Latest Final Manuscript

RoadBot: Automated Painting Machine for Road Markings
Presented to the Faculty of the

Department of Computer Engineering
College of Engineering and Architecture
Don Honorio Ventura State University
In Partial Fulfillment of
the Requirements for the Degree of
Bachelor of Science in Computer Engineering
by
Lumalu, Russell Jayson T.

Nicdao, Jehd B.
Pangilinan, John Jerick T.
Sanchez, Borjie Faustin D.
Santos, Allen Courtney Y.
Sotto, Jewell
May 2024
1
DON HONORIO VENTURA STATE UNIVERSITY
Introduction:
Markings on the roads are crucial when it comes to ensuring safe transportation.
Their importance lies in their ability to regulate traffic and offer safe driving directions.
They serve as indicators for drivers, indicating lane boundaries, pedestrian crossings,
and potential hazards. Beyond enhancing road visibility and overall safety for all road
users, these markings are essential for providing visual guidance and contributing to the
smooth and secure traffic flow on roadways. When appropriately utilized, these markings
have the potential to significantly reduce accidents and injuries, especially among drivers,
cyclists, and pedestrians. (Cranwell, 2018).
Some of the most common road markings are white and yellow lane markings.
Solid white lines indicate lanes of traffic moving in the same direction or mark the edge of
the road, while broken white lines are used to separate lanes. Yellow lines, on the other
hand, indicate traffic flow on the opposite side of the road. These markings are
represented by longitudinal, lateral, symbols, letters, and special situation signs. (Healey,
2022).
Typically, road markings are done using road marking machines or by hand by
skilled workers using non-mechanical road marking equipment. (Cranwell, 2018). This
process of road marking painting consists of two main parts. Which include using a pre-
marker to draw a field sketch beforehand and the actual painting of the road markings, in
which these tasks are carried out separately.
A related study discusses a road marking robot automation system that could
deal with some of the shortcomings of existing road marking paint systems. (Wahyuni et
al., 2021) Automating the road marking process can address the need for more efficient
and accurate methods.
An arXiv article discusses driverless road-marking machines and their potential to
pave the way toward more efficient and accurate road-marking applications. (Majstorovic
& Diermeyer, 2022) This article focuses on the automated paint application system,
which can measure the exact length of road markings, further emphasizing the need for
more precise and automated road marking methods.
Various types of road marking devices, including fully automatic, semi-automatic,
and manual road marking machines, are discussed in some research. (Bhaiswar et al.,
2019) Road marking automation has evolved, highlighting manual applicator road
marking machines for their impact in terms of size, ease of use, and cost-effectiveness.
(Raut, 2019)
Some studies emphasize the importance of road marking for traffic control and
safety, detailing the materials used, such as traffic paints and epoxy for different types of
markings like straight and broken lines. Additionally, the research delves into the design
and fabrication of different road marking machines, showcasing the evolution towards
automation to reduce costs and enhance performance. (Raut, 2019)
Furthermore, in the Philippines, heat-related issues are common, especially
during hot seasons, which negatively affect workers. In this light, automated road
marking machines offer faster completion of tasks compared to manual methods. This
speed reduces workers' exposure to extreme temperatures as well as hazardous
chemicals and noxious fumes, lowering the risk of heat-related illnesses and injuries.
COLLEGE OF ENGINEERING AND ARCHITECTURE

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Operating the machine remotely further diminishes exposure to dangerous

conditions and manual labor, bolstering overall worker safety and welfare.
(TinyMobileRobots, 2024).
In addition, the discussion focuses on the safety impact of pavement marking
delineation regarding driver response, road geometry, and traffic volumes. The MUTCD
guides longitudinal pavement markings based on color, width, and patterns tailored to
different types of roads and traffic conditions. Due to their durability and widespread
application, the literature highlights the everyday use of waterborne paint, thermoplastic,
and epoxy as predominant pavement marking materials. (Bahar et al., 2006)
A CIHT paper highlights the importance of clearly visible lane markings for
positioning automated driving systems and working as guard rails for advanced driver
assistance systems. (Thomas, 2023) It emphasizes the role of road markings in ensuring
road safety, making it crucial to develop more efficient and accurate methods for their
application.
A study focused on improving G-code generation algorithms for road marking
machines aimed to create new techniques for efficient G-code creation, ensuring precise
and consistent road markings. (Smith et al., 2022) They developed an optimization
framework considering road curvature, marking patterns, and machine constraints. They
introduced new algorithms that surpassed traditional methods in computational efficiency
and solution quality. The optimized G-code significantly improved the accuracy and
consistency of road markings compared to those produced with standard techniques.
An automated painting machine for road markings can utilize the EasyDry Drying
Robot in the drying process, a method commonly employed for painted vehicle surfaces.
The design of this robot facilitates the efficient drying of painted road markings. The
EasyDry Drying Robot is a specialized system that contributes to the overall functionality
and effectiveness of the RoadBot in completing road marking tasks. (Symach, n.d.)
The researchers conducted an interview in Valdez, Pampanga, in which they
used to gather data about the challenges faced by the workers on the process of road
painting, the respondents were asked what are the problems they usually encounter
when painting roads, what are the material they used for painting roads, how long does it
take to paint a road in a 1kilometer distance, and how the proposed system RoadBot
would be benificial for them in the process of road painting. Based on the interview, road
painters cope with heat and extreme weather. They use materials such as paint, brushes
and other protective gears. The time to paint road, based on the respondents 1 kilometer
would take about 4 hours to finish, still road painting varies depending on the distance.
As per the respondents, they said that an automated machine which is the RoadBot
would be a great help to them since they’re mostly relying in the tradition processes.
Respondents expressed the interest in a device or machine that automates movement,
anticipating faster work completion.
In the conducted interview, respondents discussed the difficulties encountered
during road painting. The time required for a task and how a device like RoadBot could
assist them. The data from the interview that they gathered highlights the challenges of
working in heat, the materials used, and the possibility for automation to improve
efficiency and safety in road marking. This research explores the practical aspects of
road painting. Including the challenges and potential solutions to enhance efficiency and
safety in the field

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However, one of the main problems workers face is heat stress, this poses a
significant risk to construction workers, particularly in road construction projects where
they face exposure to high temperatures. This prolonged exposure can result in heat-
related illnesses like heat exhaustion and heat stroke, which are serious health concerns.
(Bhatti, 2023) Symptoms of heat stress may include dizziness, fatigue, nausea, and, in
severe cases, loss of consciousness.
According to the National Institute for Occupational Safety and Health (NIOSH
2016), a specific problem faced by construction workers is the risk of heat-related
illnesses (HRIs) and injuries when exposed to high-temperature environments. Heat
stress occurs when a worker is exposed to heat due to physical activity, environmental
conditions, and clothing, leading to an increase in the body's heat storage, known as the
heat load. The body responds to heat stress by trying to increase heat loss to maintain a
stable body temperature, known as heat strain. It is essential to keep the core body
temperature within the normal range (around 37°C or 98.6°F) for optimal functioning.
Occupational heat strain also significantly impacts workers' health and
productivity, with 35% experiencing heat stress during a work shift and 30% experiencing
productivity losses. (Flouris et al., 2018).
Factors like air temperature, humidity, skin temperature, airspeed, radiant
temperature, clothing, hydration, and individual characteristics can affect core body
temperature regulation. If heat stress is not relieved, it can increase heat strain and raise
the risk of HRIs such as heat stroke, heat exhaustion, dehydration, fainting, heat cramps,
and heat rash.
In addition, a specific problem of manual road marking are challenges that are
linked to the labor-intensive and hazardous task, exposing workers to various health and
safety risks. One specific problem is that workers are vulnerable to passing traffic and
vehicles. Another specific problem to concern is the potential danger of getting caught in
the moving components of a road marking machine. These machines have numerous
moving parts, increasing the risk of accidents for workers if not cautious.
Along with that, another peril when working with a road marking machine is the
potential inhalation of noxious fumes emitted by the paint or chemicals utilized in the
process. These fumes and the use of solvent-based paint and other chemicals in road
marking can expose workers to harmful substances, and prolonged exposure which can
lead to respiratory problems, skin irritation, and other health issues. (Bluesafe, 2023).
The objective of the study is to investigate the predicament encountered by road
painters. The results of the interview conducted revealed the challenges they face,
including chemical exposure, heat stress, traffic management, and the inefficiency of the
time required to complete such a task. The study aims to focus on offering insights into
potential solutions and the aspects of practicality of road painting. It is designed to
enhance efficiency through the automation of laborious manual tasks while offering the
option to do it remotely, through this, it also offers safety from chemical exposure and
harsh environmental conditions such as heat, excessive rain, and flooding.
The significance of the study lies in its capacity to assist workers in reducing the
laborious task of painting road markings. By automating the painting process, the system
can reduce human error and boost productivity. Furthermore, the RoadBot enables
operators to operate the machine safely from a distance, reducing exposure to
hazardous road conditions and manual labor.

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The scope of the study is to design and develop a painting machine using a
Raspberry Pi and a web application for painting road markings. To evaluate the
performance of the painting machine in terms of efficiency, accuracy, and quality of the
markings produced, to compare the painting machine with other road marking systems,
and to assess its potential applications.
The delimitation of the study will focus on designing and implementing a painting
machine for painting straight lines and broken lines for road markings and pedestrian
lanes. It can also paint remotely using the app. The study will not cover other
applications of painting systems, like preset arrows or other traffic signs like a handicap
logo such as wall painting artistic creation.

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Figure 1: Conceptual Framework of the RoadBot
The Input-Process-Output (IPO) framework, as depicted in Figure 1, outlines the

key components and steps required for the research project. Beginning with the input,
the Knowledge Requirements encompass Coding and Programming, as well as Circuits
and Electronics knowledge. The Hardware Requirements involve the physical
components needed for the device, such as Raspberry Pi 4B, 12V Diaphragm Pump,
Solenoid Valve with Sprayer Nozzle, DC Fan, DC Voltmeter, SPDT Switch Relays,
Hoverboard Motor, BLDC Motor, Steel Frame, 36V Lithium-ion Battery, 6-24V to 5V 3A
DC-DC Buck Step-Down Converter, 24V/12V To 5V DC-DC Step-Down Converter, and
40v To 12V 5A DC-DC Step-DownStep-Down Converter. The process contains the
actions taken by the researchers in developing the device. This includes Hardware
Development stages like Planning, Designing, Prototyping, and Testing. Software
Development involves tasks like Online Searching, Designing of the UI, Testing and
debugging of codes. The output of the research project will be the final product entitled
"RoadBot: Automated Painting Machine for Road Markings."

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Methodology:
This chapter provides a detailed process of the systematic approach employed

by the researchers to develop the Roadbot. It encompasses the methodology adopted,
the sampling strategy employed, the statistical treatment applied to the collected data,
block diagrams, process flow charts, and schematic designs.
The researchers utilized a quantitative approach and employed experimental
design to implement RoadBot, an Automated Painting Machine for Road Markings.
Experimental research designs involve the manipulation of variables and randomly
assigning participants to conditions, facilitating the establishment of cause-and-effect
relationships. This methodology is essential for making informed causal inferences about
research inquiries and effectively discerning meaningful patterns from noise within
datasets. The researchers perform statistical analysis to identify causal and interactive
relationships within the dataset by carefully implementing experimental designs that
ensure operationalization, randomization, control, and manipulation of variables.
Therefore, the chosen approach for this study will be an experimental quantitative
research design.
The researchers employed purposive sampling and devised questionnaires for
interviews aimed at selected participants. These questionnaires delved into participants'
experiences with road markings, their challenges during the task, and the overall road
marking process. The responses gathered from participants illustrate the considerable
time and energy road marking demands and the physical health risks posed by
prolonged exposure to the sun's high temperatures during work. These findings
underscore the need for further research and development in this area.
The study involved thoroughly examining existing documents alongside direct
observations of individuals to gather data. Observation was selected as the preferred
method because it emphasizes quantifying the individuals involved and their actions.
Typically, in structured observation studies, observers are directed to document
behaviors based on predefined criteria. This decision drove a desire to gain deeper
insights into a newly emerging issue.
The researchers adapted an agile methodology to systematically design,
implement, and assess the proposed Roadbot: Automated Painting Machine for Road
Markings, leveraging Raspberry Pi technology for road markings and pedestrian lanes.
The initial phase will involve a literature review, analyzing existing research on
automated painting machines, road markings, and relevant technologies, aligning with
agile principles of adaptability and continuous improvement. The design phase
emphasizes the agile approach by creating a prototype that integrates insights from the
literature, prioritizing flexibility and cost-effectiveness inherent in using Raspberry Pi.
During the implementation phase, the researchers employ the AGILE method, a
methodology that emphasizes flexibility and practicality in delivering the final product.
This approach allows for iterative adjustments and enhancements to ensure user safety
and operational efficiency. By placing the device, it automatically performs its tasks. The
research provides valuable quantitative insights into the development and potential
applications of agile automated painting systems in road safety as shown in Figure 2.

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Figure 2: Agile Methodology
The visual depiction in Figure 3, as seen below, illustrates various elements and
activities within the project development process. These include Electronics/Firmware
Development, Hardware/Enclosure Development, Software Development, and Technical
Documentation.
Figure 3: Project Development
The provided sources offer valuable insights into firmware development,

stressing the significance of design and architecture. Critical aspects of Electronics /
Firmware Development encompass Circuit, Sensors Interface Code, and Motor Control
Code. Circuit entails crafting the layout and architecture of the electronic system's
circuitry. This process is a big factor in guaranteeing the proper functionality and
efficiency of the hardware components. Developing code for the sensor interface is
crucial for establishing communication with sensors like a wheel rotation sensor. It
facilitates data collection and ensures accurate responses to external stimuli. The
crafting code for motor control, which governs the movement and behavior of motors
within the system, is also essential. This code regulates motor operation based on input
signals and the project's requirements.
In Hardware and Enclosure Development, resources offer valuable insights into
the building processes of crafting hardware enclosures. Robot Design, a comprehensive
endeavor, entails creating and refining robots, spanning from their physical framework to
the internal mechanisms powering their operations. This field amalgamates mechanical,
electrical, and software engineering disciplines to animate robotic systems. Designing a
paint dispenser necessitates the attention to detail, focusing on precision, durability, and

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ease of maintenance to facilitate accurate paint dispensation. This endeavor demands

adeptness in mechanical engineering to guarantee optimal dispenser functionality.
Integral steps in hardware development encompass part assembly, component
machining, and final refinements. These stages entail integrating disparate elements of
the hardware system, machining components to exacting standards, and applying
finishing touches to augment aesthetics and functionality. Electrical wiring is paramount
in hardware development, ensuring seamless connectivity of electrical components to
uphold operational integrity. Efficient and safe power distribution throughout the
hardware system is imperative for optimal performance.
Creating software involves multiple vital components necessary for producing
practical and user-centric applications. The development of a mobile application includes
tasks such as formulating controller logic, crafting user interfaces (UI) for easy interaction,
and incorporating features for customization and setup. This demands proficiency in
mobile app development, UI/UX design, and software architecture to ensure a smooth
user journey. Integrating hotspot functionality into the application is crucial for facilitating
wireless data exchange and device communication within a limited range of 10-15
meters. It entails the integration of hotspot protocols, managing data transmission, and
guaranteeing secure and dependable device connections.
In technical documentation, wiring, and schematic diagrams is important because
it indicate the system's connections and the arrangement of its electrical components.
These diagrams serve as visual aids, elucidating the system's structure and aiding
comprehension of its electrical configurations. Similarly, source code documentation
holds immense importance in software development endeavors as it elucidates the
codebase's logic, functionality, and architecture. This documentation facilitates
developers in grasping and managing the code, thereby promoting collaboration, and
easing future modifications. Moreover, enclosure design documentation entails the
creation of intricate 3D or 2D designs depicting the physical housing encompassing
electronic components. These designs dictates the enclosure's dimensions, features,
and specifications, ensuring precise fit and seamless integration within the broader
system.

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Electronics / Firmware Development
The electronic system design for RoadBot, an Automated Painting Machine for
Road Markings, incorporates several key components to facilitate its functionality. These
include a hoverboard motor, BLDC motor driver, relay-controlled paint dispenser and
dryer, Raspberry Pi MCU and a DC-DC Buck regulator for power management. Each of
these elements collaborates seamlessly to achieve accurate and efficient painting of
road markings, as seen in Figure 4 and 5.
Figure 4: Schematic Diagram of Roadbot

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Figure 5: Wiring Diagramof Roadbot
The hoverboard motor, under the regulation of a BLDC motor driver, governs the
robot's movement along the intended path. Concurrently, the relay-controlled paint
dispenser and DC fan manage the flow and drying of the paint to maintain precision
throughout the process.
The Raspberry Pi 4B will serve as the central controller, handling the
functionalities of the system. Meanwhile, the DC-DC Buck regulator diligently maintains a
consistent and reliable power supply to all components involved.
A paint level sensor monitor regulates the paint reservoir to ensure optimal paint
levels. Similarly, the dryer, which operates under relay control, utilizes either a DC fan to
expedite the drying process effectively.
Hardware/Enclosure Development

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The Hardware/Enclosure Development process involved the planning and

organization of connections for every component. Visual representations of each part,
accompanied by explicit depictions of their physical connections, were incorporated to
offer a thorough grasp of the system's layout. This approach aimed to streamline
implementation and upkeep. Furthermore, the design shows the significance of accurate
labeling and documentation of connections, aiding troubleshooting and potential future
adjustments as seen on Figure 6.
Figure 6: Mechanical Design for Roadbot

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Software Development
Figure 7: Visual Studio Code
The researchers have opted to utilize Visual Studio Code (VS Code) for Roadbot for
several reasons:
 VS Code is open-source, meaning it is freely accessible and encourages
community involvement and enhancement. It boasts a reputation for simplicity
and an intuitive user interface, facilitating easy extension installation and code
management.
 It supports many programming languages, including those in robotics like C++,
Python and et cetera. It offers features such as syntax highlighting, bracket-
matching, and auto-indentation. Its interactive debugger aids in pinpointing and
resolving coding issues.
 Seamless integration with build and scripting tools streamlines everyday
workflows, enhancing efficiency.
VS Code's high level of customization, coupled with third-party extension support like
Platform.io and Arduino, allows for tailoring the user experience to specific requirements.

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Figure 8: System Flowchart
The operation of the Roadbot system follows a systematic sequence. Initially,

upon powering on the system will be at its idle state where its boot up in less than one
minute. Subsequently, it awaits instructions from either the user or the control system.
Once instructions are received, outlining either a painting route or specific areas for
painting, the Roadbot processes this information. Utilizing its current location data, it
devises an optimal painting route. It begins navigating towards the predetermined paint
points along the designated route following the planning phase. Upon reaching these
points, the Roadbot engages its paint application system to apply the paint diligently. It
activates its paint drying mechanism to facilitate correctly drying and curing the paint as
seen on Figure 8.

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Figure 9: Block Diagram
The Roadbot system operates via a mobile application or user interface, enabling
users to issue commands, monitor its status, and commence painting and drying
procedures. Its painting mechanism comprises a paint applicator, supply, and positioning
system. Additionally, the Roadbot features a drying setup to ensure proper curing and
drying of applied paint, potentially integrating heating elements and air circulation for this
purpose. The painting process involves the Roadbot navigating to the designated
painting area utilizing its positioning system. Subsequently, once the paint is applied, the
Roadbot's drying system activates to facilitate curing and drying. Primarily designed to
apply road markings like lane lines and crosswalks. The researchers modify the painting
and drying procedures to optimize the durability and visibility of these road
markings as seen in Figure 9.

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In this section, table 1 below provides an overview of the materials used in

constructing the prototype. It includes a breakdown of each component, along with its
description and function within the prototype.
Table 1: Description of Materials

Components Descriptions Functions
The Raspberry Pi 4B has a

powerful 64-bit quad-core
processor, supports dual
displays up to 4K resolution,
hardware video decoding at Microcontroller or CPU,
4Kp60, up to 4GB of RAM, of the device.
dual-band wireless LAN,
Bluetooth 5.0, Gigabit
Ethernet, USB 3.0, and PoE
Raspberry Pi 4B 4gb capability with an optional
PoE HAT.
A hoverboard motor, also

referred to as an electric hub It is the main motor of the
motor, is responsible for device that is responsible
powering the hoverboard for its movement.
wheel, allowing for smooth
acceleration and braking.
Hoverboard Motors
A caster is a wheel that is not It will be the support for

powered and is attached to the main motor, which is
the bottom of an object to the hoverboard motor.
allow it to be easily moved.
Caster Wheels
The BLDC motor driver

supplies alternating current to Used to supply electricity
the motor stator winding via to motors in order to
an electronic commutator to enable movement.
drive the motor.
ZS-X11H BLDC Motor
Drivers

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A non-contact water liquid

level sensor utilizes the
inductive capacitance of water
to detect liquid presence. The To check the level of the
sensor's static capacitance to liquid in the container.
the ground changes when
liquid is detected.
Non-Contact Liquid Level
Sensor
A diaphragm pump is a
compact and versatile pump
that uses a flexible diaphragm To transfer the paint from
to move liquids. Powered by a the bucket container to
12-volt DC electrical source, it the sprayer.
creates suction and pressure
to transfer fluids.
12V Diaphragm Pump
Solenoid valves are devices Used to dispense the

that use electric energy to paint onto the flat surface
control the flow of gas or
liquid to the sprayer nozzle.
Solenoid Valve with
Sprayer Nozzle
Relays are switches that can

be controlled electrically.
They function by opening and
closing circuits in response to To drive the motors,
electrical signals. When they sprayer and DC fan.
receive a signal, they activate
other equipment by toggling
Relays the switch on and off.
Lithium-ion batteries are the

most common rechargeable
batteries used in mobile It is the main source of
phones and electric vehicles. power for the device.
They consist of lithium-ion
cells and a protective circuit
Lithium-ion Battery board.
A 6-24V to 5V 3A DC-DC
buck converter efficiently To reduce the voltage to
converts a wide range of DC match the power

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voltage (6V-24V) to a stable requirements of the

5V output at 3 amps, perfect components. 5V for the
for powering 5V electronics MCU.
from different sources such as
batteries, solar panels, or car
chargers.
6-24V to 5V 3A DC-DC
Buck Step-Down
Converter
A 24V/12V to 5V DC-DC step-

down converter efficiently
converts higher DC voltages Used in powering the
(24V or 12V) to a stable 5V solenoid lowering the
output for powering voltage to 12V aligned
electronics. Using a switching with the power needs of
mechanism, it minimizes heat the component.
24V/12V To 5V DC-DC loss and ensures safe device
Step-Down operation.
The DC-DC buck converter

xl4015 voltage regulator
board is equipped with an Used in powering the
XL4015 step-down switching pump to lower the voltage
regulator that can handle 12V.
currents of up to 5A. It can
efficiently reduce higher
40v To 12V 5A DC-DC voltages to lower ones without
Step-Down the need for an extra power
source.
A DC fan is an electric device

that uses direct current to
drive a rotating blade, It is used in the drying
creating airflow for cooling process of the device's
electronic components and paint.
preventing overheating in
systems.
DC Fan
A DC voltmeter is a device
that is utilized for measuring Used to measure the
the direct current voltage battery power.
between two points in an
DC Voltmeter electrical circuit.
An SPDT switch has three

terminals and can connect the

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source terminal to one of two To turn the device and

output terminals, enabling an turn charging.
"ON/ON" configuration where
the input terminal completes
one of two circuits controlled
SPDT Switch by the switch.
The researchers have a reference for their electronic design for Roadbot. There
is another circuit wherein the brain of the automated part of the system makes partial
decision-making: the Arduino microcontroller system. It uses the Arduino Mega card with
input and output (I/O) ports. (Khalid et al., 2016) Since this project is still in the
developmental stages, the researchers only utilized some ports related to the I/O devices.
The other ports will be utilized thoroughly for the next developmental project. Besides the
Arduino system, the researchers used other related devices such as relay SRS-12VDC-5,
which Arduino controls as a switch. This section illustrates how the electrical parts are
interconnected through a schematic of the electrical circuit, as shown in Figure 10.
Figure 10: Electrical circuit for Arduino microcontroller system
The Arduino, relay, electrically operated air compressor, safety lamp, and camera
with LCD screen are all connected to a 12 V DC power supply battery. Three parts, the
safety lamp, compressor, and LCD screen, are connected to one switch. The positive
connection of the power supply for the compressor and safety lamp is also attached to
the relay, with the Arduino microcontroller controlling it.
After many iterations, the electronic system design for RoadBot, an Automated
Painting Machine for Road Markings, incorporates several key components to facilitate
its functionality. These include a hoverboard motor, BLDC motor driver, relay-controlled
paint dispenser and dryer, Raspberry Pi, custom PCB, and a DC-DC Buck regulator for
power management. Each of these elements collaborates seamlessly to achieve
accurate and efficient painting of road markings, as seen in Figure 10.

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The researchers are inspired to use the Eco Club Line Marking Machine as their
basis for the Roadbot. Groundsmen across the globe use it; the Eco Club is the most
popular battery-powered spray line marking machine, engineered especially for our
range of high-quality line marking paints. The Eco Club manufactures it in the UK from
high-quality steel. It utilizes a 3-stage filtration system and a high-pressure pump for
perfect results, as seen in Figure 11.
Figure 11: Eco Club Line Marking Machine
The researchers initially considered placing the nozzle on the side because the
original inspiration for the design of the Roadbot was to have the nozzle at the front.
They tested and found a high chance that the wheels would taint the paint. The
researchers were inspired by a turf tank and ultimately decided to position the nozzle on
the side.

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Figure 12: Prototyping and Testing of Components
The researchers attempted to design the prototype based on their initial concept.
However, during the actual design and framing process, it was found that having a large
frame reduced the device's effectiveness and made it more compact, improving both its
flexibility and effectiveness, as shown in figure 12.
Figure 13: Roadbot frame, motor, paint dispenser, dryer, MCU, power supply, and paint
level sensor fabrication
Figure 13 demonstrates the researchers' approach in designing and constructing

Roadbot, aiming for enhanced flexibility and efficiency in the design process.
Customizing the frame, motor, paint dispenser, dryer, MCU, power supply, and paint
level sensor of the Roadbot needed much manual work to ensure the device reached its
maximum potential.

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Figure 14: Pump System for Roadbot
The researchers considered using water-based paint for the pump system of the
Roadbot as seen on Figure 14 since they also wanted to test the device using water as
an alternative to paint since paint is challenging to remove for demonstration. Water-
based paint in construction and painting projects highlights durability, color retention,
ease of application, versatility, and odorless nature that can also help the environment.
Figure 15: Motor Control Testing
The researchers conduct motor control testing for Roadbot. It focuses on

controlling hoverboard motors for self-balancing robots, focusing on motor control for
balancing and steering. The tutorials and discussions involve using various motor
controllers, such as the ODrive, and programming techniques like pulse-width
modulation (PWM) to control the speed and direction of the motors as seen on Figure 15.

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Figure 16: Roadbot Enclosure Fabrication

the structure of the Roadbot, explicitly focusing on customizing the frame and caster
wheels for movement. It also discusses the proper wheel placement for the Roadbot to
build the robot chassis.
Figure 17: MCU of the RoadBot
The prototype initially used an ESP32 WeMos as its MCU, but since the device
had a hard time handling all the components, especially in handling g-code, it was not as
promising as the researchers were expecting. Therefore, the researchers decided to
implement a new MCU, the RasPi 4B, as shown in Figure 17.

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Figure 18: Roadbot Hardware Fabrication

the hardware of Roadbot, stressing the significance of designing the robot on paper,
planning out materials, screw placement, sensor attachment, and all other details to
save time, and money and ensure a well-constructed robot. It also highlights the need to
understand how all parts connect and plan out the wiring on the chassis.
The main issue is that the regulator becomes too hot after a few seconds of
activating the pump and solenoid. There are two possible solutions to resolve this. First,
replace the regulator with one that has a higher current rating. It will enable it to handle
the electrical load without overheating. Second, separate regulators for the pump and
solenoid should be used. It will prevent them from sharing the same regulator, which
might cause overheating. By upgrading to a higher current regulator and using separ ate
regulators for the pump and solenoid, the overheating problem should be resolved.
A frequent issue with using a Raspberry Pi is the failure of the input capacitor in
the voltage regulator shortly after powering on the system. This problem often arises
when using a higher voltage power supply, such as a 36V battery. The original capacitor
on the regulator is rated for only 16V, making it unable to handle the higher voltage,
leading to its quick failure. The researchers replaced the stock capacitor with a higher
voltage rating to fix this. A capacitor rated for 50V is recommended to manage the 36V
battery voltage safely. This simple replacement will allow the RasPi to operate reliably
without the risk of the capacitor failing. Ensure that the new capacitor matches the
original size and specifications, except for the upgraded voltage rating of 50V. This
modification allows the Raspberry Pi to be powered by a 36V battery without further
issues.

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Figure 19: User Interface for the Application of Roadbot
As shown in Figure 19, the interface for the application used for Roadbot wherein
the controller for the Roadbot involves setting up a WiFi connection to enable
communication and control. The device establishes the connection using a WiFi
connection. The controller allows users to connect the Roadbot to a computer or a smart
device for remote operation and monitoring. The user has a choice to move the device in
four directions. The user will have the option to turn on the paint nozzle and dryer. The
user can also command the device to draw specific lines like straight lines, broken lines,
and circles. Additionally, users can upload a G-code file for a specific pattern they desire.
Users can then execute the desired output and control the speed.

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Figure 20: Actual Design of Roadbot
The finished product made by the researchers is roughly a meter in height and
weighs around 5-10 kilograms. The device’s visual still has much room for improvement
as seen on Figure 20.
Figure 21: Testing of Roadbot
As shown in Figure 21, the researchers conducted testing by placing the device
in an open space and on the road. They tested the device to ensure it was working
properly using water as the material for testing.

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The researchers tested the RoadBot's performance on a concrete surface. The

researchers selected a suitable stretch of path and removed existing markings. The
painting machine was set up and activated. It then autonomously painted the required
road markings. Post-painting, the accuracy and consistency of the markings were
evaluated and recorded. The RoadBot underwent three rounds of testing on real roads to
ensure the validity of the outcomes and tested by the percent error formula, as seen
below.
�� − ��
�= ∙ 100%
��
where:
� = ��
�� = ��
�� = ��
Figure 10: Percent Error Formula
A questionnaire is utilized for evaluation of selected professionals. This

questionnaire assessed the device according to the ISO/IEC 25010 format, offering a
structured and standardized approach to evaluating its quality. The format facilitates a
systematic assessment of the device's strengths and weaknesses, identifies areas for
improvement, and allows for effective communication of assessment results with
researchers as shown on Figure 11.
Figure 11: ISO/IEC 25010 format

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A structured approach to evaluation offers the assessment of product quality

through standardized characteristics and sub-characteristics. These criteria help
determine if products meet quality requirements comprehensively.
The model categorizes product qualities into functionality, reliability, usability,
security, maintainability and portability this will ensure the credibility of the system in
each criteria and sub-criteria, as shown in figure 12.
Figure 12: Evaluation Form
This study utilized a statistical method employing a weighted mean approach to

quantify and evaluate the results. All participants completed the questionnaires, enabling
a thorough analysis. Descriptive evaluations were employed to calculate the weighted
mean for each item as shown in Table 2.
Table 2: Weighted Mean and Verbal Interpretation for Evaluation

Point Scale Verbal Interpretation
5 4.21-5.00 Strongly Agree
4 3.41-4.20 Agree
3 2.61-3.40 Neutral
2 1.81-2.60 Disagree
1 1.00-1.80 Strongly Disagree

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Table 3: Likert Scale and Weighted Mean in Assessing Satisfactory

Point Scale Verbal Interpretation
5 4.21-5.00 Very Good
4 3.41-4.20 Good
3 2.61-3.40 Fair
2 1.81-2.60 Poor
1 1.00-1.80 Very Poor
��
�=
�
where:
W = points (5, 4, 3, 2, 1)
X = number of respondents per weight
N = total number of respondents
The researchers conducted an evaluation survey using a five-point Likert scale to

assess the system's unctionality, reliability, usability, security, maintainability and
portability. The aim was to collect participant feedback and understand their perceptions
of various system attributes. A Weighted Mean Formula was applied to determine an
overall quality score, which accounts for the relative importance of different quality
attributes through specific weights. This method provides a comprehensive assessment
of the system's overall quality.
During the project's final phase, the researchers undertake a thorough review and
feedback process, which plays a part in refining the system for optimal results. This step
involves gathering input from responders and professionals interacting with the system.
The researchers can significantly improve the system's performance and effectiveness
by integrating their valuable insights and suggestions.

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Results and Discussions:
Table 4: Accuracy Testing for Roadbot

Trial Boot-up Time Delay Before Start Spraying Delay Before App Access
(s) (s) (s)
1 40.1 4.5 0.8
2 39.5 4.8 0.1
3 40.3 5.6 0.8
Table 4 shows the results of three trials conducted by the researchers regarding
the performance of Roadbot compared to manual painting. The boot-up time for the
Roadbot in all three trials seems consistent, with Trial 2 having the shortest boot-up time
of 39.5 seconds and Trial 3 having the longest at 40.3 seconds. These differences are
minor and likely within the margin of error. Overall, the Roadbot consistently takes
around 40 seconds to boot up.
There is also some variability in the delay before the Roadbot starts spraying
across the three trials. Trial 2 had the shortest delay of 4.8 seconds, while Trial 3 had the
most extended delay of 5.6 seconds. The delay before app access appears consistent
across all three trials, with Trial 2 having the shortest delay at 0.1 seconds and Trials 1
and 3 having a delay of 0.8 seconds.
Overall, while there are minor variations in the performance metrics across the
three trials, the Roadbot demonstrates relatively consistent boot-up time, delay
before starting spraying, and delay before app access. These findings provide valuable
insights into the Roadbot's operational characteristics and can inform decisions
regarding its implementation and optimization for future use.
Table 5: Runtime, charging time, and percentage errors for Roadbot battery
Trial Actual Runtime Actual Charging Time Runtime Charging Time
(hours) (hours) Error (%) Error (%)
1 1.8 1.5 10% 12.78%
2 2.2 1.25 9.09% 6.02%
3 1.75 1.4 14.29% 5.26%
Table 5 presents the runtime, charging time, and percentage errors for each trial.
The expected runtime is 2 hours, and the expected charging time is 1 hour and 20
minutes. The table compares these expected values with the actual values recorded in
the trials.
Table 6: Actual times and percentage errors for each trial involving painting a 1-meter
straight line and a 3-meter broken line
Trial 1-meter Straight Broken Line 1-meter Straight Broken Line
Line (actual time) (actual time) Line Error (%) Error (%)
1 4.8 seconds 7.5 seconds 4% 6.25%
2 5.2 seconds 8.2 seconds 4% 2.5%
3 5 seconds 7.8 seconds 0% 2.5%

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Table 6 summarizes the actual times and percentage errors for each trial
involving painting a 1-meter straight line and a 3-meter broken line. The broken line
consists of two 1-meter segments with a 1-meter gap. The expected time to paint a 1-
meter straight line is 5 seconds, while the expected time to paint a 3-meter broken line is
8 seconds.
Table 7: System Evaluation Results (Functionality)

Criteria Strongly Agree Neutral Disagree Strongly Weighted
Agree (4) (3) (2) Disagree Mean
(5) (1)
The system
capable of 1 1 1 4
achieving its
objective?
The system
able to paint road 2 1 3.67
marking accurately
as intended?
The system
effectively paint 1 2 3.33
various types of
road markings
without
issues?
Table 7 displays data showing an average frequency mean of 3.67, reflecting the
feedback among professionals that the Roadbot effectively meets its functional
objectives. This indicates that the device is able to perform as intended.
Table 8: System Evaluation Results (Reliability)

(5) (1)
The system
remain compact 1 2 4.33
and not be prone to
breakdowns
during
painting
operations?
The system
maintain the quality 2 1 3.67
of painting over
time?

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The Roadbot has an average frequency mean of 4, indicating that professionals

agree with its reliability during operation as shown in Table 8.
Table 9: System Evaluation Results (Usability)

(5) (1)
The system
is easy to control 3 4
and operate?
The system
can be understood 2 1 3.67
quickly by
operators/users?
The usability table indicates an average frequency mean of 3.83, suggesting that
RoadBot is user-friendly and can be quickly grasped by users, as illustrated in table 9.
This data highlights the ease of use of RoadBot, making it accessible and
understandable for users.
Table 10: System Evaluation Results (Security)

(5) (1)
The system
is password- 2 1 4.67
protected for
security against
unauthorize
d access?
Table 10 shows that the average frequency mean is 4.67, indicating that
professionals who evaluated the Roadbot found it to be secure because its protected by
password.
Table 11: System Evaluation Results (Maintainability)

(5) (1)
The system 3 4
is easy to maintain?
The system
components can be 1 2 3.33
easily replaced or
upgraded?

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Table 11 displays data showing an average frequency mean of 3.67, suggesting

that professionals who assessed the Roadbot found it easy to maintain.
Table 12: System Evaluation Results (Portability)

(5) (1)
The system
is easy to transport 1 2 4.33
to different
locations?
The system
can be access 3 5
through mobile or
other devices?
In Table 12, the average frequency mean is 4.67, indicating that professionals
unanimously agreed on the portability of RoadBot.
Table 13: Overall Satisfaction of Professionals

Criteria Weighted Mean Descriptive Rating
Functionality 3.67 Good
Reliability 4 Good
Usability 3.83 Good
Security 4.67 Very Good
Maintainability 3.67 Good
Portability 4.67 Very Good
Overall Satisfaction 4.08 Good
The Roadbot received a Grand Mean of 4.08, indicating an overall rating of Good.
This score was derived from a frequency mean of 3.67 in functionality, 4 in reliability,
3.83 in usability, 4.67 in security, 3.67 in maintainability, and 4.67 in portability. These
results suggest that the Roadbot effectively achieves its objectives and meets the
expectations of the professionals who evaluated it. However, there is still room for
improvement, as indicated in Table 13.
Professionals with telecommunications and electronics engineering backgrounds
are the evaluators for the Roadbot. R1, a Telecom IP Specialist at PLDT Inc., aged 30,
has extensive experience managing and optimizing telecom networks since 2015. R2,
aged 36, has worked as a Telecom Engineer at PLDT Inc. since 2010, specializing in
telecom systems design and implementation. R3, aged 24, is an Electronics Engineer at
IQor Clark, entering the field in 2023. Specializing in electronic systems and devices, R3
brings a contemporary perspective and current knowledge in electronics engineering to
RoadBot's team.

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Conclusion
The study focused on the design and development of RoadBot, which aims to
automate the manual task of road markings. The RoadBot system can be beneficial to
road workers as the device can be used as an alternative to the traditional processes of
road painting. In doing so, the device can help road workers reduce their exposure to the
sun and hazardous chemicals used in road painting.
Data analysis from trials conducted with the RoadBot revealed consistent boot-up
times, averaging around 40 seconds across three trials. This consistent boot-up time
signifies stable performance in this aspect.
Regarding feedback, the RoadBot garnered a Grand Mean of 4.08 from general
respondents, indicating moderate satisfaction with its functionality, reliability, usability,
security, maintainability, and portability. While it partially achieves its objectives, there is
scope for enhancement, as outlined in Table 7. Nonetheless, areas for improvement are
still identified, as highlighted in Table 13.
Recommendation
After assesing the challenges faced by road painters and considering potential
solutions, several recommendations can be proposed. To improve device performance,
future researchers should explore and innovate with the current technology.
One suggestion is to consider using thermoplastic material for road painting, as it
is more durable and long-lasting. Additionally, researchers could investigate the use of
advanced drying systems like infrared drying for more efficient drying processes. Utilizing
sustainable batteries that harness solar energy is also recommended, especially since
the device operates mostly under the sun for more sustainability.
Furthermore, future researchers should also focus on thoroughly encasing the
prototype to maintain consistent performance and prevent circuit malfunctions. This
protective shielding will shield internal components from external factors that could affect
reliability. While the Roadbot prototype do its functions, there is room for enhancing its
dependability. Conducting comprehensive testing and quality assurance procedures can
help identify and address potential operational weaknesses or vulnerabilities.
By following these recommendations, Roadbot can improve its performance,
reliability, and user satisfaction, establishing itself as a cutting-edge and reliable solution
in automated painting technology.

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APPENDIX A
(REFERENCES)

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[1] Bahar et al. (2006) National Academies of Sciences, Engineering, and Medicine.
2006. Pavement Marking Materials and Markers: Real-World Relationship Between
Retroreflectivity and Safety Over Time. Washington, DC: The National Academies
Press. https://nap.nationalacademies.org/catalog/23255/pavement-marking-
materials-and-markers-real-world-relationship-between-retroreflectivity-and-safety-
over-time
[2] Bhaiswar Ashish et al (2019) International Journal of Advance Research, Ideas and
Innovations in Technology. Manual applicator road marking machine: A review.
Retrieved from: https://www.ijariit.com/manuscripts/v5i2/V5I2-1980.pdf.
[3] Bhatti, M. (2023) Key Health & Safety Risks on Road Construction Projects and
Potential Mitigation Measures. Retrieved from: https://www.linkedin.com/pulse/key-
hazards-risks-road-construction-projects-potential-bhatti-3kv0e/
[4] Bluesafe. (2023). Road Marking Machine Safe Work Method Statement (SWMS) |
BlueSafe. https://bluesafe.net.au/product/road-marking-machine-safe-work-method-
statement/
[5] Cranwell, K. (2018, October 9). What is Road Marking? Roadgrip. Retrieved from:
https://roadgrip.co.uk/blog/what-is-road-marking/.
[6] Flouris, A. D., Dinas, P. C., Ioannou, L. G., Nybo, L., Havenith, G., Kenny, G. P., &
Kjellström, T. (2018). Workers’ health and productivity under occupational heat strain:
a systematic review and meta-analysis. Retrieved from:
https://pubmed.ncbi.nlm.nih.gov/30526938/
[7] Healey, J. R. (2022, November 16). Pavement markings are key to safety but can be
confusing. AARP. https://www.aarp.org/auto/driver-safety/pavement-markings-
explained/
[8] Laukik P Raut (2019), International Journal of Advance Research, Ideas and
Innovations in Technology. Manual applicator road marking machine: A review.
Retrieved from:
https://www.academia.edu/100416434/Manual_applicator_road_marking_machine_
A_review
[9] M. Khalid, M. Jali, M. Mailah & S. Ghadim. (2016) Mechatronic Design and
Development of a Semi-automated On-the-Road Painting Machine. Retrieved from:
https://jurnalmekanikal.utm.my/index.php/jurnalmekanikal/article/view/11/10
[10] Majstorovic D. & Diermeyer F. (2022) Driverless road-marking Machines:
Ma(r)king the Way towards the Future of Mobility. Retrieved from:
https://ieeexplore.ieee.org/document/9945440/authors#authors
[11] National Institute for Occupational Safety and Health (NIOSH 2016). Criteria for
a recommended standard: occupational exposure to heat and hot environments -
revised criteria 2016. (2016). Retrieved from: https://www.cdc.gov/niosh/docs/2016-
106/pdfs/2016-106.pdf
[12] Smith, A., et al. (2022). "Optimization Techniques for Gcode Generation in Road
Marking Machines." *Journal of Automation Engineering*, 10(2), 45-58.
[13] Symach. (n.d.). EasyDry Drying Robot. Retrieved from
https://www.symach.com/portfolio-articoli/easydry-drying-robot/.

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[14] Thomas, C. (2023) Technology and its role in improving road markings.
Chartered Institution of Highways & Transportation. Retrieved from:
https://www.ciht.org.uk/news/technology-and-its-role-in-improving-road-markings/.
[15] TinyMobileRobots. (2024). Process of Road Construction and Road Marking.
TinyMobileRobots. Retrieved from https://tinymobilerobots.com/road-marking-
robot/resources-tinysurveyor/process-of-road-construction-and-road-marking/
[16] Wahyuni, S., Budiarto, H., & Jamilah, N. (2021). Mobile robot painted dashed
lines as road markings. IOP Conference Series. Materials Science and Engineering,
1125(1), 012080. Retrieved from
https://www.researchgate.net/publication/351926776_Mobile_robot_painted_dashed
_lines_as_road_markings

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APPENDIX B
(SAMPLE LETTERS)

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APPENDIX C
(GANTT CHART/ PROJECT TIMELINE)

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APPENDIX D
(INITIAL PROTOTYPE DESIGN )

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APPENDIX E
(COSTING AND BUDGETING)

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Materials Quantity Unit Cost (₱) Total Cost (₱)
Rasberry PI 4B 4gb 1 6,500.00 6,500.00

40v to 5V 3A DC-DC
Buck Step-Down
Converter 1 49.00 49.00
40v To 12V 3A DC-
DC Step-Down 1 45.00 45.00
40v To 12V 5A DC-
DC Step-Down 1 100.00 100.00
DC Voltmeter 1 150.00 150.00
SPDT Switch 1 50.00 50.00

BLDC Motor
Controller 2 730.00 1460.00
Water Pressure 1 1,250.00 1,250.00

Pump
Solenoid 1 305.00 305.00
Hoverboard Motor 2 2,500.00 5000.00
Littium Battery Smart 1 600.00 600.00

Charger
36V battery 1 1,600.00 1,600.00
Non-Contact Liquid 1 350.00 350.00

Level Sensor
AWG 22, 3 meter 1 50.00 50.00

red, black, green,
yellow
Foam screen Mini 1 42.00 42.00
DC Fan 1 400.00 400.00

Round Neodymium
Magnet 1 69.00 69.00

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RJ45 ethernet cable

adapter connector 1 39.00 39.00
4 Channel Relay
Module 1 209.00 209.00
Rectifier Diode 1 15.00 15.00
Male headers 2 50.00 100.00
5 Pin Wire 1 42.00 42.00
2 Pin Wire 1 145.00 145.00

Rubber Wheel
Caster 2 250.00 500.00
Bucket Container 1 170.00 170.00
3D Printed Parts 1 800.00 800.00
9FT 20x20 Aluminum

Profile 1 850.00 850.00
9FT 20x40 Aluminum

Profile 2 1,374.00 2,748.00
Transparent Hose
Pipe
1 200.00 200.00
Screws 1 180.00 180.00
Acrylic Glass Sheet 1 1860.00 1860.00
Nylon Cable Tie 1 56.00 56.00
Green Electrical 1
Tape 55.00 55.00
TOTAL 25,989

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APPENDIX F
(USER INTERFACE )

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RoadBot User Guide
I. Connect the device to RoadBot hotspot and WiFi
The Roadbot can be accessed

through any device using hotspot andWiFi
network, as seen in the image above.
"Road Marking Robot" is the name of the
WiFi network, and the passcode is
“12345678”.
II. Accessing the RoadBot Controls
To access the RoadBot interface,

users need to enter the web app address
"192.168.4.1:3000" which acts as the main
controller for RoadBot. The remote control
features directional arrows for driving the
device (forward, backward, left, right) and a
speed adjustment button. Additional buttons
at the bottom control the powering on/off
pump and spray.

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III. RoadBot G-code Marking
In this tab is where users can put and

upload a G-code file. The buttons on the
lower part are for starting and stopping the
process of the RoadBot.
IV. RoadBot Presets Markings
This section is where preset

markings are located. Users can choose
between a solid line and a broken line and
adjust the length of it, measured in meters.
For the broken line, there is an interval of 1
meter. The button below is for starting and
stopping the RoadBot process.

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APPENDIX G
(RESEARCHERS PROFILE)

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Name: Borjie Faustin D. Sanchez

Address: 234 Gasak 2 Valdez, Floridablanca, Pampanga
Date of Birth: February 15, 2002
Age: 22 years old
Nationality: Filipino
Email: 2020106163@dhvsu.edu.ph
KEY COMPETENCIES
● Highly motivated and focused on achieving goals

● Technical Analysis
● Digitally Skilled Technical Analysis
● Logical reasoning Adaptable and Efficient
EDUCATIONAL BACKGROUND
TERTIARY
2020 - Present
SECONDARY
Megabyte College / Guagua National Colleges
Junior High School / Senior High School (STEM)
2014 - 2020
PRIMARY
Megabyte College / Talang Elementary School
Elementary
2008 - 2014
SEMINARS ATTENDED
User Interface: Plug in the right Elements
2021
Cybersecurity: An overview of Digital Threats and Best Practices

November 02, 2021
Boost Your Career and Thrive in the New Normal: Application of Machine Learning
and Artificial Intelligence Amidst the Pandemic
November 03, 2021
ROBOLUTION:Transforming Lives and Practices through Application of Robotics

September 30, 2022

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Ctrl+Alt+Create: Shaping the Future with Gender-Responsive Approaches in

Computer Engineering, Robotics, and AI
September 29, 2023
WORK EXPERIENCE
Electrician Apprentice (Appointment Based) 04/2022 - 05/2022,
Commercial and residential wiring
Electrical troubleshooting (light bulbs and circuits)
Hand and power tool / lighting and wiring system troubleshooting

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Name: Allen Courtney Y. Santos

Address: 140 Purok 3, San Pedro, Sta. Ana Pampanga
Date of Birth: January 19, 2002
Age: 22 years old
KEY COMPETENCIES
● Excellent listener
● Technical analysis
● Basic computer troubleshooting
● Solid written and verbal communicator
● Flexible and adaptable to working environment
● Ability to work as a team and cooperate in all task
EDUCATIONAL BACKGROUND
TERTIARY
Bacolor, Pampanga
2020-Present
SECONDARY
Holy Cross College
Sta. Lucia Sta. Ana, Pampanga
STEM Strand – Science, Technology, Engineering and Mathematics
2018-2020
Diosdado Macapagal High School

Sto. Domingo Mexico, Pampanga
2014-2018
PRIMARY
Santa Ana Elementary School
Sta. Lucia Sta. Ana Pampanga
2008-2014
SEMINARS ATTENDED
"Boost Your Career and Thrive in the New Normal: Application of Machine
Learning and Artificial Intelligence Amidst the Pandemic"
Participant, Webinar November 2021
An Overview of Digital Threats and Best Practices "Nothing beats the power of
Cybersecurity"

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Participant, Webinar November 2021
"ROBOLUTION: Transforming Lives and Practices through the Application of

Robotics"
Participant, Webinar September 2022
“Ctrl+Alt+Create: Shaping the Future with Gender-Responsive Approaches in

Computer Engineering, Robotics, and AI”
TWG & Participant, Seminar September 2023

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Name: John Jerick T. Pangilinan

Address: Blk. 16 Lot 2 Northville 10 Subdivision, Sampaga,
San Vicente, Apalit, Pampanga
Date of Birth: August 05, 1997
Age: 26 years old
KEY COMPETENCIES
 Goal oriented
 Active listening
 Time management
 Adaptability
 Attention to details
EDUCATION BACKGROUND
TERTIARY
Bacolor Pampanga
2018-Present
SECONDARY
Assumpta Technical High School
Sta. Monica, San Simon, Pampanga
2009-2013
PRIMARY
San Vicente Central School
San Vicente, Apalit, Pampanga
2003-2006
SEMINARS ATTENDED

Robotics"

TWG & Participant, Seminar September 2023

Robotics"

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GOING ONLINE AND BEYOND: AN INTRODUCTION TO CLOUD COMPUTING

November 5, 2021
USER INTERFACE: PLUG IN THE RIGHT ELEMENTS

June 11, 2021
GENERAL ASSEMBLY: WE RISE, WE CONNECT, WE UNITE.

January 29, 2022

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Name: Russell Jayson T. Lumalu

Address: Blk. 3 Lot 9 & 11 Morning Sun Village, Valdez,
Floridablanca, Pampanga
Date of Birth: June 27, 2001
Age: 22 years old
KEY COMPETENCIES
 Goal oriented
 Adept in using computer
 Detail-oriented, very organized
 Critical-thinking skills
 Highly trustworthy, flexible and efficient
TERTIARY
Bacolor, Pampanga
2020-Present
SECONDARY
St. Augustine Academy of Pampanga
Solib Pampanga
2008 - 2020
SEMINARS ATTENDED
User Interface: Plug in the right Elements

June 11, 2021
An Overview of Digital Threats and Best Practices

November 02, 2021
5G Technology for Beginners

August 25, 2023
5G OPEN RAN
September 1, 2023
Ctrl+Alt+Create: Shaping the Future with Gender-Responsive Approaches in

Computer Engineering, Robotics and AI.
September 29, 2023

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[AI PROMPTING COURSE] BOOSTING AI PERFORMANCE WITH MEGA PROMPTS

November 23, 2023
[PYTHON PROGRAMMING COURSE] PYTHON FOR AI BEGINNERS

November 26, 2023
[ENGINEERING COURSE] AI IN AUTONOMOUS ROBOT.

November 28, 2023
Exploring the AI in Computer Engineering: Achieving Breakthroughs in

Automated Innovation and Intelligent Decision Making
December 09, 2023

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Name: Jehd B. Nicdao

Address: 2287 Purok 3 Magliman, San Fernando,Pampanga
Date of Birth: June 07, 2002
Age: 21 years old
KEY COMPETENCIES
 Excellent listener
 Building Computer
 Flexible and adaptable to working environment
 Strong Communication
 Hardworking
 Respectful
TERTIARY
Bacolor Pampanga
2020-Present
SECONDARY
Systems Technology Institute
San Fernando, Pampanga
ICT Strand – Information and Communication Technologies
2018-2020
San Vicente Pilot School for Philippine Craftsmen

Bulaon City of San Fernando, Pampanga
2014-2018
PRIMARY
San Fernando Elementary School
San Fernando, Pampanga
2008-2014
SEMINARS ATTENDED
GENERAL ASSEMBLY: WE RISE, WE CONNECT, WE UNITE.

January 29, 2022
GOING ONLINE AND BEYOND: AN INTRODUCTION TO CLOUD COMPUTING

November 5, 2021

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USER INTERFACE: PLUG IN THE RIGHT ELEMENTS

June 11, 2021
CTRL+ALT+CREATE: SHAPING THE FUTURE WITH GENDER-RESPONSIVE

APPROACHES IN COMPUTER ENGINEERING, ROBOTICS, AND AI.
September 29, 2023

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Name: Jewell G. Sotto

Address: San Pedro Guagua, Pampanga
Date of Birth: September 07, 2002
Age: 21 years old
KEY COMPETENCIES
 Ability to work as a team and cooperate in all task

 Flexible and adaptable to working environment
 Technical Analysis
 Hardworking
 Respectful
TERTIARY
Bacolor Pampanga
2020-Present
SECONDARY
Guagua National Colleges
Sta Filomena, Guagua, Pampanga
STEM Strand – Science, Technology, Engineering and Mathematics
2018-2020
Betis National High School

San Nicolas 2nd Betis, Guagua Pampanga
2014-2018
PRIMARY
Guagua Elementary School
Sta Filomena Guagua, Pampanga
2008-2014
SEMINARS ATTENDED

Robotics"
September 2022

September 2023

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RoadBot: Automated Painting Machine for Road Markings

Presented to the Faculty of the

Lumalu, Russell Jayson T.

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Operating the machine remotely further diminishes exposure to dangerous

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Figure 1: Conceptual Framework of the RoadBot

The Input-Process-Output (IPO) framework, as depicted in Figure 1, outlines the

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This chapter provides a detailed process of the systematic approach employed

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Figure 2: Agile Methodology

Figure 3: Project Development

The provided sources offer valuable insights into firmware development,

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ease of maintenance to facilitate accurate paint dispensation. This endeavor demands

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Electronics / Firmware Development

Figure 4: Schematic Diagram of Roadbot

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Figure 5: Wiring Diagramof Roadbot

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The Hardware/Enclosure Development process involved the planning and

Figure 6: Mechanical Design for Roadbot

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Figure 7: Visual Studio Code

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Figure 8: System Flowchart

The operation of the Roadbot system follows a systematic sequence. Initially,

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Figure 9: Block Diagram

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In this section, table 1 below provides an overview of the materials used in

Table 1: Description of Materials

The Raspberry Pi 4B has a

A hoverboard motor, also

A caster is a wheel that is not It will be the support for

The BLDC motor driver

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A non-contact water liquid

Solenoid valves are devices Used to dispense the

Relays are switches that can

Lithium-ion batteries are the

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voltage (6V-24V) to a stable requirements of the

A 24V/12V to 5V DC-DC step-

The DC-DC buck converter

A DC fan is an electric device

An SPDT switch has three

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source terminal to one of two To turn the device and

Figure 10: Electrical circuit for Arduino microcontroller system

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Figure 11: Eco Club Line Marking Machine

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Figure 12: Prototyping and Testing of Components

Figure 13 demonstrates the researchers' approach in designing and constructing

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Figure 14: Pump System for Roadbot

Figure 15: Motor Control Testing

The researchers conduct motor control testing for Roadbot. It focuses on

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