Methodsofresearch FINAL

Chapter 1
Introduction
1.1 Background of the Study
Robots are technologies that have similar functions of humans. However, many of these are not
built on the human model. (i.e. industrial robots). Human can remotely control a robot over a
specific distance that is within the given range. This robot is a telepresence robot. It simulates the
capabilities that are physically present and experience.
(www.searchenterpriseai.techtarget.com/definition/robot, 2016)
On the other hand, there are stand-alone robots which is controlled by computers. Robot that has
built-in artificial intelligence (AI) system is the most advance example of these robots. It can
learn from its environment and build on its capabilities based on that knowledge.
Another one is the swarm robots or also known as insect robots. These work in fleet in number
up to thousands with all fleet are controlled by a single controller. The system used resembles the
colony of insects wherein the individual behaviors are simple but the fleet works in simplicity.
Robots are grouped according to their time frame in which they are widely used. First-generation
robots (1970s) are stationary, nonprogrammable, and electromechanical devices without sensors.
Second-generation robots (1980s) are already programmable and consists of sensors. Third-
generation robots (1990-present) are machines that can either be autonomous or insect type,
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stationary or mobile, with simple programming, and other advanced features. The next
generation of robots are still being researched and developed which includes features like AI,
self-replication, self-assembly, and nanoscale size.
Fire is the phenomenon of combustion manifested in light, flame and heat. It gives us advantages
(energy, heat, cleansing, etc.), at the same time, it can be dangerous when out of control. This is
the reason that firefighting occupation exists. Firefighting is a dangerous job wherein saving
lives is the top priority. The disaster gives casualties on both the firefighters and the fire victims.
In fact, in the Philippines, there are a total of 824 casualties in Fire-related accidents from 2010
to 2012 according to 12th National Convention on Statistics (NCS). 26.7% of these casualties
had been reported, 33.5% were deaths and 65.9% were injuries (5 casualties were unclassified).
These casualties are due to lack of technologies that helps the firefighters to put out the fire
immediately and save people being trapped inside a building.
(Epidemiological Assessment Of Fires In The Philippines: 2010-2012, Gloria Nenita Velasco
M.D.)
This urged the researches to develop a robotic firefighting device. This device can be an assistant
in a fire incident. There are narrow places which a fireman cannot fit into. Sometimes, there are
people trapped in these places. There are also some instances wherein there are toxic chemicals
in a fire incident which is another obstacle given to a firefighter. Furthermore, if the temperature
is too high, it is too risky for a firefighter. These limitations by a human being can be filled in by
this technology. This technology is an autonomous robot. It is a third-generation robot which is
programmable, has sensors, and automatically operates by itself depending on what it
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experiences in the environment. It carries different fire extinguishers which are scaled according
to its size. These various fire extinguishers are used depending on the type of fire is upfront.
Moreover, the device has sensors that can detect heat of fire, movements, and heat of a human
body. Lastly, this device is covered with a ceramic fiber that is fireproof.
1.2 Objectives
1.2.1 General Objective
The project intends to design and implement a robotic firefighting device using various
sensors with RF technology for fire detection and human detection.
1.2.2 Specific Objectives:
 To design a firefighter robot which comprises Arduino, RF controller, GPS, PIR and
heat sensors to implement different functions such as fire detection, and human
sensing for search and rescue.
 To develop an algorithm and control program on Arduino platform that will control
the operations of the prototype.
 To construct the interfacing circuit of the RF technology, GPS positioning, heat and
PIR sensors, built-in camera, fire extinguishers to be controlled by Arduino.
 To test the performance of the firefighter robot in terms of accuracy in an actual fire
drill.
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1.3 Scope and Delimitation
The main goal of this research is to design and construct a robotic firefighting vehicle that will
sense heat coming from the fire, detect any life form inside the building, and perform two modes
of transportation depending on the obstacle upfront. The device will use an RF technology
installed together with cameras that will sense heat and human bodies. An Arduino
microcontroller will be used in programming and controlling the vehicle itself. Furthermore, it
will use PIR sensors, heat detector, GPS tracker, radio frequency transmitter and receiver (RF
signals), servo motors and hexapod module that will help detect the fire and alive human and
also the obstacles or the path that should be taken by the device.
In this study, the researchers will first determine the design specifications of the proposed
prototype. Afterwards, the architecture and interfacing of the robot will be specified in the
Arduino microcontroller. At the same time, the programs and algorithms will be created in IDE
software for the mobility and functionality of the vehicle such as servo motor and hexapod
module. This will also consist of programming the sensors installed in the device, GPS as well as
RF transceiver to record the occurrence experienced by the device.
A series of test run of the device will be done by having it experience in an actual fire drill with
obstacles then documenting its performance according to inconsistencies, durability, and
reliability. The study will be conducted for 6 months. The limitations of this study are the
dependability of the device on the various sensors installed the device and the transmitting and
receiving of data in which there could occur some interference. Another weakness is having
precise movements of the device that depends on one‟s desire.
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1.4 Significance of the Study
The prototype of the robotic firefighting vehicle that will be produced at the end of this study
will create an impact on the development of fire-fighting system and monitoring of civilians in
fire emergency situations. The device will be able to help lessen the casualties during such
occurrences.
This study will mainly benefit the following:
 People present in actual fire
In fire emergency situations, people trapped inside the building will have an increased
survival rate due to the prototype‟s special functions such as human sensing and heat
detection. The human body will be detected even behind the walls, and then the robot will
rescue the human spotted.
 Firefighters
With the prototype autonomous firefighter robot, the safety of the firefighters will come at
hand. The robots will do the job of search-and-rescue and fire control in places that are
critical for firefighters to handle. This advancement adds up to the reduction of the number of
injuries caused by fires.
 Fire Departments
The implementation of the study will further improve the fire-fighting system of the Fire
Departments. Fire Departments will have a better performance in terms of response and
situation awareness.
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 Future researchers
Future researchers who are interested or in line of development of robotics in firefighting will
benefit most in this research. Since the study focuses on the implementation of design,
specifications of the prototype, the documentation and results that will be produced by the
study will create an impact to the future researchers. With this study, the future proponents
will be able to determine the variables and parameters, and then modify and optimize them.
Thus, this study is a good resource for the future researchers.
1.5 Definition of Terms
Firefighting Robots
-Robots are a mechanical design that is capable of performing complex activities. A fire
fighter robot is a machine that is capable of detecting and suppressing fire and has
specifications added on it such as extinguishers and different sensors.
(http://acm.poly.edu/~perc/projects/fire_fighter.html)
PIR Sensor
-Passive Infrared Sensor (PIR sensors) is small, and cheap electronic sensor which is
designed for detecting motions within its range. PIR sensor may be referred to
“Pyroelectric”, and “stay body sensor” and they are commonly found in devices.
(https://learn.adafruit.com/pir-passive-infrared-proximity-motion-sensor/how-pirs-work)
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Heat Detector
-A heat detector is a fire alarm device designed to respond when the convected thermal
energy increases the temperature of a heat sensitive element. The heat detector will
trigger whenever the temperature of the element changes.
(https://www.elprocus.com/heat-sensor-circuit-and-working-operation/)
Human Body Detection
-Human body detection, sometimes known as human sensing or human presence
detection consists of various technologies for identifying the presence of human body in a
particular area. Modern technologies that can help detect human bodies include acoustic
sensors, IR detectors, image recognition, and chemical sensors.
(https://pdfs.semanticscholar.org/16c8/76672f04442a47102c0f4424238f5e8164ea.pdf)
GPS
-Global Positioning System (GPS) is a radio-navigation system based on space which
consists of a number of networks and satellites for the use of monitoring and control.
GPS is a successful in navigation applications due to its accessible inexpensive
equipment.
(https://www.faa.gov/about/office_org/headquarters_offices/ato/service_units/techops/na
vservices/gnss/gps/)
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Classes of Fire
The type of fires is classified into the following:
 Class A - This class consists of combustible materials such as paper, wood, trash or
anything that leaves an ash. To extinguish Class A fires, water will work best.
 Class B – Class B Fires consist of flammable or combustible liquids, which include oil,
petrol, gasoline and other similar materials.
 Class C – Energized electrical fires are called Class C fires. It consists of flammable
gases such as carbon dioxide, hydrogen, butane and methane. They can be extinguished
by de-energizing the circuit and then using non-conductive extinguishing agent.
 Class D- This type of fire are combustible metals. Chemicals such as magnesium,
titanium, or potassium are among its common types. Dry powder is the only extinguisher
than can be used for Class D fires.
 Electrical Fires- This type of fire is produced by electrical equipment. When electrical
equipment is removed, the fire changes its class. Carbon Dioxide and dry powder can
extinguish electrical fires.
 Class F – Class F Fires are produced through cooking oils, grease or animal fat. Wet
chemicals are designed for use on Class F fires.
(http://surreyfire.co.uk/types-of-fire-extinguisher/)
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Dry Powder Extinguisher
-Dry powder are sometimes called ABC extinguishers as they can suppress class A, B
and C fires. Dry powder are most effective in flammable metals, but the chemical itself
has harmful risks to humans and environment.
Arduino
-Arduino is an open-source electronics platform that is used for creating electronics
projects. Arduino is composed of a programmable circuit board as its hardware and
Integrated Development Environment (IDE) as its software.
(https://learn.sparkfun.com/tutorials/what-is-an-arduino)
Hexapod
-Hexapod is a robot composed of six linear legs driven by DC motors. Hexapod robots
have a great flexibility and stability in terms of motion and motor control.
(https://www.quanser.com/products/hexapod/overview)
Servo Motors
-Servo Motors are self-contained motors that is used in applications such as robotics,
industrial applications and manufacturing. The servo motor has a high power and
efficiency and can be controlled by electrical pulse of PWM through the wires.
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Microlattice
-Microlattice is a one of the lightest material created which is composed of about 99
percent hollow. Microlattice is a metal made up of interconnected hollow tubes where the
overall structure is a hundred times lighter than styrofoams.
http://www.dailymail.co.uk/sciencetech/article-3270060/The-end-heavy-metal-Boeing-
shows-material-99-99-AIR-lead-new-generation-planes-spaceships.html
1.6 Hypotheses
 With all the sensors successfully interfaced in Arduino microcontroller, the robotic
firefighter device will operate its tasks accurately such as detecting and suppressing fires,
monitoring hazardous variables and also conducting search and rescue for trapped
victims.
 As the robotic firefighter reaches the full capabilities of the sensors, the data of its
environment will be processed, give the device accurate movements according to its
surroundings and produce the right amount of fire extinguisher to the fire, and the exact
location of the fire and the trapped victims will be sent to the human operator.
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CHAPTER 2
Review of Related Literature and Related Studies
2.1 Related Literature
2.1.1 Arduino Based Fire Fighting Robot
Arduino is open source computer hardware and single board microcontrollers. From the article, a
fire fighting robot was made using only simple materials and sensor module and an Arduino
UNO microprocessor. Although the firefighting robot made only have few components it can be
used as a basis for more complex robots for firefighting. The firefighting robot based in arduino
can move and locate the fire through the three sensors attached in the face of the robot and pump
out water to put the fire down. This firefighting robot was made for the purpose of making
people understand the underlying concepts of robotics with a real life application. Since in the
article the codes used for programming the robot are given and the procedure on how to build
and operate it. (B.Aswinth Raj)
Figure 2.1. DIY Arduino Based Fire Fighting Robot Project

(https://circuitdigest.com/microcontroller-projects/arduino-fire-fighting-robot-code)
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2.1.2 The Firefighting Robot
According to the article by Michael Dumiak (2008) in Popular Science website, the industrial-
design studio at the University of Magdeburg-Stendal was able to come up a firefighting robot.
In line with that, the device was name as OLE short term for Off-road Loescheinheit which
means off-road extinguishing apparatus in German. In addition, OLE size was based on a St.
Bernard dog and its appearance is similar to a bug. Armadillidium vulgare is the fireproof armor
of OLE. It was mention that this robot is a guardian.
OLE is an effective force of fire-controlling robots. It will be propelled by a hardened segments
legs rather than wheels, minimizing the contact with cinders and hot surface. Moreover, it has six
legs for stability and movement calculation. Also, Infrared sensors guide OLE to fires within half
a mile. Furthermore, it is protected by segment shell of heat-resistant ceramic-fiber compound.
Lastly, OLE would be able to carry enough water, foam or dry chemical agents to extinguish
hotspots.
Figure 2.2 OLE Firefighter
(https://www.popsci.com/scitech/article/2008-03/firefighting-robot)
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2.1.3 Types of fire extinguisher – all you need to know, explained in our simple
guide.
As stated in the article, there are five types of fire extinguishers for the different classes of fire.
Class A fires are the most common type of fire and caused by combustible materials, like wood,
paper and fabrics. Class B fire are caused by flammable liquids, Class C are due to flammable
gasses, Class D fire are caused by combustible metals, Class F fires are those caused by cooking
oils or the deep fat fryers. Lastly, there is the Electrical fire which is obviously caused by
electrical components or materials. To deal with these different classes of fire, fire extinguishers
have different versions. There are generally five variations of fire extinguishers and these are
water, foam, dry powder, CO2 and wet chemicals. As seen in the figure 1, dry powder fire
extinguishers are the best to have because of its versatility. (surreyfire.co.uk)
Figure 2.3 Fire Classes and Types of Extinguishers

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2.1.4 The Use of Robotics in Firefighting
The article of Eastern Kentucky University (2015) focuses on the different type of Robotic
Firefighting system and real-life advancements in firefighting robots. They defined that the
systems were designed with a specific task. Moreover, a firefighting system includes the duty of
analyzing and move towards fires, conducting search and rescue, monitoring hazardous variables
and the main task of fire control and suppression.
The first type of the firefighting system is fixed firefighting robotic systems, this systems are
usually used in populated and hazardous places for extinguishing fire. Another type of system is
the mobile robotic firefighting system; it is a form of remote controlled vehicles affixed with fire
suppression tools. Additionally, it is efficient in going in unsafe areas through sensors, RF,
camera and other technology.
Models of firefighting robot were mentioned in the article specifically, THOR, Fire Ox and TAF
(20). First is the THOR or the Tactical Hazardous Operations Robot, it was improved for the
U.S. Navy‟s Shipboard. Also, it is humanoid robot with the capability of crossing unstable
floorings on vessels as well as using hoses and opening doors. Next is the Fire Ox, it is the first
robotic firefighting vehicle that carries its own water tank. In addition, it suppresses fires, assists
in search and rescue and can handle dangerous materials. Lastly is the TAF (20) which means
Turbine Aided Firefighting Machine. This machine uses turbine as an innovative method in
suppressing fire. The machine is meant in small spaces or areas.
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2.1.5 MIT Device Can Detect People through Walls
As stated in a Consumer News and Business Channel (CNCB.com) article about a technology
that can detect people through walls was published by Robert Ferris (2015), there were
researchers in Massachusetts Institute of Technology (MIT) that developed a device that uses
wireless signals to detect silhouettes of people who are not within sight or on the other side of the
wall.
The device operates by transmitting Radio Frequency (RF) signals that passes through the wall
and bounces off the human body and comeback. In addition this signal will build an image of the
person that looks similar to heat-sensing imaging. In every point in time the devices will capture
multiple human figures snapshots. Furthermore, it combines the pictures through a
reconstruction algorithm that allows the device to recover the human on the other side of the
wall. Lastly, the device can distinguish different human posture. This device was made to have a
better quality of sensing movements of the person using RF signals.
Figure2.4 RF Signal Transceiver
(https://www.nbcnews.com/tech/tech-news/mit-device-can-detect-people-through-walls-n452926)
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2.1.6 Positioning IR Camera
Figure 2.5 IR Camera
IR camera or the so called Infrared camera is capable forming image by the use of infrared
radiation. This camera can see different temperature since it is also a thermo-graphic camera and
known as a thermal imaging camera. A positioning IR camera is capable of four IR objects at the
same time. This is also a flame sensor since it can track heat sources and is used to detect and
track flame positions. It is easy to install and to connect since it is compatible with common
microcontrollers such as Arduino. Data from the camera can be seen through a computer, once it
detects a heat signal it will automatically track it down. Whenever there are multiple heat or
flame signals the data are arranged accordingly to their detecting order. The figure 3 shows an
example of a small Positioning IR Camera that is very handy and can be installed in any device.
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2.1.7 Arduino UNO
Figure 2.6 Arduino UNO
Arduino Uno is a microcontroller board that is based on ATmega328P which is a high
performance microchip. It is basically a complete set of components that you can get in a one
board. Along with its components, Arduino uno is a very user-friendly microcontroller. This
microcontroller is easy to use and to understand because it already has everything that is needed
to support any program. Arduino is also used in communicating with a computer, any type of
device can interface with any computer using this microcontroller.
Arduino has its own software that simplifies the transfer of data from and to the Arduino board.
Arduino software also includes a wire library to simplify communication between computers.
With all the given features of Arduino uno, it is very easy to program devices using this
microcontroller. Arduino uno is an open source hardware and software, it can easily be modified
to suit any programs. This is the reason why Arduino is basically the first microcontroller to
choose when designing and constructing a programmable device.
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2.1.8 Fire Away! : A Smart, Servo-Controlled Fire Extinguisher
This is an automated fire extinguisher that uses servo motors and sensors in suppressing fire. It is
a project of students from Cornell University in New York. This smart fire extinguisher is
capable of pin pointing where the fire is and shoots water from its water reservoir through a
water nozzle suppressing the detected fire. The idea of the students for their project was initially
a toy sentry that fires at the intruder just like a NERF® gun toy, but since the students were not
allowed to build such things like weapons they decided to develop this servo controlled fire
extinguisher. The motivation to have a smart fire extinguisher came from the fact that water
sprinklers can also cause a lot of damage especially that sprinklers sprays water all over the place
even when the fire is only in a specific place.
The smart fire extinguisher uses servo motors to move the water nozzle at exactly where the fire
is. There are two (2) servo motor which controls the vertical and horizontal motion of the nozzle.
It also uses a water pump that enables the fire extinguisher to shoot water from it water reservoir.
An ATmega1284p microcontroller was used to manage and control all the data and serves as the
main computer of the fire extinguisher. There are also three sensors located above, below and at
the center of the water nozzle. The center sensor works as a guide to the shooting nozzle of the
smart fire extinguisher. On the other hand, both the sensor above and below the nozzle that
creates a field where the sensor can adjust and correct the position of the water nozzle.
As small as it is, this project truly have a big impact on autonomous fire extinguishing projects.
This projects serves as a basis of developing an accurate and efficient fire extinguishers that is
programmable and can work automatically, that also leads to a better fire systems. This project is
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a simple application of simple components that actually have a lot of potential for development
for future projects. The figure 2 shows that exact device created by the engineering students of
Cornell University.
Figure 27. Smart Servo-controlled Fire Extinguisher

(http://people.ece.cornell.edu/land/courses/ece4760/FinalProjects/f2013/tms245_dzx3/tms245_d
zx3/index.html)
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2.1.9 FIRE DETECTION USING ARDUINO AND FLAME SENSOR
Figure 1.8 Fire Detector Using Arduino
In the article of Bilal, it was stated that flame sensor is used to detect the fire or other light
sources which are in the range of wavelength from 760nm to 1100nm. It was also mention that
the module consists of a led indicator, potentiometer, Op-Amp circuit and an IR sensor.
Moreover, the features of the flame sensor were enumerated. It is specified that the operating of
the device is raging from 3.3 Volts to 3,5 Volts. Additionally, it produces analog and digital
output. LED that indicates whether there is a flame detected. Lastly, the device has flame
distance detection, as the flame intensify the distance will be increased.
(microcontrollerslab.com)
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2.1.10 Metal as light as Styrofoam and as strong as titanium — and 5 other amazing
new materials
Figure 2.9 Micro lattice

In the article of Jessica Hullinger, it was stated that aerospace company Boeing unveiled the
lightest metal ever also known as the Microllatice. In addition to that, microlattice is a mesh of
tinny metal tubes, each hollow on the inside, creating a material that's 99.99 percent air but still
incredibly robust. Furthermore, it so light that a block of it can be put at the top of a fluffy white
dandelion without disturbing the delicate seeds. Moreover, it was compared to a Styrofoam and it
is 100 times lighter but as stronger as titanium. In connection, Dr. Tobias Schaedler said that to
fabricate a lattice the trick is to interconnect hollow tubes with a wall thickness of 100
nanometers and should be 1,000 times thinner that the human hair. The microlattice can be
compressed and manipulated. Also, it has an extraordinary high energy absorption. Lastly, the
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possible application of the microlattice is to make use of it in building lighter planes and reduce
fuel costs. (theweek.com)
2.1.11 DRY CHEMICAL Fire Extinguishing System
Figure 2.10 Dry Chemical Extinguisher System

It the article of Yamato Protec Corporation, stated that a dry chemical is a powder that provides
resistance to packing and moisture absorption. Furthermore, it is composed of very small
particles of compound such as sodium bicarbonate, potassium bicarbonate, urea-based potassium
bicarbonate, or mono ammonium phosphate having particulate material supplemented by special
treatment. It is also mentioned that mechanism of fire extinguisher includes interruption of the
chain reaction sequence and heat absorption. Moreover, mono ammonium phosphate-base dry
chemical extinguisher is the most effective on fires combustibles such as wood or paper, and on
fires in flammable liquids. There are two types of fire suppression system that can be considered.
First is the flooding system, where a supply of dry chemical permanently connected to fixed
piping. On the other hand local application system can be classified into two and these are the
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area method and the volume method. The area method is applicable to superficial fire, and the
amount of extinguishing agent depends upon the hazardous area. While, the volume method is
applicable to cubical fire, and the amount of extinguishing agent depends upon the volume of the
object in danger. (www.yamatoprotec.co.jp)
2.1.12 PIR Sensor – Basics & Applications
Figure 2.11 PIR Sensor

In the blog of Tarun Agarwal, he defined PIR sensor and enumerate the applications and the
features of the sensor. In line with that, it is discussed that PIR sensor detects a human being
moving around within approximately 10 meters from the sensor. However, the range is usually 5
meters to 12 meters. The device is made up of pyro electric sensor that can detect levels of
infrared radiation. In addition to that, a passive infrared sensor detects the infrared light radiated
by a warm object. Furthermore, PIR sensors have seven areas of applications. In connection, in
can be used in an all outdoor lights, lift lobby, multi apartment complexes, staircases, for
basement or covered parking area, garden lights and for shopping malls. Lastly, the five features
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that were indicated in the blog were motion detection, dual element sensor with low noise and
high sensitivity, a supply voltage of 5 volts, adjustable delay time and a standard transistor-
transistor logic output. (www.elprocus.com)
2.2 Related Studies
2.2.1 Local Studies
2.2.1.1 Design and Construction of Fully Autonomous Fire Fighting Robot
This study is about a development of a robot that can detect and locate fire that also features an
environmental sensing and awareness. The robot uses a PIC16F628A micro-controller and PIR
sensor for detection of fire and visible light. This study was done by the Electronics and
Communications Engineering students of Mapua Institute of technology. The study focused on
the development of a fire detection and the alarming system of the robot since the robot had a
siren but did not have any fire extinguisher. Cadmium Sulfide (CdS) cells or the photo resistor
and passive infrared (PIR) sensors are used to detect whether there is a presence of fire. CdS
cells are used to determine light coming from the flame. Then the PIR sensors are used to
determine and examine the change in temperature and the exact location if the fire.
2.2.1.2 EPIDEMIOLOGICAL ASSESSMENT OF FIRES IN THE
PHILIPPINES, 2010-2012
Fires were a greater problem from 2010 to 2012 in terms of incurred casualties. However,
there is a need to validate whether the increases in the number of fire incidents and fire related
casualties were actual increases and not due to an increase in reporting to Health Emergency
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Alert Reporting System (HEARS). The disaster gives casualties on both the firefighters and the
fire victims. In fact, in the Philippines, there are a total of 824 casualties in Fire-related accidents
from 2010 to 2012 according to 12th National Convention on Statistics (NCS). 26.7% of these
casualties had been reported, 33.5% were deaths and 65.9% were injuries (5 casualties were
unclassified). These casualties are due to lack of technologies that helps the firefighters to put out
the fire immediately and save people being trapped inside a building. Also, the problem about
urban planning for Metro Manila is a big concern when it comes to fire prevention. This involves
not only the geographic locations of residential areas in Manila but also the lack of fire safety
equipment of local government units and the fire alert and response systems the government
should be working on.
2.2.2 Foreign Studies
2.2.2.1 ALIVE HUMAN BODY DETECTION AND TRACKING SYSTEM
USING AN AUTONOMUS PC CONTROLLED RESCUE ROBOT BY USING RF
TECHNOLOGY
The intention of this study is to embed software to design a PC tracking Robot which can
stumble on people and Radio Frequency transmits the signals wirelessly. Human detection is
likewise required in dangerous sectors like boilers, reactors wherein only authorized person can
enter. The stay body sensor on this venture is a unique sort of sensor called PIR sensor. It is a PC
managed Robot which has passive infrared sensor (PIR sensor) that is used to detect stay body
through measuring the temperature above absolute temperature that emits radiations which can
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be visible to the regular eye. This is done using an ultrasonic sensor that transmits the data then
the camera will focus on the human and it will be seen on the monitor. It does not have any
firefighting tools.
Figure 2.12 PC Controlled Rescue Robot
(https://circuitdigest.com/microcontroller-projects/arduino-fire-fighting-robot-code)
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2.3 Research Gap
ARTICLES FEATURES PROTOTYPE FEATURES

Off-road Loescheinheit -Hexapod
-GPS tracker -Legged Hexapod
-Dry Powder Fire -Wheels
Extinguisher -Switcher (legs to wheels;
-PIR sensors vice versa)
-Fireproof -PIR sensor
The Use of Robotics in -UV sensors -RF Sensor
Firefighting -IR sensors -GPS Tracker
-visual camera -Positioning IR Camera
-automated fire sprinklers -Automated Fire Extinguisher
Fire-Extinguishing Robot -MZ80 sensor -Dry powder reagent
Design by Using Arduino -fan fire extinguisher (Available for class A, B, C,
-Bluetooth HC-05 D)
-Arduino Uno -Fireproof Casing
-Water tank and sprinklers -Cooling System
Alive Human Detection and -PC controlled Robot -Arduino Uno
Tracking System Using an -Passive Infrared (PIR) sensor -Microcontroller
Autonomous PC Controlled -No Firefighting equipment
Rescue Robot by Using RF
Technology
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2.4 Summary of Related Literature and Studies
Robot is machine that is programmable by computer that can carry out a series of actions
automatically. In line with that, the program is consisting of commands that control the robot
using microcontroller that is embedded to the machine. In connection to that, the Arduino Based
Robots prove that using Arduino microcontrollers can be used as the Central Processing Unit
(CPU). Since, a firefighting robot should be able to process multiple data and instructions
simultaneously to function properly. Furthermore, a firefighting robot is defined as machine that
can track down and subdue fire. Furthermore, the machine‟s main function includes the duty of
analyzing and move towards fires, conducting search and rescue, monitoring hazardous
variables. In the year 2008 in Germany a firefighting robot was invented to withstand fire using a
fire proof shell and to minimize the contact to cinders using hardened segments legs. Also, it
carries enough water, foam or dry chemical agents to extinguish. There are several types of
extinguisher for different class of fires. Moreover, in the given figure that was mentioned in the
article about fire extinguisher it shows that dry powder is the best type of extinguisher to equip
firefighter robots for its versatility.
Through the advancement of technology, RF signals with heat sensors are used to detect
human through walls. This technology can help increase the efficiency of the firefighting robot
to suppress fire and to detect victims that are trapped.
28
CHAPTER 3
Methodology
Firefighting is one of the most dangerous job. Countless casualties of fire related incidents have
been recorded. This number of casualties comes from the fire victims as well as the firefighters.
This urged the group to come up with the study of a robotic firefighter that do a more accurate
job. The Robotic Firefighter is an automated technology that thinks like a real human firefighter.
Since this is a device that provides more accurate work, there are specifications that will help the
firefighting and rescue more efficient. This technology can also be swarm robots. These are
robots that are like insects which perform the same job. Since the time and budget of the
researchers are only limited for a prototype, the group will only try to make one sample. The
Robotic Firefighting device will be thoroughly discussed in this chapter.
3.1 Conceptual and Theoretical Framework of the System
HEAT DETECTION VERIFICATION ALERT HUMAN

OPERATOR
• FIRE • RECOGNITION • MONITORING

DETECTION OF THE AND
• HUMAN DEVICE CONRTOL
BODY HEAT
DETECTION
Figure 3.1: Block Diagram of the Basic Process of the Device
29
Figure 3.1 shows the block diagram of the system of the Robotic Firefighting device. The block
diagram explains the concept of the system of the device. The first block explains the heat
detection. It is the first step of the process wherein the robotic firefighting vehicle detects the fire
as well as the human‟s body heat. It uses Passive Infrared Sensors for detecting the width of the
fire which is verified by the firefighting device. On the other hand, a Radio Frequency
technology is used to detect the human body heat through the walls. The technology sends RF
signals then it goes back to the device wherein the image of heat will be recognized by the
Robotic Firefighting device.
This technology is an autonomous robot. Meaning, it has a self-control system. This system is
programmed on how the device should react on what parameters have been detected by the
sensors attached to it. This device mainly reacts in two ways. One is if the data detected is fire
another it is human body heat. For the first one, whenever fire is sensed by the device, it will first
calculate the width of the fire then use the fire extinguisher attached to it. This fire extinguisher
contains dry powder that is effective for Class A, B, C, and D of fire. On the other hand, if the
human body heat is detected, the device will immediately send the information to the human
operator.
The Robotic Firefighting device is connected wirelessly to the human operator. These signals
that have been verified of the robot will be seen live on the monitor held by the human operator.
The device also contains a GPS tracking device. This is for locating where the device is moving
towards to.
30
3.2 Block Diagram
Figure 3.2 Block Diagram of Firefighting Robot Device
This block diagram in the Figure 3.2 above shows the general form of the main components of
the firefighting robot, it simplifies the complex system and process of each unit working in a
group. The microcontroller is basically the Central Processing Unit of the machine, it process all
the inputted data and decide what course of actions should be made. The main battery is the one
supplying power to the robot whenever it operates, it makes the CPU, input unit, output unit and
GPS run. A battery back-up is installed to have a substitute power supply when the main battery
31
runs out of power or not functioning. PIR sensors and RF transceivers are the input unit of the
system. The PIR sensors are used as the fire detector, while the RF transceiver is the one used to
locate and trace heat signatures produced by possible trapped victims. The data gathered by the
input unit are processed in the microcontroller which will give commands to the output unit of
the robot. Servo motor and hexapod module are the output unit which the robot which are
responsible for the mobilization of the robot. Servo motor is used to operate the wheels of the
robot and the one that operates the six legs of the robot is the hexapod module. Lastly, GPS
tracking device is installed in the robot to be able to locate where the robot is and is capable of
working even when the robot is not functioning.
3.3 Design Considerations
3.3.1 Microcontroller
Figure 3.3 Arduino Microcontroller
32
Robot is mechanism that is programmable by computer and capable of carrying out a series of
actions automatically. In connection, the database includes the commands or instructions that
control the robot using microcontroller that is embedded to the device. Subsequently, the
Arduino Based Robots prove that using Arduino microcontrollers can be used as the Central
Processing Unit (CPU).
The Arduino Microcontroller serves as the brain of the firefighting robot. Furthermore, the data
is processed by the microcontroller simultaneously. In line with that, the statistics that are being
gathered from different sensors will administered by Arduino. Figure 3.3 Shows component such
as the ports, pins, USB portal, reset and the microcontroller in the Arduino microcontroller. The
programs are executed along with the gathered information. Then, proceeds on commanding the
machine to do the specific task that is appropriate or satisfy the condition to operate.
(forum.arduino.cc)
3.3.2 Servo Motors
Figure 3.4 Servo Motor
33
Figure 3.4 illustrates the actual look of servo motors. According to the website electronicshub, a
servo motor is a linear or rotating actuator that imparts rapid precision position manipulation for
closed-loop position control applications. Furthermore, servo motor‟s sizes are small but it is
energy efficient. Moreover, this attribute of a servo motor is the reason why it is used to
maneuver remote-controlled or radio-controlled toy cars and robots. A firefighting robot must
have a device that will help it to move to the needed location and this is servo motor. Also, servo
motors are responsible for maneuvering the firefighting robot. Lastly, servo motor is used to
operate the wheels of the robot and the one that operates the six legs of the robot is the hexapod
module.(www.electronicshub.org)
3.3.3 Hexapod Module
Figure 3.5 Six-Legged Robot

Figure 3.5 displays a six-legged robot also known as Hexapod. In line with that, hexapod is a six-
legged arthropod belonging to the insect class Hexapoda. It came from the Greek word hexapous
where hex means six and pous means foot.
34
A hexapod robot has several legs and it has a great attribute of flexibility in how it can move.
Furthermore, if some legs are disabled it will still capable of moving. Also, other legs are design
to reach new foot placements. Moreover, the hexapod is programmed to move around a smooth
surface and surrounding with obstacles. A hexapod can be improved to carry out specific tasks
like as a firefighting robot using hexapod. With these features that are added in a firefighting
robot make it easier to monitor and locate victims that are trapped during a fire. Lastly, the
characteristic of the robot will be a great help to extinguish and control fire quickly.
(www.dictionary.com) ; (www.omicsonline.org)
3.3.4 Passive InfraRed (PIR) Sensors
Figure 3.6 PIR sensor
Passive InfraRed Sensors (PIR sensors) is the device that is used for detecting heat. It has two
slots in which are made of a special material that is sensitive to IR. The lens here does not really
see the distance of the detecting area, the two slots are the ones responsible for the distance
which are basically the sensitivity of the sensor. When both slots receive the same amount of IR,
the ambient amount radiated from the environment, means that the sensor is idle. It works like
35
when a warm object passes by, only half of the PIR sensor is intercepted which causes a positive
differential change between two halves. When this warm object leaves the area of sensing, a
negative differential change is generated. These changed pulses are the signals being detected.
https://learn.adafruit.com/pir-passive-infrared-proximity-motion-sensor/how-pirs-work
Figure 3.7 Determining the Width of the Fire using PIR sensor
To determine the width of the fire, the firefighting robot will scan the fire. The lens of the PIR
sensors will partially rotate at forty-five degrees to its left and right view as shown in Figure 3.7.
By means of the automatic servomotor installed to it, the lens of the PIR sensor will
automatically adjusts. With the use of the Pythagorean theorem, the width which is the opposite
side of the angle can be determined given the angle itself (45 degrees) and the adjacent side
which is also the distance as indicated in Figure 3.7. The formula in computing for the width of
the fire is:
36
Width of fire = length of the adjacent side(distance) x tanθ
Note that this is only half of the total width of fire. Hence, to get the total width of fire is to
multiply the obtained value by two. These calculations are programmed and is calculated within
the microcontroller.
3.3.5 RF Signal Sensor
Radio Frequency signal sensor is another device used for detecting warm bodies. This time, this
device can detect through the walls. It is designed by the researchers at Massachusetts Institute of
Technology (MIT). The device can trace any movements through a wall with ninety percent
accuracy. The machine sends RF signals that bounce off a person. Then an image of the person,
that looks like heat-sensing imaging is formed.
3.3.6 GPS Tracker
Figure 3.8 GPS

Global Positioning System (GPS) is a worldwide radio-navigation system. GPS tracking is a
method of working out exactly where a specific thing is. A fixed GPS tracking system unit will
37
be placed in the firefighting robot. This is to monitor the movements of the automated robot, on
what is it currently doing as well as the data it receives from the fire and human body heat
detector. Parameters like location, object‟s speed, time and direction are the main information
being send through the GPS. As the incident is currently ongoing, this system will be gathering
data live. Meaning that there is going to be an update on the device every seconds/minutes.
3.3.7 Extinguisher
Figure 3.9 Dry Powder Extinguisher

Figure 3.9 shows the ABC extinguisher or the Dry Powder Extinguisher. In addition, it is a
multi-purpose fire extinguisher and can be used on Classes A, B & C fires. Moreover, they can
also be used on electrical fires but leave a residue that may be harmful to sensitive electronics.
Also, it is the most versatile among all types of extinguisher. Firefighting robot is more efficient
if it can minimize the time of suppressing the fire. In this case dry powder extinguisher is the
best choice to include in a firefighting robot for the reason that it can subdue different classes of
fire. This will lessen the program or the commands that will be taken by the machine. Instead of
having a multiple extinguisher in one robot it is more effective and organized if there is only one
38
material that is used to control fire. Lastly, having more choices in suppressing fire makes the
flow of the system more complex.
(www.fireandsafetycentre.co.uk)
3.4 Flowchart
Figure 3.10 System Flowchart
39
Figure 3.10 represents the algorithm flow of the firefighting robot system. First, the firefighting
robot will move forward. Next, while moving forward the sensors will gather data that are
needed to perform the conditions. The first condition to be tested by the machine after gathering
information is to evaluate the width of the fire or detect human heat. If the condition is not
satisfied the robot will continue to move forward and if there is an obstacle or object in front the
firefighting robot will change forms whether from wheeled robot to legged robot or legged robot
to wheeled robot. After changing form the robot will continue to move forward until it detects a
fire or a victim. On the other hand if the first condition is satisfied already the robot will stop to
move forward and will check the temperature that was sensed is greater than the 100 degree
Celsius. If the condition was satisfied the robot will activate the extinguisher and continue to
move forward. However if it does not satisfy the condition temperature is >= 100 the robot will
send the GPS to the fire and rescue team. Lastly, it will test the temperature again if it is equal to
the room temperature which is 25 degrees Celsius. If the condition was not satisfied the action to
be taken by the robot is starting form beginning. However, when the situation is satisfied the
program will end.
3.4 Specifications
I. Travelling Equipment
HEXAPOD
Width 35.6cm
Length 35.6cm
Height 19.1cm
Mass 1,700 kg
WHEELS
Diameter 8.255 cm
Weight 60 grams
Wheel leg (length) 15.24cm
Wheel leg (Mass) 34 grams
40
II. Wireless Devices
PIR SENSORS
Input Voltage 4V to 12 V (5V recommended)
Output Voltage High/Low (3.3V TTL)
Cover Distance 120° and 7 meters
Power Consumption 65mA
Operating Temperature -20°C to 80°C
Storage Temperature 40°C to 80°C
Sensor Type Dual Element
Responsivity Min (3.2xv/w)
7-14mm, 1Hz, 100°C
Noise 20uVp-p up to 50V
25°C, 0.4-10Hz
Effect Voltage 0.2-1.5
Window Material Silicon, coated
Spectral Range Transmission>30% average
T<0.1%
7-14mm<
RF SENSORS
Measurement Update Rate 0.1 Hz – 2 Hz
Operating Frequency Range 0.4 to 2.5 GHz
Soot Measurement Accuracy ±0.5 g/L
Ash Measurement Accuracy Based on what is needed
Supply Voltage Range 6.5V to 36V
Max. Current at 25°C 500 mA
Mass Sensor Module: 175g
Antenna: 125g
Antenna body length 150mm
Connector Hirschmann, 4Pin inline
Number of Antennas 2
Envelope (Sensor Module) 131 x 107 x 27.4 mm
TRACTIVE GPS
Dimensions 51mm x 41mm x 15mm
(2.0in x 1.6in x 0.6in)
Mass 35g
1.23oz
Battery Lifetime Up to 6 weeks
Available Global Yes
Live Tracking Interval 2-3 seconds
Virtual Fence Yes
41
III. Fire Extinguisher
Automated Fire Extinguisher
A. Fire Extinguisher
Capacity 1 kg
Diameter 86.5 mm
Height 340 mm
Empty Weight 1.3 kg
Filled Weight 2.3 kg
Operating Temperature -20 °C to +55 °C
Working Pressure At 27 °C 15 bar
Maximum Service Pressure 1.8 MPa
Test Pressure 35 bar
Average Discharge Time 8s
Discharge Range (mts) <2
Fire Rating 1A, 8B
B. Servo Motor
Mass 51g
Torque 9 kg
Speed 0.2 sec/60deg
C. Dry Chemical Agent
1. Sodium Bicarbonate Based Dry Chemical (NaHCO3)
Class A Sometimes
Class B Yes
Class C Yes
Class D Yes
Class E N/A
2. Potassium Bicarbonate Dry Chemical (KHCO3)
Class A Sometimes
Class B Yes
Class C Yes
Class D Yes
Class E N/A
IV. Camera (Positioning IR Camera)

Navigation IR Transmitters
Operating Voltage 3.3V to 5V
Interface 12C
Detecting Distance 0 – 3m
Horizontal Detecting Angle 33°
Vertical Detecting Angle 23°
Dimensions 32mm x 16mm
(1.26x0.63)
Resolution 128x96 pixel
with hardware image processing
42
can track up to four objects (IR emitting or
reflecting objects)
V. Arduino Uno
Microcontroller ATmega328P – 8 bit AVR family
microcontroller
Operating Voltage 5V
Recommended Input Voltage 7-12V
Input Voltage Limits 6-20V
Analog Input Pins 6 (A0 – A5)
Digital I/O Pins 14 (Out of which 6 provide PWM output)
DC Current on I/O Pins 40 mA
DC Current on 3.3v Pins 50 mA
Flash Memory 32 KB (0.5 KB is used for Bootloader)
SRAM 2 KB
EEPROM 1 KB
Frequency (Clock Speed) 16 MHz
Table 3.1 Specifications
3.5 Codes
3.5.1 CODES for HEXAPOD
#include <Servo.h>
//create servo objects, comments are aliases for short-hand notation
Servo hipFrontRight; //FR
Servo hipMiddleRight; //MR
Servo hipRearRight; //RR
Servo hipFrontLeft; //FL
Servo hipMiddleLeft; //ML
Servo hipRearLeft; //RL
Servo kneeFrontRight; //FR
Servo kneeMiddleRight; //MR
Servo kneeRearRight; //RR
43
Servo kneeFrontLeft; //FL
Servo kneeMiddleLeft; //ML
Servo kneeRearLeft; //RL
//software switch for convenience - if !1, then the loop routine is empty
int sw = 0;
//define the initial range and position of knees and hips
//polarity or ranges different for sides because of the way the servos
//are placed on the body
int hipRange = 10;
int kneeRange = 20;
int FRHipRange = 10;
int MRHipRange = 10;
int RRHipRange = 10;
int FLhipRange = 10;
int MLHipRange = 10;
int RLHipRange = 10;
int FRKneeRange = 20;
int MRKneeRange = 20;
int RRKneeRange = 20;
int FLKneeRange = 20;
int MLKneeRange = 20;
int RLKneeRange = 20;
int FRInitHip = 90;
int MRInitHip = 90;
44
int RRInitHip = 90;
int FLInitHip = 90;
int MLInitHip = 90;
int RLInitHip = 90;
int FRInitKnee = 90;
int MRInitKnee = 90;
int RRInitKnee = 90;
int FLInitKnee = 90;
int MLInitKnee = 90;
int RLInitKnee = 90;
//define speed of movement - smaller value gives higher speed
int movSpeed = 15;
//generic counter variable
int i = 0;
void setup()
//attach servos to pins on the board
hipFrontRight.attach(1);
hipMiddleRight.attach(2);
hipRearRight.attach(3);
hipFrontLeft.attach(4);
hipMiddleLeft.attach(5);
hipRearLeft.attach(6);
kneeFrontRight.attach(7);
45
kneeMiddleRight.attach(8);
kneeRearRight.attach(9);
kneeFrontLeft.attach(10);
kneeMiddleLeft.attach(11);
kneeRearLeft.attach(12);
//initialise servos to their initial positions
hipFrontRight.write(FRInitHip);
hipMiddleRight.write(MRInitHip);
hipRearRight.write(RRInitHip);
hipFrontLeft.write(FLInitHip);
hipMiddleLeft.write(MLInitHip);
hipRearLeft.write(RLInitHip);
kneeFrontRight.write(FRInitKnee);
kneeMiddleRight.write(MRInitKnee);
kneeRearRight.write(RRInitKnee);
kneeFrontLeft.write(FLInitKnee);
kneeMiddleLeft.write(MLInitKnee);
kneeRearLeft.write(RLInitKnee);
if (sw == 0)
for (i = 0; i <= kneeRange; i++) //lift knees FR, RR, ML to initialise motion
kneeFrontRight.write(FRInitKnee - i);
kneeRearRight.write(RRInitKnee - i);
kneeMiddleLeft.write(MLInitKnee + i);
46
delay(movSpeed);
void loop()
if (sw == 1)
for (i = 0; i <= hipRange; i++) //hips FR, RR, ML go forwards, hips FL, RL, MR go
backwards
hipFrontRight.write(FRInitHip + i);
hipRearRight.write(RRInitHip + i);
hipMiddleLeft.write(MLInitHip - i);
hipMiddleRight.write(MRInitHip - i);
hipRearLeft.write(RLInitHip + i);
hipFrontLeft.write(FLInitHip + i);
delay(movSpeed);
for (i = 0; i <= kneeRange; i++) //lower knees FR, RR, ML
kneeFrontRight.write(FRInitKnee - kneeRange + i);
kneeRearRight.write(RRInitKnee - kneeRange + i);
kneeMiddleLeft.write(MLInitKnee + kneeRange - i);
delay(movSpeed);
47
}
for (i = 0; i <= kneeRange; i++) //lift knees MR, FL, RL
kneeMiddleRight.write(MRInitKnee - i);
kneeFrontLeft.write(FLInitKnee + i);
kneeRearLeft.write(RLInitKnee + i);
delay(movSpeed);
for (i = 0; i <= hipRange; i++) //all hips return to initial position
hipFrontRight.write(FRInitHip + hipRange - i);
hipRearRight.write(RRInitHip + hipRange - i);
hipMiddleLeft.write(MLInitHip - hipRange + i);
hipMiddleRight.write(MRInitHip - hipRange + i);
hipRearLeft.write(RLInitHip + hipRange - i);
hipFrontLeft.write(FLInitHip + hipRange - i);
delay(movSpeed);
for (i = 0; i <= hipRange; i++) //hips FR, RR, ML go backwards, hips MR, FL, RL go
forwards
hipMiddleRight.write(MRInitHip + i);
hipRearLeft.write(RLInitHip - i);
hipFrontLeft.write(FLInitHip - i);
hipFrontRight.write(FRInitHip - i);
48
hipRearRight.write(RRInitHip - i);
hipMiddleLeft.write(MLInitHip + i);
delay(movSpeed);
for (i = 0; i <= kneeRange; i++) //lower knees FL, RL, MR
kneeMiddleRight.write(MRInitKnee - kneeRange + i);
kneeRearLeft.write(RLInitKnee + kneeRange - i);
kneeFrontLeft.write(FLInitKnee + kneeRange - i);
delay(movSpeed);
for (i = 0; i <= kneeRange; i++) //lift knees ML, FR, RR
delay(movSpeed);
hipMiddleRight.write(MRInitHip + hipRange - i);
hipRearLeft.write(RLInitHip - hipRange + i);
hipFrontLeft.write(FLInitHip - hipRange + i);
hipFrontRight.write(FRInitHip - hipRange + i);
hipRearRight.write(RRInitHip - hipRange + i);
49
hipMiddleLeft.write(MLInitHip + hipRange - i);
delay(movSpeed);
3.5.2 CODES for TRANSCEIVER
Transmitter Code
#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
#define led 12
RF24 radio(7, 8); // CE, CSN
const byte addresses[][6] = {"00001", "00002"};
boolean buttonState = 0;
void setup() {
pinMode(12, OUTPUT);
radio.begin();
radio.openWritingPipe(addresses[1]); // 00001
radio.openReadingPipe(1, addresses[0]); // 00002
radio.setPALevel(RF24_PA_MIN);
void loop() {
delay(5);
radio.stopListening();
int potValue = analogRead(A0);
50
int angleValue = map(potValue, 0, 1023, 0, 180);
radio.write(&angleValue, sizeof(angleValue));
delay(5);
radio.startListening();
while (!radio.available());
radio.read(&buttonState, sizeof(buttonState));
if (buttonState == HIGH) {
digitalWrite(led, HIGH);
else {
digitalWrite(led, LOW);
Receiver Code
#include <SPI.h>
#include <RF24.h>
#include <Servo.h>
#define button 4
Servo myServo;
void setup() {
pinMode(button, INPUT);
51
myServo.attach(5);
radio.begin();
void loop() {
delay(5);
if ( radio.available()) {
while (radio.available()) {
int angleV = 0;
radio.read(&angleV, sizeof(angleV));
myServo.write(angleV);
delay(5);
buttonState = digitalRead(button);
radio.write(&buttonState, sizeof(buttonState));
3.5.3 FLAME DETECTOR CODE
#include<SoftwareSerial.h>
int sensorPin = A0; // select the input pin for the LDR
int sensorValue = 0; // variable to store the value coming from the sensor
52
int led = 9; // Output pin for LED
int buzzer = 12; // Output pin for Buzzer
void setup() {
// declare the ledPin and buzzer as an OUTPUT:
pinMode(led, OUTPUT);
pinMode(buzzer,OUTPUT);
Serial.begin(9600);
void loop()
Serial.println("Welcome to TechPonder Flame Sensor Tutorial");
sensorValue = analogRead(sensorPin);
Serial.println(sensorValue);
if (sensorValue < 100)
Serial.println("Fire Detected");
Serial.println("LED on");
digitalWrite(led,HIGH);
digitalWrite(buzzer,HIGH);
delay(1000);
digitalWrite(led,LOW);
digitalWrite(buzzer,LOW);
delay(sensorValue);
53
3.5.4 CODE for EXTINGUISHER ACTIVATION
float temp;
int tempPin = 0;
int pin2 = 2;
int pin3 = 3;
int pin4 = 4;
int pin5 = 5;
int pin7 = 7;
int pin8 = 8;
int pin9 = 9;
int pin10 = 10;
int pin11 = 11;
int pin12 = 12;
int pin13 = 13;
void setup()
pinMode(pin2, OUTPUT);
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Serial.begin(9600);
void loop()
temp = analogRead(tempPin);
temp = (5.0 * temp * 100.0)/1024.0;
Serial.print(temp);
Serial.println();
if(temp>=25.00){digitalWrite(pin2,HIGH);}
if(temp>=50.00){digitalWrite(pin8,HIGH);
if(temp>75.00){digitalWrite(pin13,HIGH);}
delay(4000);
digitalWrite(pin10,LOW);
55
delay(1);
3.6 Output Prototype Model
Figure 3.11 Prototype
56
3.7 Gantt Chart
Month 1 Month 2 Month 3 Month 4 Month 5 Month 6
Activity Week Week Week Week Week Week Week Week Week Week Week Week
1-2 2-4 5-6 7-8 9-10 11-12 13-14 15-16 17-18 19-20 21-22 23-24
Brainstorming
and Data
Gathering
Design
Specifications
Architecture
and Interface
Final Detail
Design
Estimation of
Cost
Project
Creation and
Development
Test Plan
Testing
And Quality
Assessment
Documentation
TABLE 3.2 Gantt Chart
____ ____ ____ ____

Legend: Phase 1 Phase 2 Phase 3 Phase 4
57
Phase 1:
The initial phase is allotted for the preparation of the study. The brainstorming and collection of
data span for the study span for 2 weeks. Afterwards, the prototype is proposed with its primary
specifications. In the first two weeks of Month 2, the architecture and interface of the prototype
is established.
Phase 2:
The second phase started with finalizing the details of the design. Arduino microcontroller is
used as the CPU of the prototype, along with different sensors powered by a power supply and
additional battery connected. In weeks 9-10 of Month 3, the cost of the following materials and
equipment will be estimated. The creation and development of the project will last about five
weeks. Simultaneously, documentation of data also starts in this phase up to fourth phase.
Phase 3:
The third phase consists of preparation for test plan such as test procedures, and data gathering.
In weeks 18-20, the testing of the robotic firefighter device will be executed in an actual fire
drill. Results will be documented and assessed and then further testing will be undertaken within
these 3 weeks.
Phase 4:
The last phase will consist of the final documentation. In this stage, the findings, conclusion and
recommendations of the study will be finalized.
58
3.8 Testing Procedure
1. Place the automated

robotic firefighting
vehicle at the starting
point of the fire drill and
turn on the device.
2. Monitor the current situation

it is facing using the camera and
the GPS tracker.
3. Record the parameters like

distance, speed, and
acceleration from the data of the
GPS tracker and other
parameters like time of
detection and time of
suppressing fire that will be
taken from the recorded video.
4. Repeat steps 2 and 3 until the

device finishes all positions (A-
D). Use qualitative method for
the computation of statistical
values of the gathered data.
5. END
59
3.9 Testing
The robot is to be put up into a test to measure its overall performance and efficiency. There will
be two rounds of testing, first is a test in a wall free room and the second test is done in a room
complete with concrete walls. The test should be made during night time or in a dark room to
avoid interference of heat coming from either the sun or any light source. The firefighting robot
should be able to detect fire as quick as possible and be able to locate the fire and suppress it
with the use of dry powder extinguisher. Observation of the actions the robot make should be
taken consideration. The battery lifespan should also be monitored while testing the subject
robot. And lastly, the capability of the robot to subdue fire must be noted.
Figure 3.12 Test 1: Wall-Free Testing Area
60
In the first test, the fire fighting robot is to be place on positions A, B, C and D with the arrow
pointing to where the robot should face. As seen in the Figure 3.11, the testing area has a
dimension of 5ft. by 5ft and notice that in this test there are no obstacles blocking the robot and
its RF signal to the fire. The testing is done when the robot has successfully suppressed the fire
or when the robot stops working and cannot put out the fire.
Figure 3.13 Test 2: Test area with wall partitions
The second set of test is very similar to the first one but the only difference is that the testing area
has now a 3in. thick walls. These walls serve as an obstacle that the robot should be able to go
through in order to locate and supress the fire. In this test, RF transceiver should be able to detect
heat signatures or signals even when there‟s a wall blocking it.
61
All observations and data should be written and results must be tabulated for better data
analyzation. The table 3.2 shows all the parameters that will be taken into consideration while
performing this test. Data gathered from this test and the tabulated results should be enough for
the evaluation of the performance and overall functionality of the proposed project.
PARAMETERS POSITION POSITION POSITION POSITION

to be TEST A B C D
Distance from
the location
Time of
Detection
Time of
Suppressing
Fire
Speed while
moving towards
location
Acceleration
Table 3.3. Wall Free Testing
PARAMETERS POSITION POSITION POSITION POSITION

to be TEST A B C D
Distance from
the location
Time of
Detection
Time of
Suppressing
Fire
Speed while
moving towards
location
Acceleration
Table 3.4 Testing with Walls
62
3.10 Data Gathering Procedure
3.10.1 Statistical Analysis
The objective of this study is to arrive with the desired specifications of the robot. This will be
obtained by having series of tests of the given parameters.
The population and sample size is not random. The samples will be more on generating
information rather than having a number of respondents. However, purposive sampling will be
used to collect data. The proponents will treat all data gathered as qualitative data. As the study
is a qualitative research, the approach is to generate the hypothesis and aim the depth of the
study.
The proponents will conduct a number of trials depending on the test to be considered, as long as
it is sufficient to arrive with the statistical analysis. Most of the tests will be non-parametric such
as Chi-Square Test. The Chi-square formula is where X2 is the Chi-square value, O
is the observed value and e is the expected value.
3.10.2 Parameters
3.10.2.1 Sensor Tests
To be able to attain the objectives, it is good to test the accuracy of the PIR and Flame
Sensors. The factors to be considered are time of detection and the distance from fire
before the passive infrared sensor sends an alarm to the microcontroller. Number of trials
will be tested and the data will be gathered by manual and automatic testing. In this test,
the Chi-square formula will be used given that we have two categories: Manual Testing
63
and Automatic Testing. Chi-square test of independence is a non-parametric test and it is
used to know the differences of two categories.
Table 3.5 PIR Sensor Accuracy Test
Number Manual Testing Automatic Testing
of Trials
1 Distance from Fire(ft) Time(s) Distance from Fire(ft) Time(s)
Table 3.6 Flame Sensor Accuracy Test
Number Manual Testing Automatic Testing
of Trials
1 Distance from Fire(ft) Time(s) Distance from Fire(ft) Time(s)
Chi-square formula would be good to use in this case to compare the observed data to the data
expected to obtain. Same tables will be applied for PIR and flame sensor, and it will run twice:
one for the distance from the fire and the other is the time of detection. Since this is a non-
parametric test, observations will be conducted, and the number of trials sufficient will be 3.
64
3.10.2.2 Robot Reaction
The reaction of the robot must also be given consideration once the data are processed to
the Arduino. The factors to be noted in observing its behavior are a) the time it takes to
process all the inputs such as the PIR, heat sensor, along with GPS, RF transceiver before
it conducts the next action, b) the time the robot will arrive in the exact location, and c)
the total time it will allot to suppress the fire. Another factor to consider is the direction
the device will take after detecting the fire. The direction will be expressed in degrees „θ.’
3.10.2.3 Obstacle Undertaken
Another test needed to determine is the mobility of the robot in terms of the path it is
going. It is one of the objectives for the prototype to be flexible on the obstacles upfront.
The robot‟s performance will be assessed through its ability to switch from wheels to
hexapod or hexapod to wheels, depending on the obstacle. The obstacle that will be taken
by the robot will primarily be controlled, with all other variables remain constant. Chi-
Square Test of independence will be used to assess the switching functions of the robot
through its reaction in every obstacle it faces. The switching function will be tested by
automatic or manual method. The proponents will mark the switch that triggered by a
„check‟ in every obstacles.
65
Table 3.7 Mobility Test On Obstacles
Obstacles Switch on Switch on Both Switch
Wheels Hexapod Used
Obstacle 1
Obstacle 2
Obstacle 3
3.10.2.4 Battery Life
The proponents will test the battery life span of the robot under doing extensive tasks and
operations. Measuring the battery life of a certain device is important because it will
assess its performance so that further adjustments will be attained. The objective of this
test is to determine the minimum and maximum power supply needed to make the robot
work. At least two trials will be made for each supply to attain with the final value of the
supply. In this test, the Chi-Square formula will also be used to compare three different
categories: using 3V, 5V or 12V supply. The proponents will label the results by ordinal
data: stable and unstable.
66
Table 3.8 Determining Allowable Power Supply
Supply Status
Unstable Barely Stable Very Stable
Unstable
3V
5V
12V
-3V
-5V
3.10.2.5 Fire Extinguisher
The robot‟s ability to extinguish the fire will also be taken in consideration.
Extinguishing the fire is one of the operations handled by the microcontroller in
suppressing the fire. Given this, it is important that this function is executed properly; and
that the software and hardware is compatible. The objective in this test is to operate the
robot to target the fire extinguisher in the highest accuracy possible. To put it simply, the
test will be in terms of whether the robot is on point or off point of the target. The test to
use is Chi-Square Test. With this formula, the difference between the two categories will
be attained. The key factor to consider in this test is the direction (measured by degrees)
of the robot from its line of sight to the fire, with the aid of GPS and camera built-in on
the device.
67
Table 3.9 Fire Detection Accuracy Testing
Number of Trials Manual Testing (degrees) Automated Testing (degrees)
3.11 User’s Manual
3.11.1 Operation
1. Place the Firefighting Robot at the opening of the fire incident.
a. This will serve as the starting point of the device.
b. Make sure that it has enough space before taking off
i. Approximately 1 meter from the place of fire
2. Turn ON the device by switching the toggle switch to ON.
a. Open the casing where the toggle switch is located.
b. Make sure to close the casing after switching it ON.
3. Turn ON the monitor panel.
4. Connect the Firefighting Robot to the monitor
68
a. Make sure that the internet connection is stable
i. This is for the accurate positioning of the device as well as the location of
heat it is detecting.
5. The device will ask the user, “Ready to take off?”:
a. Then this will pop up to the screen for the user‟s answer
i. Press YES if the prior conditions are met
ii. Press NO if there are still conditions that are not met
6. Monitor the activities of the Automated Firefighting Robot through the monitor screen.
7. After 30 minutes of non-active fire detection, the device will go back to the starting point
and automatically turns off.
3.11.2 Maintenance:
1. Make sure that the power supply of the device is always recharged back to 100%
a. Its back-up battery must always be also at 100%
2. Check the sensitivity of the sensors by exposing it to a light that gives off high
temperature.
a. This will be checked by connecting the firefighting device into a computer
b. There is an application for checking these sensors
i. Sensitivity is always being checked
ii. Functionality is also checked
iii. A calculation will be displayed on how much the sensors are still reliable
69
3. Check the modes of travel of the device through the simulation of the program associated
with its movements.
a. Hexapod
i. Make sure that the movements of the legs are still synchronized according
to its algorithm
b. Wheels
i. Make sure that there are no residues left with the mechanical parts of the
wheels
ii. Also check the bearings and speed of the servomotors as if it still has the
required rpm as indicated in the program
4. ALWAYS reload the container of the dry powder every after an operation
a. Remove the remaining dry powder
b. Clean without using any liquid
c. Use a clean sheet for cleaning
5. CHECK the firing hole for remaining residues
a. Make sure to clean this up immediately
i. Water is allowed as long as it is dry before using it
6. CHECK the servomotors of the fire extinguisher
a. Make sure that it still rotates at 360 degrees or a full clockwise/counterclockwise
turn
b. Also check the SPEED of its rotation as it reacts to its environment
70
3.12 Design Constraints
In designing the proposed firefighting robot economic, environmental, social, political, ethical,
health and safety, manufacturability, or sustainability were considered. Among the given realistic
constraints, all but one have not been affected by the proposed project, the Health and Safety.
The firefighting robot is capable of suppressing fire using a dry powder type of extinguisher.
This type of fire extinguisher is a multi-purpose one since it can be used on Class A, B, C and
even electrical fires. Although dry powder fire extinguisher is very useful it can but then it leaves
a residue that might be harmful, the reason behind is that dry powder is composed of mono-
ammonium phosphate and ammonium sulphate powder. This powder can possibly develop and
be an acidic solution especially when moisture is around, and can cause damage to other material
because of its corrosive abilities. In worse case scenarios, it might affect the victim or even fire
fighters that operates the robot. However, hazardous effects of the dry powder extinguisher of the
robot can when it is operated and maintained properly.
(https://www.ecclesiastical.com/churchmatters/churchguidance/fireguidance/drypowderextinguis
hers/index.aspx)
71
References
(n.d.). Retrieved from http://acm.poly.edu/~perc/projects/fire_fighter.html
Agarwal, T. (n.d.). Heat Sensor Circuit And Working Operation. Retrieved from
https://www.elprocus.com/heat-sensor-circuit-and-working-operation/.
Van der Vlist, B. (n.d.). HUMAN BODY DETECTION METHODS. Retrieved from
https://pdfs.semanticscholar.org/16c8/76672f04442a47102c0f4424238f5e8164ea.pdf.
Arduino Uno. (n.d.). Retrieved from https://components101.com/microcontrollers/arduino-uno
Dailymail.com, M. P. (2015, October 12). Boeing shows off Microlattice material that is 99.99%
AIR. Retrieved from http://www.dailymail.co.uk/sciencetech/article-3270060/The-end-heavy-
metal-Boeing-shows-material-99-99-AIR-lead-new-generation-planes-spaceships.html
DEM˙ IRHAN, N., & TUNCEL ELMALI, F. (n.d.). Spectrophotometric Determination of Iron(II)
with 5-Nitro-6-amino-1,10-phenanthroline. Retrieved from
https://pdfs.semanticscholar.org/fb9a/cae18efe2b1ff78d9556b534bdc31bd6bc09.pdf.
DIY Arduino Based Fire Fighting Robot Project with Code and Circuit Diagram. (n.d.). Retrieved
from https://circuitdigest.com/microcontroller-projects/arduino-fire-fighting-robot-code/
Dry Chemical System : DRY CHEMICAL Fire Extinguishing System. (n.d.). Retrieved from
http://www.yamatoprotec.co.jp/english/products/dry_chemical_system.html
72
Dry powder extinguishers. (n.d.). Retrieved from
https://www.ecclesiastical.com/churchmatters/churchguidance/fireguidance/drypowderextinguis
hers/index.aspx
EZ-Builder for Windows - Software - EZ-Robot. (n.d.). Retrieved from https://www.ez-
robot.com/EZ-Builder/
Ferris, R. (2015, October 28). MIT Device Can Detect People Through Walls. Retrieved from
https://www.nbcnews.com/tech/tech-news/mit-device-can-detect-people-through-walls-n452926
Fire extinguisher types - we explain the different types of fire extinguisher. (n.d.). Retrieved from
http://surreyfire.co.uk/types-of-fire-extinguisher/
Hexapod. (n.d.). Retrieved from https://www.quanser.com/products/hexapod/
Instructables. (2017, October 05). Fire Detection Using Arduino and Flame Sensor. Retrieved from
http://www.instructables.com/id/Flame-detection-using-Arduino-and-flame-sensor/
Kalaboina, S., Dr. Hemachandran, K., & Raghupathi, H. (n.d.). ALIVE HUMAN BODY
DETECTION AND TRACKING SYSTEM USING AN AUTONOMUS PC CONTROLLED
RESCUE ROBOT BY USING RF TECHNOLOGY. Retrieved from
https://www.researchgate.net/publication/321268485_ALIVE_HUMAN_BODY_DETECTI.
Mapur, D. M., Rashid, M., & Shaikh, O. (2016, November 09). Flame sensor interfacing with
arduino for fire detection. Retrieved from http://microcontrollerslab.com/flame-sensor-arduino-
fire-detection/
73
Navigation Programs - Satellite Navigation. (2018, March 07). Retrieved from
https://www.faa.gov/about/office_org/headquarters_offices/ato/service_units/techops/navservice
s/gnss/
PIR Motion Sensor. (n.d.). Retrieved from https://learn.adafruit.com/pir-passive-infrared-proximity-
motion-sensor/how-pirs-work
Positioning IR Camera. (n.d.). Retrieved from http://www.trossenrobotics.com/positioning-ir-
camera.aspx
Raj, B. (n.d.). Arduino Based Fire Fighting Robot. Retrieved from
https://circuitdigest.com/microcontroller-projects/arduino-fire-fighting-robot-code/.
A., & Saleh, A. (2017, May 26). Robot Tracking and Mapping. Retrieved from
https://www.hackster.io/mr-ayman/robot-tracking-and-mapping-using-1sheeld-and-arduino1-
30318f
Sampath, B. S. (2011). Automatic fire extinguisher robot. 2011 8th International Conference on
Ubiquitous Robots and Ambient Intelligence (URAI). doi:10.1109/urai.2011.6145964
Singhy, R., & Instructables. (2017, October 02). AUTOMATIC FIRE EXTINGUISHER. Retrieved
from http://www.instructables.com/id/AUTOMATIC-FIRE-EXTINGUISHER/
Six Hexapod - Products - EZ-Robot. (n.d.). Retrieved from https://www.ez-
robot.com/Shop/AccessoriesDetails.aspx?productNumber=30
Six legged walker. (n.d.). Retrieved from https://forum.arduino.cc/index.php?topic=96460.0
74
Slaton, T., & Xiang, D. (n.d.). Fire Away! Retrieved from
http://people.ece.cornell.edu/land/courses/ece4760/FinalProjects/f2013/tms245_dzx3/tms245_dz
x3/index.html
The Firefighting Robot. (2008, March 31). Retrieved from
https://www.popsci.com/scitech/article/2008-03/firefighting-robot
The Use of Robotics in Firefighting. (n.d.). Retrieved from
https://safetymanagement.eku.edu/resources/articles/the-use-of-robotics-in-firefighting/
VegOilGuy, G. T. (n.d.). Retrieved from http://vegoilguy.co.uk/continuous_track.php
What is an Arduino? (n.d.). Retrieved from https://learn.sparkfun.com/tutorials/what-is-an-arduino
What is robot ? - Definition from WhatIs.com. (n.d.). Retrieved from
https://searchenterpriseai.techtarget.com/definition/robot
75
Appendices
76
Appendix A. Gantt Chart
Month 1 Month 2 Month 3 Month 4 Month 5 Month 6

Activity Week Week Week Week Week Week Week Week Week Week Week Week
1-2 2-4 5-6 7-8 9-10 11-12 13-14 15-16 17-18 19-20 21-22 23-24
Brainstorming
and Data
Gathering
Design
Specifications
Architecture
and Interface
Final Detail
Design
Estimation of
Cost
Project
Creation and
Development
Test Plan
Testing
And Quality
Assessment
Documentation
____ ____ ____ ____

Legend: Phase 1 Phase 2 Phase 3 Phase 4
77
Appendix B. Codes
CODES for HEXAPOD
#include <Servo.h>
//create servo objects, comments are aliases for short-hand notation
Servo hipFrontRight; //FR
Servo hipMiddleRight; //MR
Servo hipRearRight; //RR
Servo hipFrontLeft; //FL
Servo hipMiddleLeft; //ML
Servo hipRearLeft; //RL
Servo kneeFrontRight; //FR
Servo kneeMiddleRight; //MR
Servo kneeRearRight; //RR
Servo kneeFrontLeft; //FL
Servo kneeMiddleLeft; //ML
Servo kneeRearLeft; //RL
//software switch for convenience - if !1, then the loop routine is empty
int sw = 0;
//define the initial range and position of knees and hips
//polarity or ranges different for sides because of the way the servos
//are placed on the body
int hipRange = 10;
int kneeRange = 20;
int FRHipRange = 10;
78
int MRHipRange = 10;
int RRHipRange = 10;
int FLhipRange = 10;
int MLHipRange = 10;
int RLHipRange = 10;
int FRKneeRange = 20;
int MRKneeRange = 20;
int RRKneeRange = 20;
int FLKneeRange = 20;
int MLKneeRange = 20;
int RLKneeRange = 20;
int FRInitHip = 90;
int MRInitHip = 90;
int RRInitHip = 90;
int FLInitHip = 90;
int MLInitHip = 90;
int RLInitHip = 90;
int FRInitKnee = 90;
int MRInitKnee = 90;
int RRInitKnee = 90;
int FLInitKnee = 90;
int MLInitKnee = 90;
int RLInitKnee = 90;
//define speed of movement - smaller value gives higher speed
int movSpeed = 15;
79
//generic counter variable
int i = 0;
void setup()
//attach servos to pins on the board
hipFrontRight.attach(1);
hipMiddleRight.attach(2);
hipRearRight.attach(3);
hipFrontLeft.attach(4);
hipMiddleLeft.attach(5);
hipRearLeft.attach(6);
kneeFrontRight.attach(7);
kneeMiddleRight.attach(8);
kneeRearRight.attach(9);
kneeFrontLeft.attach(10);
kneeMiddleLeft.attach(11);
kneeRearLeft.attach(12);
//initialise servos to their initial positions
hipFrontRight.write(FRInitHip);
hipMiddleRight.write(MRInitHip);
hipRearRight.write(RRInitHip);
hipFrontLeft.write(FLInitHip);
hipMiddleLeft.write(MLInitHip);
hipRearLeft.write(RLInitHip);
80
kneeFrontRight.write(FRInitKnee);
kneeMiddleRight.write(MRInitKnee);
kneeRearRight.write(RRInitKnee);
kneeFrontLeft.write(FLInitKnee);
kneeMiddleLeft.write(MLInitKnee);
kneeRearLeft.write(RLInitKnee);
if (sw == 0)
for (i = 0; i <= kneeRange; i++) //lift knees FR, RR, ML to initialise motion
delay(movSpeed);
void loop()
if (sw == 1)
for (i = 0; i <= hipRange; i++) //hips FR, RR, ML go forwards, hips FL, RL, MR go
backwards
hipFrontRight.write(FRInitHip + i);
81
hipRearRight.write(RRInitHip + i);
hipMiddleLeft.write(MLInitHip - i);
hipMiddleRight.write(MRInitHip - i);
hipRearLeft.write(RLInitHip + i);
hipFrontLeft.write(FLInitHip + i);
delay(movSpeed);
for (i = 0; i <= kneeRange; i++) //lower knees FR, RR, ML
kneeFrontRight.write(FRInitKnee - kneeRange + i);
kneeRearRight.write(RRInitKnee - kneeRange + i);
kneeMiddleLeft.write(MLInitKnee + kneeRange - i);
delay(movSpeed);
for (i = 0; i <= kneeRange; i++) //lift knees MR, FL, RL
kneeMiddleRight.write(MRInitKnee - i);
kneeFrontLeft.write(FLInitKnee + i);
kneeRearLeft.write(RLInitKnee + i);
delay(movSpeed);
hipFrontRight.write(FRInitHip + hipRange - i);
hipRearRight.write(RRInitHip + hipRange - i);
82
hipMiddleLeft.write(MLInitHip - hipRange + i);
hipMiddleRight.write(MRInitHip - hipRange + i);
hipRearLeft.write(RLInitHip + hipRange - i);
hipFrontLeft.write(FLInitHip + hipRange - i);
delay(movSpeed);
for (i = 0; i <= hipRange; i++) //hips FR, RR, ML go backwards, hips MR, FL, RL go
forwards
hipMiddleRight.write(MRInitHip + i);
hipRearLeft.write(RLInitHip - i);
hipFrontLeft.write(FLInitHip - i);
hipFrontRight.write(FRInitHip - i);
hipRearRight.write(RRInitHip - i);
hipMiddleLeft.write(MLInitHip + i);
delay(movSpeed);
for (i = 0; i <= kneeRange; i++) //lower knees FL, RL, MR
kneeMiddleRight.write(MRInitKnee - kneeRange + i);
kneeRearLeft.write(RLInitKnee + kneeRange - i);
kneeFrontLeft.write(FLInitKnee + kneeRange - i);
delay(movSpeed);
for (i = 0; i <= kneeRange; i++) //lift knees ML, FR, RR
83
{
delay(movSpeed);
hipMiddleRight.write(MRInitHip + hipRange - i);
hipRearLeft.write(RLInitHip - hipRange + i);
hipFrontLeft.write(FLInitHip - hipRange + i);
hipFrontRight.write(FRInitHip - hipRange + i);
hipRearRight.write(RRInitHip - hipRange + i);
hipMiddleLeft.write(MLInitHip + hipRange - i);
delay(movSpeed);
3.5.2 CODES for TRANSCEIVER
Transmitter Code
#include <SPI.h>
#include <RF24.h>
#define led 12
84
void setup() {
pinMode(12, OUTPUT);
radio.begin();
void loop() {
delay(5);
int potValue = analogRead(A0);
int angleValue = map(potValue, 0, 1023, 0, 180);
radio.write(&angleValue, sizeof(angleValue));
delay(5);
while (!radio.available());
radio.read(&buttonState, sizeof(buttonState));
if (buttonState == HIGH) {
digitalWrite(led, HIGH);
else {
digitalWrite(led, LOW);
85
}
Receiver Code
#include <SPI.h>
#include <RF24.h>
#include <Servo.h>
#define button 4
Servo myServo;
void setup() {
pinMode(button, INPUT);
myServo.attach(5);
radio.begin();
void loop() {
delay(5);
if ( radio.available()) {
while (radio.available()) {
int angleV = 0;
86
radio.read(&angleV, sizeof(angleV));
myServo.write(angleV);
delay(5);
buttonState = digitalRead(button);
radio.write(&buttonState, sizeof(buttonState));
3.5.3 FLAME DETECTOR CODE
#include<SoftwareSerial.h>
int sensorPin = A0; // select the input pin for the LDR
int sensorValue = 0; // variable to store the value coming from the sensor
int led = 9; // Output pin for LED
int buzzer = 12; // Output pin for Buzzer
void setup() {
// declare the ledPin and buzzer as an OUTPUT:
pinMode(led, OUTPUT);
pinMode(buzzer,OUTPUT);
Serial.begin(9600);
void loop()
Serial.println("Welcome to TechPonder Flame Sensor Tutorial");
sensorValue = analogRead(sensorPin);
87
Serial.println(sensorValue);
if (sensorValue < 100)
Serial.println("Fire Detected");
Serial.println("LED on");
digitalWrite(led,HIGH);
digitalWrite(buzzer,HIGH);
delay(1000);
digitalWrite(led,LOW);
digitalWrite(buzzer,LOW);
delay(sensorValue);
3.5.4 CODE for EXTINGUISHER ACTIVATION
float temp;
int tempPin = 0;
int pin2 = 2;
int pin3 = 3;
int pin4 = 4;
int pin5 = 5;
int pin7 = 7;
int pin8 = 8;
int pin9 = 9;
int pin10 = 10;
int pin11 = 11;
88
int pin12 = 12;
int pin13 = 13;
void setup()
Serial.begin(9600);
void loop()
temp = analogRead(tempPin);
temp = (5.0 * temp * 100.0)/1024.0;
Serial.print(temp);
Serial.println();
89
if(temp>=50.00){digitalWrite(pin8,HIGH);
if(temp>75.00){digitalWrite(pin13,HIGH);}
delay(4000);
delay(1);
90
Appendix C. Output Prototype Model
91
Appendix D. Specifications of Firefighting Robot Vehicle
VI. Travelling Equipment

HEXAPOD
Width 35.6cm
Length 35.6cm
Height 19.1cm
Mass 1,700 kg
WHEELS
Diameter 8.255 cm
Weight 60 grams
Wheel leg (length) 15.24cm
Wheel leg (Mass) 34 grams
VII. Wireless Devices

PIR SENSORS
Input Voltage 4V to 12 V (5V recommended)
Output Voltage High/Low (3.3V TTL)
Cover Distance 120° and 7 meters
Power Consumption 65mA
Operating Temperature -20°C to 80°C
Storage Temperature 40°C to 80°C
Sensor Type Dual Element
Responsivity Min (3.2xv/w)
7-14mm, 1Hz, 100°C
Noise 20uVp-p up to 50V
25°C, 0.4-10Hz
Effect Voltage 0.2-1.5
Window Material Silicon, coated
Spectral Range Transmission>30% average
T<0.1%
7-14mm<
RF SENSORS
Measurement Update Rate 0.1 Hz – 2 Hz
Operating Frequency Range 0.4 to 2.5 GHz
Soot Measurement Accuracy ±0.5 g/L
Ash Measurement Accuracy Based on what is needed
Supply Voltage Range 6.5V to 36V
Max. Current at 25°C 500 mA
Mass Sensor Module: 175g
Antenna: 125g
Antenna body length 150mm
Connector Hirschmann, 4Pin inline
92
Number of Antennas 2
Envelope (Sensor Module) 131 x 107 x 27.4 mm
TRACTIVE GPS
Dimensions 51mm x 41mm x 15mm
(2.0in x 1.6in x 0.6in)
Mass 35g
1.23oz
Battery Lifetime Up to 6 weeks
Available Global Yes
Live Tracking Interval 2-3 seconds
Virtual Fence Yes
VIII. Fire Extinguisher

Automated Fire Extinguisher
D. Fire Extinguisher
Capacity (Kg) 1 kg
Diameter 86.5 mm
Height (mm) 340 mm
Empty Weight (Kg) 1.3 kg
Filled Weight (Kg) 2.3 kg
Operating Temperature -20 °C to +55 °C
Working Pressure At 27 °C 15 bar
Maximum Service Pressure 1.8 MPa
Test Pressure 35 bar
Average Discharge Time (s) 8
Discharge Range (mts) <2
Fire Rating 1A, 8B
E. Servo Motor
Weight 51g
Torque 9 kg
Speed 0.2 sec/60deg
F. Dry Chemical Agent
3. Sodium Bicarbonate Based Dry Chemical (NaHCO3)
Class A Sometimes
Class B Yes
Class C Yes
Class D Yes
Class E N/A
4. Potassium Bicarbonate Dry Chemical (KHCO3)
Class A Sometimes
Class B Yes
Class C Yes
93
Class D Yes
Class E N/A
IX. Camera (Positioning IR Camera)

Navigation IR Transmitters
Operating Voltage 3.3V to 5V
Interface 12C
Detecting Distance 0 – 3m
Horizontal Detecting Angle 33°
Vertical Detecting Angle 23°
Dimensions 32mm x 16mm
(1.26x0.63)
Resolution 128x96 pixel
with hardware image processing
can track up to four objects (IR emitting or
reflecting objects)
X. Arduino Uno
Microcontroller ATmega328P – 8 bit AVR family
microcontroller
Operating Voltage 5V
Recommended Input Voltage 7-12V
Input Voltage Limits 6-20V
Analog Input Pins 6 (A0 – A5)
Digital I/O Pins 14 (Out of which 6 provide PWM output)
DC Current on I/O Pins 40 mA
DC Current on 3.3v Pins 50 mA
Flash Memory 32 KB (0.5 KB is used for Bootloader)
SRAM 2 KB
EEPROM 1 KB
Frequency (Clock Speed) 16 MHz
94

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Chapter 1

1.1 Background of the Study

capabilities that are physically present and experience.

self-replication, self-assembly, and nanoscale size.

immediately and save people being trapped inside a building.

(Epidemiological Assessment Of Fires In The Philippines: 2010-2012, Gloria Nenita Velasco

this technology. This technology is an autonomous robot. It is a third-generation robot which is

programmable, has sensors, and automatically operates by itself depending on what it

1.2.1 General Objective

sensors with RF technology for fire detection and human detection.

1.2.2 Specific Objectives:

sensing for search and rescue.

the operations of the prototype.

PIR sensors, built-in camera, fire extinguishers to be controlled by Arduino.

RF transceiver to record the occurrence experienced by the device.

obstacles then documenting its performance according to inconsistencies, durability, and

precise movements of the device that depends on one‟s desire.

This study will mainly benefit the following:

 People present in actual fire

rescue the human spotted.

injuries caused by fires.

Thus, this study is a good resource for the future researchers.

1.5 Definition of Terms

specifications added on it such as extinguishers and different sensors.

trigger whenever the temperature of the element changes.

Human Body Detection

-Human body detection, sometimes known as human sensing or human presence

sensors, IR detectors, image recognition, and chemical sensors.

-Global Positioning System (GPS) is a radio-navigation system based on space which

GPS is a successful in navigation applications due to its accessible inexpensive

The type of fires is classified into the following:

petrol, gasoline and other similar materials.

by de-energizing the circuit and then using non-conductive extinguishing agent.

than can be used for Class D fires.

extinguish electrical fires.

chemicals are designed for use on Class F fires.

has harmful risks to humans and environment.

-Arduino is an open-source electronics platform that is used for creating electronics

projects. Arduino is composed of a programmable circuit board as its hardware and

Integrated Development Environment (IDE) as its software.

-Microlattice is a one of the lightest material created which is composed of about 99

overall structure is a hundred times lighter than styrofoams.

Review of Related Literature and Related Studies

2.1 Related Literature

2.1.1 Arduino Based Fire Fighting Robot

and operate it. (B.Aswinth Raj)

Figure 2.1. DIY Arduino Based Fire Fighting Robot Project

of OLE. It was mention that this robot is a guardian.

OLE is an effective force of fire-controlling robots. It will be propelled by a hardened segments

a mile. Furthermore, it is protected by segment shell of heat-resistant ceramic-fiber compound.

Figure 2.2 OLE Firefighter

extinguishers are the best to have because of its versatility. (surreyfire.co.uk)

Figure 2.3 Fire Classes and Types of Extinguishers

and the main task of fire control and suppression.

camera and other technology.

suppressing fire. The machine is meant in small spaces or areas.

multiple human figures snapshots. Furthermore, it combines the pictures through a

better quality of sensing movements of the person using RF signals.

Figure2.4 RF Signal Transceiver

Figure 2.5 IR Camera

Figure 2.6 Arduino UNO

Arduino Uno is a microcontroller board that is based on ATmega328P which is a high

device can interface with any computer using this microcontroller.