Arduino-Based Home Security Floor Cleaning Device

A research study presented to the Faculty of Zamora Memorial College

Senior High School Department

In Partial Fulfillment of the Requirements for the

Science Technology Engineering and Mathematics (STEM)

Jomel Bermundo

Jose Mariano Mendez

Joshua Espineda

Eugene Banzagales

Kian Dale Brecia

John Arjie Beredo

Rasheed Mangampat

March, 2020

1
CHAPTER 1: INTRODUCTION

The world is in the era of continuous advancements on Science and

Technology. These advancements introduce new innovative concepts that lead

to progressive developments in the community. Even the ordinary people can

had explored to innovate something into something better.

21st century became the gateway for enormous advancements of technologies

and brought great impacts on different aspects of our lives. Home appliances, as

product of technology, provided significant help in reducing time for doing

domestic chores. Rice cookers, for example, is designed to cook rice using

electricity, even without human’s supervision at all times, thus the allotted time

for cooking will be lessened and can be used for other things. Another product of

technology is Washing Machine that can wash clothes inside a container. Early

models of Washing Machines can perform washing clothes only, but eventually,

new models were innovated to wash and dry clothes. According to Plato,

“Necessity is the Mother of all Inventions, ” we continuously discover and create

new things that we need in our changing world. It is evident to us, humans that

we do not get contented, we always seek for something new and innovative.

There are lots of products out there that were designed for a specific function,

there are also products that possess more that one functions, usually a product

of innovations from other pre-existing products. Integration of existing products

result to more convenient, and more competent usage.

2
Background of the Study

Technological Inventions were made to aid in human’s everyday lives and

also for their entertainment and satisfaction. Faster and easier means of

communication, mass production and etc. were some of the benefits of

technology in the societal and industrial firm.

Before 20th Century, technology on home appliances was not that popular in

every households, consuming greater time and effort over the accomplished

things. Technology transformed the way people do things, resulting to easier and

convenient life. Most of the people today would prefer to do things with the use of

different technological tools and equipment than doing things in the traditional

manner.

This study aims produce an innovative product to aid families in their

household chores and other fields of the society that needs to have an innovative

cleaning device, and a security system that will give them access online. The

product will reduce the allotted time for cleaning, and will give more free time for

family, for leisure or can be used for other productive activities The study aims to

innovate existing products of technology for more convenient usage and better

performance.

Vacuum Cleaner is one of the innovations for aiding in domestic chores that

can efficiently clean floors and other surfaces. The vacuum cleaner is an

apparatus that creates a partial vacuum and is used to suck up dust and dirt. It

3
pumps up the air out to create a vacuum, and it is used to clean floors, and other

surfaces. The first vacuum cleaner that used the same principle as those that we

use today was invented by Hubert Cecil Booth of England in 1901

(vacuumcleanerhistory.com). A Vacuum Cleaner functions by its suction process.

The action of sucking creates a negative air pressure inside the vacuum, this is

created because the air pressure outside the vacuum is higher than the pressure

inside. The vacuum cleaner has an inbuilt electronic motor that spins the fan,

which pulls out the dust particles in the air. This motor allows the vacuum cleaner

to catch hold of small particles and push it out from the other side of the Vacuum

Cleaner into a bag which creates a negative pressure. When air particles are

driven forward, the density of particles increases in front of the fan and

decreases behind the fan. The low pressure behind the fan creates suction, a

partial vacuum, inside the vacuum cleaner. The ambient air pushes itself into the

vacuum cleaner through the intake port because of the pressure gradient inside

and outside the vacuum cleaner (home.howstuffworks.com). Using the concept

on how Vacuum Cleaner works, the manner of maintaining floor cleanliness

became easier. But cleanliness is not just eliminating dirt on the floor, unpolished

floor will eventually attract dusts and dirt. Using Floor Polisher will help in

maintaining floor cleanliness for a longer period of time.

The video camera was initially developed for use in broadcast media. In the

early 1900s, the first experiments in image transmission were completed. John

Logie Baird, a Scottish Engineer contributed to this work with a variation of an

older device known as a “Nipkow disk,” a mechanical device that breaks an

4
image into “scanlines” using a rotating disc with holes cut into it. The transition

from analog to digital video capture began in 1981 with the development of the

Sony Mavica single-lens camera. This camera utilized a rotating magnetic disc

that could record up to 50 still frames for playback or printing. Even though it is

credited with starting the digital camera revolution, the Mavica was not a “true”

digital camera as we understand them today, since images were still stored

magnetically. The Kodak company would bring the next innovations in digital

camera technology by introducing a number of digital camera products in 1987 .

In 1991, Kodak released the first digital camera intended for professional use by

photojournalists, followed by Nikon’s F-3, which included a 1.3-megapixel sensor.

Digital image capture would make the leap from professional photography to

consumer level in 1994 with the Apple QuickTake. This product which was the

first of its kind, followed by similar digital camera products from Kodak, Casio,

Sony, and others( cctvcameraworld.com). Wireless cameras work by transmitting

the camera’s video through a radio transmitter (RF). The video is sent to a

receiver that is connected to a build-in storage device or through cloud storage.

Through a monitor or receiver, the data gathered by the camera will play and will

provide an access to the area it can cover (vivint.com). Because of its capability

to capture, store images and videos, and broadcast a live scenario, cameras

were used as security tool for homes, public and private establishments and

even for surveillance purposes.

In this study, the researchers will use an Arduino server which will function as

the brain of the device. The other components of the device will be connected

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into the Arduino which will contain the codes that will direct how the other

components will function. Over the years Arduino has been the brain of

thousands of projects, from everyday objects to complex scientific instruments. A

worldwide community of makers - students, hobbyists, artists, programmers, and

professionals - has gathered around this open-source platform. Arduino was born

at the Ivrea Interaction Design Institute in Milan, Italy, in 2005 designed by

Hernando Barragan to use as an easy tool for fast prototyping, aimed at students

without a background in electronics and programming. All Arduino boards are

completely open-source, empowering users to build them independently and

eventually adapt them to their particular needs. The software, too, is open-

source, and it is growing through the contributions of users

worldwide( arduino.cc).

Statement of the Problem

Floor’s cleanliness maintenance is a challenge inside every home and other

edifices. Using only a soft broom may not be enough to maintain the floors

cleanliness every time. Also, there are tiny depressions on the floor where the

dust and other tiny particles are being stuck up in sweeping. Ensuring floor’s

cleanliness and neatness requires time and effort, there are instances that

humans lack time and energy to do it.

Providing security inside every homes is not easy especially to those people

who are busy in their works and no one will be around to ensure home security.

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 This study will aim to innovate a manually-operated machine into a self-

controlling robot, that will possess the capabilities of a machine to clean without

the human’s supervision at all time, with additional security camera features to

aid a household on providing security.

Objectives of the Study

This study aims to:

 Determine the amount of dirt that the device will hold for a specific length

of time.

 Determine the area that the device can cover for a specific length of time.

 Describe the device's movement under various environments/conditions.

 Determine the area that the camera can cover with good quality video.

Scope and Delimitation

The study will be conducted and tested inside the Science Laboratory room of

Zamora Memorial College (ZMC). The allotted duration of the study will be from

the third week of December 2019 until the last week of March 2020 and there will

also be instances of conducting it on the residence of one of the members of the

group, if needed. The study will cover the ordering of the entire components to be

utilized to fabrication and testing of the product compose of an Arduino Pro and

an Arduino Uno board, Arduino Motor shield, a pair of Arduino wheels, 8 pieces

3.7 Volts Lithium batteries, , Ultrasonic Sensor, Infrared Sensors, , Servo motor,

7
Breadboard and wirings, and an esp-32 wifi-bluetooth camera module,.

Conducting the study is limited only indoors like rooms, houses and school.

Significance of the Study

Homeowners. This sturdy will produce a low-cost cleaning and security

system. The members of the household will spend lesser time on cleaning the

floors. The household will also be provided with a security system when they are

not around.

Students. The students will acquire knowledge about Arduino server, which

they can utilize for their future studies. The students will spend their time inside

the classroom with convenience because there is no need to clean the classroom

manually using a simple broom and a dustpan.

Utility Personnel/Utility Workers . The utility workers will be provided a

leverage to lighten their jobs. The utility workers will save more time in doing their

jobs, also this will help them find other things needed to finish instead of

sweeping and polishing the floor.

School Administration. The school administration will be credited of the

study.

Future Researchers. To the future researchers that have the same kind of

ideas to our research, will serve as their other reference and will give background

knowledge, and ideas in improving the device.

Definition of Terms

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 Ambient Air. Ambient air is atmospheric air in its natural state. It is what we

breathe when the atmosphere is not contaminated by airborne pollutants

(safeopedia.com). The pressure level in the area behind the fan drops below the

pressure level outside the vacuum cleaner. The ambient air pushes itself into the

vacuum cleaner through the intake port because the air pressure inside the

vacuum cleaner is lower than the pressure outside.

Arduino. Arduino is an open-source electronics platform based on easy-to-

use hardware and software. Arduino is designed to make electronics more

accessible to artists, designers, hobbyists, and anyone interested in creating

interactive objects (arduino.cc). Arduino is the brain of the product wherein it is

programmed with codes for the product to function. The user writes the Arduino

code in the Arduino Development Environment (IDE), then uploads it to the

microcontroller which executes the code interacting with inputs and outputs such

as sensors, motors, and lights. Without the Arduino, the robot will not process the

commands.

Breadboard. A thin plastic board used to hold electronic components

(transistors, resistors, chips, etc.) that are wired together. Used to develop

prototypes of electronic circuits, the boards can be reused for future jobs

(pcmag.com). A breadboard is covered with holes lined with metal, in which wires

and electrical components such as resistors, diodes and capacitors can be

plugged. The board will hold the other components and transmits electricity

throughout the circuit.

9
 Floor Polisher. An electrical appliance used for polishing floors

(collinsdictionary.com). Floor polishers are versatile floor cleaning machines that

operate by using rotating brushes to polish and maintain its appearance. It is also

used to clean and maintain non-carpeted floors such as tile, marble or hardwood.

Negative Pressure. Negative pressure generally refers a place where

pressure is smaller in one place relative to another place. It doesn’t refer to the

actual or static pressure being negative since that cannot go lower than zero

(howthingsfly.si.edu). As the ambient air enters the vacuum cleaner, it creates

negative pressure

Suction. The act or process of sucking; exerting a force upon a solid, liquid,

or gaseous body by reason of reduced air pressure over part of its surface

(merriam-webster.com). The primary purpose of the vacuum cleaner is to suck

the dust and dirt from the floor the container.

Vacuum Cleaner. A household appliance for cleaning floors, carpets,

upholstery, etc. by suction; also called vacuum sweeper (merriam-webster.com).

The vacuum cleaner has an inbuilt electronic motor that spins the fan, which pulls

out the dust particles in the air.

Wirings. Is an open-source programming framework for microcontrollers. It

allows writing cross-platform software to control devices attached to a wide range

of microcontroller boards to create all kinds of creative coding, interactive

objects, spaces or physical experiences (wirings.org.co). This wires is composed

of plastic or rubber-like material which purpose is to transport electricity that

connects all components to the product to function.

10
CHAPTER 2: REVIEW OF RELATED LITERATURE

According to S, Monika., et al. (March, 2019) in their study titled “Design and

Implementation of Smart Floor Cleaning Robot Using Android App,“ they built a

Smart Floor Cleaning device that allows cleaning the floor by giving instructions

to the robot. The device uses a wireless robotic system for transmitting

commands. The wireless system uses an android application which allows the

robot to execute the commands given by the user (person) through the

transmitter application. The robot have an Arduino Uno controller that receives

the commands from the android device through a Bluetooth receiver that makes

wireless connection between the user and the robot. The study gives the

researchers an idea on how to use wireless connections (i.e. Bluetooth

connection) between a device and the Arduino for possible manual operation for

the study being conducted.

According to M, Kaur., et al. (July, 2014). In their study titled “Design and

Development of Floor Cleaner Robot (automatic/manual),“ the floor cleaner robot

can work in any of two modes, automatically and manually. All software and

hardware operations are connected and controlled by a microcontroller. Wireless

communications utilize Radio Frequency (RF) module for transmitting signals

between the remote and the robot with the range of 50 meters. IR sensor is used

for obstacle detection and automatic spraying pump. In automatic mode, the

robot controls all operations itself, while in manual mode, the user uses keypad

(remote) to input commands which will be transmitted through radio frequency

signals. The study gives the researchers additional ideas on wireless

11
connections and automatic functions of a robot that can be utilized in the study

being conducted.

According to C. Kulkarni, et al., (2014) in their study “Surveillance robot using

Arduino Microcontroller, Android API and the Internet” they used a low cost

option on making surveillance robot. A typical Surveillance robot uses a video

camera, GPS module, and GSM radios. A smartphone has the above needs for a

surveillance robot and can be leveraged using API (Application Programming

Interface) on Android Operating Systems. The robot has a smartphone that is

connected to a microcontroller which is also connected to and can be controlled

by a computer through the Internet. . A real-time coverage of the smartphone’s

camera can be seen on the computer, the user can also control the robot through

the Arduino microcontroller connected on the internet. The study will aid the

researchers on putting a camera for security purpose.

According to M, Jain, et.al(2017), on their study titled “Automatic Floor

Cleaner “ a floor cleaner has different devices like DC motors, ultrasonic sensors

etc., so it will be easy to handle, it also saves time and will work automatically for

cleaning homes and offices. Using simple algorithm and program, the cleaner will

be able to cover large floor areas as well as find its way into and out of small

corners. As the cleaner traverses the room, the sweeper installed in it will be able

to pick up a significant amount of dirt. The study gives the researchers guides on

programming a device so that it will work automatically without human’s

supervision at all times.

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 According to M. Manreet Kaur (2014), a floor cleaner robot provides a hurdle

detection in case of any obstacle that comes in its way with the use of sensors

that determine obstacles (solid objects). The robot can detect up to 1 feet range.

The operations such as sweeping, mopping and changing the path in case of

hurdle are performed automatically. Nonetheless, there are still new ideas to

improve the developed system and to add new functionality to it. Camera can be

used for navigation purposes. Further, the robot can be made to move randomly

in any direction and its speed can be controlled. The study gives the researchers

ideas about the obstacle detection that will help in developing the device’s

mobility and navigation in case of obstacle detection.

According to S R, Jena (2014), the product developed is fully operational and

gives desired motion. In the automation part, the algorithm are designed to give

90% efficiency. The device can detect solid objects and avoids it, it can also

move in the direction of dust and thus resulting in better cleaning of floors. The

study will help the researchers to make the device to detect areas needed to be

cleaned

According to M K, Ghaffar, Bilal, A., et.al (2018), the main motive of the

project is to cover the aspects of cleanliness in the society. The multiple

applications provide a wide range of functions in which we can clean the pipe,

scrubbing of surface for proper cleaning of the floor, remove dust and dirt from

the road, provide a pick and place mechanism by which obstacles can be

removed. This design of automated floor cleaning system can be used to clean

13
any kind of remote places. The motors selected consume much less power that

saves power and costs. The device is flexible and effortlessly operated.

According to T.B Asafa and Alade, H. (2018), the vacuum cleaner robot is

equipped with vacuuming and cleaning technology controlled by Arduino mega

microcontroller. It sucks dirt via a retractable dustbin on top of which cooling fan

is mounted, and two sweepers each driven by a 3V DC motor.

Mehmet A, Ocak (2017),The study shows the strength and popularity of the

Arduino boards with respect to similar systems and explains the studies focusing

on the design, development and implementation process of Arduino based

robotics systems. The study argues that Arduino boards offers a suitable

environment to create both wired and wireless projects using different

communication technologies. Prior research argues that Arduino based projects

are easy to be extended and applied to different situations since Arduino has

ability to support different sensors and shields showing the feasibility and

effectiveness of Arduino based systems. The study will help the researchers to

clearly understand how the Arduino software functions and guide the researchers

on how to utilize it.

K. Rara, et al,. In their study, they built a programmable robot that can

perform cleaning operations inside the house. The robot can remove debris from

the floor and clean the floor using scrubbers. The robot can also remove dirty

water and leaves the floor dry. Using a vacuum, a suction effect is created that

sucks various size of debris on the floor. For the robot to be fully automatic, a

microcontroller is used to program the robot.

14
CHAPTER 3: RESEARCH METHODOLOGY

Study Area

The study will be conducted at Zamora Memorial College, Sto. Niño St.,

Bacacay, Albay. Zamora Memorial College is a private institution located at

13˚17’29.9” latitude and 123˚47’38.8” longitude. The said institution is 350 meters

away from the Poblacion. It is surrounded by Barangays 9 and 6. Room 9

(Admin Building) will be used in conducting and developing the study, which

covers an area of 63 square meters (7x9meters). The ArVer Gym will be utilized

for testing, experimentation, and observation. It has an estimated area of 800

square meters (20x40meters), enough space to accommodate the activities

needed for the study.

Satellite view of Zamora Memorial College

15
Research Design

The study will use a descriptive quantitative approach. Descriptive

Quantitative Research describes, explains, and validates various aspect of the

subject. The researchers will observe how the device will work under various

conditions. The researchers will also determine the capacity of the device to

cover a certain area for a specific length of time.

Procedures

A. Materials and Equipment

Quantity Material Model Manufacturer Price

1 Pc Arduino Uno Arduino Uno R3 Circuit Rocks Php

CH340 with Cable 195.00

1 Pc Arduino Pro ATmega328P DIYMore Php

CH340G UNO R3 750.00
Board Mini USB
Compatible With
Arduino UNO R3

1 Pc Servo Motor Digital Robot servo Php

motor (180° Rotation) 242.00
MG996R

1 Pc Ultrasonic HC-SR04 Ultrasonic Php 75.00

Sensor Sensor

6 Pcs 3.7V Battery ICR18650-26F Romoss Tech Php 0.00

SAMSUNG SDI

16
 2C44

1 Pc Breadboard MB102 830 Points Popeye Php

Solderless Prototype 300.00
PCB Breadboard

1 Pc Camera ESP32-CAM WiFi + Php

Bluetooth Camera
Module Development
Board ESP32 With
Camera Module
OV2640 Geekcreit
for Arduino

1 Pc Motor Shield Motor Driver Shield Circuit Rocks Php

Four Channel L293D 145.00
For Arduino

4 Pcs Wheels Geared DC Motor Beaasad Php

and Wheels 3-9V DC 200.00
for Arduino

2 Pcs DC Motor MICRO DC MOTOR Mabuchi Php 50.00

6V

120 Pcs Jumper Wires Premium Jumper Popeye Free

Wire 50-Piece 10-
Color Assortment M-
F 12

1 Pc Switch Two stall double hull Tabaco Php 15.00

type switch, button Electronics
switch, small
electronic material
parts, DIY model

17
 circuit switch

1 Pc Bearing KBC Bearings Korea Machinery Php

100.00

1 Pc Diode 1N4001 Diode 1A Php 0.00

50V

1 Pc 12 V Charger 12V-2A-Power- DREAM Php

Adapter-01 130.00

18
19
B. RESEARCH PROCESS

Advancements on Science and Technology continues to spread and innovate.

But, despite its widespread availability and influence, only certain individuals

have enough knowledge and interest on developing new and existing products.

Arduino, for example, already have started since year 2004, but only a few tries

and engage on it.

In this study, the researchers will gather information on how to build a device

using an Arduino software. During the gathering of information, it is expected to

discover the different materials and components needed to develop the device.

20
After acquiring the needed knowledge and materials, the researchers will build a

prototype before proceeding to the final output. This is to know the problems that

may occur and resolve it before building the final output. When the researchers

are already prepared to build the device, the building and development of the

final output will start. The final output will then be tested whether it will meet the

objectives of the study.

C. STEPS

POWER SUPPLY

The Arduino, which is the most important component of the device, can be

powered with 6 Volts to 12 Volts battery. In this study, the researchers have 7

pieces of 4 Volts batteries to be used. The batteries will be grouped into three

sets, each having 2 batteries, connected in parallel. The 3 sets of batteries will

then be connected in series to produce 12 Voltage Power Output. In order to

recharge the batteries, a 12 Volt Charger will be used.

OBSTACLE AVOIDING ROBOT

The Obstacle Avoiding Robot will be responsible for the device's mobility. An

Arduino Pro will be used for the Robot. It will contain the codes that will direct the

robot to respond to the stimuli it might face. The Arduino Pro will be programmed

and be uploaded with a code. The sensors, servo motors, and the wheels will be

connected into the Arduino Board.

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 An Ultrasonic sensor will be used for the device to detect obstacles on its

path. It has 2 sets of pins, the first are the Power pins which are the Power input

pin and the Ground pin. The power input pin will be connected to the +5V port of

The Arduino, while the Ground pin will be connected to the Ground port of the

Arduino. This first set of pin will give the power to the sensor. The second set of

pins are the Trigger and Echo pin. The Trigger pin will be connected to the

Analog 0 pin, and the Echo pin on the Analog 1 pin of the Arduino. The two

circular discs of the Ultrasonic Sensor work by releasing and receiving Ultrasonic

waves. The first disc is connected to the Trigger pin, which will release the

Ultrasonic waves, once the Ultrasonic waves reach a solid surface, it will bounce

back towards the other disc. The bounced back waves will be received by the

other disc, connected to the Echo pin. In this manner, the sensor acts like an eye

that can recognize a solid surface. This stimuli will make the servo motor move

left and right, acting like a neck. The sensor will be attached on the servo motor.

When it detects an obstacle, it will look like a head looking left and right, finding

an open space where it will go.

Code for Arduino Obstacle avoiding Robot:

https://docs.google.com/document/d/1xIUsr7M9DhvSy3c0d7KvYRY1cZ4VsdA17

z8PvuIZ6EQ/edit?usp=drivesdk

22
 Obstacle Avoiding Robot Schematic Diagram

23
VACUUM CLEANER

Vacuum Cleaner Schematic Diagram

The vacuum cleaner will be the cleaning device of the robot. A DC Motor with

a fan from an old Mini Fan will be used to make a negative air pressure inside the

container. The negative air pressure will drive the air and the dirt towards the

container of the vacuum cleaner. The motor will be powered with 12 Volts Power

supply. The container will be detachable in order to dispose the dirt collected.

24
SECURITY CAMERA

The Security Camera will provide an access to the owner of the device. In this

study, the researchers will use an ESP32-CAMERA module. The camera will be

connected to a separate Arduino Uno board that will contain its code. Through

WiFi connection, the video can be streamed on a computer or a cellphone. The

camera module itself has SD card slot to record data.

ESP32-Camera Connection Layout

25
Statistical Treatment

A. FORMULAS TO BE USED

Mean formula :Standard Deviation Formula:

input
E= x The mean of the results will be computed to get the average area
Energyinput

covered and volume of the dirt that it can collect. Mean indicates the center value of the

data set. This will give the center of expectation of the device. Standard deviation

measures the dispersion or variation in the distribution of data. If the mean is the center

of of a random variable in probability distribution, the standard deviation measures how

the probability mass is spread out around the center.

B. RESULTS

Once the final product is developed, the researchers will conduct different tests to

know if the device meets the objectives of the study. This is also to know the strengths

and limitations of the device. The researchers will test the area that the device can

cover, and the volume of dirt it can collect for a specific length of time.

Time (mins) Surface Area Volume of dirt Remarks

covered
10
30
45
60
CHAPTER 4: RESULTS AND DISCUSSION

26
 A. Determine the amount of dirt that the device will hold for a specific length of time.

Time( mins) Volume of dirt collected

1st trial 2nd trial 3rd trial

10

30

45

60

B. Determine the area that the device can cover for a specific length of time.

Time( mins) Surface area covered

1st trial 2nd trial 3rd trial

10

30

45

60

C. Describe the device’s movement under various environments/conditions.

Condition/Situatio Device’s movement

27
 n 1st trial 2nd trial 3rd trial

D. Determine the distace that the camera can cover with good quality video.

Distance (meters) Remarks

REFERENCES :

CHAPTER 1

28
Harris, T. (2019). How Vacuum Cleaner Work. Retrieved from
https://home.howstuffworks.com/vacuum-cleaner.htm. Retrieved on November
30, 2019.

Probably Interactive. (2019). How Does a Vacuum Cleaner Work. Retrieved from
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2019.

Nagayama, E. & T. Turumi. Floor Polisher. Retrieved from

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Vivint Smarthome. Smart Home Automatin and Smart Home Security. Retrieved from
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on November 30, 2019.

Young, J. & S. Cuthbert. Ambient Air. Retrieved from https://www.safeopedia.com.

Retrieved on December 12, 2019.

Banzi, M. & D. Cuartielles. Arduino. Retrieved from

https://www.arduino.cc/en/guide/introduction. Retrieved on December 12, 2019.

Davis Z. Breadboard Retrieved from

https://www.pcmag.com/encyclopedia/term/38905/breadboard. Retrieved on
December 12, 2019.

Collins. Floor Polisher. Retrieved from

https://www.google.com/amp/s/www.collinsdictionary.com/amp/english/floor-
polisher. Retrieved on December 12, 2019.

How Things Fly. (2013). Retrieved from https://howthingsfly.si.edu/ask-an-

explainer/what-negative-pressure. Retrieved on December 12, 2019.

Merriam Webster Dictionary. (1828). Retrieved from https://www.merriam-

webster.com/dictionary/suction. Retrieved on December 12, 2019.

Merriam Webster Dictionary. (1828). Retrieved from https://www.merriam-

webster.com/dictionary/vacuum/%20cleaner. Retrieved on December 12, 2019.

Barragan H. & B Hagman. Wirings. Retrieved from https://wirings.org.co/. Retrieved on

December 12, 2019.

CHAPTER 2

29
Monica, S. (2019). Design and Implementation of Smart Floor Cleaning Robot Using
Android App. Retrieved from https://www.ijitee.org/wp-
content/uploads/papers/v8i4s2/D1S0054028419.pdf. Retrieved on January 17,
2020

Kaur, M., et al. (July, 2014). Design and Development of Floor Cleaner Robot
(automatic/manual). Retrieved on
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_of_Floor_Cleaner_Robot_Automatic_and_Manual. Retrieved on January 17,
2020.

Kulkarni, C., et al., (2014). Surveillance robot using Arduino Microcontroller, Android
API and the Internet. Retrieved from
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2020.

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Ghaffar, MK., Bilal, A., et.al (2018) Design and Development of floor Cleaning Machine.
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Kaur, M., et al. (July, 2014). Design and Development of Floor Cleaner Robot
(automatic/manual). Retrieved on
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_of_Floor_Cleaner_Robot_Automatic_and_Manual. Retrieved on January 17,
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T.B Asafa, Alade, H. (2018). Retrieved from

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CHAPTER 3

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Google Maps (2005). Retrieved from
https://www.google.com/maps/@11.6978351,118.1393324,6z. Retrieved on
January 31, 2020.

De Guzman, D. STATISTICS & PROBABILITY for SENIOR HIGH SCHOOL (2016).

Retrieved on February 10, 2020.

Arduino Uno R3 CH340 with Cable. Google Images. Retrieved from

https://circuit.rocks/arduino-uno-r3-CH340. Retrieved on February 10, 2020.

ATmega328P CH340G UNO R3 Board Mini USB Compatible With Arduino UNO
R3.Google Images. Retrieved from
https://www.diymore.cc/products/atmega328p-ch340g-uno-r3-board-mini-usb-
compatible-with-arduino-uno-r3. Retrieved on February 10, 2020.

Digital Robot servo motor (180° Rotation) MG996R. Google Images. Retrieved from
https://www.makerlab-electronics.com/product/digital-servo-motor-mg996r-180-
rotation/. Retrieved on February 10, 2020.

HC-SR04 Ultrasonic Sensor. Google Images. Retrieved from https://www.cytron.io/p-hc-

sr04-ultrasonic-sensor. Retrieved on February 10, 2020.

ICR18650-26F SAMSUNG SDI 2C44. Google Images. Retrieved from

https://www.easyacc.com/media-center/difference-between-original battery-and-
mobile-power-bank/. Retrieved on February 10, 2020.

MB102 830 Points Solderless Prototype PCB Breadboard. Google Images. Retrieved
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breadboard-high-quality/. Retrieved on February 10, 2020.

ESP32-CAM WiFi + Bluetooth Camera Module Development Board ESP32 With

Camera Module OV2640 Geekcreit for Arduino. Google Images. Retrieved from
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Development-Board-ESP32-With-Camera-Module-OV2640-p 1394679.html?
cur_warehouse=CN. Retrieved on February 10, 2020.

Motor Driver Shield Four Channel L293D For Arduino. Google Images. Retrieved from
https://circuit.rocks/motor-shield. Retrieved on February 10, 2020

Geared DC Motor and Wheels 3-9V DC for Arduino. Google Images. Retrieved from
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MICRO DC MOTOR 6V. Google Images. Retrieved from

https://sparkfruit.ph/product/micro-dc-motor-6v/. Retrieved on February 10, 2020.

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Premium Jumper Wire 50-Piece 10-Color Assortment M-F 12. Google Images.
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2020.

Two stall double hull type switch, button switch, small electronic material parts,
DIYmodel circuit switch. Google Images. Retrieved from
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2020

KBC Bearings. Google Images. Retrieved from https://www.kugellager-

express.de/deep-groove-ball-bearing-6415-open-75x190x45-mm.Retrieved on
February 10, 2020

1N4001 Diode 1A 50V. Google Images. Retrieved from https://www.amazon.com/25-

pcs-1N4001-Diode-50V/dp/B00I6IDGQI. Retrieved on February 10, 2020.

12V-2A-Power-Adapter-01. Google Images. Retrieved from https://www.makerlab-

electronics.com/?attachment_id=9326. Retrieved on February 10, 2020.

Esp32-Camera Wirings Layout. ESP32-CAM AI Thinker how to upload in Arduino, no

adapter!. Retrieved from https://youtu.be/a_PxAT8M-58. Retrieved on February
11, 2020.

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