……………………..……….…………………….. 4
Research Objectives ………...…………...…………………………………. 6
Conceptual Framework………………..……………………………………. 7
Scope and Limitation…………..……………………………………………. 8
Significance of the Study…………………………………..………………..
Definition of Terms………………………………………...………………..
Review of Related Literature………………………………..………………
9
11
12
B. MATERIALS AND METHODOLOGY
Research Design………………………………………………….…………. 21
Research Locale…………………………………………….………………. 21
Research Participants..……………………………………………..………. 22
Research Materials……………………………………………..…...……. 23
Research Procedure…………………………………………………….…… 34
II. RESULTS AND DISCUSSIONS…………………………………………. 50-61
III. CONCLUSION AND RECOMMENDATIONS………………………. 59
ACKNOWLEDGEMENT……………………………………………….. 61
BIBLIOGRAPHY………………………………………………….............. 63
VI. APPENDICES
Project Documentation 65
3
Budget 70
4
BACKGROUND OF THE STUDY
The Philippines is a hotspot for natural disasters, from deadly typhoons, earthquakes, and
volcano eruptions, injuries and casualties are to be expected. According to the Citizen Disaster
Response Center or CDRC, over 12 million Filipinos are affected by natural disasters, second to
China with 43 million. According also to the records of Centre for Research on the
Epidemiology of Disasters or CRED cited by the CDRC (n.d.), it showed that 2,360 people were
killed due to natural disasters in 2012. This topped the country with the highest mortality rate
due to natural disasters in 2012. While stopping a natural disaster is next to impossible,
preparation from these natural disasters is a sure-fire. From the medical preparations to rescue
operations, it sure will lessen the harm brought by the disaster. However, according to Michael
Rellosa, the deputy chairman of the Philippine Insurers and Reinsurers Association (PIRA), he
stated in his lecture “Unfortunately, despite the regular occurrence of natural calamities in our
country, it seems that we are often caught unprepared,” This assessed the Philippines as a
country unprepared for natural disaster financially.
Preparation for natural disaster is crucial, especially in medical and rescue preparations.
However, these two inculcate a risk as well that can harm a volunteer or a rescuer in the field.
For example, an earthquake in an urban area resulted in a massive structural collapse, rescuers
are called to help the injured, but they have to swim on the risks as well after earthquakes,
especially an aftershock. The country needs something that can navigate a risky environment
with person risking their lives. This is where robots come in, robots that will navigate an entire
field of a harmful environment.
Robot navigation is the ability of the robot to explore or navigate in its environment,
risky or not. With the robots stepping in to the field, it will sire lessen casualties, especially from
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rescuers. By this, robots can just swift through the rubble after a strong typhoon and search some
people inside and out. Same also goes with the earthquake, robot can go inside and out in a
rubble, finding any person under a collapsed building. With robot navigation, rescuing will be
easy. Although the initiative budget for these robots are high, the investment will lessen money
expenditures from months to years to come.
This crucial issue is supported by the statistical data researched about the natural disasters
here in the Philippines. Thereafter, the need of navigational robots to replace the rescuers that
risks their life has inspired and motivated the research enthusiast to assess, plan, and build a
prototype of a navigation robot, which its prime purpose is to explore the results of natural
disasters and locate the injured and the casualties.
6
RESEARCH QUESTIONS
The researcher sought to produce a prototype exploring robot that could explore or
navigate an entire field of a harmful and risky environment that is the result of earthquake and
locate the injured and casualties.
Specifically, it answered the following questions.
1. What are the materials needed to make the explorer robot?
2. What project design of the explorer robot?
3. How effective is the robot according to the following functionality indicators:
3.1. Robot Mobility;
3.1.1. Smooth Cemented Terrain
3.1.2. Rough Cemented Terrain
3.1.3. Muddy Terrain
3.1.4. Rocky Terrain
3.1.5. Elevated Terrain
3.2. Signal Transmission;
3.3. Reaction Time; and
3.4. GPS location?
Hypothesis:
Ha: SAVER prototype is an effective and functional explorer robot that can navigate and
detect human figure and can register GPS location.
7
Scope and Limitations
This study was focused on developing an Arduino-based microcontroller robot that can
navigate affected places and locate people after a disaster (earthquake) moreover; the robot can
only dwell on land. Specifically, it could only be maneuvered by the researcher to have an actual
streaming of the incident. Using FPV camera system, the robot can record the actual footage of
the navigation. The Robot is also equipped with GPS locator.
As planned, the building of the robot took about three months. Testing of its functionality
follows and was verified by a Mechanical Engineer.
Significance of the Study
The Philippines lies along the Pacific Ring of Fire, which causes the country to have
frequent seismic and volcanic activity. Due to the major tectonic plates meeting in the region,
earthquakes occur regularly. In an era characterized by extreme weather events, robots play an
increasingly important role in supporting human disaster response teams.
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Specifically this study benefits the following:
General public. The primary beneficiaries for this study is the general public who will
be the most vulnerable and has a vast majority of lives both lost and affected during a disaster
(earthquake).
National Risk Reduction Management Council (NDRRMC). The National Disaster
Risk Reduction and Management Council (NDRRMC) is the agency tasked to prepare for, and
respond to natural calamities (earthquake) for assistance and preservation of life in the whole
range of disaster risk reduction and management, moreover it calls on the reserve force to assist
in relief and rescue during disasters or calamities. With this existing reality, the researcher will
help to lessen the risks of the rescuers. Rather than deploying human factor to the affected zones,
we choose to deploy robots instead.
The Researcher. The making of this paper enhances their skills in research, improves
their knowledge and cultivates their interest in building and programming robots.
School. This will be used as a reliable material and reference for discussion and teaching.
This is a source of knowledge for them of which they can base their future studies.
Future researchers - Future researchers would be able to use this for future reference
and cure findings. They could expound and improve the findings, using the effectiveness of the
product as a guide for their own research.
9
Conceptual Framework
Figure 1: Research Process Conducted by the Researcher
This conceptual framework explains the overall research process conducted by the
researcher in their study. An idea of using robots to enter and explore the risky environment
instead of human rescuers who would risk their lives was conceptualized. The conceptualized
robot has to explore the field of the post event of the disaster and locate possible victims of such
tragedy. In order to fulfill its goal, it must have the ability to maneuver in an extreme,
challenging and different terrain because there are casualties and destroyed properties after a
disaster. The robot is also equipped with camera in order to record its activities in the field and
keep track on its current location.
For the conceptualized robot to be put to reality, it must undergo a careful process. First,
materials and parts of the robot must be gathered and then assembled based on the researcher’s
Input- DRRM Robot to
replace human rescuers in the field- A robot that could explore the field of the post event of the
disaster- A robot that could maneuver different
and challenging terrain
- A robot has cameras for recording and
tracking-A robot that has a
GPS locator
Process- Gathering of
materials and parts- Assembling the
robot- Programming the
robot- Simulation
- Reconfiguration and readjusting
- Final Simulation
OutputDRRM Explorer
Robot
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design. The robot is then programmed to perform the task needed to be done. There should be a
series of simulation to assess the functionality of the robot. Reconfiguration and readjusting is
also part of the process to improve the functionality of the robot. Lastly, a final test run must be
done in order to produce the final output which would be the explorer robot.
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Definition of Terms
To fully understand the terms used in the study, they are defined operationally:
Arduino Microcontroller – single IC open source prototyping platform based on easy-to-use
hardware and software containing specialized circuits and functions that are applicable to
intelligent machine design.
FPV Camera – First Person View Camera used to view the piloting perspective of the explorer
robot as well as record the data gathered through a video.
Disaster – a sudden natural catastrophic event that causes great damage or loss of life in the
setting.
Earthquake – a natural disaster characterized by sudden and violent shaking of the ground,
usually caused by the movement of plates or volcanic activities, which causes great destruction.
Engineering Research- Is the research design being utilized for the SAVER.
GPS – Global Positioning System that is used in the study to measure the accuracy of its
location.
Navigation – the process or activity of the explorer robot to assert one’s position and planning of
following a route.
Prototype- A miniature design of SAVER.
SAVER – Acronym for Scintillating Aider Valiant Explorer Robot, refers to the explorer robot
that could explore and navigate the area of the aftermath of an earthquake.
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Review of Related Literature
Disaster in the Global Prospect. Earthquakes, volcanic eruptions, floods, landslides,
and all other natural disasters are unfortunately, inevitable and also are nearly impossible to
avoid. This inevitably also leads to inevitable results and outcomes, from structural and
economic collapse to a much worse scenario, major casualties and injuries. According from the
records of EM-DAT or the Emergency Events Database launched by the Centre for Research on
the Epidemiology of Disasters or CRED, out from 20 years ranging from 1994 to 2013, the
number of natural disasters occurred worldwide was huge with a whopping total of 6,873
disasters. The annual natural disaster occurrence can be projected out from the given data, which
gave a value of approximately 362 occurrences of natural disasters each year. Also in the records
of EM-DAT of CRED, between the years 1994 to 2013, the natural disasters took the lives of
1.35 million lives people, in terms of annually, the natural disasters claimed lives of 68,000
people. Furthermore, it was also recorded that 218 million people were affected in different
aspects due to the natural disasters occurred in the 20-year period. Although these records
seemed grim, these have cemented humanity to innovate technologies and strongly prepare for
any natural disaster and calamity in a given time and place. This worked in some countries, they
have developed technologies and combatted natural calamities and disasters in their region and
geographical location. Unfortunately, this technology-disaster warfare won’t last, due to that
disasters have found their major ally, the climate change. Geophysical disasters such as
earthquakes, tsunamis, and volcanic eruptions have remained stagnant and constant through the
modern times, but a sustained and gradual surge of climate-related disasters such as typhoons,
floods, and storms have pushed the number of annual disasters in a notable and slightly alarming
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rate. EM-DAT also projected that ever since in the dawn of 21 st century, it recorded an annual
average of 341 of natural disasters and calamities, an increase of 44% from the 20-year average
of the 1994 to 2013 and twice in the level observed in the years 1980 to 1989. According to
CRED, from a perspective of a disaster analyst, the unusual changes of climate and the odd
cyclical variation in weather is not the reason behind the increased trend of natural disasters, it is
the massive growth in population and the patters of economic growth is to blame. Not only that
lesser people were in danger hundreds of years ago due to a lesser population globally, but
structures and buildings in high risk areas such as flood area zones, earthquakes zones, and other
danger zones has widened the likelihood that a routine and preventable natural hazard will
become a major disaster. Disaster in the worldwide view is still a hot topic in the modern times
especially that climate change and other factors are in play. A need for technology that cater the
needs of humanity for prevention and rescue is a global need and investment.
Disaster in the National Prospect. Typhoon is the number one natural calamity and
disaster faced in the Philippines. The Philippines is geographically unfortunate to placed and
located along the Pacific edge near the equator, which is highly vulnerable to tropical typhoons,
cyclones, and storms. One of the Philippine’s notorious storms, Typhoon Haiyan, or the Super
Typhoon Yolanda in the country, was one of the strongest tropical cyclones ever recorded, and
also the deadliest and devastating Philippine typhoon ever documented according to BBC. It was
the deadliest that it has claimed the lives of more than 6000 people and still reported 1,800
missing people according to CNN. It is clearly obvious that the Philippines has still tendencies of
proper preparedness, evacuation, and rescue and needed of a certain technology to fill up this
preparedness gap.
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Aside from the Philippines being vulnerable in the skies through high-speed winds and
the resulting water and flood issues, the country is also vulnerable down, ground below, and also
a more serious natural disaster too, volcanic eruptions and earthquakes. Once again, Philippines
is also geographically unlucky that it earned its fiery seat of nations encircled in the Pacific Ring
of Fire, a major zone in the Pacific basin where numerous earthquakes and volcanic eruptions
occur. A country situated in the Pacific Ring of Fire with five major fault lines is undoubtedly
will be a nation full of quakes and trembles. One of the instance where an earthquake cause a
devastation in the country was the 1990 Luzon earthquake. It was a magnitude 7.7 and on the
Mercalli Intensity of IX, described as Violent. According to dela Cruz of Rappler, there were a
whopping total of 2,412 casualties, and left a $368 million worth of damages. Another notorious
and notable earthquake in the country was the 2013 Bohol Earthquake. The earthquake had a
magnitude 7.2, and it affected the whole Visayas region, specifically the provinces Bohol and
Cebu. Unlike the 1990 Luzon Earthquake, 222 were accounted casualties, 8 were not found, and
976 people were injured by the earthquake. The two earthquakes in the Philippine history shows
the differences of technology differences and preparedness of people over time. But still,
Philippines has still tendencies that it needed to have strict codes that people should follow
during disasters.
According to Renato Solidum, an officer-in-charge from Philippine Institute for
Volcanology and Seismology or PHIVOLCS, from dela Cruz’s write-up article, there are four
lessons that can be learned from the great earthquake, or from any major disaster that Philippines
have encountered. The first one is that the public must be alert and needs to respond properly
during earthquake. Some Filipinos can be hard-headed sometimes, staying in their homes during
calamity without thinking with the risks. This has to change in order to have efficient evacuation.
15
The second one is that there should be a simulation in the hazard and the possible effects. People
should be aware before, during, and after a disaster, or even recognizing hazards that surround
them during disasters. Third one is that building permits and procedures should be planned
properly, and land use should be tediously planned. Proper building and land planning greatly
helps one from any disaster, especially during earthquakes and floods. The last one is that trained
search and rescue groups and medical practitioner responders are highly needed during an
emergency. These people are needed to lessen the casualty numbers during disasters. But there
are times that manpower during emergency is unfortunately lacking, and that’s why we need
people to cater the need, or the need of machines and robots to do the job.
Like in the worldwide setting, disaster in the Philippine is also a hot topic to discuss.
With a country comprising of 103.3 million, a lot is at risk, and a need for innovation and
efficiency during disaster and calamity must be attained soon before it’s too late.
Disaster in the Local Prospect. Cebu had also its fair share of calamities in the
Philippines as well. One of the notorious one was the Typhoon Mike or Typhoon Ruping in the
Philippines. Due to the damages of Typhoon Ruping to Cebu’s infrastructure, the local
government had to reorganize their priorities in the governmental aspect. It was also reported
that there were food shortages and clean water was rationed. It was one of the devastating
moments in Cebuano history, and the typhoon was dubbed as the costliest tropical cyclone
according to NDRRMC.
Another disaster that struck in the locality of Cebu was also the 2013 Bohol Earthquake.
According to BBC, 15 people were reported killed by the notorious earthquake. Not only that the
earthquake claimed lives, it also shook the weak infrastructures of the Cebuanos, like the
16
collapse of the bell tower in the Basilica del Santo Niño Church in Cebu and other historic sites
and houses in the province.
Like in the worldwide and nationwide setting, disaster is a hot and devastating topic to
discuss, especially that the scope of the study is mainly focused in the Cebu locality. Cebu has a
population of 2,849,213 people, and also at risk at various natural disaster. Like what the global
and the national, a technology that can attain the needs of rescue and evacuation is a must.
Notification and Navigation Robot. In a chapter of a study by Wu and Jan the authors
introduced a Global System for Mobile Communication (GSM) networks for inclusion into a
home network system. The HNS architecture includes an HNS gateway and three home network
subsystems, i.e., home appliance, security and messaging subsystems. The main objective of the
integrated system is to remotely monitor and control the devices in the HNS via laptop computer
or a GSM mobile terminal. In addition to responding to remote queries, the managed devices
(e.g., home appliances or burglar alarm system) can actively send alerting messages to a mobile
terminal when an abnormal state occurs. Through the HNS gateway, the monitoring and control
information is diffused to the Internet/GSM network.
A navigating robot, developed by Kaneko et al was conducted for autonomous mobile
robot in outdoor environments. The robot uses vision to detect landmarks and differential GPS
(DGPS) information to determine robot's initial position and orientation. The vision system
detects landmarks in the environment by referring to an environment model. As the robot moves,
it estimates its position by conventional dead-reckoning, and matches the landmarks with the
environment model in order to reduce the error in the robot position estimate. The robot initial
position and orientation are calculated from the coordinate values of the first and second
locations which are acquired by DGPS. Subsequent orientations and positions are derived from
17
map matching. We implemented the system on a mobile robot "Harunobu-6". per as an
illustration of the feasibility of the proposed architecture.
Microcontroller Programming. Microcontroller is a single IC containing specialized
functions and circuits that are applicable to mechatronic system design. It contains a
microprocessor, I/O capabilities, memory, and other on-chip resources. It is basically a
microcomputer on a single IC. They are also used in a wide array of applications including home
appliances, entertainment equipment, telecommunication equipment, automobiles, trucks,
airplanes, toys, and office equipment. All these products involve devices that require some sort
of intelligent control based on various inputs. Microcontrollers typically have less than 1 kilobyte
to several tens of kilobytes of program memory, compared to microcomputers whose RAM
memory is measured in megabytes or gigabytes. Also, microcontroller clock speeds are slower
than those used for microcomputers. (Alciatore and Histand 2007, 37)
Other microprocessor evolution path has stressed higher integration and lower cost with
the goal of producing a single-chip solution to problems requiring a stored program machine
approach. A microcontroller typically expects its program and data to be stored on-chip, with any
logic required for external input/output devices also integrated into the same device. It
implements all of the components of a computer - control, memory, input/output - in one chip.
Microcontroller solutions are usually very cost sensitive, so applying exactly the right
amount of processing power to a problem to minimize cost is important. (Jones et al. 2014, 16).
Related Studies. Bilah et al developed an algorithm for a Hexapod robot for terrain
negotiation and navigation for disaster recovery. The robot's ability for navigation was tested on
an even and uneven terrain. The primary goal of the test conducted is to execute motion of the
18
robot without compromising the safety of the disaster victims and the robot's hardware,
especially in an uneven terrain. Using the PIC Microcontroller system, information about the
status of the robot is sent to the user interface. The information is gathered through the use of the
bump sensors attached to the robot.
Using ground and aerial robots, Nathan et al conducted a field experiment to test the
robot’s navigation and mapping ability on an earthquake-damaged building. The layout of the
location and information on the degree of damage was gathered through the use of 3D laser
sensor in order to map the environment of the robot.
A search and rescue robot, developed by Tadokoro et al, was put into test in order to
formulate an algorithm for the different mechanism in an earthquake-infested setting. The main
goal of the study was to provide manipulation of the robot to the users during a search and rescue
mission in a large-scale urban earthquake.
Matthew et al designed a low-cost robot with the ability to search and rescue in a post-
disaster urban setting. The robot is manipulated by an operator through the use of a hand-held
controller that allows the user to manipulate the rotation and direction of the robot's motor and
the wheels. The control circuit of the robot in embedded in the HDPE shell with a joystick which
provides basic navigation control of the robot. Information about the environment is gathered
through temperature, audio, and vision sensor. The sensory data is projected in the FPV goggles
for operator's viewing purposes.
Sehrawat et al created a surveillance robot that provides help during a disaster and
terrorist attack. Through the usage of infrared cameras, GPS sensor, and Wifi-view sensor, the
19
robot can quickly track humans, which lessen the risk of human lives in deploying in a risk-
prone location.
Chen and Wang engineered a disaster robot with the implementation of open source
using an Arduino- based system. The developers of the study used Arduino as
the microcontroller of the robot because it is not expensive compared to other
microcontroller and it provides an easy programming platform for engineers and programmers
alike. Aside from that, Arduino can operate in different operating systems ranging from
Windows to Mac OS.
Loscri et al incorporated live streaming features to an Arduino-based navigation robot
through webcam system application. The robot can utilize information from the environment of
the location through the detection process which is accomplished through the use of
object detection and face recognition algorithm programmed using OpenCV.
Using an Arduino microcontroller and Android Smartphone, Shah and Borole design a
robot with surveillance and disaster purposes. The locomotion of the robot is controlled using
internet from laptop units. The integration of smartphone in the design of the robot provides a
platform for live streaming of videos captured using the camera sensor to the robot operators.
The locations of victims are collected through the use of GPS (Global Positioning System)
module and GSM (Global System for Mobile) module. This information would be shared with
the operators or users through the smartphone.
Jackrit et al built and program a robot that can navigate on rough surfaces. With a limited
horsepower and torque of the motor, robot’s ability to operate during rescue missions can
be limited, especially in the navigation on rough and uneven terrains. Through improvisations on
20
the mechanical components and program system, the robot can efficiently perform the tasks
coded.
Remote-controlled (RC) robots were tested on different types of terrains in the study
conducted by Abesamis et al. To determine the motor’s ability, the RC robots were manipulated
to maneuver on wooden floors, mud, and rocky surfaces. Aside from that, the algorithm was
developed to detect human victims during the search and rescue mission.
Mamindla et al developed a live video feedback and monitoring system through the use
of the CMOS web camera module and Linux operating system. The camera system provides
three features- video capturing, video compression, and video streaming. Real-time video and
recorded video are simultaneously produced through the developed algorithm.
FPV (first point of view) camera system was incorporated by Saha et al in the
development of surveillance robots. In this study, the transmission of the video was
enhanced through the use of FPV goggles. Through this, low-cost surveillance robot prototypes
would be available to both private and public agencies.
21
Research Design
This is an engineering study employing the methods of creation and testing of output.
The proposed output came up on the existing dilemma in the whole country, since the
Philippines itself is a hotspot for natural disasters and casualties are to be expected. Gathered
through a simple profile and creative approaches, the proposed SAVER Robot was based on a
mechanical-electrical design/program and automated input-output system. Materials were based
on the design with reference to machine programming manual; specifically utilizing Arduino-
based microcontroller. The functionality of the SAVER Robot was tested based on the following
indicators: Robot Mobility, Signal Transmission Range, and Reaction Time. The study also used
the rating checklist for the functionality of the SAVER Robot.
Research Locale
The realization of this study was conducted in three locations: Science and Technology
Education Center, Kaimitohan Basak, Lapu-Lapu City (residence) and machine shop in Gorordo
Avenue Lahug Cebu City.
22
Science and Technology Education Center in Basak, Lapu-Lapu City was the location
where the final product was tested with the guidance of the research adviser and the chosen
expert (Mechanical Engineer) to test the prototype. Problems were identified based from the
National Disaster Risk Reduction and Management Council and the top problem was the basis of
the proposed output. Kaimitohan Basak, Lapu-Lapu City is the residence of the lead researcher
was the site for making, production of the project and for installations wherein the place contains
an enough space for the production and provided with materials needed and have an expert
Mechanical Engineer during the process.
Most materials were bought in the online shopping site of Banggood and Shopee for the
specification of needed materials are not available in Lapu-Lapu City so the researcher needs to
export from other country.
Figure 2: A map of Science and Technology Education Center – Basak Campus
Research Participant (Expert)
23
The researcher also required the presence and support of one expert (Mechanical Engineer)
in order to evaluate and validate the parts and functionality of the SAVER robot planned and
crafted by the researcher.
The researcher were also the one who tested the functionality of the SAVER robot based on
the different indicators: Robot Mobility, Signal Transmission Range, Reaction Time and GPS.
MATERIALS AND PARTS REQUIRED IN THE SAVER ROBOT
The researchers categorized the required parts and materials of the SAVER robot in
accordance to its, namely the tank robot, the controller, the FPV camera, and the terrain.
PARTS AND MATERIALS QUANTITYTANK ROBOT
Arduino Uno 1 Robot Chassis 1 Motor Shield 1 Servomotor 1 Jump Wire - NRF24L01 with Antenna 1 NRF24L01 Adaptor 1 9V Heavy Duty 9V Battery -
Table 1 presents the rating for the robot mobility in 5 different terrains. This indicator is
rated by a mechanical engineer which is expert on the subject matter. On the Smooth Cemented
terrain, based on the 10 trials the grand mean is 4.33 which is interpreted as having an Excellent
mobility. This means that the navigation of SAVER is consistently very good-to-excellent. The
trial was tested on a different time lapses at 3 minutes interval at a distance of 10 ft. The
researcher observed that SAVER had a smooth mobility in a smooth surface. Although there
were 3 chances that the SAVER was rated very good due to its sideway skip navigation. But
over-all the SAVER is excellently functioning in a smooth terrain. This is expected since no
distractions on paths were observed.
On the Rough Cemented terrain, the trials had a grand mean of 4.33 which is interpreted as
having an Excellent mobility. The result is similar to smooth terrain test. The SAVER had a
roller wheels similar to a military tank and so it can navigate rough terrain effectively. Although
there were 3 chances that the SAVER was rated very good due to it’s sideway skip navigation.
But over-all the SAVER is excellently functioning in a rough terrain. This is expected since the
built in wheels are intended to navigate in rough textured terrains.
However, on the Muddy terrain, the grand mean is 3.57 which can be interpreted as having a
Very good mobility. Ten trials consistently were rated Very Good mobility by the expert. Using
the same test distance and interval but on a muddy surface, the mobility was affected by its
sticky surface and residue build up. Nevertheless, the SAVER was able to navigate in 30 ft
distance consistently and was able to arrive at the desired end point.
On the Rocky terrain, the grand mean is 4.00, thus it is interpreted as having a Very Good
mobility. Three out of ten trials generated an Excellent ratings compared to the muddy terrain
test and this was expected due to the design of the wheels which are tank type that can navigate
53
rough textures. However, depending on the type of rocks, the SAVER is also affected.
Nevertheless, the easy joystick maneuver and the navigation is projected in the camera, the one
controlling it can easily segue ways when there are large rocks blocking on its way.
On an Elevated terrain, the grand mean is 4.17 which is interpreted as having a Very Good
mobility. The elevation was set at 2-4 inches thick on a regular land surface. The acceleration of
movement was affected by the elevated ridges. Nevertheless, 5 trials were rated excellent.
The result of the trials is similar to the findings of Bilah et. al who developed an algorithm
for a Hexapod robot for terrain negotiation and navigation for disaster recovery. The robot's
ability for navigation was tested on an even and uneven terrain. The primary goal of the
test conducted is to execute motion of the robot without compromising the safety of the disaster
victims and the robot's hardware, especially in an uneven terrain. Using the PIC Microcontroller
system, information about the status of the robot is sent to the user interface. The information is
gathered through the use of the bump sensors attached to the robot.
Another study proved similar findings when Jackrit et al built and program a robot that
can navigate on rough surfaces. With a limited horsepower and torque of the motor, robot’s
ability to operate during rescue missions can be limited, especially in the navigation on rough
and uneven terrains. Through improvisations on the mechanical components and program
system, the robot was able efficiently perform the tasks coded.
Remote-controlled (RC) robots were tested on different types of terrains in the study
conducted by Abesamis et al. To determine the motor’s ability, the RC robots were manipulated
to maneuver on wooden floors, mud, and rocky surfaces. Aside from that, the algorithm was
developed to detect human victims during the search and rescue mission.
54
Table 2. Signal Transmission Range between the Robot and the Controller
TEST AVERAGE (m) REMARKS
1 31.68 Excellent
2 32.50 Excellent
3 32.00 Excellent
4 31.00 Excellent
5 29.50 Excellent
6 30.90 Excellent
7 29.23 Excellent
8 29.53 Excellent
9 28.1 Excellent
10 26.43 Excellent
Grand Mean 30.09 Excellent
Legend Interpretation
1.00 – 6.19 m Ineffective6.20 – 12.39 m Bad12.40 – 18.59 m Good18.60 – 24.79 m Very Good24.80 – 32.00 m Excellent
To further test the functionality of the robot, a second indicator which is the Signal
Transmission Range is being measured by the researcher to test on how far is the transmission
between the robot and the controller. The 10-test is also validated by a mechanical engineer as an
expert of the subject matter. The data is tabulated in the table shown above.
Table 2 is the Signal Transmission Range between the Robot and the Controller within the
area of navigation. From the 10 trials, it has been found out that the Grand Mean or Average of
the Signal Transmission range between the robot and the controller is 30.09 meters, thus having
an Excellent remark. The SAVER was able to consistently navigate in a differing distances and
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was captured within the signal range. The test was done in day time from 2:00-3:00 pm in the
school of the researcher. The mechanical engineer who sis expert on the field was invited for the
test run. Based on the results, the shortest range was 26. 43 meters in distance and the farthest
was 32. 50 meters in distance. Although the testing was limited to 10 trials but the researcher
went to probing that atleast a 40-50 meters range can still be detected. The expert rater rated
excellent as the registry in the signal transmission monitor is clear based on the trials.
The SAVER Robot had a similar design and structure in the study of Loscri et al
incorporated live streaming features to an Arduino-based navigation robot through webcam
system application. The robot can utilize information from the environment of the location
through the detection process which is accomplished through the use of object detection and face
recognition algorithm programmed using Open CV.
Another similar study was done using an Arduino microcontroller and Android Smartphone,
Shah and Borole design a robot with surveillance and disaster purposes. The locomotion of the
robot is controlled using internet from laptop units. The integration of smartphone in the design
of the robot provides a platform for live streaming of videos captured using the camera sensor to
the robot operators. The locations of victims are collected through the use of GPS (Global
Positioning System) module and GSM (Global System for Mobile) module. This information
would be shared with the operators or users through the smartphone.
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Table 3. Reaction Time in Human Detection
TEST WEIGHTED MEAN (s) REMARKS
1 1.57 Very Slow
2 0.76 Fast
3 1.15 Moderate
4 0.45 Very Fast
5 0.76 Fast
6 0.27 Very Fast
7 1.05 Moderate
8 0.45 Very Fast
9 0.75 Fast
10 0.15 Very Fast
Grand Mean 0.74 Fast
Legend Interpretation2.00 – 1.63 s Very Slow1.62 – 1.25 s Slow1.24 – 0.87s Moderate0.86 – 0.49 s Fast0.48 – 0.10 s Very Fast
For the Human Detection, a separate program is embedded in the FPV Camera. As the
program runs, the researcher observed that as it records the actual footage of the event, it also
detects the presence of a human being, based on the following conditions and indicators, and
indicate it with a green box with a label “Person.” The researcher also observes the reaction time,
which would be the third indicator for the functionality test, for the robot to detect a human
being. The 10-testing is also validated by a mechanical engineer who is expert on the field of
study. The data is tabulated in the table above.
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Table 3 is the Reaction Time in Human Detection of the robot. From the 10 testing, it was
found out that the Grand Mean or Average reaction time to detect a human is 0.74 seconds. This
means that the Robot is fast in detecting a Human being. This means that the transmission is
within a verifiable period of time during the emergency and rescue operations. Although
specifically, based on the 10 trials, there were: 1 Very Slow; 2 Moderate; 3 Fast and 4 Very
Fast. This could be affected by the adjustment of the sensor and algorithm being used in the
study in reaction to the position and sides of the human body. The expert suggested to
incorporate various images of “Human Body” and train SAVER through Deep learning
algorithm which was done by the researcher.
The SAVER has much similarity on the study of Mamindla et al who developed a live video
feedback and monitoring system through the use of the CMOS web camera module and Linux
operating system. The camera system provides three features- video capturing, video
compression, and video streaming. Real-time video and recorded video are simultaneously
produced through the developed algorithm.
Another prototype was investigated when FPV (first point of view) camera system was
incorporated by Saha et al in the development of surveillance robots. In this study, the
transmission of the video was enhanced through the use of FPV goggles. Through this, low-cost
surveillance robot prototypes would be available to both private and public agencies.
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Table 4. GPS Accuracy Test Results Table for SAVER robot
TEST PLACEGOOGLE EARTH BASIS GPS COORDINATES DIFFERENCELATITUD
E LONGITUDE LATITUDE LONGITUDE LATITUD
E REMARK LONGITUDE REMARK
1
STEC, Basak, Lapu-Lapu City
10.296157 123.965987 10.296150 123.965992 .000007 Excellent .000005 Excellent2 10.296323 123.96601 10.296401 123.96665 .000078 Very Good .000064 Very Good3 10.296789 123.96686 10.296801 123.96695 .000012 Very Good .000009 Excellent4 10.296140 123.965890 10.296253 123.965984 .000113 Good .000094 Very Good5 10.296178 123.965895 10.296231 123.965827 .000053 Very Good .000068 Very Good6 10.296211 123.96634 10.296203 123.96625 .000008 Excellent .000009 Excellent7 10.296341 123.96610 10.296355 123.96595 .000014 Very Good .00015 Very Good8 10.296567 123.966789 10.296466 123.966682 .000101 Good .000107 Good9 10.296690 123.966823 10.296648 123.966782 .000046 Very Good .000041 Very Good10 10.296894 123.966895 10.296876 123.966874 .000018 Very Good .000021 Very Good
Average 10.296429 123.9663589 10.2964384 123.9663941 .000045 Very Good
.0000568 Very Good
Legend Description0.000010 below Excellent Accuracy0.000010 – 0.000100 Very Good Accuracy0.000101 – 0.000200 Good Accuracy0.000201 – 0.000300 Bad Accuracy0.000301 above Very Bad Accuracy
The Project SAVER has an installed GPS that can greatly help in finding its position.
Testing the GPS’ accuracy is a must so that one can properly locate the SAVER robot anytime
and anywhere. The 10-test is also validated by an expert. The data is tabulated in the table shown
above.
Table 4 presents the ratings of the accuracy of the GPS installed in the Project SAVER,
and it is rated by three experts. The Google Earth and the GPS of the Project SAVER yielded
coordinates that can greatly help the accuracy and precision of the installed GPS itself through
finding their difference. The latitude coordinates of the Google Earth and the GPS inputs and the
longitude of the Google Earth and the GPS inputs are both processed to find its difference that
can determine its accuracy. From the 10 trials, the average remarks of the latitudes have 2
Excellent Accuracy, 6 Very Good Accuracy, and 2 Good Accuracy. Thus, the overall remark of
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the latitude has a Very Good Accuracy with an average difference of rating of .000045
interpreted as very Good. This means that the installed GPS is competitive with the results of
Google Earth Basis result. Aside the latitude, longitude have 3 Excellent Accuracy, 6 Very Good
Accuracy, and 1 Good Accuracy. Thus, the overall remark of the longitude has a Very Good
Accuracy with an average rating of difference of .0000568 interpreted as Very Good. This means
that the installed GPS had a competitive similarity of the Google Earth Basis result. From the
latitude and longitude interpretations, both remarks states that the GPS had a Very Good
accuracy.
The result and the operational set up of SAVER is supported in the study when a
navigating robot, developed by Kaneko et al was conducted for autonomous mobile robot in
outdoor environments. The robot uses vision to detect landmarks and differential GPS (DGPS)
information to determine robot's initial position and orientation. The vision system detects
landmarks in the environment by referring to an environment model. As the robot moves, it
estimates its position by conventional dead-reckoning, and matches the landmarks with the
environment model in order to reduce the error in the robot position estimate. The robot initial
position and orientation are calculated from the coordinate values of the first and second
locations which are acquired by DGPS. Subsequent orientations and positions are derived from
map matching. We implemented the system on a mobile robot "Harunobu-6". per as an
illustration of the feasibility of the proposed architecture.
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CONCLUSION AND RECOMMENDATIONS
Conclusion
The project SAVER was able to exhibit its functions in mobility, exploration, navigation,
location and detection. The functionality of Project SAVER, based on research, utilized the
Joystick module, microcontrollers, and trans-receivers for the robot tank movement, while the
potentiometer, servo motor, first person view camera and the antenna receiver as the video feed.
The operation of the set-up is based on the inputs of the user to the joystick on the
controller that helped in determining the direction of movement of the robot. The operation of
the set-up is also based on the live video footage that the FPV camera recorded in its
surroundings that helped in observation during rescues and detection of human figures.
Recommendations
1. It is also recommended that the future researchers will try to integrate Thermal or
Infrared camera in the robot. This is recommended since it can be an additional to the
detection phase of the robot, recognizing whether they are alive or not.
2. It is recommended that the future researchers will try to utilized a better or other GPS
modules that support inside and outside signal functionalities since the GPS module
utilized in the SAVER robot was only supported for outside localization.
3. It is also recommended that future researchers will try to integrate Bluetooth transceiver
such as HC-12 module instead of a radio transceiver for better signal transmission.
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4. It is also recommended that future researchers will try to integrate or supplement Night
Vision camera in the robot. This is recommended since it can very useful in rescue
operations during nighttime or in specific dark regions of an area or location.
5. It is recommended to have more than ten (10) students who have knowledge to
participate in rating the functionality of the prototype in order to have a more validated
data.
6. It is recommended that the future researchers should try to integrate a more advance
location and positioning system. This is recommended since setting up a location and
positioning system is crucial in the reality faced in rescuing during calamity, where
specific location in a supposed risky environment is required in rescuing the injured and
recovering corpses.
7. The researcher also recommend more than one prototypes to be tested and compared with
its differences. In cases like this, it can test further the functionality of the Robot under
different conditions.
8. Electrically charge power system can also be considered as the current SAVER uses a
battery only.
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ACKNOWLEDGEMENT
The researcher would like to express her sincerest appreciation and gratefulness to the
following people who have contributed in their own ways possible. These people through their
love, support, encouragement, and time, had motivated the researcher in pursuing this research
study:
To Dr. Bryant C. Acar, the researcher’s research adviser and mentor, for his time in
mentoring the researcher to become effective student researcher, suggestions and comments
through which the researcher was able to recognize some trip wires along the way, and his
encouragement for he has always believed in the researcher’s skills and abilities that pushed the
researcher’s beyond limits.
To Ms. Lina Maiso, the researcher’s school principal, for her gracious understanding in
allowing the researcher to conduct such study despite the hectic schedules.
The researcher would also like to thank the subject teachers for understanding the stress
and pressure the researcher had to go through in conducting this study.
To the researcher’s parents and the rest of the family, their love and undying support
have encouraged the researcher to do the very best in everything, as the researcher strive to
become better daughter each day.
To Sept Joshua Rey Lozada, the researcher’s consultant with regards to the
programming aspect of the study.
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To the researcher’s identified experts, Joseph Valiente, Leonilo Tangin and Ritchel
Cereno for testing and validating the functionality of the robot.
To the researcher’s friends in and out of school, especially Ruben Cababat, Melzar Jan
Chico, Ma. Yvette Conde and Jaren Dave Marfil for their support and helping hands throughout
the process.
To the researcher’s class, STEM-Neuron, for being the pillars who have also
encouraged and supported the researcher during rough times, their perseverance has inspired the
researcher to stay strong and move forward.
None of this would even be possible without the Almighty God, whose grace has
sustained throughout people’s entire lives, whose love was poured out, and whose name the
researcher’s continues to glorify. To God be all the glory and honor.
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Alciatore, David G., and Michael B. Histand. Introduction to Mechatronics and Measurement Systems. Dubuque, IA: McGraw-Hill, 2007.
Billah, Md Masum, Mohiuddin Ahmed, and Soheli Farhana. "Walking hexapod robot in disaster recovery: developing algorithm for terrain negotiation and navigation." In Proceedings of World Academy of Science, Engineering and Technology, vol. 42, pp. 328-333. 2008.
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Saha, Apurv, Akash Kumar, and Aishwary Kumar Sahu. "FPV drone with GPS used for surveillance in remote areas." In Research in Computational Intelligence and Communication Networks (ICRCICN), 2017 Third International Conference on, pp. 62-67. IEEE, 2017.
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APPENDICES
PROJECT DOCUMENTATION
Graphic 1: The researcher worked on the treads of the S.A.V.E.R. RC tank robot.
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Graphic 2: The researcher is working on the wirings and circuitries of the S.A.V.E.R. RC tank tobot.
Graphic 3: The interior of the S.A.V.E.R. TC tank robot with the attached hinge to the chassis and the robot
prototype protective shell.
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Graphic 4: The exterior and final look of the S.A.V.E.R RC tank robot.
Graphic 5: The researcher has worked on some fixes and repairs the problem located on the motor shield of
the S.A.V.E.R. RC tank robot.
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Graphic 6: The researcher has tested the capabilities of the human detection aspect of the Project S.A.V.E.R.
The image serves as the first look into the result of the program.
Graphic 7: One of the test that shows the deployment of the Project S.A.V.E.R. in smooth terrain, together
with the researcher and with one of the qualified scientist.
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Graphic 8: Another picture that shows oneof the test that shows the deployment of the Project S.A.V.E.R. in
smooth terrain, together with the researcher and with one of the qualified scientist.
Graphic 9: Another deployment test conducted by the researcher, focusing on rough and rocky terrains.
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Graphic 10: Another picture of another deployment test conducted by the researcher, focusing on rough and
rocky terrains. The researcher is shown tinkering with the problem with the RC tank robot.