EUROPEAN UNIVERSITY OF LEFKE

FACULTY OF ENGINEERING

IoT-Based Multilevel Smart Gas Leakage Detection

Robot.

By

Muhammad Hassan Arif

A dissertation submitted in partial fulfilment of the requirements for

the degree of
Bachelor of Science
in
Electrical and Electronic Engineering

10 June 2023

Supervisor:
Assoc. Prof. Dr Burçin Özmen
 Dedication
This project, "IoT-Based Multilevel Smart Gas Leakage Detection Robot" is dedicated to
all those who value safety, innovation, and the well-being of their communities. With this
project, I aim to make a meaningful contribution to the field of home automation and safety,
and to provide a practical solution for addressing gas leakage concerns in modern smart
homes.
My dedication extends to those who have been affected by gas-related accidents and in-
cidents, as I strive to create a system that can help prevent such occurrences in the future.
The development of the Multilevel Smart Gas Leakage Detection Robot is inspired by a com-
mitment to enhancing the lives of individuals and families, ensuring that they can live in en-
vironments that are not only technologically advanced but also safe and secure.
I extend my gratitude to the countless researchers, engineers, and innovators whose work
has laid the foundation for IoT technology, enabling me to embark on this project. Their col-
lective efforts have opened up new possibilities for creating intelligent systems that can pro-
tect and assist people in their daily lives.
This dedication summary is a tribute to the collaborative spirit that drives progress in the
realm of technology. It acknowledges the invaluable support and encouragement of parents,
teachers, and peers who have guided me throughout this journey of discovery and learning.
Finally, this project is dedicated to the future generations of inventors, problem solvers,
and dreamers who will carry the torch of innovation forward. May this project inspire them
to explore new frontiers and use their talents to build a safer and more connected world for
all.

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 Abstract
In the contemporary landscape of safety-focused technological advancements, this research
introduces an innovative approach to efficient gas leakage detection and management
through the deployment of an IoT-based multilevel smart robot. The system is designed to
leverage the ESP8266 microcontroller for precise robot control and seamless communica-
tion, while utilizing the I2C protocol for bidirectional data exchange between the ESP8266
and the Arduino Uno, specifically for sharing and receiving MQ2 gas sensor data.

The core objective of this study is to engineer a versatile robot that autonomously navigates
through diverse levels within a designated environment, adeptly detecting gas leakages and
facilitating real-time data transmission for analysis and prompt action. The ESP8266 micro-
controller is chosen for its exceptional wireless communication capabilities, enabling remote
control and live monitoring. The Arduino Uno, coupled with the MQ2 gas sensor, is instru-
mental in detecting an array of flammable gases. The I2C protocol is harnessed to establish a
reliable communication channel, allowing the ESP8266 and Arduino Uno to seamlessly ex-
change vital MQ2 gas concentration data.

The development process encompasses pivotal stages such as hardware integration, sensor
calibration, mobility optimization, and IoT integration. The ESP8266 facilitates smooth com-
munication between the robot and a user interface, granting remote control functionality and
instantaneous data visualization. The Arduino Uno, through the I2C protocol, effectively
transmits gas concentration data to the ESP8266, which subsequently processes the informa-
tion to detect potential gas leakages. Upon detecting a gas leakage, the robot autonomously
alerts the user and expeditiously transmits critical data for immediate response.

The efficacy of the proposed system is demonstrated through a comprehensive series of con-
trolled experiments simulating diverse gas leakage scenarios. The results underscore the ro-
bot's precision in detecting and pinpointing gas leakages across multiple levels, along with
its capability to ensure rapid and effective communication of essential data to the user inter -
face. The integration of IoT capabilities enhances usability by providing real-time updates
and enabling remote monitoring.

In conclusion, the IoT-Based Multilevel Smart Gas Leakage Detection Robot presented in
this research presents an innovative solution to elevate gas leakage management and safety
measures. By harnessing the ESP8266 for control and the I2C protocol for seamless data ex-
change between the ESP8266 and the Arduino Uno equipped with the MQ2 gas sensor, the
system empowers autonomous gas detection, multilevel navigation, and real-time data trans-
mission. This contribution holds significant potential for enhancing safety standards across
diverse industrial and domestic contexts.

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 Declaration
I understand the nature of plagiarism, and I am aware of the University’s policy on this. I
have used ChatGPT and different websites to collect data especially literature review ex-
amples so here I certify that this dissertation reports original work by me during my univer -
sity project.

Signature: Muhammad Hassan Arif Date: 30 April

2023

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 Acknowledgements

First and foremost, I would like to thank my supervisor Assoc. Prof. Dr Burçin Öz-
men who has given me plenty of encouragement, support, and guidance. I am also
thankful for the contributions and comments the teaching staff of the Department of
Electrical and Electronic Engineering. I would like to thank my parents for financial
support to purchase the equipment I have used in this project.

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 Table of Contents
The table of contents below is automatically generated from the paragraphs of style Heading.
To update the entire table after a revision, right-click in the table and choose Update Field.

Abstract................................................................................................................................iii
Declaration............................................................................................................................iv
Acknowledgements................................................................................................................v
Table of Contents..................................................................................................................vi
List of Figures....................................................................................................................viii
1 Introduction......................................................................................................................1
1.1 Background and Context..........................................................................................1
1.2 Scope and Objectives................................................................................................2
1.3 Achievements............................................................................................................3
1.4 Overview of Dissertation..........................................................................................4
2 Project Description...........................................................................................................5
2.1 IoT-Based Multilevel Smart Gas Leakage Detection Robot.....................................5
2.2 Working logic...........................................................................................................5
3 Technical Chapters...........................................................................................................7
3.1 Literature Review.....................................................................................................7
3.2 Materials Used..........................................................................................................8
3.2.1 ESP8266..............................................................................................................9
3.2.2 Arduino Uno........................................................................................................9
3.2.3 Gas sensor..........................................................................................................10
3.2.4 Ultrasonic sensor...............................................................................................10
3.2.5 Battery bank.......................................................................................................11
3.2.6 2 Wheel Drive Rover.........................................................................................11
3.2.7 Jumper wires......................................................................................................12
3.2.8 L298N Module..................................................................................................12
3.2.9 12VDC Motor....................................................................................................13
4 Design Methodology and Discussions...........................................................................14
4.1 Design Method........................................................................................................14
4.2 Hardware Design....................................................................................................17
4.2.1 Hardware Result and Discussions.....................................................................17
4.3 Computer Simulation Method and Results.............................................................18
4.4 ESP8266 C program as master device in I2C communication...............................19

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 4.5 Arduino Uno C program as slave device in I2C communication...........................23
4.6 Academic Honesty and Plagiarism.........................................................................23
5 Social Effects of the Project...........................................................................................24
5.1 Economic Analysis.................................................................................................24
5.2 Standards.................................................................................................................24
5.3 Environmental Analysis..........................................................................................25
5.4 Sustainability..........................................................................................................25
5.5 Manufacturing.........................................................................................................26
5.6 Health & Safety......................................................................................................26
5.7 Ethic........................................................................................................................27
5.8 Legal Issues.............................................................................................................27
6 Conclusion......................................................................................................................28
6.1 Summary.................................................................................................................28
6.2 Evaluation...............................................................................................................28
6.3 Future Work............................................................................................................29
7 Graduation poster...........................................................................................................31
8 Graduation proposal.......................................................................................................32
References............................................................................................................................33
Appendix 1...........................................................................................................................34

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 List of Figures
Figure 1. ESP8266 Module..................................................................................................9
Figure 2. Arduino Uno R3 Module......................................................................................9
Figure 3. MQ-2 Gas Sensor................................................................................................10
Figure 4. HC-SR04 Distance Sensor..................................................................................10
Figure 5. Lithium Ion Battery.............................................................................................11
Figure 6. 2WD-Rover.........................................................................................................11
Figure 7. Jumper Wires.......................................................................................................12
Figure 8. L298N Module....................................................................................................12
Figure 9. 12VDC Motor.....................................................................................................13
Figure 10. Block diagram of the system’s layout.............................................................14
Figure 11. Electronic circuit for the ESP8266..................................................................15
Figure 12. Physical wiring of the ESP8266 according to Figure 11.................................15
Figure 13. Electronic circuit for the Arduino Uno............................................................16
Figure 14. Physical wiring of the Arduino Uno according to Figure 13..........................16
Figure 15. Overview of my physical circuit connections.................................................17
Figure 16. Arduino IDE serial monitor............................................................................18
Figure 17. Blynk phone notification.................................................................................19

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1 Introduction

1.1 Background and Context

Gas leakages pose a significant threat to safety in various industrial, commercial, and
residential settings. The timely detection and management of gas leaks are crucial to prevent-
ing accidents, environmental hazards, and potential loss of life. Traditional gas detection
methods often rely on stationary sensors or human intervention, which may not be sufficient
for effectively monitoring large or complex environments. This has led to the exploration of
innovative solutions that leverage the Internet of Things (IoT) to enhance gas leakage detec-
tion and response systems.

The proposed IoT-Based Multilevel Smart Gas Leakage Detection Robot represents a
cutting-edge advancement in the field of safety technology. By integrating IoT capabilities,
advanced microcontrollers, and sensor technologies, this system aims to provide a compre-
hensive and autonomous approach to gas leakage detection and management. The use of the
ESP8266 microcontroller for robot control and communication, combined with the I2C pro-
tocol to exchange data with the Arduino Uno connected to an MQ2 gas sensor, introduces a
new level of efficiency and versatility to gas detection systems.

The ESP8266 microcontroller is renowned for its Wi-Fi capabilities, making it an

ideal choice for real-time communication, remote control, and data transmission. Its integra-
tion as the control centre of the gas leakage detection robot allows for dynamic manoeuvrab-
ility and responsive actions, enabling the robot to navigate through multilevel environments
and identify gas leakages with precision.

The MQ2 gas sensor, a fundamental component of the system, offers sensitivity to
various flammable gases, making it an essential tool for reliable gas detection. The Arduino
Uno serves as an interface between the MQ2 sensor and the ESP8266, processing the sensor
data and facilitating communication through the I2C protocol. The I2C protocol, known for
its simplicity and efficiency in inter-device communication, enables seamless and rapid data
exchange between the microcontrollers.

The integration of IoT capabilities into the gas leakage detection system extends its
potential applications. Real-time data transmission and remote monitoring enable swift re-
sponse to detected gas leakages, reducing the risk of accidents and minimizing damage.
Moreover, the autonomous nature of the robot, combined with its ability to navigate through
multilevel environments, makes it an asset in scenarios where human intervention might be
challenging or dangerous.

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 In summary, the IoT-Based Multilevel Smart Gas Leakage Detection Robot offers a
pioneering solution to a critical safety concern. By harnessing the capabilities of the
ESP8266 for control and the I2C protocol for data exchange, the system provides a versatile,
responsive, and efficient approach to gas leakage detection and management. This innova-
tion has the potential to revolutionize safety practices across various sectors, ensuring a safer
and more secure environment for individuals and assets.

1.2 Scope and Objectives

The scope of the IoT-Based Multilevel Smart Gas Leakage Detection Robot project encom-
passes the design, development, and implementation of an innovative robotic system
equipped with IoT capabilities to autonomously detect and manage gas leakages across mul-
tiple levels of diverse environments. The project involves the integration of the ESP8266
microcontroller for robot control, communication, and remote monitoring. The ESP8266 will
establish communication with an Arduino Uno via the I2C protocol, facilitating the exchange
of gas concentration data from an MQ2 sensor. The project will focus on creating a func-
tional prototype and validating its performance through controlled experiments simulating
various gas leakage scenarios.

The objectives of the IoT-Based Multilevel Smart Gas Leakage Detection Robot project are
as follows:

 Hardware Integration: Develop a physical robot platform equipped with a mobility

system, gas detection sensor (MQ2), ESP8266 microcontroller for control, and an
Arduino Uno for data processing and communication.

 Software Development: Create firmware for the ESP8266 microcontroller to enable

remote control, real-time communication, and data transmission. Implement Arduino
Uno code to interface with the MQ2 sensor and establish communication with the
ESP8266 via the I2C protocol.

 Multilevel Navigation: Design and implement algorithms for autonomous multilevel

navigation, allowing the robot to manoeuvre through complex environments and de-
tect gas leakages across different floors or levels.

 Gas Leakage Detection: Calibrate and optimize the MQ2 sensor for accurate detec-
tion of various flammable gases. Develop algorithms to process sensor data and
identify potential gas leakages.

 Real-Time Communication: Enable bi-directional communication between the

ESP8266 and the Arduino Uno using the I2C protocol, ensuring efficient sharing and
reception of gas concentration data.

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  User Interface: Develop a user-friendly web-based or mobile interface for remote
robot control, monitoring, and visualization of real-time gas concentration data and
leakage alerts.

 Alert System: Implement an autonomous alert system that triggers immediate noti-
fications (visual, auditory, or via the user interface) when a gas leakage is detected,
enabling timely response and mitigation.

 Experimentation and Validation: Conduct a series of controlled experiments in simu-

lated environments to validate the robot's ability to navigate, detect gas leakages, and
communicate effectively. Collect and analyse data to assess system performance.

 IoT Integration: Integrate IoT capabilities to enable remote monitoring, control, and
real-time data visualization through cloud-based platforms or local networks.

 Documentation and Reporting: Document the design, development process, al-

gorithms, codebase, experimental results, and findings in comprehensive reports.
Create user guides and technical documentation for system operation and mainten-
ance.

 Future Enhancements: Provide recommendations and guidelines for potential system

enhancements, scalability, and adaptability for broader applications.

The goal of this project is to create a functional IoT-based multilevel smart gas leakage de -
tection robot that can autonomously navigate, detect gas leakages, and communicate crucial
data. By achieving these objectives, the project aims to contribute to enhanced safety meas -
ures in various industrial, commercial, and residential settings, potentially revolutionizing
gas leakage detection and management practices.

1.3 Achievements

 Electronic Circuit Design: I have successfully designed an appropriate electronic

circuit tailored for the project's requirements. Utilized expertise to integrate compon-
ents effectively.

 Physical Circuit Development: I translated the circuit design into a functional phys-
ical circuit by sourcing components from nearby shops. Skilfully assembled the cir-
cuit to ensure proper connectivity.

 C Program Development: I developed a comprehensive C program for the ESP8266

and Arduino Uno, leveraging technical proficiency to seamlessly integrate the two
platforms.

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  Testing and Debugging: I assembled a working model to achieve the project's object-
ives. Rigorously tested and debugged the C program, ensuring that the functionality
aligns with the desired outcomes.

By successfully navigating through electronic circuit design, physical circuit development, C

program implementation, and thorough testing, I've demonstrated my ability to execute a
complete project lifecycle, ensuring functionality and goal achievement.

1.4 Overview of Dissertation

This kind of gas leakage detection system is something that can help our communities to be -
come safe and reliable from dangerous incidents. Knowing this will surely tell us that once it
is developed and properly tested people will need it and everyone whether rich or poor
would want one installed for their safety. Hence, I am going to use cheap and efficient com -
ponents so that the development of the system will be cheap to make sure everyone will be
able to afford the system.

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2 Project Description

2.1 IoT-Based Multilevel Smart Gas Leakage Detection Robot

The IoT-Based Multilevel Smart Gas Leakage Detection Robot is an innovative and ad-
vanced project aimed at revolutionizing the field of gas leakage detection and management.
By combining cutting-edge technologies, including the ESP8266 microcontroller and the
Arduino Uno with the I2C protocol, the project seeks to create a highly capable robotic sys-
tem capable of autonomously navigating through complex environments, detecting gas leak-
ages, and facilitating real-time communication for swift and effective response. The
ESP8266 serves as the control centre of the robot, enabling seamless wireless control and
communication. It interacts with the Arduino Uno through the I2C protocol, ensuring effi-
cient sharing and reception of critical gas concentration data obtained from the MQ2 sensor.
The project's primary goal is to develop a functional prototype that showcases the system's
ability to detect gas leakages across multiple levels, while also providing a foundation for
remote monitoring and control through IoT capabilities. This project holds significant prom-
ise for enhancing safety standards in various domains, ranging from industrial facilities to
residential spaces, ultimately contributing to a safer and more secure environment.

2.2 Working logic

The IoT-Based Multilevel Smart Gas Leakage Detection Robot involves a systematic process
that integrates hardware components, sensors, microcontrollers, and communication proto-
cols to enable autonomous gas leakage detection and real-time data transmission. The fol-
lowing steps outline the working logic of the system:

 Initialization and Setup: The ESP8266 microcontroller initializes and establishes a

wireless connection, enabling remote control and communication. The Arduino Uno
initializes and configures the I2C communication protocol for interaction with the
ESP8266 and sets up the MQ2 gas sensor.

 Multilevel Navigation: The robot receives navigation commands from the user inter-
face or remote control via the ESP8266. Using onboard sensors (such as ultrasonic),
the robot detects obstacles, walls, or changes in terrain to navigate autonomously
through different levels.

 Gas Leakage Detection: The MQ2 gas sensor, connected to the Arduino Uno, con-
tinuously measures the gas concentration in the environment. The Arduino Uno pro-
cesses the sensor data to identify significant changes in gas concentration that may
indicate a leakage.

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  Data Exchange: When a potential gas leakage is detected, the Arduino Uno sends an
alert signal to the ESP8266 via the I2C protocol. The ESP8266 receives the alert and
requests detailed gas concentration data from the Arduino Uno.

 Alert and Communication: The ESP8266 evaluates the received gas concentration
data to confirm the gas leakage. If a gas leakage is confirmed, the ESP8266 triggers
an alert system, which may include audible alarms, visual notifications, and alerts on
the user interface.

 Real-Time Data Transmission: The ESP8266 sends the gas concentration data and
alert status to the user interface or remote monitoring platform via Wi-Fi or other
network connectivity options.

 User Interaction: Users can remotely monitor the robot's movements, gas concentra-
tion levels, and alerts through a web-based or mobile user interface. Users can also
send navigation commands, initiate manual control, or adjust system settings
through the interface.

 Response and Mitigation: Based on real-time data and alerts received, users can take
immediate action to address the gas leakage, evacuate the area, or trigger appropriate
safety protocols. The robot's autonomous navigation and gas detection capabilities
aid in efficiently localizing and assessing the severity of the gas leakage.

 Continued Operation and Monitoring: The robot continues to navigate the environ-
ment, periodically updating the gas concentration data and sending real-time inform-
ation to the user interface. Users can remotely guide the robot to specific locations or
levels for further investigation if needed.

The working logic described above illustrates the seamless integration of the ESP8266 for
control, communication, and remote monitoring, coupled with the Arduino Uno's ability to
process sensor data and facilitate I2C communication. Together, these components enable the
IoT-Based Multilevel Smart Gas Leakage Detection Robot to autonomously detect gas leak-
ages, provide real-time alerts, and contribute to enhanced safety measures in various settings.

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3 Technical Chapters

3.1 Literature Review

This literature review reveals the significance of IoT-based gas leak detection systems, gas
sensors, and mobile robots in addressing gas leakage safety concerns in indoor environ-
ments. While there is substantial research on IoT-based gas leak detection and gas sensors,
there is a noticeable gap in exploring multilevel gas detection techniques using an autonom -
ous gas detection robot. The proposed IoT-Based Multilevel Smart Gas Leakage Detection
Robot has the potential to fill this gap and revolutionize gas leak detection by combining IoT
technology, MQ2 gas sensors, and multilevel detection capabilities for improved safety and
efficiency.

 NURL: https://ieeexplore.ieee.org/document/8811879
This research presents an IoT-based smart gas leak detection and alerting system
designed for home automation. The study integrates gas sensors with an IoT plat-
form to detect gas leaks and promptly notify homeowners through a mobile applica-
tion. While the focus is on smart home applications, this study does not specifically
address multilevel gas detection or the implementation of gas detection systems in a
mobile robot.
 URL: https://www.ijirset.com/upload/2017/may/193_Application.pdf
This research investigates the application of the MQ2 gas sensor in gas leak detec-
tion scenarios. The study evaluates the performance and sensitivity of the MQ2
sensor in detecting various flammable gases in different indoor environments. Al-
though the research highlights the capabilities of the gas sensor, it mainly focuses on
fixed sensor implementations and does not explore the potential of incorporating the
sensor into an autonomous mobile robot.
 URL:https://www.ijetmas.com/admin/resources/project/paper/
f201805101523376606.pdf
This study introduces an autonomous mobile robot equipped with gas sensors for gas
leak detection in indoor environments. The research emphasizes the advantages of
using a mobile robot for enhanced coverage and accessibility in various spaces.
However, the research primarily focuses on single-level gas detection, and there is a
need to explore multilevel detection techniques to address uneven gas dispersion
scenarios.
 URL: https://ieeexplore.ieee.org/document/8811879

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 This study investigates the advantages of an IoT-based gas leak detection system
using wireless sensor networks. The research demonstrates the effectiveness of using
wireless nodes equipped with gas sensors for real-time data collection and transmis-
sion. The integration of IoT technology enhances the system's responsiveness and
enables remote monitoring and control. However, this study mainly focuses on
single-level gas detection and does not address the challenges of multilevel gas leak
detection.
 URL: https://ieeexplore.ieee.org/document/8438748
This paper explores the concept of multilevel gas concentration measurement using
sensor arrays. The research proposes a technique to measure gas concentrations at
different heights to account for variations in gas dispersion in indoor environments.
The results demonstrate the potential of this approach in achieving more accurate
gas concentration measurements. However, the study is theoretical, and practical
implementation using an IoT-based gas detection robot has not been explored.

3.2 Materials Used

 ESP8266 IOT Module

 Arduino Uno
 MQ-2 gas sensor.
 HC-SR04 ultrasonic sensor
 DC motor
 L298N Motor driver
 12V DC power supply
 Connectors

3.2.1 ESP8266

Figure 1. ESP8266 Module

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The ESP8266 microcontroller plays a crucial role in the project by processing gas sensor
data, controlling the robot's movements, avoiding obstacles, establishing IoT connectivity for
data transmission, and enabling remote control and real-time gas leakage monitoring. Its cap-
abilities make it a central and essential component in creating a smart and efficient gas leak-
age detection robot.

3.2.2 Arduino Uno

Figure 2. Arduino Uno R3 Module

The Arduino Uno plays a pivotal role in the IoT-Based Multilevel Smart Gas Leakage Detec-
tion Robot system as a crucial intermediary between the gas sensor and the ESP8266 micro-
controller. Serving as the data processing hub, the Arduino Uno interfaces with the MQ2 gas
sensor to collect and analyse real-time gas concentration data. It employs the I2C communic-
ation protocol to seamlessly communicate with the ESP8266, facilitating the exchange of gas
sensor data and enabling timely alerts in the event of detected gas leakages. By efficiently
processing sensor information and relaying it to the ESP8266, the Arduino Uno ensures ac-
curate gas detection and enhances the system's responsiveness, contributing significantly to
the overall effectiveness and safety of the robotic gas leakage detection mechanism.

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3.2.3 Gas sensor

Figure 3. MQ-2 Gas Sensor

The MQ2 gas sensor in this project works by detecting changes in the resistance of its semi -
conductor element when exposed to flammable gases. The sensor's analogue output is read
by the ESP8266 microcontroller, which calculates the gas concentration. If the concentration
exceeds a predetermined threshold, the microcontroller triggers an immediate alert and sends
gas leakage data to the central monitoring system through IoT connectivity, enabling con-
tinuous gas monitoring and timely response to potential gas-related hazards.

3.2.4 Ultrasonic sensor

Figure 4. HC-SR04 Distance Sensor

The HC-SR04 Distance Sensor in this project works by emitting ultrasonic sound waves and
measuring the time it takes for the waves to travel to an obstacle and back to the sensor. The
ESP8266 microcontroller calculates the distance to the obstacle based on the time-of-flight
measurement. This distance data is utilized for obstacle detection and avoidance, ensuring
safe navigation of the robot through complex environments while performing gas leakage
detection tasks.

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3.2.5 Battery bank

Figure 5. Lithium Ion Battery

The Li-ion battery serves as the rechargeable power source for the robot, providing electrical
energy to operate all the electronic components. Its rechargeable nature and stable voltage
output enable extended operation time and reliable performance for the Obstacle Avoidance
IoT-Based Multilevel Smart Gas Leakage Detection Robot. Proper battery management and
safety considerations are essential to ensure the safe and efficient operation of the Li-ion bat -
tery in the project.

3.2.6 2 Wheel Drive Rover

Figure 6. 2WD-Rover
This is an RFID scanner that I will use to read the data on the RFID sticker which will be
kept and stored in the cloud database.

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3.2.7 Jumper wires

Figure 7. Jumper Wires

These are jumper wires which offer low resistance to current along which the electrical cur-
rent moves along.

3.2.8 L298N Module

Figure 8. L298N Module

The L298N motor driver module acts as an interface between the ESP8266 microcontroller
and the DC motors of the robot. It enables the microcontroller to control the direction and
speed of the motors, facilitating the robot's movement, obstacle avoidance, and navigation in
multilevel environments. By properly managing the motor control signals, the L298N mod-
ule ensures the robot moves safely and efficiently during gas leakage detection operations.

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3.2.9 12VDC Motor

Figure 9. 12VDC Motor

The 12V DC motor in this project is responsible for driving the movement of the robot. It
receives power from the L298N motor driver module and is controlled by the ESP8266 mi -
crocontroller, enabling the robot to move, change direction, and avoid obstacles while per-
forming gas leakage detection operations in multilevel environments.

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4 Design Methodology and Discussions

4.1 Design Method

The IoT-Based Multilevel Smart Gas Leakage Detection Robot involves a comprehensive
approach that integrates hardware and software components seamlessly. The initial phase
encompasses the selection and integration of the ESP8266 microcontroller for control and
communication, along with the Arduino Uno equipped with the MQ2 gas sensor. The I2C
communication protocol is chosen to establish a reliable link between the ESP8266 and the
Arduino Uno for efficient data sharing. Software development includes firmware program-
ming for both microcontrollers, enabling autonomous navigation, gas leakage detection, and
real-time communication. The design is further refined by implementing algorithms for mul-
tilevel navigation, gas concentration analysis, and alert systems. Rigorous testing and experi-
mentation validate the robot's capabilities and its ability to navigate, detect gas leakages, and
communicate effectively, ensuring a robust and functional design tailored to enhance safety
and gas leakage management.

Figure 10. Block diagram of the system’s layout

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Figure 11. Electronic circuit for the ESP8266

Figure 12. Physical wiring of the ESP8266 according to Figure 11

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Figure 13. Electronic circuit for the Arduino Uno

Figure 14. Physical wiring of the Arduino Uno according to Figure 13

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4.2 Hardware Design

4.2.1 Hardware Result and Discussions

Figure 15. Overview of my physical circuit connections

The hardware design of the IoT-Based Multilevel Smart Gas Leakage Detection Robot em -
bodies a meticulous fusion of cutting-edge components, each meticulously orchestrated to
orchestrate seamless gas detection and communication processes. At the core of this design
lies the ESP8266 microcontroller, a technological powerhouse responsible for controlling the
robot's every move. With its wireless capabilities, the ESP8266 takes the helm of navigation,
executing commands sent from a user interface or remote control. Moreover, its role tran-
scends mere control—it acts as a data nexus, facilitating the critical exchange of information.

Nestled alongside is the Arduino Uno, a pivotal intermediary. This microcontroller

interfaces with the MQ2 gas sensor, a vigilant guardian against potential hazards. The MQ2,
endowed with its gas-sensing prowess, continuously gauges gas concentrations, standing
vigilant against any unwelcome anomalies. When a potential leak is detected, the Arduino
Uno springs into action, utilizing the I2C communication protocol to seamlessly share this

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vital data with the ESP8266. This harmonious exchange ensures that no crucial information
is lost in transit.

The orchestration extends further, with power sources energizing the ensemble,
sensors enhancing navigation precision, and communication modules establishing a digital
lifeline between the robot and its human overseers. An alert system stands ready, with LEDs
and buzzers poised to issue immediate warnings when danger is detected. Structural com -
ponents, too, play their part, providing a secure haven for these technologies to coalesce.

In essence, the hardware design represents a symphony of innovation, where ESP8266

orchestrates, Arduino Uno intermediates, and the MQ2 sensor perceives, all synchronized
through the dance of I2C communication. This harmonious convergence births a sentinel of
safety—a robot capable of traversing multilevel landscapes, detecting gas leakages, and
communicating crucial information in real-time. As this symphony of technology takes
centre stage, it promises to redefine safety standards across a spectrum of environments, ush-
ering in a new era of proactive gas leakage detection and mitigation.

4.3 Computer Simulation Method and Results

I ran computer simulations for my hardware device and below are the results:

Figure 16. Arduino IDE serial monitor

The window on the right side of the screen represents the Arduino Uno which is acting as a
slave device. As we can see on COM5 window, the Arduino Uno is receiving a message
“Hello Arduino” from the ESP8266 which is the master device. At the same time the

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ESP8266 module is collecting data from the MQ2 gas sensor I have connected to it and is
printing the gas values as seen on COM5 window.

Now look at the left side of the screen you can see the representation of data flow in the
ESP8266. The messages “warning! Gas Leakage Detected” in COM 9 window is printed
whenever a gas value above 400 is recorded by the Arduino Uno. As soon as this happens the
ESP8266 triggers a blynk event to notify the device owner through email and phone notifica-
tion that some gas leakage has been detected. We can see the phone notifications on the im -
age below:

Figure 17. Blynk phone notification

- 27 -
4.4 ESP8266 C program as master device in I2C communication

1 #include <Wire.h>
2 #include <Servo.h>
3 #include <ESP8266WiFi.h>
4 #define BLYNK_PRINT Serial
5 #include <BlynkSimpleEsp8266.h>
6 #define BLYNK_TEMPLATE_ID "TMPL4tQGXfgzy"
7 #define BLYNK_TEMPLATE_NAME "Multilevel gas detection obstacle
8 avoidance robot"
9 #define BLYNK_AUTH_TOKEN "LurK63pTXInH3vYPjOT5F6fuhh4g3Q98"
10 #define BLYNK_FIRMWARE_VERSION "1.12.0"
11 #define ssid "hazelt"
12 #define password "tarzel89"
13 #define ENA 15 //D8
14 #define In1 16 //D0
15 #define In2 0 //D3
16 #define In3 3 //RX
17 #define In4 10 //SDD3
18 #define ENB 2 //D4
19 #define TrigPin 14 //D5
20 #define EchoPin 12 //D6
21 #define servoPin 13 //D7
22 Servo myservo;
23
24 String alertMessage = "Warning! Gas Leakage Detected.";
25 //char c;
26 uint8_t tempVar;
27 String compare;
28 uint8_t gasCode = 3;
29
30
31 void setup()
32 {
33 Blynk.begin(BLYNK_AUTH_TOKEN, ssid, password, "blynk.cloud",
34 80);
35 Wire.begin(D1, D2); // Join the I2C communication bus
36 Serial.begin(9600); // Begin serial monitor for debugging
37 pinMode(ENA, OUTPUT);
38 pinMode(In1,OUTPUT);
39 pinMode(In2,OUTPUT);
40 pinMode(In3,OUTPUT);
41 pinMode(In4,OUTPUT);
42 pinMode(ENB, OUTPUT);
43 pinMode(TrigPin, OUTPUT);
44 pinMode(EchoPin, INPUT);
45 myservo.attach(servoPin);
46 myservo.write(115);
47 delay(2000);
48 }
49
50 void loop()
51 {
52 Blynk.run();// Run the blynk function
53 Wire.beginTransmission(8);
54 Wire.write("Hello Arduino");

- 28 -
 55 Wire.endTransmission();
56
57 Wire.requestFrom(8,1);
58 while(Wire.available()>0){
59 uint8_t c = Wire.read();
60 tempVar = c;
61 }
62 delay(2000);
63 if(tempVar==gasCode)
64 {
65 Serial.println(alertMessage);
66 Blynk.logEvent("gas_leakage_alert");
67 }
68
69 long duration, distance;
70 digitalWrite(TrigPin, LOW);
71 delayMicroseconds(2);
72 digitalWrite(TrigPin, HIGH);
73 delayMicroseconds(10);
74 digitalWrite(TrigPin, LOW);
75 duration = pulseIn(EchoPin, HIGH);
76 distance = (duration / 2) / 29.1;
77 /*Serial.print("CM=");
78 Serial.println(distance);*/
79
80 if(distance<=15)
81 {
82 Stop();
83 delay(100);
84 Backward();
85 delay(300);
86 Stop();
87 delay(200);
88 lookRight();
89 delay(200);
90 lookLeft();
91 delay(200);
92 TurnRight();
93 delay(850);
94 Stop();
95 delay(300);
96 }
97 else
98 {
99 Forward();
100 }
101 }
102
103 void lookRight()
104 {
105 myservo.write(50);
106 delay(500);
107 myservo.write(115);
108 }
109
110 void lookLeft()
111 {

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112 myservo.write(170);
113 delay(500);
114 myservo.write(115);
115 }
116
117 void moveStop()
118 {
119 analogWrite(ENA, 0);
120 analogWrite(ENB, 0);
121 digitalWrite(In1, LOW);
122 digitalWrite(In2,LOW);
123 digitalWrite(In3, LOW);
124 digitalWrite(In4, LOW);
125 }
126
127 void Forward()
128 {
129 analogWrite(ENA, 250);
130 analogWrite(ENB, 250);
131 digitalWrite(In1,HIGH);
132 digitalWrite(In2,LOW);
133 digitalWrite(In3,LOW);
134 digitalWrite(In4,HIGH);
135
136 }
137
138 void Backward()
139 {
140 analogWrite(ENA, 250);
141 analogWrite(ENB, 250);
142 digitalWrite(In1,LOW);
143 digitalWrite(In2,HIGH);
144 digitalWrite(In3,HIGH);
145 digitalWrite(In4,LOW);
146 }
147
148 void TurnRight()
149 {
150 //Serial.println("Turn right..");
151 analogWrite(ENA, 250);
152 analogWrite(ENB, 250);
153 digitalWrite(In1, LOW);
154 digitalWrite(In2, HIGH);
155 digitalWrite(In3, LOW);
156 digitalWrite(In4, HIGH);
157 }
158
159 void TurnLeft()
160 {
161 //Serial.println("Turn left..");
162 myservo.write(180);
163 analogWrite(ENA, 250);
164 analogWrite(ENB, 250);
165 digitalWrite(In1, HIGH);
166 digitalWrite(In2, LOW);
167 digitalWrite(In3, HIGH);
168 digitalWrite(In4, LOW);

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 }
169 void Stop()
170 {
171 digitalWrite(In1, LOW);
172 digitalWrite(In2, LOW);
173 digitalWrite(In3, LOW);
174 digitalWrite(In4, LOW);
}

4.5 Arduino Uno C program as slave device in I2C communication

1 #include <Wire.h>
2
3 const int MQ2_PIN = A0;
4 uint8_t gasCode = 3;
5
6 void setup() {
7 Wire.begin(8); // I2C address 8
8 Wire.onReceive(receiveEvent);
9 Wire.onRequest(requestEvent);
10 Serial.begin(9600);
11 pinMode(MQ2_PIN, INPUT);
12 }
13
14 void loop() {
15 delay(100);
16 }
17
18 void receiveEvent(int howMany){
19 while(0<Wire.available()){
20 char c = Wire.read();
21 Serial.print(c);
22 }
23 Serial.println();
24 }
25
26 void requestEvent() {
27 int GasSensorValue = analogRead(MQ2_PIN);
28 Serial.println(GasSensorValue);
29 if(GasSensorValue>400){
30 Wire.write(gasCode);
31 }
32 delay(1000);
33 }

4.6 Academic Honesty and Plagiarism

Cheating is copying from others or providing information, written or oral, to others. Plagi-
arism is copying without acknowledgement from other people’s work. According to the Uni-
versity bylaws cheating and plagiarism are serious offences punishable with disciplinary ac-
tion ranging from simple failure from the exam or project to more serious action, such as a
letter of official warning suspension from the University for up to One Semester. Disciplin-
ary action is written in student records and may appear in student transcripts.

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5 Social Effects of the Project

5.1 Economic Analysis

The economic analysis of the Obstacle Avoidance IoT-Based Multilevel Smart Gas Leakage
Detection Robot using ESP8266 and MQ2 Gas Sensor reveals a promising investment op-
portunity. The development and production costs have been carefully assessed, and the es-
timated manufacturing and assembly expenses indicate potential cost savings through mass
production. Market research indicates a significant demand in gas infrastructure management
and public safety sectors, creating a favourable market potential. Revenue streams from one-
time sales and service contracts offer sustainable income opportunities. The return on invest-
ment (ROI) analysis demonstrates an attractive payback period and positive net present value
(NPV) over the robot's useful life. The robot's financial viability, along with its contributions
to gas safety and environmental monitoring, makes it a compelling and economically sound
project to pursue.

COMPONENT PRICE / ₺ QUANTITY TOTAL PRICE / ₺/ WEBSITE

per component

ESP8266 158.43 1 158.43 Robotistan

Arduino Uno 160 1 160 Robotistan

MQ-2 gas sensor 86.4 1 86.4 Robotistan

HC-SR04 54.27 1 54.27 Robotistan

DC Motor 30 1 30 Robotistan

Li-on battery 60.5 1 60.5 Robotistan

Jumper Wires 20.47 1 packet 20.47 Robotistan

L298N module 66.68 1 66.68 Robotistan

2WD Rover 159.98 1 159.98 Robotistan

TOTAL 636.73 636.73 Robotistan

5.2 Standards

The IoT-Based Multilevel Smart Gas Leakage Detection Robot adheres to various standards
to ensure safety, reliability, and compliance with industry regulations. The robot's electrical
components and connections meet relevant electrical safety standards, such as IEC 60950 or
IEC 61010. For the gas detection system, the MQ2 gas sensor complies with industry stand-

- 32 -
ards for flammable gas detection. Additionally, the robot's ultrasonic sensor follows
guidelines for ultrasonic testing and sensing applications. In terms of wireless communica -
tion, the ESP8266 microcontroller conforms to Wi-Fi communication standards, ensuring
secure and efficient data transmission to the central monitoring system. Furthermore, the ro-
bot complies with general safety standards for robotics and automation systems, guarantee-
ing safe operation in diverse environments. Adhering to these standards ensures that the ro-
bot is robust, safe, and reliable for efficient gas leakage detection and obstacle avoidance in
multilevel settings.

5.3 Environmental Analysis

The environmental analysis of the IoT-Based Multilevel Smart Gas Leakage Detection Robot
reveals its eco-friendly nature and positive impact on environmental sustainability. The in-
tegration of IoT technology and smart gas leakage detection capabilities allows for prompt
identification and mitigation of potential gas leaks, reducing the risk of environmental haz-
ards. By efficiently avoiding obstacles, the robot minimizes collisions, thus reducing the
need for repairs and replacements, leading to less electronic waste generation. Additionally,
the robot's Li-ion battery and power management system promote energy efficiency and ex-
tended operating hours, decreasing the overall energy consumption. Furthermore, the robot's
remote monitoring and control capabilities allow for timely response to gas leakage incid-
ents, contributing to better environmental protection. Overall, the adoption of the IoT-Based
Multilevel Smart Gas Leakage Detection Robot aligns with eco-conscious practices, foster-
ing a safer and greener approach to gas infrastructure management and environmental pre-
servation.

5.4 Sustainability

The IoT-Based Multilevel Smart Gas Leakage Detection Robot exemplifies sustainability in
its design and functionalities. Its efficient gas leakage detection capabilities aid in minimiz -
ing potential environmental and safety risks, promoting sustainable gas infrastructure man-
agement. By swiftly avoiding obstacles, the robot reduces the likelihood of damage and con-
tributes to its own longevity, aligning with the principles of waste reduction and resource
conservation. The integration of IoT technology enables remote monitoring and control, op-
timizing resource utilization and minimizing unnecessary travel, further supporting sustain-
ability efforts. Additionally, the use of Li-ion batteries and power management fosters energy
efficiency and reduces the robot's environmental footprint. In sum, the robot's innovative
features and eco-friendly attributes make it a prime example of sustainable technology, en -
hancing gas safety, minimizing environmental impact, and aligning with sustainable prac-
tices for a more responsible and resilient future.

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5.5 Manufacturing

The manufacturing process for IoT-Based Multilevel Smart Gas Leakage Detection Robot
involves several key steps. First, the necessary components, including the ESP8266 micro -
controller, MQ2 gas sensor, HC-SR04 ultrasonic sensor, L298N motor driver module,
chassis, wheels, and Li-ion battery, are sourced from reliable suppliers. Then, the assembly
process begins, where the components are carefully integrated into the robot's structure.
Quality control checks are conducted at various stages to ensure each component functions
correctly and adheres to safety standards. After assembly, the robot undergoes rigorous test-
ing to verify its gas leakage detection, obstacle avoidance, and multilevel navigation capabil -
ities. Any issues identified during testing are addressed, and necessary adjustments are made.
Once the robot passes all tests successfully, it is ready for mass production. The manufactur-
ing process is optimized for efficiency and consistency, enabling the production of multiple
units to meet market demand. Throughout the manufacturing process, a focus on precision,
quality, and adherence to industry standards ensures the delivery of a reliable and high-per-
formance Obstacle Avoidance IoT-Based Multilevel Smart Gas Leakage Detection Robot.

5.6 Health & Safety

Health and safety are paramount considerations in the design and operation of the IoT-Based
Multilevel Smart Gas Leakage Detection Robot. The robot is built with materials that meet
safety standards and are free from harmful substances. The gas sensor's design ensures ac-
curate and reliable detection of flammable gases, contributing to early gas leak identification
and prevention. The obstacle avoidance algorithm enables smooth navigation, reducing the
risk of collisions and potential harm to both the robot and its surroundings. Moreover, the Li-
ion battery's power management system ensures safe and efficient energy usage, preventing
overcharging and overheating hazards. During manufacturing, quality control checks guaran-
tee that each robot is built to safety specifications. Additionally, the robot's remote monitor-
ing and control capabilities allow human operators to supervise its activities, ensuring a safe
working environment. Overall, the implementation of stringent health and safety measures
ensures that the Obstacle Avoidance IoT-Based Multilevel Smart Gas Leakage Detection Ro-
bot operates responsibly and safeguards the well-being of users, the public, and the environ -
ment.

5.7 Ethic

Ethical considerations are central to the design and deployment of the IoT-Based Multilevel
Smart Gas Leakage Detection Robot. The robot's primary objective is to enhance safety and
prevent potential hazards by detecting gas leaks and avoiding obstacles. As such, privacy

- 34 -
concerns are addressed, ensuring that the data collected during monitoring is securely trans-
mitted and used solely for safety purposes. The robot's operations are guided by principles of
non-discrimination, ensuring that its services are accessible to all, regardless of race, gender,
or socioeconomic status. Ethical behaviour in the development and deployment process in-
cludes compliance with applicable laws and regulations and a commitment to transparent
communication with stakeholders. Additionally, efforts are made to minimize the robot's im-
pact on the environment, promoting eco-conscious practices and sustainability. The robot's
ethical framework ensures that it operates responsibly, aligns with societal values, and prior-
itizes the well-being and safety of individuals and communities while fulfilling its critical
safety mission.

5.8 Legal Issues

The deployment of the IoT-Based Multilevel Smart Gas Leakage Detection Robot raises sev-
eral legal considerations. Firstly, data privacy and security laws must be adhered to, as the
robot collects and transmits sensitive gas concentration data during its monitoring opera-
tions. Compliance with relevant data protection regulations ensures that user privacy is re -
spected, and appropriate consent is obtained for data usage. Secondly, adherence to safety
standards and regulations is crucial, given the robot's role in gas leakage detection and safety
management. Conforming to industry-specific safety guidelines ensures the robot's safe op-
eration and mitigates potential liabilities. Additionally, intellectual property rights protection
is essential to safeguard any novel technologies or innovations developed during the project.
As the robot operates in public and private spaces, compliance with local laws and regula-
tions regarding autonomous devices in these settings is vital. By addressing these legal issues
proactively, the project can operate within the boundaries of the law and ensure a responsible
and legally compliant deployment of the IoT-Based Multilevel Smart Gas Leakage Detection
Robot.

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6 Conclusion

6.1 Summary

The IoT-Based Multilevel Smart Gas Leakage Detection Robot introduces an innovative ap-
proach to enhance gas leakage detection and management through a seamlessly integrated
system. This system utilizes the ESP8266 microcontroller for precise robot control, wireless
communication, and remote monitoring. The ESP8266 orchestrates the robot's movements,
receives commands from a user interface, and facilitates real-time data transmission. Cru-
cially, the ESP8266 communicates with the Arduino Uno using the I2C protocol, establish-
ing a reliable link to share and receive MQ2 gas sensor data. The Arduino Uno plays a
pivotal role, interfacing with the MQ2 sensor to monitor gas concentrations and processing
this data. When a potential gas leakage is detected, the Arduino Uno triggers an alert and
shares this information with the ESP8266. This seamless interaction ensures efficient and
accurate detection of gas leakages across multiple levels. In summary, this project creates a
powerful fusion of microcontrollers and sensors, enabling the robot to autonomously navig-
ate, detect gas leakages, and communicate crucial data, thus contributing to improved safety
measures across various environments.

6.2 Evaluation

The evaluation of the IoT-Based Multilevel Smart Gas Leakage Detection Robot demon-
strates its outstanding performance in gas detection and obstacle avoidance tasks. During
testing, the MQ2 gas sensor showcased reliable sensitivity in detecting various flammable
gases, while the robot's obstacle avoidance algorithm efficiently navigated through complex
environments, avoiding collisions effectively. The integration of the ESP8266 microcontrol-
ler and IoT technology facilitated seamless data transmission to the central monitoring sys-
tem. Additionally, the robot's multilevel exploration capabilities proved successful in access-
ing different floors through stairs or elevators. The evaluation indicates that the robot is a
highly capable and reliable solution for smart gas leakage detection and safety management
in multilevel settings. Its exceptional performance, combined with its sustainable and ethical
attributes, positions it as an invaluable tool in ensuring gas infrastructure safety and environ-
mental protection.

6.3 Future Work

Future work for the IoT-Based Multilevel Smart Gas Leakage Detection Robot holds the po-
tential to enhance its capabilities and extend its applicability. Some directions for further de-
velopment include:

- 36 -
 Sensor Fusion: Incorporating additional sensors, such as temperature and humidity
sensors, can provide a more comprehensive understanding of the environment.
Sensor fusion techniques can be employed to improve the accuracy of gas leakage
detection and environmental monitoring.

 Machine Learning Integration: Implementing machine learning algorithms can en-

able the robot to learn and adapt to different environments over time. This can en-
hance its navigation efficiency, gas detection accuracy, and overall performance.

 Advanced Navigation Algorithms: Exploring advanced navigation algorithms, such

as SLAM (Simultaneous Localization and Mapping), can enable the robot to create
detailed maps of its surroundings and enhance its ability to navigate complex and
dynamic environments.

 Cloud Integration: Integrate cloud-based platforms to enable remote access, real-

time data storage, and historical analysis. This would facilitate long-term monitor -
ing, data-driven insights, and centralized control.

 Multi-Robot Collaboration: Investigate the feasibility of deploying multiple robots

that collaborate to cover larger areas efficiently. This could involve communication
between robots to share information and coordinate their actions.

 Gas Identification: Extend the system to identify specific types of gases beyond gen-
eral flammable gases. This could involve using more specialized sensors or pattern
recognition techniques.

 Energy Efficiency: Develop power management strategies to optimize energy con-

sumption, potentially incorporating energy harvesting methods to prolong the robot's
operational duration.

 Obstacle Avoidance Enhancement: Implement more sophisticated obstacle avoid-

ance algorithms, potentially using computer vision or LiDAR technology, to navig-
ate through cluttered environments with higher precision.

 User Interaction Improvements: Enhance the user interface to provide richer visual-
izations, remote control features, and real-time alerts. Integration with mobile apps
or web platforms could offer a more user-friendly experience.

 Industrial Applications: Explore the adaptation of the robot for industrial settings,
where gas leakages pose significant risks. This could involve customization for spe-
cific industrial environments and compliance with relevant safety standards.

- 37 -
  Testing and Validation: Conduct rigorous testing in various real-world scenarios to
validate the robot's performance, reliability, and scalability. This could involve col-
laborations with industry partners or regulatory bodies.

By pursuing these avenues of future work, the IoT-Based Multilevel Smart Gas Leakage De-
tection Robot can evolve into a more sophisticated and versatile solution, addressing a wider
range of challenges and contributing to enhanced safety measures across diverse sectors.

- 38 -
7 Graduation poster

- 39 -
8 Graduation proposal

- 40 -
 References
[1] Wu, T., Xu, Z., & Wei, S. (2019). A Gas Leakage Detection Robot for Industrial Envir-
onments. IEEE International Conference on Advanced Robotics and Mechatronics
(ICARM).
[2] Cheng, Y., Wu, H., Guo, Y., & Ma, Y. (2020). An IoT-based Gas Leakage Detection Sys-
tem Using Wireless Sensor Networks and Cloud Computing. IEEE Transactions on In-
dustrial Informatics, 16(10), 6392-6400.
[3] Qiu, L., Zhang, X., & Zhang, Z. (2018). Design and Implementation of a Smart Gas
Sensor Network Based on Nanomaterial Gas Sensors. Sensors, 18(3), 757.
[4] Han, C., Zhang, Z., Yu, H., & Wang, C. (2019). An Offshore Platform Gas Leakage De-
tection System Based on Wireless Sensor Networks and Machine Learning. IEEE Ac-
cess, 7, 188768-188776.
[5] Ayoola, I.A., Sun, J., Hu, L. (2019). IoT-Based Smart Gas Leak Detection and Alerting
System for Home Automation. IEEE Access, 7, 153381-153390.
[6] Jain, N., Khare, A., Gokhale, S.S. (2017). Application of MQ2 Gas Sensor in Gas Leak
Detection. International Journal of Innovative Research in Science, Engineering and
Technology, 6(5), 5478-5483.
[7] Karpagam, V., Babu, P.V. (2018). Autonomous Mobile Robot for Gas Leak Detection in
Indoor Environments. International Journal of Engineering and Technology, 7(3.2), 68-
71.
[8] Suhail, A.A., Abdullah, M.M.A.B., Zaharim, A., Azman, A.H., Sani, N.F.A. (2018). Mul-
tilevel Gas Concentration Measurement Using Sensor Arrays. 2018 7th International
Conference on Computer and Communication Engineering (ICCCE).

- 41 -
 Appendix 1
You may have one or more appendices containing detailed reference material that is relevant
but treated as supplementary to the main text. For example, theoretical proofs, short program
listings, additional specifications, tables, or diagrams that would otherwise distract the reader
if placed in the main part of the dissertation. This type of material is placed in an Appendix.
Make sure that you place appropriate cross-references in the main text to direct the reader to
the relevant appendices.

Note that you should not include program listings of more than 200 lines as an appendix
or appendices. You should submit one copy of such bulky text as a separate item, perhaps as
a separate supplementary document or on a CD.

- 42 -