RESEARCH PLAN Introduction Cleaning is an evidently exhausting task at home

RESEARCH PLAN
Introduction
Cleaning is an evidently exhausting task at home . Not everyone have time to do it, especially those people with disabilities who lack the capacity to do such activities because of limited movement and not to mention elders who are left at home and have to perform tiring works like sweeping and mapping floors. Looking deeper into these cases and analyzing their possible scenarios, the researchers decided to come up with a project that would lessen, if not resolve impacts of this issue. Aside from the acceptable performance of this project, its practicability has been raised to a higher standard due to its specialized function. This robot aims to clean by scrubbing floors without aid from anyone else in the household, including the disabled persons and the elders. It’s will use ultrasonic sensor which devised to aide the robot by avoiding the obstacles that may block its way. Its sensor will also guarantee that this robot will not leave any scratch on the walls. It will definitely be beneficial in saving strength and efforts since it is small and light, making it easier for anyone to lift it up.

This project will be used for cleaning, it will feature the necessary requirements needed for floor cleaning like water supply, scrubber, and liquid soap. It is very simple in construction and easy to operate when done. Anybody can operate this machine easily. The time taken for cleaning will be lesser than the usual time taken when a person is cleaning. The size of the machine will also be portable, so that we will have the ability to transfer it from one place to another place easily. This robot will help to clean the house’s floors by brushing with water and soap. It will be very easy to control since it will be using an ultrasonic sensor. The floor cleaner will be made simple, even the children can also operate it easily with safety once the product is done. Cleanliness is a practice of keeping your environment clean. A dirty house is a house full of germs, a clean house is a key for the health and the well-being of the entire family and the best protection against the spread of diseases is to keep the germs away. Having a clean environment has a massive impact in our health. Apart from it can avoid diseases caused by bacteria and germs, clean environments can influence person’s productivity, performance and mood too. The cleaner the house is, the more productive the owners or the people inside can be. It can uplift the mood and make the performance better. And even the cleanliness of floor plays an important part in having a clean environment.
Statement of the Problem
The researchers aimed to create a robot programmed to scrub and clean different types of floors. This study intended to answer the following questions
1.. How long will this robot effectively clean the following types of floor?
a. Cemented floor b. Wooden Floor
c. Tile ceramic floor
2.. How much soap and water needed to scrub and clean these floor?
a. Cemented floor b. Wooden Floor
c. Tile ceramic floor
2 . Which of the following floor, Roboscrub is most effective?
a. Cemented floor b. Wooden Floor
c. Tile ceramic floor
3. Will the sensor be effective in making the robot perform the task of scrubbing floors?
Hypothesis
Roboscrub controlled by ultrasonic sensor is effective in cleaning cemented floor.

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Significance of the Study
Cleaning materials are used in cleaning your surroundings. Its primary function is to clean with the help of a man. And sometimes it is really tiring and exhausting. Therefore, the researchers made this robot to help you in your very tiring life. This robot will be controlled by an ultrasonic sensor that is why you don’t need to do anything when this robot is cleaning. It is essential for those people who are busy and have no time in cleaning their house. This also helps senior citizens and persons with disabilities and those who are suffering from difficulty in bending like people who have scoliosis and osteoporosis.
This robot will help them clean and brush their floors without bending. This robot can also help people who are crippled and those people who easily get tired and this can make their work easier. Having a clean house is important for all of us whatever our situation and condition is. And this robot can give a lot of help for the cleanliness of our houses. In addition, Kumar (2015) said that the airtight construction of modern buildings often concentrates pollutants so that their levels may be higher inside than they are outside. With growing incidences of asthma, allergies, common airway infections and other hypersensitivity reactions, cleaning for health becomes imperative and greater research is needed in this area (Kumar, 2015).
Scope and Delimitation of the Study
Everything has limitations and even this robotic scrubber has one. Our robot may not move through rough floors because its wheels can break if it happens to clean the area. It is designed to and can only move properly on smooth floors. This robot might not be able clean large areas. It may only clean small areas because of its limited power that may cause you to change its batteries that can stop the robot from working. This robot may not clean the whole area properly specially those areas with covers and are tight. The robot can’t go through narrow places that explain why it doesn’t have the ability to clean those areas. And it will be made with a lot of recycled materials because of that it may not be that sturdy. Some of the materials like the wheels of the cleaner may not be that strong to last longer because of its small wheels. The board or chassis should not be wet because it may ruin the circuit. And because of its tininess, you may break the cleaner because of its random direction. It also can’t dry the floor faster.

Methodology
Phase 1: Preparation of the Materials
The components that we will need and requirements in building the body of the robot are Arduino Uno microcontroller board, a motor shield (Adafruit), an ultrasonic sensor (HC-SR04), a mini servo motor (Tower Mini Servo SG90), two DC motors, two wheels, a chassis plate (the researchers will use a plywood as a substitute), a universal or bovine wheel, a recycled holder for the ultrasonic sensor (HC-SR04), two nine volts battery, two battery buckle, jumper wires (male to male, male to female, and female to male), a button/switch, a recycled bottle, two hoses, an air pump with batteries, glue sticks, and soldering wire. And the hardware needed glue gun, soldering iron, Flat-head screwdriver and Philips-head screwdriver.

Phase 2: Making the Robot
This will be the process in making the robot. First, the researchers will drill two holes to the plywood. The plywood served as the chassis where the components would be placed. The researchers will cut one end of the male to male jumper wires then soldered it to the DC motors. Using a glue gun, the researchers will glue the DC motors to the back of the plywood. Next, they need to connect the wheels to the DC motors. Then, they should attach the Arduino in the front of the plywood. After that, they will attach the motor shield to the Arduino. The researchers will connect the wires to the Arduino and motor shield. The researches will solder two wires to the terminals and then connect them to M1 and M2. The researchers will also connect the mini servo motor to the servo 1 in the motor shield. After that they will attach the servo motor to the chassis and attach the ultrasonic sensor holder to servo and the ultrasonic sensor to servo. The DC motors will be connected to the motor shield.

For the connection of the sensor, the researchers will attach the mini servo motor to the plywood using a glue gun and connected the ultrasonic sensor. Then they will be using the female to female jumper wires and connect the sensor to the Arduino. The VCC will be connected to the Arduino +5V, then the GND will be connected to the Arduino Ground or GND, the Trig will be connected to the Arduino Analog 4 or A4, and the Echo will be connected to the Arduino Analog 5 or A5. Finally, for the power source, the researchers will connect the positive charge (+) of the battery to one leg of the button or switch, and will connect the wire from another leg of button to the positive charge of the motor shield while the negative charge (-) of battery was connected to the negative charge of motor shield. The researchers will also use another battery that separates the power supply for the Arduino and the motor shield. It will be placed next to the Arduino near the DC Jack where it would be plugged when wished to turn on. For the top part of the robot where the soap and water comes out, the researchers will be using a recycled container. They will make two holes one at the top of the container and another one where a hose is inserted lead to the outside of the container where the water comes out. They will use a glue gun to make sure that there was no air that would come out to the hole. They will also put a sponge and brush at the bottom of the chassis as the scrubber.
After finishing the body, the researchers will move to programming the robot. To start the programming, they will open the new Arduino IDE page and delete everything on the page. They will get the code, change it to match the specifications that they want to make the robot work properly and paste it or inserte it into the Arduino IDE page. Then, they will install the Arduino library, the AF_Motor Arduino library and then the NewPing Arduino library. To install the AF_Motor Arduino library they will download the library. They will uncompress the ZIP file onto their desktop. They will check if inside the AFMotor library folder there is the AFMotor.cpp and AFMotor.h files. They will place the AFMotor folder into the arduinosketchfolder/libraries folder. And finally they will rename the uncompressed folder AFMotor. To install the other libraries they will download the libraries from the internet then uncompressed the ZIP file onto their desktop. They will insert the downloaded libraries into the Arduino library folder. After all of the libraries are installed they will restart the Arduino IDE page to check if all of the libraries are inserted. Finally when it is all set they will verify the code that they made to see if there are any errors. If there are none they will proceed and upload the code to the Arduino microcontroller.

Part 3. Testing of Roboscrub Testing of efficacy will be done in 3 stages, answering the statement of the problem with the goal of analyzing the efficacy of the Roboscrub in terms of type of floor use, time needed in cleaning floors and the amount of cleaning materials like soap and water. To understand better Robscrub’s efficacy, the researchers decided to make use of a square floor with a measurement of 1 m X 1 m to have precise calculation of data.

Collection of Data and Result
The following tables will be use for the gathered data during testing. It is the intention of the researchers validate answers given on the statement of the problem
A. Types of floor use.

Three types of floor will be used for testing which will be done in five consecutive trials using the designed board. This board will be covered with the following different types of floor, first is a cemented floor which is the usual type of floor at home and in the offices to be followed by a wooden floor and last with a ceramic tile floor
Table 1. Cleaning Different Types of Floor based on Time ( seconds)
Types of floor 1st Trial 2nd Trial 3rd Trial 4th Trial 5th Trial Final
a. Cemented floor      
b. Wooden floor            
c. Tiled ceramic floor            
B. Amount of soap use.

Soap is important in cleaning floor. Researchers will use a 50 grams commercial powder based soap 50 grams dissolved in 1000 ml of water.
Table 2 Cleaning Different Types of Floor based on Soap Used (milliliters)
Types of floor 1st Trial 2nd Trial 3rd Trial 4th Trial 5th Trial Final
a. Cemented floor            
b. Wooden floor            
c. Tiled ceramic floor            
C. Amount of water use
In order to dissolve impurities and dirt on the floor water will be measured in terms of millimeters
Table 3 Cleaning Different Types of Floor based on water used (milliliters)
Types of floor 1st Trial 2nd Trial 3rd Trial 4th Trial 5th Trial Final
a. Cemented floor            
b. Wooden floor            
c. Tiled ceramic floor            
Bibliography
Kumar, Ranjit M. and Kapilan, N., 2015. “Design and Analysis of Manually Operated Floor Cleaning Machine” International Journal of Engineering Research and Technology (IJERT) ISSN: 2278-0181 Vol. 4 Issue 04, April 2015: pp 1-5 Accessed August 16, 2018.

Mert Arduino and Tech., 2016 “Obstacle Avoiding Robot” Last modified December 1, 2016.
Nastov, J., Tan R. and Dingle P., 2002. “The Study of Hard Floor Surface Cleaning Practices and the effects on Dust Particulate Levels in Eight Perthhomes” School of Environmental Science, Murdoch University, South Street Murdoch 6150, Western Australia, Australia. (2002): pp1-6 Accessed August 16, 2018.

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