St.

Paul University Philippines (Course)

The Effect of a Firefighting Robot on Educational Outcomes

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ABSTRACT

We discuss the educational experiences gained through the design, construction, and
competition of a fire-fighting robot in this paper. We concentrate on two key educational
outcomes: 1) teamwork skills and 2) the ability to frame, define, and solve difficult, real-world
problems. We also talk about the hands-on experience gained from building a robot with high
performance, reliability, speed, and accuracy requirements. The robot design's four sub-
modules – motion control, sensors, independent power supply development, and a fire-
extinguishing mechanism – each emphasize the two important educational outcomes. The
desire to win the competition is a constant source of motivation and pushes a student's
patience, education, and teamwork skills to their limits. This desire to win motivates students to
strive for the highest levels of performance, dependability, speed, and accuracy. Each design
and construction phase taught students how to frame, define, and then solve problems. We
demonstrate how each stage of the fire-fighting robot design, construction, and competition
contributes to better educational outcomes.

INTRODUCTION

A robot is a machine that performs tasks that humans normally do. Modern robots were first
used in factories as industrial robots. It is a machine with manufacturing tasks that enabled production
without the use of humans. Human assistance is required. The robots are classified into several
categories, including Tele-robots, Telepresence, Mobile robots, and Autonomous robots. The use of
robots is increasing and becoming more common than ever before, and the fire extinguisher robot is
becoming increasingly important in protecting human life. The robot is capable of detecting and
extinguishing a fire on its own.

This project has studied many projects related to firefighter robotics in order to compare, improve, and
develop the study of the smart firefighting robot (LAHEEB). The following robots are some examples of
those used to fight fires in various applications; most of them have advantages and disadvantages that
aided in the improvement of this study;

Virtual Reality Simulation of a Fire Fighting Robot is a MATLAB/Simulink-based system. It was

assigned for preliminary testing of control algorithms. Because of the low-detailed validation of the
environment, this project clearly demonstrated that the robot lacks a sufficient level of functionality. The
robot could only operate in open space with no obstacles.

The second robot, called Fire protection Robot, worked as a firefighting robot in homes and municipal
buildings. There is a detailed description of how to use the absolute time firefighting apprentice, which
moves at an associated speed, analyze the blaze, and then extinguish it with the assistance of a pumping
mechanism. The main advantages of the system are fire detection via complex algorithms, navigation,
and the use of a sound sensor for activation, while the main disadvantages are a low-efficiency
computer, low-power frame, lack of mapping, and return-back.

During the project's design phase, students quickly discovered the four modules' close interdependence.
For example, the choice of robot driving motors determines the required power source, whereas the size
of the power source determines the dimensions of the robot frame required to house both the motors and
the power supply. In contrast, the total weight of the robot governs the selection of appropriate motors
with sufficient torque delivering capabilities. The design phase encourages students to frame and solve
various problems for which there are no single "correct" answers, and decisions are made collaboratively
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among team members. The students for both fire-fighting robot projects were two cadets majoring in
Electrical Engineering. The robot's actual construction.

BACKGROUND OF THE STUDY

The fire-fighting robot project is ideal for a senior design or independent study course. The
previous project team completed the project as part of a senior design course, whereas the current team
is completing the project as part of an EE independent study course. Students thrive in such courses
because they give them the freedom to create, test, and develop their own ideas.

The mission of firefighting is to protect citizens' lives and property from fires or natural disasters. At
disaster sites, mistakes by firefighters may result in the immediate loss of many citizens' lives and
property damage. As a result, firefighting skills are critical for maintaining a safe and secure society.
However, learning firefighting skills is difficult because fire sites are diverse and most firefighter skills
are learned through experience. Furthermore, as disasters have become more diverse and firefighting
equipment has evolved, the required firefighting skills have become more complex and advanced.
Developing methods to teach firefighting skills is a major issue in many Japanese fire departments. The
Tokyo Fire Department proposed methods to support knowledge succession with social networking
services as a recent countermeasure to this problem.

Other prior studies have investigated surgical operations, factory assembly work, grasping and
transportation work in residencies, creative activities with LEGO, communication, and nursing;
however, differences in firefighting skill between novices and experts with teleoperated robots remain
unclear.

STATEMENT OF THE PROBLEM

This research will focus on the Level of Effectiveness of Firefighter Robots and its Perceived
Effects in Educational Outcomes of students in St. Paul University Philippines.

Specifically, this study aims to find the answer on the following questions:

1. What are the level of effectiveness of using fire-fighters robots in term of electric and metal
fire?

2. What are the level of effectiveness of using fire-fighters robots than human firefighters?

3. What are the level of effectiveness of fire-fighter robots in Educational Outcomes?

4. Is there Is there a significance differences of fire-fighter with robots and humans?

HYPOTHESIS

There is no significant relationship between the level of effectiveness of firefighting robots and its
perceived effects on their educational outcomes.

There is significant relationship between the level of effectiveness of firefighting robots and its
perceived effects on their educational outcomes.
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CHAPTER II
REVIEW OF RELATED LITERATURE

It is undeniable that firefighters work in a hazardous occupation, and those who work in it are at risk.
Choosing a career in firefighting entails certain health risks. To complete tasks, firefighters must
sometimes take significant risks. For example, if a civilian is trapped in a house fire, firefighters must
take a significant risk in order to save a human life. These occurrences are not always predictable. They
occur at the drop of a hat, and firefighters are expected to be mentally and physically prepared to make a
rescue.

Firefighter Mortality Statistics

For the past 36 years, the United States Fire Administration (USFA) has kept track of firefighter
fatalities. They publish an annual report that includes studies that highlight areas of concern. The
majority of operational changes can be traced back to a finding revealed by these reports. For example,
if emergency vehicle collisions are common, emergency vehicle driving programs will be developed
(United States Fire Administration, 2013).

According to the USFA report, there were a total of 81 firefighter fatalities in 2012. (United States Fire
Administration, 2013). The USFA report for 2013 was not available when I was conducting research for
this thesis. Stress or overexertion was the leading cause of death in 2012. (United States Fire
Administration, 2013). This category accounted for an alarming 70.4 percent of all fatalities. The USFA
defines this as a general category of firefighter deaths that are "cardiac or cerebrovascular in nature, such
as heart attacks, strokes..." (United States Fire Administration, 2013). This percentage of fatalities has
grown over time; in 2003, it was 46.9 percent (United States Fire Administration, 2013). Cardiovascular-
related deaths increased from 46% to 70% between 2003 and 2013.

A portion of the 2013 report revealed a fatality analysis based on the ages of firefighters. The analysis
revealed that younger firefighters are more likely to die from "trauma or asphyxiation" than their older
counterparts, who are more likely to die from a "heart attack/cerebrovascular accident (CVA)/other"
(United States Fire Administration, 2013). This is significant because it suggests that the high number of
firefighter fatalities is linked to medical issues among older firefighters. If prevention programs are
developed early in a firefighter's career, there is a chance to reduce the high prevalence of cardiac
disease.

Human robot interactions with a swarm of robots in support to firefighters

There are numerous types of human-robot interactions, allowing a team of humans and robots to benefit
from the skills of each team member. The potential of robot swarms working in emergency situations is
a growing area of research. We are particularly interested in a swarm of robots capable of
collaboratively supporting and improving firefighting operations. This paper describes some of the key
features of this emergency setting, robot swarms within it, and the research done to develop effective
human-robot interaction. (IEEE International Conference on Robotics and Automation, 2010.)

Using robots for firefighters and first responders

Robotic technology has the potential to be a huge help to emergency responders, both in their daily work
and in the face of major disasters. Robots can be used to extinguish fires, search for hazardous materials,
provide first aid to injured people, and transport them out of dangerous areas. They can map disrupted
areas and assess building structural damage, or they can simply assist in the transportation of heavy
equipment. Disaster response scenarios, on the other hand, present challenges that must be thoroughly
investigated and rigorously solved in order to produce systems that can truly assist humans during
emergencies and disasters. This paper examines various deployment scenarios for robotic systems in
emergency response operations.

Several fields have been identified where already available robotic solutions can provide a significant
improvement for first responders over the current situation. The authors then describe a recently
developed firefighting robot that provides some of the identified improvements for emergency
responders. The ability to introduce autonomous assistance functions into the field of firefighting
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operations is perhaps the most important feature when compared to many existing robotic fire
extinguishing systems. (18th International Carpathian Control Conference was held in 2017 ICCC)

CHAPTER III
METHODOLOGY
The methodology procedures are divided into three sections in this section. All of the parts were put together
to detect fire, extinguish it, and increase knowledge about fire behavior. The mechanical design structure of
the robot's body is the first part. The second section is a hardware implementation of the used components,
and the third section is the software design details.

RESEARCH DESIGN

The researchers used the experimental method of research to determine to determine The Effect of a
Firefighting Robot on Educational Outcomes

This type of research design used because of its appropriateness to the nature of the study, particularly in
describing systematically a situation or area of interest factually and accurately.

The major aim of descriptive research is to utilize elements to both quantitative or qualitative research
methodologies, often within the same study. Experimental research examples vary depending on the
type of experimental research design under consideration. Laboratory experiments are the most basic
type of experimental research, and their nature varies depending on the subject of study.

CONCEPTUAL FRAMEWORK
A. Mechanical Design Structure
As shown in Fig. 1, SolidWorks software is used to create a 3D schematic diagram of the
Smart Firefighting Robot (LAHEEB). 1. In addition, as shown in Fig. 1, 3d Rendering is used to present
the diagram in a clear view. 2. The main structure is a four-wheel-drive smart robot shield. The entire
surface of the chassis body has been oxidized and sandblasted. The body has a thickness of 2mm. To
protect the electronic circuit, the robot's shape is made of aluminum alloy. There is no concave-convexity
on the surface. The alloy sheet can withstand temperatures of up to 200 degrees Celsius [20]. The
aluminum chassis body contains holes that facilitate the mounting of sensors and other mechanical
components. The flame and ultrasonic sensors were installed in front of the robot to detect fire quickly
and avoid colliding with any obstacles. The structure of Liquid-extinguisher tank and the robot
shown in Fig. 3.
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Fig. 1. 3D Structure of LAHEEB using Solidworks Software.

Fig. 2. 3D Structure of LAHEEB using 3D Rendering Software.

Fig. 3. A Smart Firefighting Robot (LAHEEB).

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B. Hardware Implementation
Sensors, microcontrollers, DC motors, motor drivers, servo motors, and pumps are some of the electronic
components that aid in the development of LAHEEB. Fig. 4 depicts the LAHEEB process block diagram, which
includes the input of flame sensor, ultrasonic sensor, and temperature sensor, Arduino Uno as the microcontroller,
Motor Driver (L293D), and pump to move the liquid-extinguisher out of the tank.

Fig. 4. Block Diagram of LAHEEB

A. Flame sensors: As shown in Fig. 1, a Five-Channel Flame Sensor Module was used in this
project to detect flames in a wider area (>120 degrees). 5. It detects fires using five flame
sensors arranged in a 30 degree angle. Using 5-channel flame sensor modules is thought to be
advantageous because it has a larger detection angle and is more accurate than a single flame
sensor. The operating voltage ranges between 3.3 and 5V. This module produces an analog and
digital signal, which is more accurate and convenient to use, and a potentiometer is used to
adjust the digital output sensitivity. This sensor is more precise than other flame sensors due to
the resistors and five LED indicators..

Fig. 5. Five-Channel Flame Sensor

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B. Ultrasonic sensor: As shown in Fig. 1, one of the most critical electronic parts that provide a very low-
cost and simple method of distance measurement. 6. It is used in many automated factories and process
plants to detect and measure the distance to targets [22]. Sensors with a on or off digital output are
required to detect the presence of objects, whereas sensors with an analog output that varies
proportionally to the sensor to target separation distance are commercially available. The ultrasonic
sensor HC- SR04 has a range of 2 cm to 400 cm and an angle of 15 degrees.

Fig. 6. Ultrasonic Sensor

C. Temperature sensor: The LM335AZ is a simple analog temperature sensor (Fig. 7). It operates
in the same way as a Zener diode, with a breakdown voltage proportional to absolute
temperature of 10 mV/°K. Connect a resistor between 5V and GND. With 25°C or room
temperature, the LM335A will produce an analog voltage of 2.98V. The sensor's output is
linear, and when calibrated at 25°C, the LM335A typically has less than 1°C error over a
100°C temperature range. The sensor can operate continuously at temperatures ranging from
40°C to 100°C. This sensor measures the temperature of the area and sends the data to the
control room.

Fig. 7. Temperature sensor

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a. Servo motors: Servos power remote-controlled or radio-controlled toy cars, robots,

and airplanes. Servo motors are controlled by sending a variable-width electrical
pulse, also known as pulse width modulation (PWM), through the control wire. A
servo motor can rotate 90 degrees in either direction for a total of 180 degrees.
b. DC motor: A direct current (DC) motor is an electric motor that runs on direct current
(DC). DC motors are commonly used to convert electrical energy into mechanical
energy. The two DC motors used in this project to turn the wheel. The DC motor has a
working voltage of around 12 V DC and is used to move the robot to the fire location.
c. Fluid Pump: The fluid pump is an important section in this robot because it will pump
fire extinguishing fluid to extinguish the fire immediately regardless of the type of fire
that occurs. The fluid was chosen because it has a proven record of extinguishing all
types of fires. The pump in this project was chosen due to its small size and light
weight. This pump's operating voltage ranges from 4V to 12V, and its working current
is 1A.

D. Software design details

Over the years, Arduino has served as the brain of numerous projects, ranging from simple objects to complex
scientific instruments. As shown in Fig. 1, an Arduino Uno was used in this project for programming. 8. The
Arduino provides an integrated development environment (IDE) based on the Processing language, as well as the C
and C++ languages, for programming microcontrollers. Arduino is used in this project because it is inexpensive,
cross-platform in many operating systems, has a simple, easy programming environment, and has an open source
Arduino IDE that makes writing code and uploading it to the board simple.

a. Servo motors are controlled by sending a variable-width electrical pulse, also known
as pulse width modulation (PWM), through the control wire. A servo motor can rotate
90 degrees in either direction for a total of 180 degrees.
b. DC motor: A direct current (DC) motor is an electric motor that runs on direct current
(DC). DC motors are commonly used to convert electrical energy into mechanical
energy. The two DC motors used in this project to turn the wheel. The DC motor has a
working voltage of around 12 V DC and is used to move the robot to the fire location.
c. Fluid Pump: The fluid pump is an important section in this robot because it will pump
fire extinguishing fluid to extinguish the fire immediately regardless of the type of fire
that occurs. The fluid was chosen because it has a proven record of extinguishing all
types of fires. The pump in this project was chosen due to its small size and light
weight.
This pump's operating voltage ranges from 4V to 12V, and its working current is 1A.
 St. Paul University Philippines (Course)

E. Software design details

Over the years, Arduino has served as the brain of numerous projects, ranging from simple objects to complex
scientific instruments. As shown in Fig. 1, an Arduino Uno was used in this project for programming. 8. The
Arduino provides an integrated development environment (IDE) based on the Processing language, as well as the C
and C++ languages, for programming microcontrollers. Arduino is used in this project because it is inexpensive,
cross-platform in many operating systems, has a simple, easy programming environment, and has an open source
Arduino IDE that makes writing code and uploading it to the board simple.

Fig. 8. Arduino Uno microcontroller.

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CHAPTER IV

RESULT AND DISCUSSION

A smart firefighting robot (LAHEEB) has been developed that can detect the source of a fire, extinguish it, and
increase knowledge about fire behavior from the incident area. Using a five-channel flame sensor and an ultrasonic
sensor, LAHEEB can locate the source of the fire. The flame sensor was used to detect fire and its location, while
the ultrasonic sensor was used to detect and avoid obstacles around the robot. The detection procedure of the robot
is clearly described in the flowchart of smart firefighting robot (LAHEEB) shown in Fig. 9. In addition, the
temperature sensor was used to detect the temperature of the surrounding area in order to obtain more accurate
results from the incident area. To control the robot's movement, all sensors are connected to an Arduino UNO,
along with a pump and two DC motors. If the five-channel flame sensor detects a fire, the DC motor will come to a
halt 30 cm away from the fire. The pump will begin to respond by pushing the fire terminator fluid toward the
source of the fire.

Fig. 9. Flowchart of Smart Firefighting Robot (LAHEEB).

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The length of time it takes LAHEEB to reach the source of the fire and extinguish it will be discussed in this
paragraph. TABLE I shows various experimental scenarios of the robot in extinguishing fire based on the distance
and time relationship.

TABLE I: Time to extinguish fire depends on distance.

Experiment Time of extinguish the fire (s) Distance from fire (cm)

1 6 130

2 5 110

3 4 90

4 3 80

5 2 70

The experiment demonstrates the relationship between distance and time, as well as how the robot
could function in a different situation. Time is one of the most important factors in putting out a fire. As a result,
if the robot can extinguish a fire as quickly as possible, it will aid in the rescue of victims and reduce losses. The
fire's size is sometimes said to double every minute. If the size of such a fire were plotted on a graph, it would
result in the curved line shown in Fig. 10.

140
Distance from fire (cm)

120
100
80
60
40
20
0
0 1 2 3 4 5 6 7
Time takes until LAHEEB extinguish the fire in seconds (s)

Fig. 10 The relation of time and distance between fire and LAHEEB robot.
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CHAPTER V

SUMMARY OF FINDINGS
In this section, we will briefly describe how the overall experience has contributed to and will continue
to contribute to the The Air Force Academy has seven educational outcomes. First, the cadets must
combine and integrate their knowledge from previous electrical engineering, mechanical engineering,
and computer science courses into the project. Cadets were able to practice and apply their fundamental
knowledge during the experience. As mentioned in the previous section, the project contains multiple
problems with multiple solutions, providing ample opportunities to practice the skills associated with
framing and resolving ill-defined problems. The two-cadet team must constantly communicate with one
another and with the mentor. This assists cadets in developing effective communication and teamwork
skills.

The division of labor required for a successful project also provides opportunities to practice teamwork
skills. So far, dividing the project tasks has worked well. Because some concepts are unfamiliar to the
cadets but are required for the project, the project encourages the cadets to become independent learners.
Cadets on the current team, for example, have independently learned the C programming language as
well as how to use the C cross-compiler. In terms of the intellectual curiosity educational outcome, the
project once again proved to be successful. As previously stated, the cadets from both the previous and
current teams have read books and articles about mobile robots, demonstrating their intellectual curiosity
about the subject.

CONCLUSION
According to the experimental results, a smart fire-fighting robot (LAHEEB) successfully achieved its aim and
objective. The robot was created to assist firefighters in their duties. It has benefits such as the ability to detect the
source of a fire, extinguish it, and increase knowledge about fire behavior from the incident area. This robot can
extinguish various types of fire, including A, B, C, D, F/K, electric, and metal fires, in the shortest amount of time.
This robot will reduce the risk of injury to firefighters and potential victims, as well as the monetary losses that
increase significantly as the length of the fire increases. Using sensors, LAHEEB can also avoid colliding with
obstacles or surrounding objects. Along with its compact structure, the robot can be used in places with small
entrances or in small spaces.

REFERENCES
[1] RobotShop Distribution Inc. “History of Robotics: Timeline.” 2008.
[2] Tanaka, F., et al., “Telepresence robot helps children in communicating with teachers who speak a different language”, Proceedings of
the 2014 ACM/IEEE international conference on Human-robot interaction, ACM: Bielefeld, Germany, pp. 399-406, 2014.
[3] Harik, E.H. and A. Korsaeth, “Combining Hector SLAM and Artificial Potential Field for Autonomous Navigation Inside a
Greenhouse”, Robotics, 7(2), pp. 22, 2018.
[4] Gloria M. Rogers, “Student Learning Assessment and the ABET Student Outcomes Criteria: “Good News/Bad News,” proceedings of
the 1996 American Society for Engineering Education Conference, Washington, D.C., June 1996. Page 3.10.6
[5] [2] Accreditation Board for Engineering and Technology, Inc., http://www.ncees.org/abet.htm