i

DEVELOPMENT OF AUTOMATIC FLOATING WASTE COLLECTOR FOR

WATERWAYS

A Project Study

Presented to the Faculty of the Electronics Engineering Technology Department

College of Industrial Technology Technological University of the Philippines Ayala
Blvd., Manila

by

RACHEL MAE E. AVILA

NICCOLO MACHIAVELLI M. GAPOL
JINGMAR D. NAYPES
MICOL ANNE V. PABLEO
CYNTHIA Q. TALISAY

In Partial Fulfillment of the Requirements for the Degree

Bachelor of Technology Major in Electronics Engineering Technology

MARCH 2020
 ii

Technological University of the Philippines

COLLEGE OF INDUSTRIAL TECHNOLOGY
Ayala Blvd., Ermita, Manila 1000
Telephone: (02)301-3001 loc. 201, Email Address: cit@tup.edu.ph

APPROVAL SHEET

The project study entitled “DEVELOPMENT OF AUTOMATIC FLOATING

WASTE COLLECTOR FOR WATERWAYS”, prepared and submitted by RACHEL

MAE E. AVILA, NICCOLO MACHIAVELLI M. GAPOL, JINGMAR D.

NAYPES, MICOL ANNE V. PABLEO and CYNTHIA Q. TALISAY, in partial

fulfillment of the requirements for the degree Bachelor of Technology major in

Electronics Engineering Technology, is hereby approved and accepted.

MARIBELLE R. JUALAYBA
Adviser

PROF. LOUIE V. SORIANO

Chairman

MARY JANE A. CONCEPCION RONA RIZA C. GONZALES

Member Member

ALESSANDRO T. PETRACHE RONALD L. QUITAIN

Member Member

Approved in partial fulfillment of the requirements for the degree Bachelor of

Technology major in Electronics Engineering Technology.

MA. IAN P. DE LOS TRINOS

Dean, College of Industrial Technology
Date: August ,2020
 iii

DEDICATION

This research is dedicated to:

Our Beloved Avila, Gapol, Naypes, Pableo, Talisay families

To Every Nation Campus – TUP for the prayers and encouragement

To all our friends

To all the people who believed and walked alongside our journey

To Almighty God for the continued guidance, strength, knowledge and

wisdom and for giving us a good health most specially in the this time of

pandemic.
 iv

ACKNOWLEDGEMENTS

We would like to express our sincerest gratitude and appreciation to the people

who helped to make this study successful and meaningful.;

To our dearest adviser, Prof. Maribelle R. Jualayba for giving us the most

precious things in the world – time and effort; despite her hard-pressed schedule, she

had been very passionate and patient in helping us achieve our goals;

To our beloved Dean, Prof, Ma. Ian P. De Los Trinos, who taught us not just

about the academic matters but even the values of heart and life;

To all the members of the panel committee, namely, Prof. Louie V. Soriano, Prof.

Rona Riza C. Gonzales, Prof. Alessandro T. Petrache, Prof. Mary Jane A. Concepcion,

and Prof. Ronald L. Quitain for their encouragement and insightful comments and

suggestions in our study;

To Mr. Shan Louie C. Matreo who went an extra mile to helping us provide

insights and advice about our study, and;

A special acknowledgement to Engr. Angeles Busmente, Head of MMDA Flood

Control Unit, for sharing his experiences and making us understand everything that’s

happening with the surroundings. These made us even more persevere with the

completion of the research.

 v

ABSTRACT

The study, Development of Automatic Floating Waste Collector for Waterways, focuses
on the design and fabrication of the water waste-collecting machine that involves
removing waste debris from the water body with high consideration to the operator’s
safety. Seeing the current situation of the city’s waterways and estuaries loaded with
dumps, pollutants and toxic materials, this project is done with the intention to reduce the
pollution on water bodies at the same time, lessen the burden of our estuary warriors by
providing them a device they can use to collect the wastes without putting their safety at
stake. Since this machine is designed to function with less human intervention, after
turning it on, the prototype automatically operates on the water surface and collect the
debris by the conveyor belt and dispose them on the net bin. The system is controlled
using Arduino Mega to fulfill all the features of the prototype. The prototype can only
operate during high tide for better results. The floating waste collector has a capacitive
proximity sensor that can detect floating plastic waste. The prototype can detect obstacles
that can interfere with the collection using ultrasonic sensor and automatically change its
direction to avoid it. After an hour of sailing, the machine will return to the point of
dispatch using GPS signals. The telemetry will send feedback through SMS about the
status of the machine once the operation fulfilled.
 vi

TABLE OF CONTENTS

PRELIMINARIES Page

Title Page i

Approval Sheet ii

Dedication iii

Acknowledgement iv

Abstract v

Table of Contents vi

List of Tables vii

List of Figures viii

Chapter 1 – INTRODUCTION

Background of the Study 1

Objectives of the Study 6

Scope and Limitations of the Study 6

Chapter 2 – CONCEPTUAL FRAMEWORK

Review of Related Literature and Studies 9

Conceptual Model of the Study 53

Operational Definition of Terms 56

Chapter 3 – METHODOLOGY

Project Design 57

Project Development 62

Operation and Testing Procedure 65

Evaluation Procedure 69
 vii

Chapter 4 – RESULTS AND DISCUSSION

Project Description 51

Project Structure 53

Project Test Results 55

Project Capabilities and Limitations 56

Project Evaluation Results 57

Chapter 5 – SUMMARY OF FINDINGS, CONCLUSIONS, AND

RECOMMENDATIONS

Summary of Findings 58

Conclusions 60

Recommendations 61

REFERENCES 62

APPENDIXES 63

RESEARCHERS’ PROFILE 69
 viii

LIST OF TABLES

Table Title Page

1 Average and Median weight of PET Bottles 36

2 Functionality Test 68

3 Response Time of Obstacle Sensor 69

4 Response Time of Level Sensor 69

5 Longevity of Battery 69

6 Response Time of Ultrasonic Sensor 73

7 Response Time of Level Sensor 74

8 Longevity of Battery 74
 ix

LIST OF FIGURES

Figure Title Page

1 The polluted state of Estero de Magdalena 2

2 Types of Landfills 18

3 Incineration Process 18

4 Set of Recycle Garbage 19

5 PLA Biodegrading Process 20

6 Trash Robot in Action 20

7 Trash Skimmer 21

8 Water Wheel Trash Inceptor in Baltimore Inner Harbor 22

9 Interceptor 22

10 Seabin Project 23

11 Free Body Diagram of a Floating Object 26

12 Oar and Paddle Boat 27

13 Sail Boat 28

14 Engine Boat 29

15 Propeller 29

16 Rudder 30

17 Conveyor Belt 36

18 Belt Conveyor 37

19 Chain conveyor 38

20 Motorized roller conveyor – 24 MDR Conveyor 39

 x

21 Inverted monorails and inverted power 39

22 Power and Free Conveyors 40

23 Raspberry Pi 42

24 Qualcomm Snapdragon SBC 43

25 Banana Pi 44

26 Arduino Uno 45

27 Arduino Nano 46

28 Arduino Due 46

29 Arduino Mega 47

30 Arduino Leonardo 48

31 Temperature Sensor 49

32 Proximity Sensor connected to Arduino 50

33 Infrared Sensor 51

34 Ultrasonic Sensor 51

35 GPS module connected to Arduino 52

36 Arduino IDE 53

37 The Conceptual Model of the Study 54

38 Project Design Labeled Parts 58

39 Block Diagram of the Floating Waste Collector 59

40 System Flowchart 60

41 Relay Module Schematic Diagram 61

42 Waste Collector Scale Model with Dimensions 62

43 Waste Collector Compartment with Dimensions 63

 xi

44 Conveyor Belt Model with Dimensions 65

45 Mock Up Presentation of Prototype 70

46 DC Motor for the Conveyor Belt 71

47 Level Sensor 72

48 Ultrasonic Sensor 72
 1

Chapter 1

INTRODUCTION

Background of the Study

Water pollution is any water contamination that is detrimental to human, plant or

[1]
animal health with chemicals or other foreign substances (NIH, 2019) . National

[2]
Geographic Society (2019) stated that marine pollution is a form of water pollution, a

combination of pollutants and marine waste, most of which originate from sources of

land and are washed or blown into the sea. This pollution causes damage to the

environment, all species' wellbeing, and worldwide economics structures. Marine waste

can be found on seashores worldwide and at depths of the ocean and rivers which

includes wood, plastics, metal, paper, and other produced materials. Some of these wastes

[3]
are recognized as floating waste on waterways (Rios, 2007) .

Floating waste is polluting the water surface which can be hazardous to wildlife and

[4]
human health due to toxic materials and water quality issues. Waste Free Oceans (2018)

stated that rivers that flow from inland areas to the seas have increasingly been identified as

[5]
major transporters of marine litter. According to Thompson (2019) , rivers are polluted

with 1.15 to 2.41 million metric tons of waste. Due to waste prevalence at sea and harmful

effects on marine life and potential human health, contaminants in the marine ecosystem is

[5]
one of the major concerns (Thompson, 2019) . According to United Nations Environment

[6]
(2018) , almost 80% of marine debris is plastic. There are things that the government of

every country is doing to reduce waste from running public awareness campaigns, to offering

incentives for recycling non-biodegradable, to introduce levies or

 2

[6]
even banning certain outright (United Nations Environment, 2018) . Some residents of

Barangay 293 in Binondo, Manila have helped clean up various types of floating debris

[7]
along the Muelle De Binondo River to prevent flooding of the river (Cruz, 2019) . The

Pasig River Rehabilitation Commission (PRRC) on March 21, 2019, led a massive

cleaning and clearing operations at Estero de Magdalena in Tondo, Manila. The PRRC’s

clearance, relocation, clean-up operations and public information campaigns are focused

on Estero de Magdalena, a tributary of the Pasig River system, due to the alarming

amount of solid waste clogging the said waterway. However, despite the regular clean-up

operations and development of the linear park, the PRRC received reports that an

[8]
alarming volume of wastes recurred at Estero de Magdalena (Allanigue, 2019) . Figure

1 shows the Estero de Magdalena's filthy condition which is often blamed on illegal

[9]
settlers living along the canal banks (Pelayo, 2018) .

Figure 1. The polluted state of Estero de Magdalena

Source: https://tinyurl.com/wsnccml

According to Greenpeace Philippines Campaigner Abigail Aguilar, the Philippines

has a good legislation on solid waste management, however much more can be done to
 3

[10] [11]
enforce it (Tantuco, 2018) . Adel (2019) reported that Department of the Interior and

Local Government, Metropolitan Manila Development Authority, Department of

Environment and Natural Resources, and conducted simultaneous cleaning of rivers,

estuaries or inlets and creeks linked to Manila Bay in part of the government's move and

pledge to save and restore Manila Bay. "A total of 1,980 volunteers came forward, resulting

in garbage cleaning with a total volume of 37,103 kilograms of garbage collected in 5,301

bags," said DENR Undersecretary Jonas Leones. DENR conducts a clean-up operation for

rivers every month depending on the budget given for the clean-up operation.

[12]
A report from Mayuga (2019) , The Environment Secretary Roy A. Cimatu,

MMDA chairman Danilo Lim and PRRC officials went to spectate the ancient water

body and witnessed the alarming tons of waste floating passing from Manila Bay to

Marikina City. Cimatu affirmed to take action in the worsening conditions of trash in the

Pasig River to the headwater. Around 3,000 tons of wastes had been gathered in Manila

bay, Cimatu said. From establishments and residences placing their trash in bodies of

water, causing floating residues in bodies of water and as the waste speedily increases

[12]
make the waste more difficult to remove (Mayuga, 2019) .

Tropical Storm Ondoy hit Metro Manila and Rizal Province hardest causing

floods. This typhoon affected about 4.9 million out of 10 million inhabitants and left 501

[13]
missing or dead (Nakasu et al., 2011) . As the death toll increases in the Philippines

after Typhoon Ondoy hit the country and left Manila's main city in chaos, poor drainage

systems and waste disposal issues show to have intensified the disaster's impacts (United

[14]
Nations Office for Disaster Risk Reduction, 2009)
 4

Tropical Storm Karding has ignited Typhoon Ondoy memories as flooding and

rising waters in Metro Manila hit several barangays. Improper disposal of waste is the

[15]
number one reason of flooding (De Guzman, 2018) .

The Metropolitan Manila Development Authority (MMDA) told the Audit

Commission (COA) that in 2018 flooding in the National Capital Region took longer

[16]
than in 2017 to subside (Business Mirror Editorial, 2019) . In 2018, an average of 30

minutes was needed to subside the flood in Metro Manila compared in 2017 that only

took 18.5 minutes. Only 41.63 percent of waterways and drainage systems were

unclogged, due to improper waste disposal in Metro Manila as per MMDA. Making it

hard for the flood to pass through drainages. Which makes it longer for the flood to

[16]
subside (Business Mirror Editorial, 2019) .

[17]
According to Orias (2018) , the improper management of sewage in the

municipal drainage system, creeks, dams and other waterways is the cause of major street

flooding. Before, only strong typhoons with consistent rain can induced flooding.

Nowadays, even frequent monsoon rains and occasional showers will wreak havoc on our

highways and bridges, rendering them impassable. Compared with the previous decades,

floods today are simply the worst, even taking lives and destroying our towns and

provinces at times. If the government is unable to fulfill solutions to this issue, improper

waste management in the Philippines will cause more inevitable circumstances to come

[17]
aside from floods (Orias, 2018) .

Manual method of waste collection is very obvious that anything related to water

pollution is toxic to human body. Human body can consume sicknesses and dirt when

consuming contaminated water because of water pollution not only to humans but also to
 5

animals living in the bodies of water. Pollutants such as heavy metals, industrial waste,

microbial pollutants are called to be the major factors that harm the marine ecosystem. In the

Philippines, Manual method of waste collection is a standard that DENR is designating their

workers to do the dirty job such as cleaning estuaries and removing waste that causes the

clogging of water passages. Manual method collection would be very risky if people

themselves will remove those toxic waste because simply having contact with polluted water

can already harm their bodies especially when without proper training, tools and equipment

[18]
and proper uniform (Water Pollution Organization, 2019) .

DENR is the LGU responsible for removing wastes from estuaries and unclogging

water passages to avoid flooding in cities. Due to the DENR’s simultaneous clean up, the

water quality in rivers and up to Manila bay is constantly improving. The Secretary of the

Interior and Local Government Eduardo Año made a circular memorandum to make

weekly cleanup drives compulsory in 178 local government units (LGUs) covering the

[19]
rivers and estuaries in order to maintain the cleanliness (Mogato, 2019) .

By considering this, the researchers perceived to reduce floating waste on the water

surface through the use of automatic floating waste collector. The project prototype will be

an automatic floating waste collector. The automatic floating waste collector prototype will

reduce the difficulty and risk to human health when removing water floating waste.
 6

Objectives of the Study

The main objective of the study is to develop an automatic floating waste

collector for rivers to reduce marine debris.

Specifically, the study aims to:

1. Design a floating waste collector with the following features:

a. It can remove floating wastages from the water surface using a conveyor belt

mechanism;

b. It has an assigned waypoint using GPS;

c. It can detect floating waste using proximity sensor;

d. It can detect obstacle that can interfere with the collection using ultrasonic sensor;

e. It can monitor the capacity of the waste collected using level sensor;

f. It can operate for a maximum 1-hour duration;

g. It is a modular type; and

h. It uses telemetry to gather data

2. To fabricate the automatic floating waste collector as design.

3. Test and improve the functionality of the automatic floating waste collector.

4. Evaluate the acceptability of the automatic floating waste collector.

Scope and Limitation of the Study

This research was used in waterways to clean floating waste. The automatic

floating waste collector is important because the floating waste collector can help with

the reduction of floating waste in rivers. The materials used for the main body frame were
 7

made with cross plate metal sheet to withstand undulated water. The prototype was a

modular design so that some parts can be replaced and fixed without disassembling the

whole unit in case it has been damaged. Some of the pump boat in the Philippines is

made with fiberglass because it is known for its durability. The automatic floating waste

collector had a servo motor connected to the water pump of the floating waste collector

for the speed of the floating waste collector.

The rudder of the floating waste collector is used for changing the direction of

the floating waste collector. The Arduino Mega was programmed for the functionality

and for the automatic direction of the floating waste collector. The conveyor belt of the

floating waste collector removed floating waste from the river. The level sensor is

connected to the Arduino Mega in order to set the maximum waste collected after

reaching its level point. The automatic floating waste collector can reduce floating waste

but it cannot remove chemical waste from water.

The waste-collecting capacity was limited to the level point set to level sensor.

After reaching the waste limit using level sensor, the automatic floating waste collector

returned to where the operation started. The automatic floating waste collector can only

collect floating waste for a maximum of 1 hour. After the set time, the automatic floating

waste collector returned to where the operation started using GPS signal.

The hook was attached to the net behind the floating waste collector for the

disposal of floating waste. The direction of the boat was based on the GPS assigned

waypoint in the program. With the use of Arduino Mega, the proximity sensor was

programmed to detect floating waste while the ultrasonic sensor was to detect and avoid
 8

obstacles that can interfere with the operation. In order to use the automatic floating

waste collector, the floating waste collector should be placed in a polluted river.

After placing the floating waste collector, manually turned on the switch to make

the floating waste collector start collecting floating waste. The floating waste was removed in

the water surface through the use of a conveyor belt mechanism. The collected floating waste

was collected using a net. After the automatic floating waste collector reached the one-hour

duration or reached the maximum level of waste collected, the floating waste collector will

return to where the operation started. After the floating waste collector return to the starting

point, the collected floating waste will be ready for proper disposal. The automatic floating

waste collector will benefit the waterways in Metro Manila.

 9

Chapter 2

CONCEPTUAL FRAMEWORK

This chapter contains gathered information from articles and literary works that

can provide necessary details for the study. Discussions from this chapter will support the

process and concept consisted in the study. This chapter will also discuss topics that are

related to the study. Conceptual model of the study will be a part of this chapter. This

chapter also includes the operational definition of terms.

Review of Related Literature and Studies

Floating Waste Pollution

[20]
Guern (2019) stated that water pollutants are made up of 60 to 95 percent plastic.

Plastic is a material that takes years to decay making it persistent in the environment.

Approximately 50 percent of single-use plastic wastes are often improperly disposed rather

than recycled or incinerated. Plastic pollution, amassing in the environment of synthetic

plastic items to the point where they make problems for wildlife and their territories just as

for human populations. Non-biodegradable waste disposal has become one of the most

pertinent issues with the environment, as the hasty increase in the production of disposable

plastics overwhelms the ability of the world to handle them. In Asian and African countries,

where waste collection frameworks are often wasteful or non-existent, plastic pollution is

most noticeable. United Nations consulted that plastic trash has become universal that has

incited endeavors to compose a worldwide bargain. A considerable lot of non-biodegradable

like plastic packs and food wrappers have a life expectancy of mere minutes
 10

to hours and yet may persist in environment for many years according to Moore (2019)

[21]
. Floating waste pollution was not noticed until the massive plastic production in the

1950s. Plastic production increased more than 200 to 381 million tons of plastic by 2015.

Once at sea, there remains much plastic trash in waterways. Floating waste can be

transported around the world once the waste is caught in ocean currents. Plastic can get

through the ocean in multiple routes like river systems. River systems can carry plastic

waste from downstream to coastal areas where floating debris can get into the ocean

[22]
(Ritchie and Roser, 2018) .

Huge amounts of floating waste consistently enter the seas, of which the greater

part spills out from waterways. A lot of floating waste goes to sea trash patches, getting

trapped in a vortex of flowing water. In the event that no move is made, the plastic will

progressively affect biological systems, well-being and economies. The primary life

forms that interact with contaminated water are marine animals. The impact of water

contamination on oceanic creatures relies upon the sort of material brought into the water.

In outrageous cases, it can prompt the passing of water species. It can likewise prompt a

genuine upsetting of the evolved way of life. Water contamination can prompt cholera

[23]
and hepatitis in people (The Ocean Cleanup, 2019) . Major rivers, which act as

conveyor belts, are also carrying trash to sea, picking up more trash as they move

[24]
downstream (Parker, 2019) .

Floating Waste Components

About 60%-80% of all marine waste is composed of plastic, and Ocean

Conservancy's Trash Free Seas Alliance gauges that 8 million metric massive amounts of

[3]
plastic enter the sea every year (Rios, 2007) . Journey boats speak to just 1% of marine
 11

vessels, however, produce about 25% of ship-sourced squander; a solitary voyage

[25]
traveler produces 3.5 kg of waste every day. According to Langnau (2019) , different

poisons of plastics and other waste materials are connected to diseases, birth defects,

childhood development issues, and immune system disorders. For people, poisonous

quality from plastics and other waste materials comes legitimately from lead cadmium

and mercury found in numerous sea fish just as from diethylhexyl phthalate (DEHP), a

cancer-causing agent found in plastics.

The Effect of Wastes in the Water

Water contamination influences general well-being, communicated in genuine

sicknesses most importantly among youngsters, tourism industry, water sanitization, the

fishing industry, and different divisions, causing ecological, social, and financial harm

that together put a brake on advancement. Floating wastes have a huge impact not only

on aquatic life but also in human life. Debra Lee Magadani, a researcher from Columbia

University, examined a shrimp she bought from a market and found microplastics from

[26]
its gut according to Royte (2019) . Same sea creatures are what people are having on

their dinner plates which means human beings are the receiving end of the bad impact of

water pollution. Another evident impact of trash heaps up is living space adjustment

[26]
(Royte, 2019) .

Plastic and natural litter can change the structure of waterway environments, lessen

the light level in the waters underneath the flotsam and jetsam, and even drain the broke

down oxygen in the water. These elements add to natural surroundings that are ill-suited to

help the sea-going plants and creatures that depend on it for nourishment and safe house,
 12

harming the biological system of the stream and, the encompassing backwoods or field

[27]
(Smith, 2019) .

Perhaps experts have already used all existing words to inform and educate the

public about the environment and how floating waste pollution affects one’s health. But

what a lot of people still do not understand is, in the situation of the Pasig River and the

linked tributaries, there is more to a filthy creek than just getting sick.

Floating Waste Pollution in the Philippines

The Philippines is one of the largest polluters in the ocean regardless of the waste

management act of the country. Some of the reasons behind the plastic pollution problem

in the Philippines are the insufficiency of political will and the regular usage of single-use

plastic products. Improper disposal of waste is also the cause of floating waste pollution.

Some residents near waterways find convenience in disposing their waste in rivers.

Single-use plastics have become a normal production in the industry.

Every year, the Philippines produces 2.7 million tons of plastic waste wherein 20

[28]
percent, or a large portion of a million tons falls into the oceans (Vila, 2018) . The

shortage of facilities for waste collection in secondary towns and many of the smaller islands

in the country are mostly attributable to the country's overwhelming amount of marine

plastic. Despite a waste management act that was implemented 18 years ago, the Philippines

is the third-largest ocean polluter in the world. Masses of plastic waste in waterways, waste

clogging drainage canals and reeking dumpsites are among the most obvious manifestations

of the Philippine waste crisis. In 2015, Ocean Conservancy charity and the McKinsey Centre

for Business and Environment reported that the Philippines is

 13

ranked as the third-largest that generate discarded plastic which ends up in the ocean,

[28]
behind two other Asian nations: China and Indonesia according to Vila (2018) .

Past studies rated the Philippines as the third-highest plastic polluter in the sea.

Another Global Alliance for Incinerator Alternatives (GAIA) investigation has discovered the

number of plastic Filipinos squander every day to show exactly how enormous a plastic

pollution in the country. " More than 163 million packets of plastic sachets, 45 million dainty

[29]
movie packs and 48 million shopping bags are being used every day (Subido, 2019) .

Metro Manila’s numerous subcultures result in many issues that reflect the city’s socio-

economic characteristics. Due to the continuous disposal of waste, the river bed has been

[30]
clogged with organic matter and non-biodegradable debris as per Cruz (2017) .

Floating waste harms the water and executes marine creatures that ingest the waste or

become entangled. Floating waste can spread diseases in the creature of the rivers and

contaminate the marine natural way of life from the littlest fish to the greatest fish. Plastic

harming can prompt diseases and formative issues in children according to Andrews (2019)

[31]
. The Philippines is presently managing a sea contamination emergency. The Philippines

turned into a significant vector for floating waste items, including plastics that are streaming

into the worldwide sea. The Philippine government has administered various environmental

laws that would limit strong squander like Law 6969 of the Republic or the Law on Toxic

[32]
and Dangerous and Nuclear Waste Management of 1990 (Pia, 2018) .

With the continuation of the Philippines’ floating waste pollution in bodies of

water, water shortage for consumption will be a problem in the next ten years according

[33]
to Khalid (2018) . Out of 421 rivers in the Philippines, 50 rivers are considered dead

and inhabitable for marine life. One of the rivers in the Philippines is included in the most
 14

[34]
polluted rivers in the world (Marrone, 2016) . Heavily polluted rivers will cause an
economic recession. The availability of fishing areas will be limited (Bengwayan, 2019)

[35] .

The Pasig river contains 63,700 tons of floating waste every year (Business

[36]
Mirror, 2017) . Non-biodegradable waste such as plastic bottles and rubber slippers

[37]
are frequently found floating in rivers according to Victor (2017) . Floating waste in

[38]
the Pasig river comes in household waste (Fitzgerald, 2018) . In recent years, the river

system's pollution has gone from bad to worse. While the water in the Pasig River is
generally gray, the connected tributaries and creeks are much darker, even black, and
emit a strong stench, particularly during the dry season when the water level is low,

[39]
stagnant and pollutants are highly concentrated (Bosano, 2018) .

Action Taken to Clean Rivers

Manila's water quality issue is not just about the earth. It is additionally about

flooding, general well-being, and personal satisfaction. Coasting trash stops up conduits

and shields them from depleting appropriately during moderate rains. Tributaries loaded

up with silt from natural issues rapidly flood their banks, sending contaminated rising

waters into riverside networks of shanties.

In 1950s, people are still able to swim in the Pasig River. By the 1980s, all fishing

operations ceased and the water started to smell bad. By 1990s, the 27-km Pasig River was

biologically dead. While the hyacinths of verdant water currently drifting along the waterway

can carry shading to the foul darker, they mean stream water contamination to specialists.

The waterway stays polluted regardless of different projects and activities with
 15

global contributors including ADB and the World Bank, the Danish International

Development Agency, government, private givers and common society according to

[40]
Frauendorfer (2012) .

Untreated sewage and modern profluent streams into the river and with poor

squander gathering and absence of appropriate landfills in close by networks. Rivers have

fundamentally become a trash station. En route you have 48 tributaries siphoning in

increasingly grimy water, incorporating into the casual settlement regions where

appropriate sanitation offices are frequently absent.

Economic Benefit of Clean up Device for Rivers and Ocean

[42]
As per Boffey (2019) , Dutch researchers planned an enormous coasting

gadget to tidy up an island of garbage in the Pacific Ocean that is multiple times the size

of France has effectively gotten plastic from the high seas for the first time. The maker of

the Ocean Cleanup venture, 600 meter-long free-drifting blast had caught and held trash

based on what is known as the Great Pacific Garbage Patch. The most recent independent

vessel gathers plastic from waterways, at that point, stores the loss into gliding

dumpsters. The interceptor can remove 50,000 kilograms of rubbish from a stream every

day as indicated by the sea clean up. Interceptors use floating barriers that catch waste

and guides it towards an opening.

The current and flow at that point move the debris onto a conveyor belt, which

extracts the trash from the water and delivers the waste to the shuttle, a processing plant

[43]
that resembles a barge (Marchese, 2019) . Another device invented is the Seabin

which is an Australian innovation from two surfers, who saw the direct effect of sea
 16

contamination. The Seabin is a floating trash bin designed for marinas and ports. The

Seabin shifts to remove waste and oil from the surface of the water so pollutants before

[44]
can reach our oceans (Daniels, 2018) .

Aquatic skimmers are simple devices capable of collecting debris as water flows

through the aquatic skimmers or pull debris with a pump. Skimmers gather and store

garbage in a compartment, which is, in some cases furnished with a channel to ingest

fluid poisons. Skimmer material containers and filters need to be frequently cleaned – as

[45]
often as several times a day to be effective according to Cirino (2017)

Solving the problem of floating waste is such an issue that the floating waste problem

needs to be approached from multiple directions. One approach is getting the junk out of

rivers and lakes before the waste tends to be helped through our waterways into the seas.

Various tasks in progress do only this; few handle the issue, while others adopt a modern

[46]
measured strategy as per Frerck (2018) . A clean-up device is a legacy in terms of

pollution and restoring aquatic habitat on the rivers, is not only good for the environment, but

the device also creates jobs and fuels the regional economy (Louwagie, 2018)

[47] .

[48]
According to Monroe (2013) , litter can be an individual issue. For a few, the

significance of keeping the water clean hits home when relatives become ill after a swim

in a contaminated seashore. For some, soft drink bottles, wrappers, and cigarette butts are

only bits of muck that hit the road and wash away.

Ocean cleanup would utilize the rivers flow to convey floating waste into a gigantic,

v - shape, screen suspended from two 30-mile-long, floating, blasts. The trash would be
 17

piped into a central collection stage where the waste could be stacked onto boats to be

[49]
expelled (Strickland, 2016) . The massive tasks identified with the overall clean up

exercises implied various changes and difficulties, yet in addition, incalculable positive

results, accomplishments, and activities learned regarding social and financial

[50]
improvement just as security of the earth (Joshi, 2012) . There are several ugly faces

[51]
of pollution, and one of them is very unfashionable according to Ellen (2018) .

Conventional Method of Floating Waste Reduction

Floating waste can be reduced in various methods and ways. Restriction of single-

use plastic production can contribute to the reduction of floating waste in bodies of water.

Promotion of installation of water refill stations in public places can reduce the usage of a

[52]
disposable plastic bottle (Dell, 2019) . Recycling of waste can also contribute to the

reduction of floating waste. Participation in river cleanup can contribute to the reduction

[53]
of floating waste according to Hutchinson (2014) .

Landfilling

Figure 2. Types of Landfills

[F1]
Source: http://tiny.cc/u6pygz
 18

Landfilling is a method of disposing non-biodegradable waste. Landfilling is also

considered highly inefficient because landfilling involves a great deal of storage and the

chemical components and fuel found in plastics are discarded in this disposal path. Plastic

waste can be easily got into rivers and carried by floodwater to ocean in countries where

landfills are poorly managed. Furthermore, when plastics break down in landfills,

pollutants (phthalates and bisphenol A) may leak into the soil and surrounding

[54]
environment (Xing, 2016) .

Incineration

Figure 3. Incineration Process

Source: http://tiny.cc/saqygz

Plastics are composed of petroleum and natural gas, resulting in a value of energy

produced that is greater than any other element usually found in the waste stream.

Incineration restores some of the energy formed from plastics. As hazardous substances

can be released into the atmosphere during the process, plastic incineration tends to cause

negative environmental and health effects. For instance, PVC and halogenated additives

are mixed into plastic waste and their incineration leads to the release into the

[54]
environment of dioxins and polychlorinated-biphenyls (Xing, 2016) .
 19

Recycling

Figure 4. Set of Recycle Garbage

Source: http://tiny.cc/2gqygz

Plastic is possible to reuse and recycle the recovered materials. Due to some

challenges with the processing and storage of plastic debris, this process is not widely used.

Most developed countries have insufficient waste management systems, sometimes

contributing to reckless dumping of plastics and other pollutants into waterways and water

bodies. Recycling is the most effective way to control plastic waste, the effectiveness of

recycling is highly dependent on economic viability, public awareness, and the enactment of

[54]
public infrastructures to make recycling more efficient (Xing, 2016) .

Biodegradable Plastics

Figure 5. PLA Biodegrading Process

Source: https://tobuya3dprinter.com/pla-eco-friendly-3d-printing-filament/
 20

The action of living organisms can decompose biodegradable plastics.

Biodegradable plastics can solve several waste management problems, particularly for

disposable packaging, which cannot easily be segregated from organic waste. There are

allegations that Oxo-Biodegradable plastics may release metals into the environment

through organisms can completely process biodegradable plastics into carbon dioxide and

[54]
water (Xing, 2016) .

Conventional Method of Floating Waste Collector

A Robot Simulation for Cleaning Up the Chicago River

Figure 6. Trash Robot in Action

Source: http://tiny.cc/4uqygz

The mission of Urban Rivers is to purify rivers and protect wildlife. Urban Rivers

founders saw the problem; the Chicago River was floating trash. The residents of Chicago

started scooping up trash with nets, but the waste pollution soon became apparent that the

problem needed a 24/7 device that would always work, so they built a robot remotely

controlled by a computer that anyone could operate at any time. A robot mounted camera

allows the operator to see and drive through the eyes of the robot. Urban Rivers converted the

[55]
robot into a computer game according to Frerck (2018) . Log in, and the more trash they

earn, the more points they can gain, the more players can collect points for waste. The
 21

robot gathers transfers the floating garbage to a collection point and then recharges

automatically.

Versions of Industrial Size

Figure 7. Trash Skimmer

Source: https://www.aquamarine.ca/aquatic-skimmers/

Baltimore city has developed some very imaginative devices to remove plastic

debris from rivers and port. Another system uses a combination of booms to corral

floating plastic waste and then a "trash skimmer" to pick up and take the garbage to the

[55]
shore where the waste can be disposed (Frerck, 2018) .

The Water Wheeled Collector

Figure 8. Water Wheel Trash Inceptor in Baltimore Inner Harbor

Source: http://tiny.cc/03qygz
 22

Further modern is the solar and water-driven collector of Baltimore, the Water

Wheel Collector, which eliminates styrofoam, auto tires discarded, and plastic bottles

[55]
floating. The ultimate goal is to turn down the water wheel (Frerck, 2018) .

Interceptor

Figure 9. Interceptor
Source: http://tiny.cc/d9qygz

The Ocean Cleanup launched the Interceptor, an automated device to collect plastic

debris from rivers before entering the ocean. Interceptors contain floating barriers connected

to barges-like processing plants that are attached to the bottom of the river. The conveyor belt

collects the waste from the water and transfers the waste to a truck, which then disposed the

waste into containers on a separate docked barge below. The onboard computer system warns

local partners to take a vessel and tow away the plastic waste barge for recycling when the

containers are all loaded. Each system only extends part of the river, so boats and marine life

can maneuver. Interceptor can extract each day 50,000 kilograms of debris from a river,

[56]
going up to 100,000 kilograms (Block, 2019) .
 23

Existing Machines for Floating Waste Collection

With all the problems mention above, the researcher has gained interest in

the cleaning machine on bodies of water. The world is looking for better ways to cope up

with the problem with the floating waste in different bodies of water. As some ways are

risky for the human, many floating waste collectors had been created according to

[57]
Niramon (2017) .

Seabin Marine Waste Collector

Figure 10. Seabin Project

Source: http://tiny.cc/45qygz

The Seabin was designed to operate for 24 hours and 365 days every year. This

works best in marinas and in fairly controlled environments where plastics and moving

fluids are captured. The Seabin is on the surface and on the dock is plumbed into a water

pump mounted on the sea. Water is sucked into the tank, taking the floating debris and

floating liquids. Then the water flows through the bin's bottom and into the dock's pump.

The capture bag is made of natural fiber, but an oil and water separator can be mounted

[58]
as well (Grozdanic, 2015) .
 24

Aquatic Multi-Robot System for Lake Cleaning

The robots will use tactile sensors and wireless communication to navigate

automatically and collectively conduct removing waste, injecting oxygen into water,

spurting chemicals and dispensing food at appropriate sites. With the aid of simulations,

the prototype has shown that successful and fast cleaning of aquatic waste is possible

[59]
through the use of a multi-robot network with this technique (Bhattacharya, 2013) .

River Cleaning Skimmers in China

River cleaning boat's design is used to gather floating waste on rivers and other

waterways, single-stage sorting and transportation of the collected material, including

water plant cutting. The automated river cleaning vessel is made of single bottom, single

deck, transverse frame design, which is made of welded steel. The cleaning robot is not

an autonomous vehicle, but a manually operated vehicle. Hydraulic pumps and diesel

engines provide mechanical power source for the boat. The main design features are a

swinging collection arm at the front of the vessel and a stainless-steel conveyor belt that

sits in the water between the booms to remove floating river waste and store the waste in

a holding area with a capacity of 10 tons and a height of 2.5 meters. The definition of the

series is automatic. Once the capture has been done, the boat is transported to shore. For

paddle-wheels, the boat travels in the water with hydraulic motor as a power source

[61]
(Qingzhou, 2019) .

Low-Cost Robot from Mumbai

The robot is made up of PVC pipes and rubber. The robot has a conveyor belt that

gathers the waste and put the waste into a storage that is also visible on the prototype. The
 25

device is linked to a computer and comes with a camera. The camera can serve as the

[62]
navigation as the prototype is remotely-controlled (Subramanian, 2017) .

When the robot encounters the obstacle, the bot proceeds with further movement

depending on the conditions applied in the program and then the robot picks up the

[63]
garbage (Apoorva, 2017) . The research created by Sihori, Dev, Gautam, and Kumar

[64]
(2017) is regarding the advanced river cleaner where the turbine rotates by river water

flow and two conveyor belts are arranged through the mechanical gear arrangement.

Buoyancy Force Principle

[65]
Brittanica (2019) mentioned that the theory of Archimedes law explains that

any item that is entirely or partly inundated in a gas or liquid is affected because of an

upward or buoyant force equal to the weight of the fluid that the body displaces. The

buoyancy on a floating body in a fluid is corresponding in scale to the floating object's

[65]
mass and is opposite in direction; the object does not rise or sink. (Brittanica, 2019)

The diagram of a floating object as shown in Figure 11 will explain the buoyancy
applied to any floating object. The object should correspond with the density of the fluid.
The buoyancy will also depend on the acceleration based on gravity (Goenka, 2015)

[66] .
 26

Figure 11. Free Body Diagram of a Floating Object

Source: https://tinyurl.com/vn8g2as

Mechanism of Boat on Water Surface

Aside from buoyancy, another factor to consider in building a boat is the

mechanism. There are different ways to navigate the movement of the boat. Some are by

the use of manpower, others are nature-dependent and the rest is mechanical-powered.

Below is the discussion of different boat propulsions.

Oars and Paddles

Figure 12. Oar and Paddle Boat

Source: http://www.seahopperfoldingboats.com/

The primitive way of propulsing a boat is through human strength, with the use of

oars or paddles. The difference between the two is that oars are used exclusively for rowing

and the oar is attached to the vessel with a little portion inside and a longer portion outside.
 27

On the contrary, paddles are not connected to the vessel and should be held in both hands

of the paddler.

How the boats move using these instruments is a simple application of Newton’s

third law of motion. If one pushes backward with the oar, the boat moves forward. The

force put into the water will be equal and opposite to the force obtained by the vessel.

The strength of the rowers or paddlers and the kind of oars and paddles to be used will

[67]
determine the speed of the boat. Katherine Wright to Michael Benzaquen (2018) said

that the shorter the oars, the faster the boat can go.

Sails

Figure 13. Sail Boat

Source: http://nwsailsandcanvas.com/sails/

Sailing is another old form of moving a boat forward. The main principle is that

the wind pushes the sail from behind, causing the boat to move forward. If the goal is to

travel in the same direction as the wind then the sail must be held perpendicular to the

[68]
wind (Maciel, 2015) .
 28

But then boats would prefer consistently not to cruise away with the wind blowing

straight behind them. Practically speaking, that implies the sails must be situated at an edge,

yet the wind will at that point attempt to blow the boat at that edge rather than the bearing

you need to go in. Two different forces are needed. One is a force from the bottom or called

keel. On the off chance that the wind blows the vessel somewhat sideways, the keel pushes

against the water and pushes the boat in a forward way. The user can likewise point the

rudder at the back of the vessel along these lines, as the water hits it, the rudder takes shots

[69]
off at an edge, guiding the vessel to the other side (Woodford, 2018) .

Engines

Figure 14. Engine Boat

Source: http://tiny.cc/derygz

While oars and sails are as yet utilized on some smaller vessels, most present-day,

mechanical frameworks comprising of an electric engine or motor turning a propeller

pushed ships, or for some, in pump-jets, an impeller. According to Mary Bellis (2019)

[70]
, the pioneer engine-powered boat built by John Fitch in the 17th century in the United

States which was fueled by coal used a high-pressure steam engine. Today, modern

engines are mostly diesel-powered.

 29

Propeller

Figure 15. Propeller

Source: http://tiny.cc/ph53gz

[71]
As per Sewale (2018) , a propeller is an airfoil pivoting consisting of at least

two sharp edges attached to a focus point mounted on the crankshaft of the motor. The

propeller's ability to switch to valuable push over motor energy. The cutting edges of the

propeller have a main edge, edge of the trail, tip, shank, confrontation and back. To give

the propulsive power, propellers change over pivoting movement from cylinder motors,

turboprops or electric motors.

[72]
According to Archana (2018) , the propeller is connected to a piston motor's

crankshaft, whether directly or a lessening unit. Light airship motors often do not need

multi-sided adaptation value, but multi-sided adaptation is important for larger engines

and turboprop airships.

 30

Rudder

Figure 16. Rudder

Source: http://tiny.cc/6f53gz

[73]
According to Chakraborty (2019) , Sailboats steer either on the transom (the flat

surface of the stern) or under the boat using a rudder, a vertical, blade-like appendage. The

rudder operates when deflecting water flow in both cases: when the helmsman-the steering

individual, as probably as male as female-turns the rudder, on one side the water hits with

greater force, on the other hand, the force decreases. The rudder moves in the lower pressure

direction. The stern goes the way the rudder goes, and the boat turns.

Most Common Boat Hull Materials

There are several factors to consider in choosing the materials to be used in building a

boat. The choice where the material to fabricate the body of the vessel is one of the key

choices one has to make. Strength, durability, lightness and resistance to heat and chemical
 31

reactions should be kept in mind when choosing. From generation to generation, the

material used in building ships or boats shifted depended on the availability and

adaptability of modern-day technology.

Wood

Wood is the conventional vessel building material utilized for frame or mostly

called hull and spar structure. Modern boats still use wood for buoyancy, widely

accessible, easy to form and since wood is non-magnetic, wood does not affect the

compass.

The problem with wooden hulls encountered in the past was the risk of aquatic

organisms entering the hull. One solution that made was to cover the wood with a copper

plate but the environmentalists objected to this method since covering the word with

copper plate was considered as pollutants and may endanger marine life (Davies, 2019)

[74]
.

Iron and Steel

Steel hull is known for its strength and ability to withstand a collision. The largest

ships in the world are made of steel which says something regarding the nature of this

[75]
material. Pascoe (2019) stated that the challenge with boats or ships built with steel is

buoyancy because metals are heavy, and of course, metals are subject to corrosion.

Also, steel ships need to be insulated since steel is a good conductor of both heat

and cold. Steel could get extremely hot in summer and none less than cold in the winter

without insulation but then ensuring steel hull ships are a little more difficult than

fiberglass.
 32

Aluminum

Aluminum regularly is viewed as an extraordinary material to fabricate boats and

ships. In most countries where aluminum is costly, using this material for a hull is less

considered. However, aluminum is tough, sturdy, solid and shockingly practical in the

process.

Aluminum is a shimmering white, bendable metal with phenomenal corrosion

resistance, quality and durability. Aluminum may be effectively thrown and welded, melts at

1,220 degrees (rather than 500 degrees for fiberglass), and weighs 170 pounds for each cubic

foot—somewhat more than 30 percent lighter than steel. Aluminum's quality changes relying

upon the alloy. Marine-grade 5083 H-32 aluminum plate (kind of aluminum) begins to twist

[76]
at 34,000 psi and comes up short at 45,000 psi (Sorensen, 2019) .

Fiberglass

Another commonly used material nowadays in building a boat is the fiberglass (glass-

reinforced plastic or GRP). Fiberglass is a strengthened plastic material made out of glass

strands implanted in a resin matrix. The glass is heated until the glass reaches the melting

point. At that point, fiberglass is constrained through superfine gaps, making glass fibers that

[77]
are dainty — so slight they are better estimated in microns (Johnson, 2019) .

[78]
According to Jack Vale (2018) , boats can be produced using different

materials. In the past times, boats were made generally of wood and a couple of boats

today still are. Different vessels are made of steel or even the light yet solid aluminum

alloy. However, half of all boat hulls in the US are made of fiberglass.
 33

What makes fiberglass as common materials for boat hull is the fact that it breaks

through the crucial factors of strength, lightness, and resistance to temperature and

chemicals.

Fiberglass is the best material for the floating waste collector because fiberglass is

known to withstand undulated water. Unlike wood, fiberglass is durable and can last

longer in water. Fiberglass is a material used for making pump boats. The frame of the

floating waste collector

Motor

A motor is a rotating device that provides electrical power to a machine or device.

Motors are usually found in vehicles and industrial machines. Motors are also used in water

vehicles to provide speed. The rotation of the motor can power any machine or device. The

[79]
power depends on how fast the rotation of the motor can do. (Circuit Globe, 2017)

Types of Motor

Alternating Current Motor

Alternating current motor uses an alternating current as a power source. The

application of an AC motor is usually found in mixers, grinders, and some industrial

machines. The torque of an AC motor depends on the supplied alternating current. (Wat

[80]
Electrical, 2019)

Direct Current Motor

Direct current motor uses a direct current as a power source. DC motor is a type of

[81]
motor that contains a magnet (Fritz, 2017) . DC motors are known to have less inertia.
 34

DC motors are also easy to maintain. DC motors have a simple design. DC motors also

[82]
have a lower cost compared to other motors (Kimbrell, 2016) .

Servo Motor

Servo motor is a kind of motor that may depend on angular position. Servo motor

is a motor often used in robotics. Servo motor can also be used in a closed-loop

[83]
mechanism. Servo motors are also used in industrial machines (Techopedia, 2019) .

Servo motor and DC motor will be used in the Floating Waste Collector to fulfill the given

instruction from the Arduino Mega. Servo motor will be used for the water pump and the

rudder. In order to maintain the forward movement of the Floating Waste Collector, the servo

motor will provide a torque compatible with the water pump. The servo motor will also be

used for the rudder. The rudder will change the direction of the Floating Waste Collector.

The DC motor will be used for the conveyor belt of the Floating Waste Collector.

Water Pump

Water pump is a device that is commonly used in water cooling machines. Water

pumps are also found in some aquariums. Water pump can also be used in water vehicles.

[84]
Water pump can provide speed for water vehicles (Laukkonen, 2013).

Battery

A battery is composed of anode and cathode. A battery is commonly found in

devices or machines. Some batteries can also be used to power vehicles. There are two

kinds of battery: Primary battery is a kind of battery that can be disposed after a single

[86]
use. Secondary battery is a kind of battery that can be rechargeable (Hymel, 2018)
 35

The Floating Waste Collector will use a secondary battery in order to make the waste

collector rechargeable. The floating waste collector will need a 12-voltage battery in

order to make the waste collector start the operation. The 12-voltage battery is commonly

found in electric bikes. The secondary battery will make the floating waste collector

reusable.

Conveyor Belt

Figure 17. Conveyor Belt

Source: http://tiny.cc/pm53gz

There are several rotating and vulnerable elements in a conveyor belt, such as a

drive system, gear reducer unit, pulleys, idlers, etc. All of these parts are based on rolling

element bearings, the regular seal of the manufacturer, the lubrication device as

[87]
mentioned by Almasi (2018) . The overall quality and durability of a single belt

conveyor line will not equal the availability needed for many essential processing units,

even when using the latest technology and the most reliable components. Redundancy is

therefore typically necessary.

 36

Types of Conveyor Belts

Belt Conveyor

Figure 18. Belt Conveyor

Source: https://tinyurl.com/tdlygw6

The belt conveyor is one of the simplest types of conveyors. The parts of the

conveyor move from end to end. With a variable speed drive, speed may be variable. Belt

conveyors are unable to use as a working surface and present as parts to a robot, and they

cannot buffer or sequence parts. But their simplicity makes them available one of the

[88]
most common types of conveyors (Ultimation, 2019) .

Chain Conveyors

Figure 19. Chain conveyor

Source: https://tinyurl.com/tdlygw6
 37

Mounted floor chain conveyors are excellent for heavy items and particularly for

products with lower surfaces that are uneven. On the bottom of the load, the chains have

two to three contact points which bring the material forward as the chain passes. Chain

conveyor is used to carrying pallets and large commercial containers. For auto plants, this

is a growing application. They are heavy-duty, moving at slow speeds in general

[88]
(Ultimation, 2019) .

Motorized roller conveyors – 24V MDR Conveyors

Figure 20. Motorized roller conveyor – 24 MDR Conveyor

Source: https://tinyurl.com/tdlygw6

The motorized roller is attached to the other rollers in the same region by plastic

or strengthened belts utilizing one or more motor-driven rollers per zone to create a series

of zones along the conveyor. The parts will never move this way, preventing damage.

This is induced by "zero pressure accumulation" and is very useful.

 38

Inverted monorails and inverted power

Figure 21. Inverted monorails and inverted power

Source: https://tinyurl.com/tdlygw6

Except that the line is on the surface and the load is above the floor, just like their

overhead setups. Useful in paint finishing applications to prevent leaking powder or oil

on pieces. Widespread use in final assembly procedures of automobiles.

Power and Free Conveyors

Figure 22. Power and Free Conveyors

Source: https://tinyurl.com/tdlygw6
 39

The control and free conveyor are also present in the overhead conveyor unit.

This conveyor is like a standard overhead motorized conveyor, except that it has two

lines. The chain is running continuously in one direction.

Belt conveyor will be used in this prototype since the simple mechanism of

pushing the waste upward to the net is needed.

Microcontroller

Microcontroller is a chip used for automation of specific controls at any assigned

[89]
task as per Gudino (2018) . There are different parts of a microcontroller. CPU is a

part of a microcontroller considered as the brain. Memory is a part of a microcontroller

that provides storage for data and programs. Parallel input/output ports are a part of a

microcontroller used for connecting LED, printers, LCD, and memories.

Serial ports are a part of a microcontroller that can interface with a

microcontroller and parallel ports. Timers are a part of a microcontroller that provides

timing functions. Counters are a part of a microcontroller that provides counting

functions. A part of a microcontroller is analog to a digital converter that can convert

analog signals into a digital form. A part of a microcontroller is digital to an analog

converter that can convert digital signals into an analog form

Interrupt control is a part of a microcontroller that provides a delay in a program.

Special functioning block is a part of a microcontroller that contains additional ports for

[90]
special tasks according to Vysakh (2018) . Arduino is a software used for programming

[91]
Arduino boards to perform an assigned function (Robinson, 2015) . There are different
 40

kinds of Arduino board. Arduino Uno is a type of Arduino board that can provide faster

transfer rates and more storage for memory.

Lilypad is a type of Arduino board that can be sewn to clothing. Arduino Mega is

a type of Arduino board that composed of 54 digital pins. Arduino Leonardo has 20

digital input/output pins. Arduino red board is a type of Arduino board that is

[92]
programmed with the use of Arduino IDE software (Watelectronics, 2019) . Arduino

uses an ATMEGA328 microcontroller that has more memory storage and has a higher

[93]
speed in transferring data to a computer according to Pushpa (2016) .

A microcontroller is used to control other parts of an electronic system, usually

through a microprocessor unit, memory, and specific peripherals. Such tools are designed

for installed applications that require agile, reactive communication with electronic,

analog, or electromechanical components, as well as processing capabilities. The

abbreviation "MCU" means "microcontroller unit." You may also sometimes see "μC"

(where micro is replaced by the Greek letter mu). Microcontroller is a well-chosen name

because the microcontroller highlights this brand category's defining characteristics. The

"micro" prefix signifies smallness and the word "controller" signifies an improved

capability to perform control functions. This functionality is the result of combining a

digital processor and memory with additional hardware specifically designed to help the

[94]
microcontroller communicate with other parts (Keim, 2019) .
 41

Types of Microcontroller

Raspberry Pi

Figure 23. Raspberry Pi

Source: http://tiny.cc/qb53gz

Raspberry Pi is a series of single-board computers. Raspberry Pi was presented in

2012, and several models and variants have been published since then. The original

Raspberry Pi had a 700MHz single-core CPU and only 256 MB RAM, and the modern

model had a 1.4GHz quad-core CPU with 1 GB RAM. Raspberry Pi is used to learn

programming skills, create hardware projects, do home automation, and even use

Raspberry Pi in industrial applications.

The Raspberry Pi is an exceptionally less expensive cost computer that runs

Linux, but also provides a collection of general-purpose input/output (GPIO) pins that

allow you to monitor physical computing electronic components and explore the Internet

[95]
of Things (IoT) (Heath, 2017) .
 42

Qualcomm Snapdragon

Figure 24. Qualcomm Snapdragon SBC

Source: http://tiny.cc/dy43gz

This is a single-board computer (SBC) using the powerful Qualcomm Snapdragon

processor. Qualcomm Snapdragon supports various technologies, such as Wi-Fi,

Bluetooth, and GPS. Qualcomm Snapdragon is ideal for applications on the Internet of

Things (IoT), health, and robotic. The user can connect the interfaces of a keyboard,

mouse, and USB. Some smartphones are coming with this processor according to Kumar

[96]
(2018) .

Banana Pi

Figure 25. Banana Pi

Source: http://tiny.cc/1r43gz
 43

The Banana Pi is a portable SBC that supports various protocols such as Wi-Fi

and Ethernet. With the quad-core ARM Cortex-A7 processor operating at 1.2GHz,

Banana Pi offers excellent computing performance. There are several variants called H3,

H2+, EDU, and H5 called Banana Pi M2+. For example, the Banana EDU is well suited

to learning the functionality of small embedded applications for students and engineers,

[96]
but it does not have Wi-Fi or Bluetooth on board (Kumar, 2018) .

Arduino

Arduino is an open-source platform used to create designs for electronics.

Arduino consists of both programmable physical circuit board and software or IDE

(Integrated Development Environment) that runs on your computer, used to write and

upload computer code to the physical board. As a beginner, the user can quickly develop

applications with less effort than with other platforms. The board features a 16MHz-

running 8-bit ATmega2560 microcontroller. It has 54 digital pins for input/output and 16

analog inputs. The board has four UARTs and can be programmed using the Arduino

[97]
IDE as well as other Arduino shield variants (Tawil, 2016) .
 44

Types of Arduino

Arduino Uno

Figure 26. Arduino Uno

Source: http://tiny.cc/qhrygz

[98]
According to Chauhan (2016) , Arduino Uno is a huge alternative for your first

Arduino. The Arduino Uno is composed of 14 digital Input/Output pins that can be used

as a pulse with modulation (PWM) with 6 pins. Arduino Uno includes everything the

user needs to hold the microcontroller; simply attach the Arduino Uno to a PC using a

USB cable and provide the supply to start with an AC-to-DC adapter or battery.
 45

Arduino Nano

Figure 27. Arduino Nano

Source: http://tiny.cc/5jrygz

[99]
As per Mitchell (2018) , The Arduino Nano is basically an Arduino Uno that

has been shrunk into a small profile, making the Arduino Nano convenient for tight
spaces and projects wherever possible to reduce weight.

Arduino Due

Figure 28. Arduino Due

Source: http://tiny.cc/dlrygz

[99]
Mitchell (2018) stated that the Arduino Due is also one of the top boards and

the first to be powered by an ARM processor in Arduino. The Due has no EEPROM on
 46

board and is one of Arduino's high-cost boards. While Arduino Due has multiple pin headers

to connect to the many digital I/Os, pin-compatible with standard Arduino shields is also

available, the Arduino Due cannot be guaranteed by software compatibility.

Arduino Mega

Figure 29. Arduino Mega

Source: http://tiny.cc/onrygz

[99]
As per Mitchell (2018) , the Arduino Mega is somewhat like the Due because

the Arduino Mega has 54 I / O as well. Arduino Mega uses an ATmega2560. The CPU is

clocked at 16MHz and contains 256 KB of ROM, 8 KB of RAM, 4 KB of EEPROM and

runs at 5V making user-friendly with most hobby electronics simple to use.

 47

Arduino Leonardo

Figure 30. Arduino Leonardo

Source: http://tiny.cc/rprygz

[100]
According to Fezari (2018) , Arduino Leonardo is an ATmega32U4-based

microcontroller board with 23 digital input/output pins. Arduino Leonardo is developed

by Arduino.cc to provide the ability to perform several functions on a single chip with an

easy-to-use interface.

With all the types of Arduino mentioned above, Arduino Mega suit the needs of

Automatic Floating Waste Collector. For 8-bit microcontroller projects, the Arduino

Mega 2560 serves as a great development platform. The Arduino Mega's additional I/O

and serial ports and abundant code space offer substantial advantages over the other

Arduino boards of the previous generation. What is great about the whole Arduino family

is the ability to transport code to own custom PCBs from one hardware solution to

another. Before the Arduino Mega runs out of space on one of the smaller boards and

with only minor code changes, the researcher can be up and running Mega with ease.
 48

Sensor

Sensor is a component used for detection depending on the given input. A sensor

can respond to light, moisture, temperature, pressure, and motion according to Rouse

[101]
(2012) . A sensor has two classifications: Passive and Active. A passive sensor does

not require an external power signal. An active sensor requires an external power signal.

There are different types of sensors. Temperature sensor is a sensor used to detect

changes in temperature. Proximity sensor is a type of sensor that detects nearby objects.

Infrared sensor is a type of sensor that is based on light. Ultrasonic sensor is a type of

sensor that measures the velocity and distance of an object through the use of ultrasonic

sound waves.

Smoke sensor is a type of sensor that can detect smoke. Alcohol sensor is a type

of sensor that can detect alcohol. Touch sensor is a type of sensor that can detect touch.

Color sensor is a type of sensor that can detect color. Humidity sensor is a sensor that can

[102]
detect humidity (Ravi, 2017) . Some applications of a sensor are for alarm systems

[103]
according to Tross (2019) .

Types of Sensors

Temperature Sensor

Figure 31. Temperature Sensor

Source: http://tiny.cc/0srygz
 49

[102]
According to Ravi (2018) , in a temperature sensor, temperature changes result in

changes in physical properties such as resistance or voltage. Temperature sensors are used

everywhere, such as computers, mobile phones, vehicles, air conditioning systems, factories

and so on. There are different types of sensors for temperature such as temperature sensor ICs

(such as LM35), thermistors, thermocouples, and RTD.

Proximity Sensor

Figure 32. Proximity Sensor connected to Arduino

Source: http://tiny.cc/4i43gz

[102]
According to Ravi (2018) , a proximity sensor is a non-contact sensor

designed to detect the presence of an object. Proximity detectors can be applied using

various techniques such as optical and ultrasonic. A proximity sensor is an electronic

sensor that can sense objects within the scope without any physical contact. The

proximity sensor emits an electromagnetic radiation beam to detect objects, mainly in the

form of infrared light and detects the reflection to determine the proximity or distance

from the sensor of the target. There are several types of sensors required for proximity

and use various sensing techniques. Capacitive and photoelectric sensors are

progressively appropriate for plastic and organic targets, while inductive proximity

[104]
sensors can detect metal targets only (Kinney, 2001) .
 50

Infrared Sensor

Figure 33. Infrared Sensor

Source: http://tiny.cc/xc53gz

[105]
Chilton (2014) stated that an infrared sensor is a component used to sense

surrounding characteristics. The infrared sensor can produce or sense radiation from the
infrared. Infrared sensors can also measure an object's heat emitted and detect motion.

Level Sensor

A level sensor is a device for determining the level or amount of fluids, liquids or

other substances that flow in an open or closed system. There are two types of level

measurements, namely, continuous and point level measurements. Continuous level

sensors are used for measuring levels to a specific limit, but this sensor provides accurate

results. Point level sensors, on the other hand, only determine if the liquid level is high or

low. The level sensors are usually connected to an output unit for transmitting the results

[]
to a monitoring system (AZoSensors, 2014) .

Types of Level Sensor

Capacitance Level Sensors

Capacitance level sensors are used for detecting the levels of aqueous liquids and

slurries. These sensors are operated by employing a probe for monitoring level changes.
 51

These changes are converted into analog signals. The probes are usually made of

conducting wire with PTFE insulation. However, stainless steel probes are highly

sensitive and hence they are suitable for measuring granular, non-conductive substance or

[]
materials with a low dielectric constant (AZoSensors, 2014) .

Optical Level Sensors

Optical level sensors detect liquids containing suspended materials, interface between

two immiscible liquids and the presence of sediments. Optical level sensors operated

based on the transmission changes of infrared light emitted from an infrared LED. The

interference from the emitted light can be eliminated by employing a high energy infrared

[]
diode and pulse modulation methods (AZoSensors, 2014) .

Ultrasonic Sensor

Figure 34. Ultrasonic Sensor

Source: http://tiny.cc/7d53gz

[106]
According to Burnett (2019) , an ultrasonic sensor is a component that has

ultrasonic sound waves to sense an object. The sensor also sends and receives ultrasonic

pulses using a transducer to transmit back data about the proximity of an object. The

transducers are the microphones that the ultrasonic sound receives and sends. The sensor

determines the distance between the transmitting of the ultrasonic pulse to a target

[106]
through measuring time-lapses according to Burnett (2019) .
 52

The ultrasonic sensor and the proximity sensor are the best options for the floating

waste collector because of the good features for spotting an object or an obstacle that can

interfere with the collection of floating waste.

The average weight of a plastic bottle is shown in Table 1 in order to determine the

weight capacity of the floating waste collector. The computation of the weight capacity will

base on the average weight of a 1.5L plastic bottle. The 20 kg maximum weight capacity of

the floating waste collector is divided by the weight of one 1.5 L plastic bottle converted into

kilograms. 20 kg divided by 0.0326 kg will result in 613 1.5 plastic bottles. The floating

waste collector can collect 613 1.5 plastic bottles per operation.

Table 1

Average and Median weight of PET Bottles

Bottle Size Average Weight (g) Median Weight (g)

250ml 6.41 6.42
330ml 14.31 14.03
600ml 19.71 18.71
1.5L 32.6 32.6

Global Positioning System (GPS)

Figure 35. GPS module connected to Arduino

Source: http://tiny.cc/yn53gz
 53

GPS is a mixture of detection of position and movement. Together with how fast

an object is moving, GPS can return the object’s position. A GPS receiver determines

location through timing the GPS satellite signals. The receiver compares multiple

satellites with the time stamp. These timestamps are compared and the delays extrapolate

the receiver's position. Depending on different atmospheric conditions and the location of

the receiver, the expected position accuracy is likely between 10 to 20 meters. Combining

the information from an accelerometer, gyroscope, and GPS helps to know where the

object is, the direction in which the object is going and the course in which you are. In

many autonomous systems, these are critical components. Users will find these features

[107]
in the GPS receiver 66-Channel LS20031 according to Logsdon (2019) .

Arduino IDE

Figure 36. Arduino IDE

Source: http://tiny.cc/zq53gz

[108]
As per Fezari and AL Dahoud (2018) , Arduino IDE is a software that is

mainly used for creating and uploading the code in the microcontroller. The code will be

written in a “sketch” before uploading the code to the microcontroller board. Arduino

IDE supports the languages of both C and C++.

 54

Conceptual Model of the Study

The conceptual model of the study needs to be established in line with the theories

learned and relevant literature from different sources. The theoretical approach will be

based on the assumptions, principles and conclusions of the related studies and the

literature concepts presented. Figure 37 contains the conceptual model of the study.

INPUT PROCESS OUTPUT

Knowledge Requirements
Project Design
1. C Programming
2. Carpentry I. Analysis,
3. Parts Assembly Calculation and
design of
4. Buoyancy and
Density Principle prototype
5. Boating Project Development
6. Circuitry
7. Waste Collection • Programming of Automatic
Mechanism Arduino
Floating Waste
• Construction of Collector for
Software Requirements Frame Waterways
a. Arduino Application • Compatibility and
Connection of
Hardware Requirements every component
• Installation and
b. GPS Module
Fabrication
c. Conveyor Belt
d. Sensors Testing and Operation
e. Battery
• Primary Testing
f. Net
g. Motor • Check the
h. Propeller load capacity
and velocity
i. Chassis
j. Rudder • Automation test
and operation
k. Arduino Mega Board

Evaluation
 55

Figure 37. The Conceptual Model of the Study

The research starts with the observation and gathered data with waste

management issues to prove the existence of the and to reinforce the importance of the

study. Similar studies and literature are also collected to explore theories and frameworks

that can be used as a basis for the development of the prototype.

The input is considered as the basis of the study. The input includes the

knowledge, software, and hardware requirements. Knowledge requirements consist of C

programming, carpentry, parts assembly, buoyancy and density principle, boating,

circuitry, and waste collection mechanism. Software requirement includes Arduino

application. Hardware requirements contain the GPS module, conveyor belt, sensors,

battery, net, motor, propeller, chassis, rudder, and Arduino Mega board.

The process is the action that will be taken in order to develop the study. The process

consists of the project design, project development, testing and operation. Project design

contains the analysis, calculation, and design of the prototype. Project development includes

the programming of Arduino, construction of frame, compatibility and connection of every

component, installation and fabrication of the prototype. Testing and operation include the

primary testing, checking of load capacity and velocity, and automation test.

The output is the automatic floating waste collector for rivers. The output can be

tested in rivers after providing the input and following the process. The output will be

developed after the completion of the process.

 56

Operational Definition of Terms

Floating waste refers to waste that is commonly found in bodies of water.

Floating waste collector refers to a device that removes floating waste from the water

surface with the use of a conveyor belt and collects the waste inside a net.

Floating waste detector is a component that can spot floating waste in the water surface.

Obstacle sensor refers to an ultrasonic sensor that can detect obstacles in order to avoid

interference during the operation of the floating waste collector.

Scooper refers to a fiberglass sheet attached to a conveyor belt to remove the floating

waste from the water surface.

Servo motor water pump is a water pump that can provide forward movement for the

floating waste collector

Waste collector rudder is a device that can change the direction of the floating waste

collector.
 57

Chapter 3

METHODOLOGY

This chapter shows the isometric drawings, block diagram and flow of process

related to the concept of the study. The figures have discussions to help in the

development of the project. This also shows working drawings, circuit diagram as well as

the step-by-step procedures of the prototype fabrication. This will focus on the research

method of the study including the needs, requirements, functions for the prototype to

work. There were a procedure and process that are involved with the project design to

check its efficiency. The project design, development, operation, and testing procedure

and evaluation procedure are also presented in this chapter

Project Design

The main objective of this research is to lift waste debris from the water surface

and dispose of the floating waste into the net. Wood was used as the frame of the boat.

The researchers distinguished the design and function of how the prototype will work.

The conveyor belt was placed in front of the prototype. The conveyor belt served as the

collector of the waste where the conveyor belt continuously rotates once the system is on,

and only stop if the given set time or level is reached.

Net was used instead of a bin in order to lessen the water content of the waste and

was not added to the level limit; that helped to maximize the waste collected. There was a

level sensor placed at the top of the net to monitor the level of the waste collected.
 58

The direction created by the submersible motor was moving from left to right

depending on the scope angle where the ultrasonic sensor detected the obstacle. The

ultrasonic sensor served as the signal to check the obstacle’s distance from the waste

collector so the waste collector can change the direction before the waste collector

reaches the obstacle.

Figure 38. Project Design Labeled Parts

The waste collector main frame design as shown in Figure 38 was made up of wood

in order to withstand undulated water. The conveyor belt was placed in front of the main

frame to remove floating waste from the water surface. The obstacle sensor was placed at the

right side of the conveyor belt. The submersible motor was placed in the rear portion of the

waste collector to provide a force that can keep the waste collector in a forward
 59

movement. The level sensor was placed at the top of the net to monitor the level of the

waste collected. The collected floating waste was disposed inside a net.

Submersible
Motor Driver
12V Battery DC Motor (Left
Module
or Right)

Relay Driver Microcontroller Sensors

Module

DC Motor GPS
(Conveyor Belt)

Figure 39. Block Diagram of the Floating Waste Collector

The block diagram as shown in Figure 39 contains the connection from the

power source to the hardware components. The power source of the microcontroller is a 6

volts battery. The microcontroller was connected to the relay module, GPS module, and

sensors. The relay module as shown in figure 6 was connected to the DC motor and servo

motor. The power source of the DC motor and the servo motor is a 12 volts battery.
 60

Start Variable Input level limit

program and sensor and timer

Yes Found
Approach
Object? Detection of
Floating Waste
Floating Waste

No

Collect Floating
Waste Forward
Movement

Level Object is No
sensor detected?
triggered?
1-hour Yes
No
interval
met?

Yes

End
Return Home program

Figure 40. System Flowchart

 61

The system flowchart as shown in Figure 40 contains the process of collecting

floating waste using the automatic floating waste collector. When the proximity sensor

detected a floating waste, the waste collector approached and removed the floating waste

from the water surface using a conveyor belt mechanism. When the waste collector did

not detect a floating waste, the waste collector continued to have a forward movement.

The waste collector changed its direction using a rudder to avoid interference in waste

collection depending on the detection of the ultrasonic sensor. When the waste collector

reached the one-hour duration time limit, the waste collector returned to where the waste

collector started. When the waste collector fulfilled the 20 kilograms weight capacity, the

waste collector had a “return to base” function.

Figure 41. Relay Module Schematic Diagram

The relay module as shown in Figure 41 was used as a converter of

voltage. The relay module was placed between the Arduino Mega and the motor. The
 62

relay module was connected to the Arduino Mega and the motor in order to make the

motor function with the given instructions from the Arduino Mega.

Project Development

The design of the prototype with its general dimension is shown in Figure 42. The

actual frame of the prototype was 8 feet in length and 4 feet in width. The total height of

the mock-up made from the base frame to the light indicator was 7.5 inches. The total

length of the project from the edge of the frame to the conveyor was 19 inches. The total

width of the project was 8 inches. The main frame was made up of wood, 3mm in

thickness. The conveyor belt was made up of rubber with a dimension of 10.5 inches x6

inches.

Figure 42. Waste Collector Scale Model with Dimensions

 63

The waste collector scale model as shown in Figure 42 contains the dimensions of

every exterior part of the waste collector with the mockup made. The total length of the

actual frame was 8 feet. The total height of the main frame was 2 feet. The total width of

the actual frame was 4 feet. The slope height of the conveyor belt was 2 feet.

The dimension of the conveyor belt was 3 feet x 2 feet. The distance of the

collector in the conveyor belt from the main frame was 6 inches. The total length of the

collector in the conveyor belt was 5 inches. The height of the collector in the conveyor

belt was 2 feet. The total width of the conveyor belt was 2 feet.

Figure 43. Waste Collector Compartment with Dimensions

 64

The waste collector compartment model as shown in Figure 43 contains the

design with the dimensions of the main frame. The total length of the compartment was 8

inches. The total height of the compartment was 7.5 inches. The total width of the main

frame was 4.3 inches.

1. Construction of Compartment

a. Cut two pieces of 7.5 inchesx8 inches plywood.

b. Cut two pieces of 4.3 inchesx7.5 inches plywood.

c. Cut two pieces of 4.3 cmx8 cm plywood

d. Cut four pieces of 1 inch x 8 inches wood

e. Mount four pieces of 1 inch x8 inches wood to a piece of 4.3 cmx8 cm plywood

f. Mount two pieces of 4.3 inchesx7.5 inches plywood to both sides of the

compartment.

g. Mount two pieces of 7.5 inchesx8 inches plywood to the front and rear portion

of the compartment.

h. Mount the LCD screen, three buttons, and two LEDs to the top portion of the

compartment.

i. Mount the level sensor to the front portion of the compartment.

j. Mount the antenna to the right side of the compartment.

k. Mount two submersible DC motor to both sides of the compartment.

l. Cut a piece of 0.5 inchesx8 inches wood.

 65

m. Mount the 0.5 inchesx8 inches wood to the front portion of the compartment.

Figure 44. Conveyor Belt Model with Dimensions

The conveyor belt model as shown in Figure 44 contains the dimension of the

parts of the conveyor belt. The total length of the conveyor belt was 7 inches. The height

of the collector in the conveyor belt was 7.5 inches. The length of the collector in the

conveyor belt was 10.5 inches. The total width of the conveyor belt was 8 inches
 66

2. Conveyor Belt

a. Cut a piece of 2 inchesx8 inches wood.

b. Cut two pieces of 2 inchesx7 inches wood.

c. Cut two pieces of 1 inchx6.5 inches wood.

d. Mount two pieces of 2 inchesx7 inches wood to both top sides of a

2inchesx8inches wood.

e. Mount two pieces of 1 inchx6.5 inches wood to both bottom sides of a

2inchesx8inches wood.

f. Insert a plastic tube to an 8 inches 3mm diameter rod.

g. Mount the rod to both sides of a 1 inchx6.5 inches wood.

h. Cut a 6 inchesx21 inches rubber sheet.

i. Attach the 6 inchesx21 inches rubber sheet to both ends.

j. Attach a rod to a DC motor.

k. Drill a 3mm diameter to the top right side of the conveyor belt.

l. Insert the rubber sheet to both rods.

m. Mount the DC motor to the top left side of the conveyor belt.

n. Mount the obstacle sensor to a servo motor.

o. Mount the servo motor at the top right side of the conveyor belt.
 67

Operation and Testing Procedure

Operation Procedure

The approach of the study was the experimental operation of the prototype. The

machine is to be operated in Pasig River and estuaries. Considering the core requirements

for the design that the prototype should float in either seawater and freshwater, the

prototype should also be automated. The design is expected to be with least human

intervention. The main objective of the design project is to collect the floating waste

using the conveyor belt system.

Operation Procedure

1. Put the waste collector in a waterway.

2. Turn on the power switch of the waste collector.

3. Turn on the start switch of the waste collector.

4. The waste collector will start operating.

5. The obstacle sensor will detect the floating waste.

6. The submersible motor will change direction depending on the detection of

the obstacle sensor.

7. The conveyor belt will remove the floating waste from the water surface.

8. The waste collected will be disposed in the net attached to a hook.

9. The waste collector will return to where the operation started when the level

capacity is reached or the five-minute duration is fulfilled.

 68

Testing Procedure

The approach of the study is the experimental testing of the prototype of its

function and parameters. Functionality testing is performed to verify that the product

meets the specifications and functional requirements specified in the documentation.

Table 2

Functionality Test

Test Scenario Expected Output

Power On, Turn on switch
Microcontroller
Submersible motor
Capacitive proximity sensor
The output voltage was 12V
The microcontroller verified the data stored and controlled the
loads
Submersible motor made the prototype move forward
The capacitive proximity sensor detected 1-meter distance
of floating plastic waste in the area

Ultrasonic sensor The ultrasonic sensor detected the obstacles and

surroundings.

Conveyor The conveyor started to collect the waste debris

Time clock Time clock was set to one hour of operation
Level Sensor The level sensor monitored the maximum capacity of the
waste collected

Conveyor When the desired level and time was reached, the conveyor
stopped
Telemetry The telemetry sent feedback through SMS about the
status of the machine when the operation fulfilled with the
message of “ATTENTION! The Automatic Floating Waste
Collector located in %s,%s has successfully finished its duty”

GPS GPS gave the direction to return to its starting point

Power Off
 69

Table 3

Response Time of Obstacle Sensor

Result of testing
Distance
Trial 1 Trial 2 Trial 3
5m

Table 4

Response Time of Level Sensor

Result of testing
Distance
Trial 1 Trial 2 Trial 3
5m

Table 5

Longevity of Battery

Result of testing
Five-minute operation
Trial 1 Trial 2 Trial 3
12 operations
 70

Chapter 4
RESULT AND DISCUSSION
This chapter contains the project description, project structure, project

capabilities, test result, and evaluation result.

Project Description

The autonomous floating waste collector provides a safer method of floating waste

collection compared to the manual method. The autonomous floating waste collector operates

during high tide in order to perform a better result of the collection. The autonomous floating

waste collector only functions properly when the GPS signal is detected.

Level sensor Net Obstacle sensor

Telemetry

Manual off

Conveyor belt
Timer

Start

Power

Figure 45. Mock Up Presentation of Prototype

 71

Project Structure

The autonomous floating waste collector's main frame is made up of a checkered

plate metal sheet. The total dimension of the floating waste collector consists of 19 inches

length, 7.5 inches height, and 8 inches total width. The autonomous floating waste

collector has a compartment for the circuits placed at the rear portion of the main frame.

Figure 46. DC Motor for the Conveyor Belt

The conveyor belt used for the prototype is a conveyor belt made up of 6V DC

motor, rubber sheet, plastic tubes, and a 3mm diameter rod. The net is placed at the center

of the main frame where the floating waste will be collected.

The motor of the prototype is a 6V DC motor connected to a relay driver with a

12V DC power source. The power source of the floating waste collector is a 12V DC

Lithium battery that can provide the required torque and RPM for the floating waste

collector. The motor of the conveyor belt is a 6V DC motor with 180 RPM.
 72

Figure 47. Level Sensor

The level sensor is placed at the top of the net in order to prevent the overflowing

of floating waste collected in the net. The ultrasonic sensor is placed at the front left

portion of the prototype.

Figure 48. Ultrasonic Sensor

The ultrasonic sensor will be able to detect walls that can prevent collision with

the floating waste collector. The capacitive proximity sensor is placed at the front right

portion of the prototype. The capacitive proximity sensor will be able to detect floating

waste that will be collected using the conveyor belt. The autonomous floating waste

collector has 4 detachable wheels to make the prototype moveable to different estuaries.
 73

Project Capabilities and Limitation

The floating waste collector can collect up to the maximum level height of waste

collected on the net in a 1-hour operation. The prototype has a telemetry function where

the user will receive a status update during the operation using SMS. The floating waste

collector will also depend on the GPS signal in order to function. The prototype can only

operate during high tide for better results. The floating waste collector has a capacitive

proximity sensor that can detect floating plastic waste. The prototype can detect obstacles

that can interfere with the collection using ultrasonic sensor and automatically change its

direction.

The prototype was tested with 5 minutes of operation. The floating waste

collector is set to return home after the operation using a GPS module. The level sensor is

set to a 1-inch distance above the net to prevent overflowing of the floating waste

collected. The ultrasonic sensor is set to 5-inch distance detection of walls.

Test Result

The autonomous floating waste collector was tested for three trials in order to

compare the output of each test. The trials will show the accuracy of the components and

the power capacity of the autonomous floating waste collector.

Table 6

Response Time of Obstacle Sensor

Result of testing
Distance
Trial 1 Trial 2 Trial 3
5 inches 3.16 sec 2.96 sec 2.48 sec
 74

The response time of ultrasonic sensor as shown in Table 6 contains the output of

three trials comparing the distance where the ultrasonic sensor can respond properly. The

average time where the ultrasonic sensor can detect an obstacle is 2.87 seconds.

Table 7

Response Time of Level Sensor

Result of testing
Distance
Trial 1 Trial 2 Trial 3
1 inch 5.09 sec 5.67 sec 1.94 sec

The response time of level sensor as shown in Table 7 contains the output of three

trials comparing the distance where the level sensor can respond properly. The average

distance where the level sensor can detect the waste collected is 4.23 seconds.

Table 8

Longevity of Battery

Result of testing
Set Time ( 1 hour )
Trial 1 Trial 2 Trial 3
12 operations 12V 6V 4V

The longevity of battery as shown in Table 8 contains the output of three trials

comparing the capacity of the battery. Every operation takes 5 minutes to test. The

average operation where the battery can operate is 7.33V.

 75

Chapter 5

SUMMARY OF FINDINGS, CONCLUSIONS, AND

RECOMMENDATIONS

This chapter contains the summary of findings, conclusions, and

recommendations based on the remarks, and suggestions from the panel to further

develop and improve the prototype.

Summary of Findings

The autonomous floating waste collector is modified based on the required standards

for the prototype. The system and commands are all programmed in Arduino Mega. The

autonomous floating waste collector can only function properly during high tide. The size

and weight of the prototype complied with the buoyancy. The main frame made the prototype

durable for heavy operations. The functionality of the autonomous floating waste collector

depends on the GPS signal. The operation of the prototype stopped once the maximum level

of waste collected and the time set was reached. The ultrasonic sensor detected any obstacles

that may hinder the operation and changed its direction.

Due to certain circumstances and limited resources, some of the features which were

already programmed in the system failed to test its functionality. Since the researchers used a

mock device to test the program, there were some discrepancies to the results gathered. The

time difference in every test trials were recognizable since the power source used were

rechargeable 6v batteries. The weight capacity of the device cannot be maximized. Also, the

test was conducted in a confined space that makes a difference in GPS signal detection which

plays a big role in return home function. Those features could have given a great impact to
 76

the prototype had it been utilized and properly executed. The prototype has a safer method

compared to the manual method of floating waste collection. The components of the

autonomous floating waste collector were tested for accuracy.

Conclusions

Based on the objectives of the study and gathering of data, the output of the test

and evaluation of the autonomous floating waste collector, the following conclusions

were drawn:

1. The autonomous floating waste collector has different features:

(a) The prototype has a conveyor belt mechanism to collect floating wastages

and can detect floating waste using a capacitive proximity sensor.

(b) The program has an interface GPS module to detect the waypoint of

the device.

(c) The prototype can detect 1-meter distance of floating plastic waste in

the water

(d) Using ultrasonic sensor, the prototype can detect and avoid obstacles

that interfere with the operation.

(e) The prototype returned to where the operation started once the

maximum waste collected is reached.

(f) The prototype stops collecting waste and returned to where the

operation started after the set time.

(g) The conveyor belt and wheels can be detached.

(h) Feedback is sent through SMS once the operation fulfilled

 77

2. The autonomous floating waste collector is made up of a cross plate metal sheet

as the main frame, conveyor belt mechanism as a method of floating waste

collection, and a 12V DC battery as a power source.

3. The prototype functioned to clean waste floating in waterways without human

interference.

4. The performance of the autonomous floating waste collector was tested and

evaluated based on functionality, aesthetics, workability, durability, and economy.

Recommendations

Based on conclusions drawn, the following are hereby recommended:

1. Improve the signal stability of the GPS to provide an accurate waypoint of return-

from-home function.

2. Use solar panel for a back-up power source in case of power shortage.

3. Improve and upgrade the equipment and components to reduce the risk of

malfunctioning and increase the percentages of good results.

 78

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[2] National Geographic Society (2019) Marine Pollution. Retrieved from

https://www.nationalgeographic.org/encyclopedia/marine-pollution/

[3] Rios (2007). Trash pollution. Retrieved from

http://www.oceanhealthindex.org/methodology/components/trash-pollution

[4] Waste Free Oceans (2018) WFO calls for action to tackle floating debris in rivers

Retrieved from https://www.wastefreeoceans.org/single-post/2018/04/05/WFO-calls-for-

action-to-tackle-floating-debris-in-rivers

[5] Thompson (2019) Future of the Sea: Plastic Pollution. Retrieved from

https://www.plasticethics.com/home/2019/5/19/estimate-of-plastic-waste-from-rivers-

into-the-worlds-oceans

[6] UN Environment (2018) This World Environment Day, It’s Time for a Change.

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[7] Cruz, N. (2019) Floating Debris. Retrieved from

http://manilastandard.net/mobile/article/303976

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 92

APPENDIX A

GANTT CHART

Table shows the time table for the research process flow.

Table 9

Gantt Chart

Month
Activity
Aug Sep Oct Nov Dec Jan Feb Mar
Rationale
Research Facts about the topics
Topic Defense
Planning and Design
Drafting of Chapter 1: Introduction
Drafting of Chapter 2: Conceptual
Framework
Drafting of Chapter 3: Methodology
Material and Component Canvassing
Title Defense
Purchase of the Needed Materials and
Components
Fabrication of Materials
Testing and Evaluation
Final Modification
Completing the Project
Documentation
Final Defense
Final Editing of the Documents
 93

APPENDIX B

BUDGETARY REQUIREMENT

MATERIAL/COMPONENT PIECE/S PRICE TOTAL PRICE

4x8 Fiberglass sheet 7 2,000 14,000
Rudder 1 1,200 1,200
Water pump 1 1,600 1,600
Hook 4 55 220
Dynamometer 1 250 250
12V Battery 3 800 2,400
DC Motor 2 414 828
Servo Motor 2 589 1,178
GPS Module 1 474 474
Proximity Sensor 1 171 171
Ultrasonic Sensor 1 80 80
Rubber Sheet 1 1,980 1980
PVC Pipe 2 100 200
Arduino Mega 1 550 550
Net 1 400 400
TOTAL BUDGETARY REQUIREMENT 25,531
 94

RESEARCHER’S PROFILE

RACHEL MAE ESTEBAN AVILA

Address: Natania Homes Residences, Pasong Kawayan 2,
General Trias, Cavite
Phone No.: 09456685088
Email Address: rachelmae.avila@gmail.com

WORK EXPERIENCES

ON THE JOB TRAINING

Pantronics International Corporation
Task: Service Assistant, Shop Service Technician 51-53 General Rosendo Simon,
Morning Breeze Subdivision, Caloocan, Metro Manila November 20,2018-March
19,2019
Technical Support Representative / Consultant
Sutherland Global Services, Inc.
IT Park, Provincial Capitol Complex, Cadlan Pili, Camarines
Sur February 2014-April 2016
EDUCATIONAL BACKGROUND
Tertiary:
TECHNOLOGICAL UNIVERSITY OF THE PHILIPPINES
Bachelor of Technology in Electronics Engineering Technology
Ayala Blvd. Ermita, Manila
SY: June 2016-Present
UNIVERSITY OF NUEVA CACERES
Bachelor of Science in Financial Management
J. Hernandez Ave, Naga, Camarines Sur
SY: 2015-2016

Secondary:
Pamplona National High School
Pamplona Camarines Sur
2007-2011

Primary:
Pamplona Central School
Pamplona Camarines Sur
2001-2007
 95

RESEARCHER’S PROFILE

NICCOLO MACHIAVELLI M. GAPOL

Address: Unit 107, Mirage Condominium, 150 Diamond Street, Bernabe
Subdivision Phase 1, Barangay San Dionisio, Paranaque City Contact
number: 09278411995
Email Address: niccolo.gapol@gmail.com

WORK EXPERIENCE
•Intern, Technician
TRACE Alarm and Security System, Inc.
November 2018 – March 2019
• CSR
FTD Account, Teleperformance MAAX
April 2019 – May 2019
• CSR
FTD Account, Teleperformance
Alphaland April 2018 – May 2018
• CSR
FTD Account, Teleperformance
Alphaland April 2017 – May 2017
EDUCATIONAL BACKGROUND
TERTIARY EDUCATION
•BT – Electronics Engineering Technology
Technological University of the Philippines – Manila
2015 – present
SECONDARY EDUCATION
Mary Immaculate School
2011 – 2015
ELEMENTARY SCHOOL
Mary Immaculate School
2009 – 2011
Sacred Heart School
2005 – 2009
 96

RESEARCHER’S PROFILE

JINGMAR D. NAYPES
Address: 1838 Biak na Bato St. Tondo Manila
Phone No.: 09351963816
Email Address: jingmarnaypes317@gmail.com

WORK EXPERIENCES

ON THE JOB TRAINING

Golden Cup Exim Marketing Corporation
Task: Shop Technician
2437 Tejeron st., Sta. Ana., Manila
November 20,2018-March 19,2019

EDUCATIONAL BACKGROUND

Tertiary:
TECHNOLOGICAL UNIVERSITY OF THE PHILIPPINES
Bachelor of Technology in Electronics Engineering Technology
Ayala Blvd. Ermita, Manila
SY: June 2015-Present

Secondary:

F. Torres High School

Gagalangin Tondo Manila
2011-2015

Primary:

F. Benitez Elementary School

Gagalangin Tondo Manila
2004-2011
 97

RESEARCHER’S PROFILE

MICOL ANNE V. PABLEO

#72 St. Jude Street, Duplex Homes, Molino IV, Bacoor,
Cavite Mobile No.: 09089564997
Email Address: micolpableo@gmail.com
WORK EXPERIENCES
• Intern, Wire Harness Engineering Department 2018-2019

Philippine EDS Techno-Service, Inc., Paranaque City

EDUCATIONAL BACKGROUND

Tertiary:
• Bachelor of Technology in Electronics Engineering Technology 2017-present
Technological University of the Philippines – Manila
• Bachelor of Technology in Electronics Engineering Technology 2015-2017
Technological University of the Philippines – Cavite
• Bachelor of Science in Computer Engineering 2013-2014
AMA University – Dasmarinas, Cavite

Secondary:

Don Stevens Institute – Bacoor, Cavite 2008-2012

Primary:
• Cavite Sto. Nino School – Bacoor, Cavite 2007-2008
• Don Stevens Institute – Bacoor, Cavite 2002-2007
 98

RESEARCHER’S PROFILE

CYNTHIA QUILANG TALISAY

Block 9A Lot 12 Phase 3 E-1 Longos, Malabon City

Contact Number: 09174519617 E-mail address:
imchietalisay@hotmail.com

WORK EXPERIENCES

• ON-THE-JOB TRAINING
Golden Cup Exim Mktg. Corp. – Sta. Ana, Manila October 2018 – March
2019

Responsibilities:
1. Machine Troubleshooting
2. Assembles/disassembles and cleans the machines
3. Prepares the daily production reports
4. Assists the Senior Technicians with the day-to-day tasks

• ACCOUNTING STAFF
Windvan Corporation – Binondo, Manila July 2015-June 2016

Responsibilities:

1. Bills Clients
2. Manages the Clients Accounts
3. Performs Monthly tally
4. Manages due payments

EDUCATIONAL BACKGROUND

TERTIARY – Bachelor of Technology in Electronics Engineering

Technology Technological University of the Philippines – Ermita, Manila S/Y:
June 2016 - Present

RESEARCHES CONDUCTED

• Title of Research: “Development of Automatic Floating Wastes Collector”