See discussions, stats, and author profiles for this publication at: https://www.researchgate.

net/publication/361913422

Design and Construction of an Autonomous Motorized (Robotic) Vacuum

Cleaner for Student's Standard Room

Article · July 2022

DOI: 10.56180/jet.vol1.iss1.56

CITATION READS

1 2,768

3 authors, including:

Samuel Omojola Ejiko Gbenga Lawrence Onibon

The Federal Polytechnic Ado-Ekiti The Federal Polytechnic Ado-Ekiti
76 PUBLICATIONS 101 CITATIONS 5 PUBLICATIONS 5 CITATIONS

SEE PROFILE SEE PROFILE

All content following this page was uploaded by Samuel Omojola Ejiko on 20 May 2023.

The user has requested enhancement of the downloaded file.

 Journal of Engineering Technology (JET)
A Subsidiary of CRID Multidisciplinary Journal (CMIJ)

Design and Construction of an Autonomous Motorized (Robotic)

Vacuum Cleaner for Student’s Standard Room
Ejiko, S. O.1*, Erinle, T. J 2 , Onibon, G. L.3, Ayeni, O. M.4 and Aliu, O. L.5
1,2,3,4,5
Department of Mechanical Engineering, The Federal Polytechnic, Ado-Ekiti
*Corresponding author’s email: [email protected], [email protected]

DOI: https://doi.org/10.56180/jet.vol1.iss1.56

ABSTRACT
A motorized vacuum cleaner is an automated machine that works by sucking waste or dirt from
plastered surfaces. The cleaning of debris is a major problem that could be encountered by a human in
their day-to-day activities. The cleaning robot makes tidying the floor less cumbersome than the manual
method. This work highlights the design and construction of a motorized device based on a
mathematical model. The robotic devices carry a vacuum cleaner for cleaning students’ standard rooms
which also applies in some offices. The vacuum cleaner sucks in the debris as the developed machine
moves either in a straight or circular path as modeled numerically using Arduino Nano-board, Vacuum
mechanism, connectors, DC motors, LCDs’ and a compact housing. The cleaning efficiency of 83.3 %
with an average time of 161.48 secs was achieved for the programmed area of 3.6 m by 3 m and the
coverage efficiency of the machine based on the standard room was evaluated to be 92 %.

Keywords: Arduino, Mathematical Model, Vacuum Cleaner Robot, Vacuum Mechanism.

1 Introduction
Cleaning is a vital or paramount need in this 21st century, especially in residential spaces, the floor has to
be cleaned regularly. Diverse methods are used in cleaning different types of surfaces and the major purpose
is to prevent accidental injuries and deaths due to glides on the floor surfaces which are majorly caused by
bad practices in-floor cleaning, beautify the floor, remove dust, allergens, debris, and obstructions, prevent
surface wear, to make the spaces and environment conducive, to maintain constriction at optimum level
and to prevent slip [1]. The cleaning operation is actualized by divers’ methods which might be of dissimilar
kinds. Different types of floor spaces need different types of approaches to achieve the desired result which
entails the need for the floor to be free of any liquid and dirt after the cleaning process; otherwise, it may
result in a hazard. On some floors, sawdust is used to absorb all kinds of liquids and this ensures that there
will be no need of preventing them from A spill-off. The sawdust has to be swept and replaced every day.
This process is still used in butchers but it was common in bars in the past. In some places, tea leaves are
also used to collect dirt from carpets and also for odour removing purposes. Today, floor buffers,
extractors, and automatic floor scrubbers are some of the types of floor cleaning machines that can clean
almost all types of hard floors or carpeted flooring surfaces in a time much less than that required by
traditional means [1].
The robot is an electromechanical device employed for different tasks and purposes in mechanized and
domestic operations. Robot appliances as ventured into the consumer market, with the advent of robots.
Numerous similar devices from various manufacturing firms have been spotted after iRobot. The main
objective was on having a cleaning device but as time passed on, many upgrades were made and better and
more efficient appliances were developed [2]. In the performance of tasks, robots are increasingly being
integrated to replace humans. Generally, robotics can be sub-divided into two which are industrial and
service robotics. International Federation of Robotics (IFR) defined a service robot as a robot that functions
semi or fully autonomously to perform tasks useful for humans’ well-being or equipment, except for
industrial automation applications, as well as, it might be hazardous for a human to carry out or do work
[3]. A robot is an automated machine designed to stimulate the function of a living entity. It also functions

Page 1 of 18
 Journal of Engineering Technology (JET)
A Subsidiary of CRID Multidisciplinary Journal (CMIJ)

as a manipulative and reprogrammable multifunctional device that is designed to move parts, materials,
tools, or functional devices in other to perform a variety of tasks through variable programmed motions
[4]. In recent years, due to the effectiveness of robots in assisting humans (i.e., anthropomorphic features)
in floor cleaning at homes, offices, restaurants, hotels, hospitals, warehouses, workshops, and universities,
robotic cleaners have taken major attention in robotics research. Primarily, robotic cleaners are notably
based on their cleaning expertise like floor mopping and dry vacuum cleaning. The design of some devices
is based on simple obstacle avoidance with the aid of infrared sensors while some uses laser mapping
technique with each robotic floor cleaning and operating mechanism having its pros and cons. For example,
robots utilizing laser mapping are relatively faster, less time-consuming, and energy-efficient but costly,
while obstacle avoidance-based robots are relatively time-consuming and less energy efficient due to
random cleaning but less costly [5]. In early, 2010, Jen Steffen developed a new automatic floor cleaner
robot called Mint in which detachable clothes were attached to the device for sweeping and mopping and
for tracking, the device “mint” used the GPS-like indoor localization system [2]. In the olden days, sawdust
was used to remove water that spilled on the floor and tea leaves were used to remove the dirt and odour
on the carpets. As time passed on, broomsticks and mops were invented for cleaning houses, streets, offices,
and industries, and traditionally brooms are always used, but in the application of broom, some health
challenges can sprout like skin infection, back and waist pain, etc, which also requires more manpower and
time [6]-[7]. As technology advances, a mop was invented then floors are cleaned with the aid of a mop
which is either dry or wet using the hand as a potential tool which also requires the user to apply some
energy to brush hard on the face of the work. The cleaning action includes cleaning different types of
surfaces plastered floors, and highly polished wooden or marble floors. Among these floors, the rough
surface floors such as plastered or cement floors, which are dominant in semi-urban areas are covered with
lots of fine particles of sand (i.e., dust) [8]. Hence, with all the development and growth in technology in
present days in every field, the use of the robot for cleaning purposes became more dominant [7].
A vacuum cleaner, simply known as a vacuum, is an automated machine that operates by suctioning or
taking-in dirt from floors, draperies, upholstery, and other surfaces. Generally, the cleaner is electrically
driven and for later or subsequent disposal, the dirt is collected into either a dust bag or a cyclone. Cleaners
used at home and in industries exist in different sizes and models, some of which are small cell-powered
hand-held devices, domestic central vacuum cleaners, home use wheeled canister models, large fixed
industrial devices that can take several hundred liters of waste or dust before disposal, and also vacuum
self-propelled trucks are majorly used for recovery of large spills or elimination of desecrated soil. In the
removal of dust and liquids, specialized shop vacuums can also be applied for the cleaning operation [9]-
[10].
This vacuum cleaner is an electrically powered home device that operates only in automatic mode for the
user's convenience and due to this a floor cleaning device based on the ATmega328P microcontroller is
developed. The device works on a 9V electric supply with the help of a 9V adapter installed in the device
and it also consists of a detachable power cable to increase its compactness. The cleaner is programmed to
start its forward movement by positioning it in the left-hand corner of the specified obstacle-free room to
be cleaned. A 2-way relay module is used to drive the two motors to perform the respected operations like
movement, stopping, and turning off the cleaner. An adapter equivalent to a mobile phone adapter is used
to power the Arduino board and all information is displayed on the LCD with a keypad to enter the details
or dimensions of the room to be cleaned. The vacuuming component of the device or system is mounted
on the constructed and programmed component.

2 Modeling
Modeling on the part of designs and constructions is described more as art other than a scientific procedure
or process and also massively depends on the experience and knowledge of the researchers involved. This
process demands deep knowledge and understanding of the nature of the process and cognition with the

Page 2 of 18
 Journal of Engineering Technology (JET)
A Subsidiary of CRID Multidisciplinary Journal (CMIJ)

available models and methods. Practically, the phenomena being studied are so complicated, and any
mathematical illustration is just a simple conjecture [11]. Engineers and researchers use models to carry out
predicting and controlling functions as a result of the experiment previously conducted and its
corresponding observation. The model's potency fully depends on a minimal level of existing errors i.e., the
more the existing errors are reduced, the more valid the model becomes. The use of modeling can help
analyze multiplex and fictitious systems with relative ease using computer programming. The use of models
in the development of software results in a reduction of the required storage, because of the reality that the
parameters are mathematically generated [11]. These works have been highlighted by Ejiko, Oladebeye, and
Kareem [12]-[18]. The use of parameters of the previously generated data from the company, in affiliation
with least square models enables the prediction of the requisitions of the customers[19]. Based on the
quarterly basis sale trend, assumptions were made implying the use of time series analysis and least square
regression. The determinations of battery banking system specifications were established using the [20]
regression formula. In determining the weld time in minutes, the models for the automated welding process
were generated by analyzing various parameters using Matlab software [21]. In relation to the earth, the
description of the earth-center frame for the sun's daily and yearly rotational movements using the sun's
position analysis is very fundamental. Ejiko[19], [22]-[23] used the sun position statistics to actualize seven
equations in determining the radiation optimum reception position of the sun. For the determination of
the Nigeria Azimuth angle, Holistic Multiple Regression Models were developed by Ejiko [24]. Ejiko [25]
developed a hyperbolic regression model for the Ado-Ekiti metropolitan area sandy soil compressive
strength evaluation. In the assessment of the power quality of the Ado-Ekiti metropolis, Adeoye [26]
developed a sinusoidal regression model for voltage deviation rating or evaluation.

3 Mathematical Analysis for the Position Tracking

The mathematical equation of position tracking is based on the use of angular division of wheels by
considering the path/lap.
On the first lap, the equation employed was.

10000
 Breath of the room
295 (1)

the second lap, the equation employed was

 (Breath of the room − 45)

10000
295 (2)

Speed of the right motor = 0.0282m/s

Speed of the left motor = 0.027m/s
In the first lap, for every 1500 milliseconds (ms), the left motor delays for 180ms.
When turning right, the right motor delays for 3250ms to make a 180 0 turning.
In the second lap, for every 1500ms, the right motor delays for 300ms
When turning right the left motor delays for 2900ms to make another 180 0 turning.

Page 3 of 18
 Journal of Engineering Technology (JET)
A Subsidiary of CRID Multidisciplinary Journal (CMIJ)

3.1 Mathematical Analysis of the Model

i. Model for Rectangular Path
A third-order polynomial equation was developed using an excel application based on the
expected distance covered by its experimental movement via linear coverage from the left to
the right side of the room.

Table 1: Time and Distance of Device Travel Path

S/N Time (secs) Distance (m)

1. 3.24 0.9
2. 4.74 1.2
3. 5.5 1.5
4. 6.62 1.8
5. 7.48 2.1
6. 8.55 2.4
7. 9.5 2.7
8. 10.96 3.0
9. 12.12 3.3
10. 14.68 3.6

Figure 1: Graph of Time against Distance for Rectangular Path

a. Linear Regression

Page 4 of 18
 Journal of Engineering Technology (JET)
A Subsidiary of CRID Multidisciplinary Journal (CMIJ)

3.2 Model for Circular Path

Table 2: Regression Summary Output

In the circular model, the device starts from the centre of the room to the outer path by increasing the
angle and the diameter of the circle. The travel path and the table of the angles in degree against the diameter
in millimeter are shown below:

Figure 2: Device Travel Path

Page 5 of 18
 Journal of Engineering Technology (JET)
A Subsidiary of CRID Multidisciplinary Journal (CMIJ)

Table 3: Angle and Diameter of Device Travel Path

S/N Angle Diameter

1. 65.9 1052
2. 35.6 1652
3. 25.2 2252
4. 19.7 2852
5. 16.1 3452
6. 13.7 4052
7. 11.9 4652
8. 10.5 5252

The equation for the circular path was derived by plotting the angle against the diameter using polynomial
and power series as shown in figures 3 and 4.
For Polynomial Trendline Equation
y = 1E − 19 x 6 − 3E − 15x 5 − 3E − 11x 4 − 1E − 07 x 3 + 0.0003x 2 − 0.472 x + 311.55 (3)
For Power Trendline Equation
y = 151834x −1.122 (4)

Figure 3: Angle against Diameter for Polynomial Trendline Equation

Page 6 of 18
 Journal of Engineering Technology (JET)
A Subsidiary of CRID Multidisciplinary Journal (CMIJ)

Figure 4: Angle against Diameter for Power Trendline Equation

3.3 Mathematical Equation Integrated into the Device for Rectangular Path

Equations 5 and 6 were generated from the rectangular model using polynomial and linear regression. The
polynomial equation of third order trendline was incorporated into the microcontroller to program the
device. The equation incorporated was based on the distance of the room to be cleaned and the cleaning
process completion time

i. Third order polynomial equation

Y = 0.603x3 - 3.558x2 + 9.917x - 3.222 (5)
R² = 0.998
ii. Linear regression equation
Y = 3.87x – 0.37 (6)
where,
Y = Time taken
X = Distance
R = Regression
3.4 Mechanical Design Calculations
The design involves some equations to determine the parameter for the developed vacuum cleaner as given
in equations 7 to 19.

a. Tractive Effort
Tractive effort is the force exerted by powered equipment as measured from the driving wheel. The
tractive effort between the wheel of the device and the floor was determined using equation 7 as stated
by Ahmed and Dunn [27-28].
Te − Rr = ma (7)
where;
Te = Tractive effort

Page 7 of 18
 Journal of Engineering Technology (JET)
A Subsidiary of CRID Multidisciplinary Journal (CMIJ)

Rr = Rolling resistance
ma = force acceleration
In the theory of machines, according to Khurmi and Gupta [29] equations 8 to 18 were used to
determine the velocity and time of the rotating body,
mv 2
Te = and Rr = N
r (8)

mv 2
 − N = ma
r (9)

v
Also ; a = and N = W = mg
t
mv 2 mv
 − mg =
r t (10)

 v2  v
m  − g  = m  
 r  t (11)
v2 v
− g =
r t (12)

v2 v
− = g (13)
r t

d
But ; v =
t

2
d  d
   r − 2 = g
t t (14)

2
d d
2
− 2 = g
t r t (15)

1 d2 
 − d  = g
t2  r  (15)

1 g
=
t 2
d 2

 − d 
 r  (16)

Page 8 of 18
 Journal of Engineering Technology (JET)
A Subsidiary of CRID Multidisciplinary Journal (CMIJ)

d2
−d
t =
2 r
g (17)

d2
−d
t= r
g (18)

where

‘t’ = time required to complete cycle or process

mt = 3kg , g = 9.81ms −2 , d = 3.6m, r = 0.033m,  = 0.5, v = ?, t = ?,

W = ?, a = ?, Te = ?, Torque = ?, Power = ?
Time required to cover a distance of 3.6m =?
d2
−d
t= r
g
(3.6)2 − 3.6
t= 0.033
0.5  9.81
t = 8.91sec s

W = mg
= 9.81 3
F = W = mg = 0.5  29.43
= 14.715 N
The velocity of the device was determined using equation 19 as derived in the theory of machine
by Khurmi and Gupta [29],

dis tan ce
velocity =
time (19)

3.6
velocity = = 0.4040m / s
8.91

0.4040
acceleration, a = = 0.04534 m / s 2
8.91

Page 9 of 18
 Journal of Engineering Technology (JET)
A Subsidiary of CRID Multidisciplinary Journal (CMIJ)

a = 4.534 10−2 m / s 2

mv 2 3  (0.4040)
2
Te = =
r 0.033

Te = 14.84 N

Rolling resis tan ce(Rr ) = W = 14.715N

 Te − Rr = 14.84 − 14.715
= 0.13 N

Also; ma (F ) = 3  0.04534
= 0.136 N

Therefore, Te − Rr = ma
15
15 % factor of safety of the motor ' s force =  0.136 N
100
= 0.136 N
Forcetotal = F + F f
= 0.136 + 0.0204
= 0.1564 N
Torque(T ) = Te  r
= 14.84  0.033
= 0.4897 Nm

15
15 % factor of safety of the motor ' s torque =  0.4897 Nm
100
Tf = 0.073455Nm
Torquetotal = T + T f
= 0.4897 + 0.073455
= 0.5632 Nm
Power ( P) = Te  Velocity
= 14.84  0.4040
= 5.9954 Watts
= 6 Watts

Page 10 of 18
 Journal of Engineering Technology (JET)
A Subsidiary of CRID Multidisciplinary Journal (CMIJ)

15
15 % factor of safety of the motor ' s power = 6W
100
Pf = 0.9 W

Powertotal = P + Pf
= 6 + 0 .9
= 6. 9 W
= 7 Watts

Angular velocity =  (20)

But , velocity (v) =   r
v
=
r
0.4040
= = 12.2424 rad / s
0.033
RPM of the motor for the robot = N
The angular velocity of the device was determined using equation 20 as derived in the theory of machine
by Khurmi and Gupta [29]

2N
=
60
  60 = 2N

  60
N=
2

12.2424  60
N=
2  3.142

734.544
N=
6.284

N = 117 rpm
15
15 % factor of safety of the motor ' s rpm = 177
100
N f = 17.55 rpm

Page 11 of 18
 Journal of Engineering Technology (JET)
A Subsidiary of CRID Multidisciplinary Journal (CMIJ)

N total = N + N f
= 117 + 17.55 rpm
= 134.55 rpm
= 135 rpm

b. Skidding and overturning of the device

d = distance between centre of gravity to a wheel.
h = distance between centre of gravity and ground
μ = friction coefficient between the ground and wheel.

mt = 3kg, g = 9.81ms −2 , d = 0.11m, h = 0.0615m,  = 0.5

for r = 0.1m
For overturning:
1
 gdr  2
v1 =  
 h  (21)
1
 9.81  0.11  0.1  2
v1 =  
 0.0615 
v1 = 1.7546

v1 = 1.3246 m / s

Therefore, the robot will overturn when the velocity reaches

 1.3246m / s

For skidding

v2 = (gr ) 2
1

(22)

v2 = (0.5  9.81 0.1) 2

1

v2 = 0.4905

v2 = 0.7 m / s

Therefore, the robot will slide sideways when the velocity reaches
 0.7 m / s
c. Skidding and Overturning of the Device on Banked Surfaces
d = distance between centre of gravity to a wheel.

Page 12 of 18
 Journal of Engineering Technology (JET)
A Subsidiary of CRID Multidisciplinary Journal (CMIJ)

h = distance between centre of gravity and ground

μ = friction coefficient between the ground and wheel
ϴ = Inclination angle = 150
mt = 3kg, g = 9.81ms −2 , d = 0.11m, h = 0.0615m,  = 0.5

i. For Overturning on Banked Surfaces

1
 gr (h tan  + d )  2
v= 
 (h − d tan  )  (23)
1
 9.81  0.033 (0.0615 tan 15 + 0.11) 2
v= 
 (0.0615 − 0.11 tan 15) 

v = 1.2816

v = 1.1321m / s

ii. For Skidding on Banked Surfaces

1
 gr ( + tan  )  2
v= 
 (1 −  tan  )  (24)

1
 9.81  0.033(0.5 + tan 15)  2
v= 
 (1 − 0.5 tan 15) 
v = 0.5358m / s

3.5 Design Construction

Components used in construction include;
i. Arduino Nano: It is a diminutive complete and breadboard-friendly based on ATmega 328
(Arduino Nano 3.x).
ii. Vacuum Cleaner: It is a mechanical device that creates opposing pressure which helps in
taking-in air.
iii. Motor: Alternating current or direct current motor is an electrical device powered electrically
and resulting in mechanical power output.
iv. Motor Driver Integrated Circuit (IC): ULN2003a is an arrangement of seven (7) NPN
Darlington transistors capable of 500mA, 50V output.
v. Acrylonitrile Butadiene Styrene (ABS): This is an external force–resistance engineering
amorphous and thermoplastic polymer which is always used in auto parts, electronic housing,
consumer products, pipe fitting, and many more. It consists of three monomers, namely;
Acrylonitrile, Butadiene, and Styrene.

Page 13 of 18
 Journal of Engineering Technology (JET)
A Subsidiary of CRID Multidisciplinary Journal (CMIJ)

vi. Liquid Crystal Display (LCD): An Arduino LCD is a 16 X 2 flat-panel display or electronically
modulated optical device combined with polarizers that display each character in a 5 X 7-pixel
matrix.
vii. Wheel: This is a rounded object that spins on an axle fixed below a vehicle to enable its
movement with ease over a flat surface or ground 7 to 19.
viii. Input Pad: This is a device used to input data into the running program
ix. Two-ways Relay Module: The two-way relay module is a switch operating electrically which enables
the system to switch ON or OFF a circuit using voltage or current which is higher than what a
microcontroller could control.
x. Breadboard: This is a tool for holding components of a circuit and is also used in connecting them
xi. Alternating Current (AC) Fan (0.14A /220V-240V): This is a powered machine used to create a flow
of air
xii. Castor Swivel Wheel: This is a non-powered support wheel pivot table about a vertical axis that can
align itself independently to the current direction of movement (i.e. it can move in any direction). In
construction, the ABS was used in constructing the casing and a vacuuming component for the device.
A castor swivel wheel was used as the front wheel to enhance the movement and turning efficiency of
the device with two motors each with a wheel at the rear of the device to serve as the drive (i.e. to
produce the transmitting force). Since the motor is not of equal speed, a program was written to delay
each motor for some milliseconds in other to achieve a straight path movement of the device and also
to control the turning of the device. An alternating current (electricity) was used to power the device

Figure 5: Device Working Drawing

Page 14 of 18
 Journal of Engineering Technology (JET)
A Subsidiary of CRID Multidisciplinary Journal (CMIJ)

Figure 6: Plan View of Working Diagram

Figure 7: Side and Front View of Constructed Device

4 Results and discussion

The device was connected to the power source and switched ON, an identification code infused in the
programming was firstly displayed on the interface. Then the interface requesting the breath (which is the
length to be covered in each lap) was displayed. The interface for the width (to know the total number of
laps to be covered) of the room to be cleaned was then displayed after entering the breadth of the room.
After entering the breadth and width of the room, the device starts the cleaning process and continues to
count down the number of laps until the operation is completed. The device stops and displays ENDED
on the interface after completing the cleaning action.

Page 15 of 18
 Journal of Engineering Technology (JET)
A Subsidiary of CRID Multidisciplinary Journal (CMIJ)

4.1 Speed of the Device

14.74 + 15.34 + 13.96

Average time taken for 3.6m length = = 14.68 sec onds
3
But, the total number of laps to cover the whole area of the standard room

3.6 − 0.3
0.3

3.3
= 11laps
0.3

Total distance covered =11 laps x 0.3

= 3.3 w

14.74 + 15.34 + 13.96

Average time taken for 3.6m length = = 14.68 sec onds
3
Dis tan ce
Speed of the device =
Time taken
3.3
=
161.48
= 0.0204 m / s

4.2 Cleaning Efficiency

The device followed a rectangular pattern which produces the best result to perform the cleaning action in
a limited time. The cleaning efficiency was evaluated based on the standard room of length 3.6m by 3.6m

Area of s tan dard room = Lenght  Breadth

= 3.6  3.6
= 12.96 m 2
Area of s tan dard room cov ered = Lenght  Breadth
= 3.6  3.0
= 10.8 m 2
Area of the s tan ard room cov ered
Cleaning efficiency =  100
Area of the s tan dard room

10.8
Cleaning efficiency =  100
12.96

= 83.3 %

Page 16 of 18
 Journal of Engineering Technology (JET)
A Subsidiary of CRID Multidisciplinary Journal (CMIJ)

4.3 Coverage Efficiency

Coverage efficiency of the machine = (Output of the device)/(Input of the device) x100
(Total area covered by the device)/ (Total area of the standard room) x100
92 %
Hence, the calculated coverage efficiency of the device is 92 %

5. Conclusions
The autonomous vacuum cleaner was designed and constructed in form of a vehicle having three
wheels. The components were assembled for the controlling and automation of the developed
vacuum cleaner. The microcontroller on the Arduino board was programmed using equation Y =
0.603x3 – 3.558x2 – 9.917x – 3.222 generated by the developed mathematical analysis of a
rectangular path. The developed vacuum cleaner was mounted on the device to carry out
performance evaluations in a standard room. The cleaning efficiency of 83.3 % with an average
time of 161.48 secs was achieved for the programmed area of 3.6 m by 3 m and the coverage
efficiency of the machine based on the standard room was evaluated to be 92 %.

6. Recommendation
The following recommendations were made for the improvement of the performance or efficiency
of the cleaner; a stepper motor should be used instead of a DC motor for better efficiency and
controlled speed, and sensors should be incorporated into the design, being a new design (i.e. the
use of the mathematical model for position tracking) to enhance the performance and efficiency
of the device, the device should be powered using a DC power source (battery) instead of AC
power supply, the developed device mechanism may also be modified and use for other projects
like a laser cutter, automatic floor cleaner (composing both vacuuming and mopping operation)
and the arrangement of the vacuuming should be made in such a way that the reservoir is placed
in-between the sucking hose and the fan.

References
[1] R. J.Swarup, (2015). “Design and Fabrication of Automatic Floor Cleaner”, A Thesis for Department of Mechanical Engineering,
National Institute of Technology Rourkela, Orissa -769008, India.
[2] M. Kaur, and P.Abrol, (2014). “Design and Development of Floor Cleaner Robot (Automatic and Manual)”, International Journal of
Computer Applications (0975 – 8887) 97(19)32-48
[3] S. O. Ejiko, F. I.Aluko and E.A.Oladimeji, (2018a).“Development of A Robotic Pick-Up Material Handling Arm” International
Journal of Precious Engineering Research and Applications (IJPERA), 3(1)21–36
[4] T. J. Erinle, (2019). “CNC:Programming And Robotics” Course Material for The Federal Polytechnic, Ado Ekiti, Higher National
Diploma First Year, (Unpublished).
[5] K. Uman, F. B. Muhammad, H.Haseeb, U. S. Muhammad, F. K. Muhammad, B. Z. Abdul, and A. K. Q.Tahseen, (2015) . Smart
Floor Cleaning Robot (CLEAR) https://www.semanticscholar.org/paper/Smart-Floor-Cleaning-Robot-(-CLEAR-)-Khalid-
Baloch/1620c434739129c45333dc5e5669500ca28b8f16
[6] P. Ajay, A. V. John, P. B.Amrutha, S. T. Ann, P. Megha, (2017).“Implementation of an Automated Smart Robotic Floor Cleaner”,
International Journal of Advanced Research in Electrical, Electronics and Instrumentation Engineering Vol. 6, Issue 4, April 2017
ISSN (Online): 2278 – 8875
[7] V. Akanksha, C. Satyam, A. Shubham and P. Raghvendra, (2018).“Arduino based dry & wet automatic floor cleaner.” International
Journal of Engineering Technologies and Management Research, Vol. 5, Issue 2 pp 14-18. DOI: 10.5281/zenodo.1195838
[8] R. Rajaranjan, (2015). “Automation and Controlling of Automatic Floor Cleaner” A Thesis for Department of Mechanical
Engineering National Institute of Technology Rourkela Orissa -769008, India.
[9] Vacuum Cleaners (2019). “Types of Vacuum Cleaner” https://thesoothingair.com/types-of-vacuum-cleaner/
[10] Appliance Guide. (2019). “History of the Robotic Vacuum Cleaner” https://bestvacuumresource.com/history-of-the-robotic-vacuum-
cleaner
[11] S. O. Ejiko, S. O. Ejiko and A. O. Filani, (2021a): Mathematical Modeling: A Useful Tool For Engineering Research And Practice
International Journal of Mathematics Trends and Technology 67(9)46-60, September, 2021 doi:10.14445/22315373/IJMTT-
V67I9P506

Page 17 of 18
 Journal of Engineering Technology (JET)
A Subsidiary of CRID Multidisciplinary Journal (CMIJ)

[12] S. O. Ejiko, P. A. Ukachi and A. J. Abegunde (2020)”Mechanical Property (Tensile Strength) Evaluation Of Sand And Die
Casting Motorcycle Clutch Handles” Scholarly Journal Of Science Research And Essay Vol. 9(1), Pp. 1-5, Available Online
Http:// Www.Scholarly-Journals.Com/Sjsre Issn 2315-6147 © 2020 Scholarly-Journals
[13] S. O. Ejiko, O. E. Igbasanmi, and D. Oigbochie, (2015a), “Predicting Future Sales Output of 7up Bottling Company Plc
Depot Using Least Square Model”, A paper presented at the 10th Engineering Forum, School of Eng’g, The Federal
Polytechnic, Ado-Ekiti, 1(2015)159-165
[14] D. H. Oladebeye and S.O. Ejiko, (2007), “Predicting Future Sales Volume using Selected Forecasting Models (A Case Study of
Peugeot406 Nigeria Plant) ”, International Journal of Sciences, Engineering &Environmental Technology (IJOSEET),2ndEdition, pp.
186 -193.
[15] S. O. Ejiko, and B. Kareem, (2012), “Holistic Approached in Determining Multiple Regression Model for Lathe’s Operation
Sensitivity”, International Journal of Research and Advancement in Engineering Science, Centre for Advanced Training and Research
in association with MPYRAA Tiko, Buea, South West Region, Cameroon, ISSN 2276-8149 2(1)89 -98.
[16] B. Kareem, and S. O. Ejiko, (2013), “Machine Lathe Operational Sensitivity, Time and Cost”, SEEM Research and Development
Journal, The Federal Polytechnic, Ado-Ekiti, Ekiti State Nigeria, 2(1)72 -80
[17] D. H. Oladebeye and S. O. Ejiko, (2015), “Development of Fourier Series Forecasting Model For predicting the Sales Volume of
Selected Company”, International Institute for Science, Technology and Education, www.iiste.org ISSN: 2224-6069 5(1)22 -40.
[18] S. O. Ejiko, A. O. Filani, G. L.Onibon and O. D. Olakolegan, (2020b) “Carbohydrate based Optimization Model
Development for Biogas Production using Tripartite Mixture of Cowdung, Pigdung and Poultry Droping” World Journal of
Engineering Research and Technology (WJERT) 6(3)178-200.
[19] [S. O. Ejiko, P. K. Oke, I. F. Titiladunayo and T. I. Ogedengbe, (2015b), “Development of Solar Azimuth and Altitude Predictive
Models (A Case Study of Ado-Ekiti)”, SEEM Research and Development Journal, The Federal Polytechnic, Ado-Ekiti, Ekiti State
Nigeria, 4(1)116-128
[20] S. O. Ejiko, and D. Olaniyi, (2018): “Development of Regression Models for Appropriate Battery Banking Determination in Solar
Power System” IOSR Journal of Electrical and Electronics Engineering (IOSR-JEEE) 13(1)30-37 www.iosrjournals.org
[21] D. H. Oladebeye, S. O. Ejiko and M. Eta, (2020), “Matlab Modeling of Robotic Manipulative Movement For Effective
Welding Performance And Process Automation”, Journal of Engineering & Earth Sciences (JEES), 13(1)122-130.
[22] S. O. Ejiko, P. K. Oke, I. F. Titiladunayo and T. I. Ogedengbe, (2019), “Application of Mathematical Models and Sensors for
Optimization of Solar Energy Collection Using a Developed Tracking Device”, International Journal of Scientific Engineering and
Science http://ijses.com 3(1)22-30
[23] S. O. Ejiko, M. Ogunlowo and P. A. Ukachi, (2020c), “Overview of Solar Tracking Device and Development of Light Positioning
Detector” World Journal of Engineering Research and Technology (WJERT) 6(3)46-64.
[24] S. O. Ejiko, S. O. Ejiko and A. O. Filani, (2021b): Holistic Multiple Regression Models Development for Nigeria Azimuth Angle
Determination SSRG International Journal of Mechanical Engineering 8(9)1-10 doi:10.14445/23488360/IJME-V8I9P101
[25] S. O. Ejiko, J. T. Akinwamide and D. H. Oladebeye, (2020d), “Evaluation Of Ado-Ekiti Metropolis Sandy Soil Compressive Strength
Using Developed Hyperbolic Model”, Journal Of Engineering & Earth Sciences (JEES), 13(1)108-115.
[26] O. S. Adeoye, S. O. Ejiko, and O. O. Akinwole, (2021): Development of Sinusoidal Regression Model for Voltage Deviation
Evaluation in the Power Quality Assessment of Ado-Ekiti Metropolis SSRG International Journal of Electrical and Electronics
Engineering 8(8)16-20 doi:10.14445/23488379/IJEEE-V8I8P103
[27] A. Ahmed, (2014). “Road Vehicle Performance: Tractive Effort and Acceleration” as retrieved from
www.webpages.uidaho.edu/ahmed/ce322/class%20notes/Class-5%20the%20vehicle%20-%20vehicle%20tractive%20force.pdf
[28] D. J. Dunn, (2014). “Centripetal Acceleration and Centripetal Force’, Mechanical Principles, www.freestudy.co.uk.
[29] R. S. Khurmi, and J. K. Gupta, (2005). “Theory of Machines”, 14th ed.; S. Chand & Co. Ltd., New Dehli, ISBN 9788121925242

Page 18 of 18

View publication stats