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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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………………………………..………………

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11

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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

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Budget 70

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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.

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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.

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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.

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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.

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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

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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

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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

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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

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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

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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.

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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.

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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)

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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 -

CONTROLLER Potentiometer 1 Dual Axis XY Joystick Module 2 Arduino Nano 1 Jump Wire -

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Mini Breadboard 1 NRF24L01 with Antenna 1 NRF24L01 Adaptor 1 9V Heavy Duty Battery 1

FPV CAMERA Eachine TX01S FPV Camera 1 Eachine ROTGC02 1

MISCELLANEOUS Arduino Software (version 1.8.4) - Python Software - Glue Gun w/ Glue Stick 1 Screwdriver and Screw 1 Soldering Iron w/ Lead 1

The researchers contacted numerous suppliers from different stores and online shops,

setting up a criteria for affordability and quality. Out from the contacted suppliers, Banggood

was chosen as the primary source of most of needed parts for the SAVER robot, offering a wide

array of robotic parts with good afforability and optimal quality.

ARDUINO UNO

The Arduino Uno is a widely used open-source microcontroller board based on the

Microchip ATmega328P microcontroller and developed by Arduino.cc, equipped with with sets

of digital and analog input/output pins that may be connected and interfaced to various expansion

boards and other circuits. For the SAVER robot, Arduino UNO serves as the microcontroller of

the robot tank for it to be maneuvered based on the instructions directed by the controller.

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ARDUINO NANO

The Arduino Nano is compact board similar to Arduino Uno. It is a small, complete, and

breadboard-friendly board based on the Atmega328P, but it only lacks a DC Power Jack, and

works with a Mini-B USB Cable instead of a standard one. For the SAVER robot, Arduino

NANO serves as the microcontroller of the SAVER robot controller for it to send directions to

the robot tank.

NRF24L01

The NRF24L01 is a single chip radio transceiver or transmitter-receiver for the world

wide 2.4 - 2.5 GHz ISM band. The transceiver consists of a fully integrated frequency

synthesizer, a power amplifier, a crystal oscillator, a demodulator, modulator and Enhanced

ShockBurst™ protocol engine. An antenna is bundled with the transceiver, since the antenna is

used to transmit and receive signals. For the SAVER robot, nRF32L02 with antenna is utilized to

transmit signal instructions to the robot tank, and the robot tank transmit video live feed to the

utilized viewing device.

NRF24L01 ADAPTOR

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The NRF24L01 adaptor is utilized to connect the NRF24L01 to jump cables for easy and

neat wiring. For the SAVER robot, the NRF24L01 adaptor is vital since complex wiring and

complicated circuitry is involved in both of the robot tank and controller, and a need for neat and

orderly system wiring and circuitry is a must.

ROBOT CHASSIS

The robot chassis is a plastic structure of a vehicle-type robot, consisting of wheels and

sometimes a compartment. For the SAVER robot, the robot chassis serves as the main

foundation of the robot, augmented with tank-like rubber continuous tracks and a compartment

below the chassis.

MOTOR SHIELD

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The Motor Shield is a driver module for motors that allows you to use Arduino to control

the working speed and direction of the motor. For the SAVER robot, the motor shield is attached

from the Arduino, and is then connected to the motors of the robot tank wheels. The function of

the motor shield in the robot is for it regulate the speed and direction of the motor for optimal

functionality of the prototype SAVER robot.

SERVOMOTOR

The servo motor is a rotary actuator or linear actuator that allows for precise control of

angular or linear position, velocity and acceleration. It consists of a suitable motor coupled to a

sensor for position feedback. For the SAVER robot, the servo motor serves as the neck of the

FPV camera, where it is utilized to move the camera into its surroundings while the robot is

moving or stationary.

POTENTIOMETER

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The potentiometer is a three-terminal resistor with a sliding or rotating contact that forms

an adjustable voltage divider. If only two terminals are used, one end and the wiper, it acts as a

variable resistor or rheostat. For the SAVER robot, the potentiometer serves as the direct control

of the servomotor in the controller of the tank robot.

DUAL AXIS XY JOYSTICK MODULE

The Dual Axis XY Joystick Module is an additional and attachable module in Arduino

that is specifically used for controllers that direct movement to a certain object. The module is

very similar to a joystick, an input device consisting of a stick that pivots on a base and reports

its angle or direction to the device it is controlling. For the SAVER robot, the Dual Axis XY

Joystick Module serves as the control of direction of the user to the tank robot, where one is

assignated in horizontal movement, while the other is for vertical movement.

JUMP WIRE

29

A jump wire is an electrical wire, or group of them in a cable, with a connector or pin at

each end, which is normally used to interconnect the components of a breadboard or other

prototype or test circuit, internally or with other equipment or components, without soldering.

For the SAVER robot, jump wires are essential connections or links to the various parts of the

tank robot and its controller. Without these, the exchange of information between parts is not

possible, hence no movement or functionality of both the tank robot and the controller occuring.

BREADBOARD

The modern breadboard is a plug-and-play way to make connections between electronic

components. It gets its name from the long-dead practice of using a wooden board to prototype

circuits. For the SAVER robot, the breadboard is located beneath the controller of the tank robot,

in which it houses the Arduino Nano, where one can plug-and-play and maker connections from

jump wires and other regular wires from the battery, the joystick modules, the potentiometer, and

the like.

9V HEAVY DUTY BATTERY

30

The nine-volt heavy duty battery, or 9-volt battery, is a common size of battery that was

introduced for the early transistor radios. It has a rectangular prism shape with rounded edges

and a polarized snap connector at the top. For the SAVER robot, the 9V heavy duty battery

serves as the power source of both the tank robot and the controller. Without batteries, both the

tank robot and the controller would render functionless.

SOLDERING IRON AND LEAD

The soldering iron is a known tool used for melting solder and applying it to metals that

are to be joined. Soldering lead, on the other hand, is a fusible metal alloy used to create a

permanent bond between metal workpieces. For the SAVER robot, Soldering iron and soldering

lead is utilized to connect wires from circuitries that a single or multiple jump wires cannot

simply connect with or complicated connections that require conduction of signals that the solder

lead will supplement.

GLUE GUN with GLUE STICKS

31

The glue gun is an essential tool that uses a continuous-duty heating element to melt the

glue sticks, which the user pushes through the gun either with a mechanical trigger mechanism

on the gun, or with direct finger pressure. The glue is then squeezed out of the heated nozzle, in

which one can apply as a strong adhesive. The glue stick, on the other hand, is a strong

thermoplastic adhesive that is commonly sold as solid cylindrical sticks with varying diameters.

For the SAVER robot, the glue gun and glue sticks are used to attach circuitries and other parts

of the robot tank and the controller into various other parts.

SCREWDRIVER with SCREWS

A screwdriver is a tool, manual or powered, for screwing and unscrewing screws. It has a

handle and a shaft, ending in a tip the user puts into the screw head before turning the handle.

Screws, on the other hand, a short, slender, sharp-pointed metal pin with a raised helical thread

running around it and a slotted head, used to join things together by being rotated so that it

32

pierces wood or other material and is held tightly in place. For the SAVER robot, it is used to

attach parts, wires, and circuitries that requires screws, and the screwdriver to finish the job.

GPS-COMPASS MODULE

GPS-Compass module provides geolocation and time information to a GPS receiver

anywhere on or near the Earth where there is an unobstructed line of sight to four or more GPS

satellites. Obstacles such as mountains and buildings block the relatively weak GPS signals. For

the SAVER robot, U-blox M8N GPS with compass module was used. U-blox M8N module is a

GPS locating device used for real time localization through providing latitude and longitude

values.

33

OPERATIONAL PROCEDURES AND ALGORITHMS

A. The Operation Design – Block Diagram

The operation design of the prototype SAVER robot is to send direction or instruction of

displacement between the controller and the robot tank (Figure 2.1.1). The controller is consisted

of the joystick module and the potentiometer. The joystick module is utilized for the movement

of the robot itself, while the potentiometer is utilized in the movement of the FPV camera in its

surroundings. Both the controller and the robot holds a microcontroller and a transreceiver,

which are used in facilitating and transmitting instruction from controller to robot. The output of

the process occurs in the robot. The instruction sent by the joystick module is then materialized

in the motor drive, which DC Motor movement is expected, and then results in the wheels of the

robot tank moving. On the other hand, the instruction sent by the potentiometer is reflected in the

servomotor, which serves as the 180 degree movement view of the FPV camera.

Micro- controller 2

(Arduino UNO)Transceiver

DC Motor Movement

Motor Drive Joystick module 1 (XY-axis)

Micro- controller 1 (Arduino NANO)

34

Another operation design of the prototype SAVER robot is to transmit live video footage

from the FPV camera to a computer or laptop device for further utilization such as human

detection (Figure 2.1.2). The robot tank is comprised of a FPV camera which records its

surroundings in real time, which in turn, serves as the navigation footage. The navigation

footage, from the FPV camera, is then transmitted and is received by a device, specifically a

computer or a laptop, through the ROTG02 additional of the FPV camera. In the computer

device, the navigation footage is also shown in real time, hence real time streaming. The

navigation footage live streamed in the computer device is then processed by an application that

is specifically programmed in detecting human figures.

B. The Operation Design – Programming

Figure 2.1.1. Block Diagram of Remote-Controlled Tank of the Project SAVER

Figure 2.1.2. Block Diagram of FPV Camera System of the Project SAVER

Navigation Footage

FPV Camera

Computer/ Laptop

Human Detection

Real Time Streaming

35

The researcher collected the program for the robot tank from two trusted and proper

sources, from the Arduino website and from a credible Arduino expert. The collected codes from

the program were compiled, modified, and trial tested to fit the use and appropriate the function

to be obtained using the Arduino 1.8.5 software. Long, thorough, and intensive evaluation,

testing, and revision were conducted to attain the desired and appropriate functioning code.

Figure 2.2.1 illustrates the program workflow of the remote-controlled tank. It

commences with the checking of NRFI01 values, in which certain NRFI01 values correspond to

a movement in the output motor that controls the whole tank. It first checks with the value of 0,

if it is positive, the output motor will recognize an output forward displacement, resulting

forward movement of the tank. If the value is not 0, it will then check for the value of 9, if it is

positive, the output motor will recognize an output backward displacement, resulting backward

movement of the tank. If the value is not 9, it will check for the value of 4, in which it

corresponds to the termination or stop of

the output motor, hence no movement. If the value is not 4, it will check for the value of 11, if it

is positive, the output motor will recognize an output left displacement, resulting left movement

of the tank. Lastly, if the value is not 11, it will check for the value of 19, it if its positive, the

output motor will recognize an output right displacement. If none of the values were recognized

or a value has been deemed positive, clearance of output is declared, ending the process.

Output motor (stop)positive

checks for NRFI01 value of 4

Output motor (backward)positive

checks for NRFI01 value of 9

negative

Output motor (forward)positive

checks for NRFI01 value of 0

negative

START

36

The researchers utilized two different programs: one program for the transmitter or

remote controller which is connected to the Arduino Nano; the other program for the receiver or

the robot which is connected to the Arduino Uno. The codes were then compiled and modified to

fit the use to be obtained using the Arduino 1.8.5 software. Extensive revision and analysis were

done in order to achieve the expected code. The researchers used the following codes:

Figure 2.2.1. Program Flow Chart of Remote-controlled Tank

positivechecks for NRFI01 value of 4

37

Figure 2.2.2. Part 1 of Transmitter Code

38

Figure 2.2.3. Part 2 of Transmitter Code

Figure 2.2.4. Part 3 of Transmitter Code

39

Figure 2.2.5. Part 1 of Receiver Code

Figure 2.2.6. Part 2 of Receiver Code

40

Figure 2.2.7. Part 3 of Receiver Code

Figure 2.2.8. Part 4 of Receiver Code

41

Figure 2.2.9. Part 5 of Receiver Code

Figure 2.2.10. Part 6 of Receiver Code

42

Figure 2.2.11. Part 7 of Receiver Code

43

Figure 2.2.12 illustrates the program workflow of the camera system and human

detection aspect. It commences with the first person view camera recording real time recording

of its environment. The human detection preprogram then checks for human-like figures. If the

program recognizes or perceives human-like figures in accordance to its code and parameters, it

will produce a positive output, in which in turn a green border frame will appear surrounded in

the supposed human-like figure. If no human figures were recognized or perceived, it will result

a negative output, in which absence of green frames is expected. Output clear is declared if the

human detection program has produced a positive or a negative output, ending the process.

END

Output clear

Green frames with label will not appear

green frames with label will appear

Checks for human figures

negative positive

Real time footage from FPV camera

START

Figure 2.2.12. Program Flow Chart of FPV camera system and human detection

44

Figure 2.2.13. Part 1 - The Project SAVER Program - Camera System

Figure 2.2.14. Part 2 - The Project SAVER Program - Camera System

45

C.1 The Operation Design – Set-Up Mechanism of Tank Remote Controller

The set-up mechanism for the tank remote controller of the Project SAVER involves the

Dual XY Joystick module, a potentiometer, a trans receiver, and a microcontroller. The joystick

module and the potentiometer is connected to the Arduino Nano in order to transmit signal via or

through NRF24L01. The potentiometer directs the instruction for the movement of the FPV

camera in the robot tank. On the other hand, the joystick module directs the instruction of

movement on the motors, wherein the pins of the joystick module determines the direction of the

tank. The x-axis pin of the joystick module regulates the left and right movement, while the y-

axis pin regulates the forward and backward movement. The commands set by the potentiometer

and the joystick module will be the input of the robot tank, which will be transmitted via

NRF24L01 trans receiver.

Figure 2.3.1 Schematic diagram of the robot tank controller

46

C.2 The Operation Design – Set-Up Mechanism of the Tank Robot

The set-up mechanism for the tank robot of the Project SAVER involves the motor shield

and its motors, a servo motor, another trans receiver, and a microcontroller. The commands set

by the potentiometer and the joystick module will be the input of the robot tank, in which the

motors and the servo motor will utilize via Arduino Uno. The commands set by the joystick

module will be received by the motors in the motor shield, in which certain NRF24L01 values

will be a determiner of the motor movement. On the other hand, the commands set by the

potentiometer will be received in the servo motor, in which the 180 rotation of the potentiometer

will also be exhibited in the servo motor 180 degree view. The outputs of the motors and the

servo motor helps in aiding the robots primary mobility and view.

Figure 2.3.2 Schematic diagram of the remote-controlled tank

47

C.3 The Operation Design – Set-Up Mechanism of the FPV Camera

The set-up mechanism for the first person view camera of the Project SAVER involves

the FPV camera, the transmitter, and a battery. While the tank robot is moving, the FPV camera

will be recording live of its navigation, then which the footage of the said navigation is sent in

the video transmitter. A battery is also present to supply energy in both the camera and the

transmitter. In short, the input of the camera, or the footage will be transmitted in the video

transmitter, and will be received by a receiver attached in a device for further footage synthesis.

Figure 2.3.3 Schematic diagram of the first person view camera

48

II-A. The Operation Design – Block Diagram

The operation design of the prototype SAVER robot is to determine the GPS coordinates

of the robot tank during the navigation (Figure 2.4.1). The e Global Positioning System (GPS) of

the robot is consist of GPS-Compass module and transceiver. The GPS-Compass module will

transmit real time localization via transceiver of the robot tank. Once the input values are

received via controller, the latitude and the longitude of the location of the robot will be

indicated in the monitor display.

Latitude & Longitude values

LaptopReal time Localisation

Figure 2.4.1. Block Diagram of Global Positioning System (GPS) of the Project

SAVER

Micro- controller 2 (Arduino NANO)

Trans-ceiver

GPS-Compass module

Micro- controller 1 (Arduino

UNO)

49

II-B. The Operation Design – Programming

Figure 2.4.2 illustrates the program workflow of the e Global Positioning System and real

time localization of the robot. The GPS-Compass module will provide NMEA GPS data strings.

The GPS program will utilize the NMEA values in order to determine the coordinates of the real

time localization of the robot. Using Software Serial library, serial communication will be

established in the GPS module in order to get the raw GPS data. The raw data or the NMEA

values are converted into readable and useful format through TinyGPS++ library. Through these

formats, the latitude and longitude coordinates will be determined.

Figure 2.4.2. Program Flow Chart of Global Positioning System (GPS)END

Output clear

Latitude and Longitude coordinates will not appear

Latitude and Longitude coordinates will appear

Checks for NMEA GPS data

negative positive

Real time localisation from GPS-Compass Module

START

50

II-C.1 The Operation Design – Set-Up Mechanism of the Global Positioning System (GPS)

The set-up mechanism for the global positioning system of the Project SAVER involves

the GPS-Compass module, the transceiver, and a battery. During the robot navigation, the GPS-

Compass module will provide NMEA values that will indicate the real time GPS coordinates of

the tank robot. The battery will supply the energy needed by the GPS-Compass module and the

transceiver.

Figure 2.4.3 Schematic diagram of the

Global Positioning System (GPS)

51

TEST RESULTS AND DISCUSSION

The Functionally Test

Table 1. Robot Mobility in 5 different terrains

Test

Types of TerrainSmooth Cemented terrain

Rough Cemented terrain

Muddy terrain

Rocky terrain Elevated terrain

Weighted Mean

Interpretation

Weighted Mean

Interpretation

Weighted Mean

Interpretation

Weighted Mean

Interpretation

Weighted Mean

Interpretation

1 4.67 Excellent

4.33 Excellent

4.00 Very Good

5.00 Excellent

5.00 Excellent

2 4.33 Excellent

4.33 Excellent

4.00 Very Good

4.33 Excellent

4.00 Very good

3 4.67 Excellent

4.67 Excellent

3.33 Good 3.67 Very good

3.33 Good

4 5.00 Excellent

4.00 Very good

3.67 Very good

4.00 Very good

4.33 Excellent

5 4.33 Excellent

4.00 Very good

3.67 Very good

3.67 Very good

3.67 Very good

6 4.33 Excellent

4.33 Excellent

3.67 Very good

4.67 Excellent

4.33 Excellent

7 3.67 Very good

4.33 Excellent

2.67 Good 3.33 Good 4.00 Very good

8 4.00 Very good

4.67 Excellent

3.33 Good 3.67 Very good

4.67 Excellent

9 4.33 Excellent

4.67 Excellent

3.67 Very good

4.33 Very good

4.67 Excellent

10 4.00 Very good

4.00 Very good

3.67 Very good

3.33 Good 3.67 Very good

Grand Mean

4.33 Excellent

4.33 Excellent

3.57 Very Good

4.00 Very Good

4.17 Very Good

Seconds Rating Range Interpretation21-25 seconds 1 1.00 – 1.79 Ineffective16-20 seconds 2 1.80 – 2.59 Bad11-15 second 3 2.60 – 3.39 Good6-10-seconds 4 3.40 – 4.19 Very Good1-5 seconds 5 4.20 – 5.00 Excellent

52

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

55

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.

56

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.

57

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.

58

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

59

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.

60

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.

61

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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REFERENCES

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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.

Chen, Yung-Hui, and Jyu-Wei Wang. "The Disaster Rescue Robot Design and Implementation Using Open Source." In Advanced Multimedia and Ubiquitous Engineering, pp. 53-60. Springer, Berlin, Heidelberg, 2015.

CRED, UNISDR. "The human cost of natural disasters 2015: a global perspective." (2015).

"Deadly Philippine Quake Hits Bohol and Cebu." BBC News. October 15, 2013. Accessed July 12, 2018. https://www.bbc.com/news/world-asia-24530042.

Jones, Bryan A.. Microcontrollers, Second Edition. Mason, OH: Cegage Learning, 2014.

Kaneko, T. "Mobile Robot Navigation Based on Vision and DGPS Information - IEEE Conference Publication." Design and Implementation of Autonomous Vehicle Valet Parking System - IEEE Conference Publication. May 20, 1998. Accessed July 12, 2018. https://ieeexplore.ieee.org/abstract/document/680721/.

Loscri, Valeria, Nathalie Mitton, and Emilio Compagnone. "OpenCV WebCam applications in an Arduino-based rover." In International Conference on Ad-Hoc Networks and Wireless, pp. 261-274. Springer, Berlin, Heidelberg, 2014.

Mamindla, Kavitha, Dr. V. Padmaja, and C. H. NagaDeepa. "Embedded real-time video monitoring system using ARM." IOSR Journal of Engineering (IOSRJEN) 3, no. 7 (2013): 14-18.

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Mathew, T., Greig Knox, W. Fong, Tracy Booysen, and Stephen Marais. "The design of a rugged, low-cost, man-packable urban search and rescue robotic system." In Proceedings of the robotics and mechatronics conference of South Africa, Cape Town, South Africa, pp. 27-28. 2014.

Michael, Nathan, Shaojie Shen, Kartik Mohta, Vijay Kumar, Keiji Nagatani, Yoshito Okada, Seiga Kiribayashi et al. "Collaborative mapping of an earthquake damaged building via ground and aerial robots." In Field and Service Robotics, pp. 33-47. Springer, Berlin, Heidelberg, 2014.

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.

Sehrawat, Aakash, T. Anupriya Choudhury, and Gaurav Raj. "Surveillance drone for disaster management and military security." In Computing, Communication, and Automation (ICCCA), 2017 International Conference on, pp. 470-475. IEEE, 2017.

Shah, Mohammad Shoeb, and P. B. Borole. "Surveillance and rescue robot using Android smartphone and the Internet." In Communication and Signal Processing (ICCSP), 2016 International Conference on, pp. 1526-1530. IEEE, 2016.

Suthakorn, Jackrit, Syed Saqib Hussain Shah, Suratana Jantarajit, Woratit Onprasert, Watcharawit Saensupo, Supawat Saeung, Sakol Nakdhamabhorn, Vera Sa-Ing, and Sureerat Reaungamornrat. "On the design and development of a rough terrain robot for rescue missions." In Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on, pp. 1830-1835. IEEE, 2009.

Tadokoro, Satoshi, Richard Verhoeven, Manfred Hiller, and Toshi Takamori. "A portable parallel manipulator for search and rescue at large-scale urban earthquakes and an identification algorithm for the installation in unstructured environments." In Intelligent Robots and Systems, 1999. IROS'99. Proceedings. 1999 IEEE/RSJ International Conference on, vol. 2, pp. 1222-1227. IEEE, 1999.

"Typhoon Haiyan Death Toll Rises over 5,000 - BBC News." BBC. November 22, 2013. Accessed July 12, 2018. https://www.bbc.co.uk/news/world- asia-25051606.

"Typhoon Haiyan Death Toll Tops 6,000 in the Philippines." CNN. December 13, 2013. Accessed July 12, 2018. https://edition.cnn.com/2013/12/13/world/asia/philippines-typhoon-haiyan/index.html.

Wu, Chi-Hsiang. "System Integration of WAP and SMS for Home Network System." Egyptian Journal of Medical Human Genetics. February 26, 2003. Accessed July 12, 2018. https://www.sciencedirect.com/science/article/pii/S1389128603001981.

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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.

SUMMARY OF BUDGET

Eachine Camera with Transmitter Php 1,135.94

Eachine ROTG02 Php 1,352.41

Robot Tank Chassis Php 901.06 

Joystick Module Php 154.78

Power Cable Tieline Php130.97

Dual H-Bridge Php 160.19

NRF24L01 Php 1118.50

NRF24L01 adaptor Php 147.20

Arduino Nano Php 251.11 

Shipping insurance Php 84.43

Shipping Fee Php 458.38

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Servo Motor Php 140.00

Battery Php 904.50

Miscellaneous Fee Php 744.00

Consultation Fee Php 1500.00

Printing Php 300.00

TOTAL Php 9623.47