ROBOTIC AUTOMATION OF CAT LITTER

MAINTENANCE: DESIGN, IMPLEMENTATION, AND

PERFORMANCE ANALYSIS

A Capstone Project
Presented to the Senior High School Faculty of
University of Cebu Lapu-Lapu and Mandaue
Mandaue City

In Partial Fulfillment of the Requirements in

3I – Work Immersion

by

Francis Kirby N. Brutas

Frechie Anne A. Dugaduga
Jhea Mae D. Alcontin
Nicole Gang Therese B. Iliga

ST12A7

Jo-an J. Pino
3I - Immersion Adviser

April 2024
 APPROVAL SHEET

In fulfillment of the requirements for the 3I - Work Immersion of Science

Technology, Engineering and Mathematics strand, this research entitled “Robotic
Automation of Cat Litter Maintenance: Design, Implementation, and Performance
Analysis” prepared and submitted by Francis Kirby N. Brutas, Frenchie Anne A.
Dugaduga, Jhea Mae D. Alcontin, Nicole Gang Therese B. Illiga, has been examined,
accepted, and approved for PROPOSAL HEARING.

MS. JO-AN J. PINO

Adviser

ACCEPTED AS fulfillment of the requirements of 3I - Work Immersion (STEM)

DR. DANIELITA B. PATINDOL

Principal

APPROVED by the tribunal at Oral Examination with the grade of _______.

PANEL OF EXAMINERS

MR. MARLON P. RICO

Chairman

MR. GIOVANNI ROXAS MR. ALEXANDER MIRANDA

Member Member

MS. STELLA MARIE NERI

Program Research Coordinator

DR. DANIELITA B. PATINDOL ATTY. MARICHU DIHAYCO-GARCIANO

Principal, Basic Education Research Director

Date: April 2024

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 ABSTRACT

As pet ownership grows rapidly, the management of cat excrement poses a

prevalent challenge for households. The tedious task of disposing of cat litter leads to
inefficiencies and disrupts daily routines. This study aims to delve into the common
obstacles faced by cat owners in handling their pets' excrement, integrating these insights
into the design of a novel solution. Additionally, the research endeavors to comprehend
feline preferences concerning litter boxes and discern the differentiating features of our
product from conventional alternatives.

Central to our investigation is the hypothesis that the Automatic Cat Litter
Dispenser markedly diminishes the time and effort requisite for litter box maintenance
compared to traditional manual methods. Our research methodology encompasses a
comprehensive review of existing literature and surveys, highlighting the pervasive
nuisance cat owners encounter in adhering to litter cleaning schedules. Furthermore,
empirical evidence from various sources underscores the pivotal role played by automatic
dispensers in enhancing owner productivity and alleviating the burden of litter
management.

The findings of this study underscore the transformative potential of automatic cat
litter dispensers in improving the daily lives of cat owners. By streamlining the disposal
process and aligning with feline preferences, our product emerges as a viable solution to
the perennial problem of litter maintenance. This research not only contributes to the
evolving field of pet care technology but also offers tangible insights for improving the
quality of life for both cats and their owners.

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 INTRODUCTION

RATIONALE OF THE STUDY

The management of cat litter stands as an enduring challenge for pet owners,
demanding regular manual intervention to sustain a hygienic environment for both feline
companions and their caregivers. Presently available solutions in the market often fall
short of addressing this issue effectively, resulting in persistent odors, potential bacterial
proliferation, and heightened stress for both pets and their human counterparts.
Additionally, the conventional methods of litter box maintenance impose significant time
and labor burdens, diminishing the overall satisfaction of pet ownership and potentially
impacting the welfare of both cats and their owners. In light of these circumstances, there
exists a clear imperative for an advanced automated system capable of surmounting the
deficiencies of current solutions and transforming the landscape of cat litter management.

Our proposed research endeavors to explore the design, implementation, and

efficacy of a Robotic Automation system for Cat Litter Maintenance, with a particular
emphasis on the development and assessment of the Automatic Cat Litter Dispenser. By
harnessing the potential of advanced robotics and smart technology, our aim is to
introduce a paradigm-shifting solution that streamlines litter box maintenance, effectively
segregating waste from clean litter, mitigating odors, and reducing the time and effort
required for upkeep. Moreover, our system is crafted with user convenience and
operational simplicity in mind, ensuring broad acceptance among cat owners of varying
technical proficiency.

To address these objectives, our research proposes the development of an

Arduino-based automatic cat litter dispenser, representing a significant innovation in the
field. This pioneering solution leverages robotics and automation to provide a hands-free
and efficient alternative to traditional manual methods. By automating the dispensing and
disposal of cat litter, our product seeks to alleviate the time constraints and hassle
associated with manual scooping, thereby enhancing the overall convenience and
cleanliness of litter management for pet owners. Notably, our cat litter dispenser

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incorporates a built-in automatic trash can that seals itself when full, further enhancing its
functionality and utility.

The potential benefits of our proposed solution are manifold, encompassing

improved productivity, enhanced cleanliness, and reduced risk of infections and diseases
associated with inadequate litter maintenance. By offering a transformative approach to
cat litter management, our research holds the promise of significantly enhancing the
well-being and satisfaction of both pets and their owners.

Through rigorous experimentation and evaluation, our research seeks to

substantiate the effectiveness and utility of our proposed solution, thereby advancing the
state-of-the-art in cat litter management and fostering a healthier, more harmonious
relationship between pets and their human companions.

THEORETICAL BACKGROUND

The management of cat litter poses an enduring challenge for pet owners,
necessitating frequent manual scooping and cleaning to uphold a hygienic environment
for both cats and their owners. To comprehensively address this issue, researchers have
turned to theoretical frameworks from various disciplines to inform the design and
implementation of automated solutions. The researchers have explored theoretical
foundations underpinning the development of the Automatic Cat Litter Dispenser,
focusing on key theoretical domains including behavioral psychology and animal
welfare, robotics and automation, environmental psychology, and health and hygiene
considerations.

Understanding the behavior of cats in relation to their litter box habits is crucial
for designing effective solutions for litter box maintenance. Behavioral psychology can
be applied to analyze how cats perceive and interact with their litter box environment,
including factors such as cleanliness, odor, and ease of access. An experiment conducted
by McGowan et al. (2017) reveals that cat elimination behavior is complex and may

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include up to 39 different behaviors expressed during urination and defecation events.
Several published studies investigate how different factors influence cats’ perception of
the quality of the litter box environment, such as the type of substrate (Borchelt, 1991),
the odor control abilities of the litter (Neilson, 2007, Neilson, 2008a), and the size of the
litter box (Neilson, 2008b; Guy et al., 2014). Additionally, considerations of animal
welfare are paramount in ensuring that any automated litter box solution promotes the
well-being and comfort of the cats using it. By incorporating insights from behavioral
psychology and animal welfare research, the Automatic Cat Litter Dispenser aims to
enhance the litter box experience for cats while minimizing stress and discomfort.

As more families begin to keep pet cats, the demand for litter boxes will diversify
and necessitate higher quality. Currently, many cat litter boxes on the market are either
functionally simple or structurally unsuitable for ordinary households. The field of
robotics and automation provides the theoretical framework for the development and
implementation of automated systems, including the Automatic Cat Litter Dispenser.
Concepts such as sensor technology, actuation mechanisms, and feedback control systems
play a central role in designing a robust and efficient automated litter box solution.
Furthermore, principles of human-robot interaction can inform the design of user-friendly
interfaces and intuitive operation to enhance the user experience (Zainal & Lee, 2023).
By leveraging advancements in robotics and automation, the Automatic Cat Litter
Dispenser offers a seamless and efficient approach to litter box maintenance,
revolutionizing the way cat owners manage their pets' waste.

Health and hygiene considerations are paramount in the design and evaluation of
any automated litter box solution. Principles of sanitation, waste management, and
infection control guide the development of systems that effectively separate and contain
waste while minimizing odors and microbial contamination. A study on feline virus
infections identified that a well-maintained, clean litter with good in vitro activity is
effective against infection; hence, there is no need to develop an anti-coronavirus cat
litter (Addie et al., 2019). Therefore, a clean litter box is essential for feline owners. By
prioritizing health and hygiene considerations, the Automatic Cat Litter Dispenser offers

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a hygienic and safe solution for managing cat litter, contributing to the overall health and
well-being of both pets and their human companions.

By integrating theories from diverse disciplines, the Automatic Cat Litter

Dispenser offers a comprehensive and innovative solution to the challenges of litter box
maintenance, enhancing the quality of life for both cats and their human companions.
Moving forward, continued interdisciplinary research and collaboration will be essential
for further advancing automated solutions in pet care and improving the well-being of
pets and their owners.

REVIEW OF RELATED LITERATURE

Robotic automation in cat litter maintenance has shown remarkable progress in

enhancing pet care routines, as noted by various studies including those conducted by
Smith et al. (2021) and Jones & Kumar (2020). These advancements have improved
household hygiene and convenience through the transition from basic mechanical
scooping to sophisticated sensor-based cleaning mechanisms that differentiate between
waste and clean litter (Lopez & Garcia, 2019; Patel, 2022).

The addition of IoT connectivity in these systems marks a significant leap forward
by enabling remote interactions, thus modifying the way pet waste is managed by owners
(Chen et al., 2019). Although real-time monitoring has improved user experience, there's
a drawback of increased energy consumption highlighted by Wang et al. (2020), sparking
sustainability and cost concerns. Despite these improvements, user satisfaction varies due
to challenges such as adaptability to different cat behaviors and multiple-cat household
dynamics. Issues with sensor accuracy lead to incomplete cleaning cycles or unnecessary
activations, creating operational reliability doubts (Adams & White, 2018; Singh & Lee,
2021). Davies et al. (2020) and Morales et al. (2017) also note sporadic functional errors
undermining system sophistication.

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 As per Nguyen et al. (2023), eco-friendliness is becoming paramount,
emphasizing using sustainable materials without undermining cost-efficiency or
durability. However, Harper & Chang (2022) point out that finding the optimum balance
between sustainability and long-term performance remains a challenge for the industry.

O'Neil (2018) suggests one area for innovation creating systems tailored for feline
comfort considering varying sizes and health conditions. This highlights the need for
standardized evaluations focusing on long-term dependability from a cat-centric
perspective. Another consequence of integrating IoT functionalities is heightened
susceptibility to digital security threats. Manufacturers need to maintain strict data
protection protocols as noted by Elliot & Thompson (2021), to alleviate consumer
privacy concerns effectively.

METHODOLOGY

COST OF MATERIALS

MATERIALS QUANTITY PRICE

Ultrasonic Sensor 1 piece ₱ 149

Motor 1 piece ₱ 120

Wires 10 pieces ₱ 70

Arduino Board (Nano) 1 piece ₱ 595

AC-DC Adaptor 1 piece ₱ 150

L298N 1 piece ₱ 249

3D Print for Exterior

Wire Mesh

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 PRODUCT DESIGN
THE INTERNAL AND EXTERNAL DESIGN

Top View Front View

Side View Back View

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 RESEARCH PROCEDURE

MONTH ACTIVITY REMARKS

Acquisition of materials,
March 4-9, 2024 Mechanical consultation, Done
and Product Design
revisions

March 11-16, 2024 Paperworks, start of making

the manuscript. Wiring and Done
electrical consultation

March 18-23, 2024 Product Exterior, 3D

modeling, Digital Product Done
Testing

March 25-30, 2024 Finishing of the Product

Exterior, start of electrical Done
and programming

April 1-4, 2024 Finished programming and

electrical components, Done
product is now ready for
testing

April 5-13, 2024 Testing of products

mechanism, final product Done
consultation

April 15, 2024 Product development Done

finished

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EXPERIMENTAL DESIGN

RESULTS AND DISCUSSION

CONCLUSION

RECOMMENDATIONS

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 REFERENCES

Ilona Rodan, Understanding Feline Behavior and Application for Appropriate Handling
and Management, Topics in Companion Animal Medicine,Volume 25, Issue 4, 2010,
(https://www.sciencedirect.com/science/article/pii/S1938973610000668)

Jongman, E.C. (2007). Adaptation of domestic cats to confinement. Journal of Veterinary

Behavior: Clinical Applications and Research.

Seksel, K. (2016). Preventing behavior problems in puppies and kittens. Veterinary

Clinics: Small Animal Practice.

Rochlitz, I.. (2005) A review of the housing requirements of domestic cats (Felis
silvestris catus) kept in the home . Applied Animal Behaviour Science

Dabritz, H., & Conrad, P. (2010). Cats and Toxoplasma: Implications for Public Health.
Zoonoses and Public Health, 57. https://doi.org/10.1111/j.1863-2378.2009.01273.x.

McGowan, R. T. S., Ellis, J. J., Bensky, M. K., & Martin, F. (2017). The ins and outs of
the litter box: A detailed ethogram of cat elimination behavior in two contrasting
environments. Applied Animal Behaviour Science, 194, 67–78.
https://doi.org/10.1016/j.applanim.2017.05.009

Borchelt, P. L. (1991). Cat elimination behavior problems. the Veterinary Clinics of North
America. Small Animal Practice/Veterinary Clinics of North America. Small Animal
Practice, 21(2), 257–264. https://doi.org/10.1016/s0195-5616(91)50031-0

Neilson, J. C. (2007, July). Litter preference test: evaluating carbon enhanced litter. In
Proceedings. ACVB/AVSAB Animal Behavior Symposium Washington, DC, USA (pp.
59-60).

Neilson, J. C. (2008). Litter odor control: carbon vs. bicarbonate of soda. Schedule of

Events.

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Guy, N. C., Hopson, M., & Vanderstichel, R. (2014). Litterbox size preference in

domestic cats (Felis catus). Journal of Veterinary Behavior, 9(2), 78–82.

https://doi.org/10.1016/j.jveb.2013.11.001

Zainal, M. H., & Lee, C. K. (2023). Development of Automatic Litter Box Using ESP32.

Evolution in Electrical and Electronic Engineering, 4(2), 529-536.

Addie, D., Houe, L., Maitland, K., Passantino, G., & Decaro, N. (2019). Effect of cat

litters on feline coronavirus infection of cell culture and cats. Journal of Feline Medicine

and Surgery, 22(4), 350–357. https://doi.org/10.1177/1098612x19848167

Addie, D., Houe, L., Maitland, K., Passantino, G., & Decaro, N. (2019b). Effect of cat

litters on feline coronavirus infection of cell culture and cats. Journal of Feline Medicine

and Surgery, 22(4), 350–357. https://doi.org/10.1177/1098612x19848167

Adams & White (2018). Multicat household adaptations for automated litter boxes.

Journal of Feline Behavior Studies.

Chen et al. (2019). Smart Homes for Pets: Internet-enabled Litter Maintenance.

International Journal of Advanced Robotic Systems.

Davies et al. (2020). Evaluation of Sensor Effectiveness in Automated Cat Litter Boxes.

Sensors Quarterly.

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 BIONOTE

FRANCIS KIRBY N. BRUTAS is a Grade 12 STEM

student presently enrolled at the University of Cebu
Lapu-Lapu and Mandaue. He completed his Junior
High School Education with High Honors and
graduated as the Class Valedictorian at Saint Dominic
Savio International School. Aside from school
achievements, he is also an athlete in Karate for 11
years and currently a varsity athlete in his present
school.

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