1

Autonomous and Mobile Control Trash Collector for River Debris under

Bridges with Water Quality Monitoring

Background of the Study

Waste generations by residents in the Philippines, particularly in the

urban areas, have increased recently due to rapid industrialization, urbanization

and population growth. To combat the issue, the country has passed laws including

the Ecological Solid Waste Management Act (Caelian, 2023). However,

implementation has been inconsistent, and plastic waste in particular remains a

significant issue (Rosenberg, 2022).With improper management, the estimated

43,684 tons of garbage produced daily in the Philippines—including 4,609 tonnes

of plastic waste end up building up on land, choking coastlines, and overflowing

into the sea (Sea Circular, n.d.).The issue still exists despite efforts to create

thorough solid waste management plans at the local government level (Rola,

2022). By providing countless ecosystem services including drinking water for

people and animals, irrigation for agriculture, and locations for recreation, culture,

and ceremonies, rivers shape and transform landscapes and support life. Rivers

carry essential materials for life and offer priceless ecosystem services, but they

are also a significant source of pollution. River contamination has far-reaching

consequences. A reduction in water quality is a clear indicator of river basin

environmental health. River contamination has far-reaching consequences. Many

aquatic life species are on the verge of extinction as a result of this. In humans, it

can cause various waterborne severe infections, including diarrhea, trachoma, and
 2

hepatitis. According to the WHO, water-borne infections account for 22% of all

infectious diseases (Cissé, G., 2019).

Improved institutional and governance frameworks are required to

reduce the amount of solid waste, particularly plastics in surface water. Various

technical methods are being implemented globally to collect and trap plastic and

other waste materials from rivers, enabling their appropriate removal and

disposal. Some of these technical methods are low-tech, manually operated

booms, barriers, and nets; small-scale, and maintained robot cleaners that

passively concentrate the debris by using the river's current; and high-tech,

electrically powered concentrators and conveyors that run on hydrokinetic or solar

energy. Nevertheless, most technical methods used have disadvantages such as:

the trash needs to be manually retrieved from the trap; most manual and automatic

traps does not reach far enough into the water column to gather suspended litter;

autonomous river cleaner cannot catch debris over the whole width of the river;

and comes with expensive initial and ongoing maintenance expenditures (Benioff

Ocean Initiative, 2021).

For this reason, the researchers designed and developed an

autonomous and mobile control trash collector for river under bridges with water

quality monitoring which can focus specifically on the river under bridges, where

trash tends to accumulate due to wind patterns, human activity, or other factors.

This initiative aims to provide an alternative approach with robotic technology that

has high efficiency in lifting the waste debris from the water surface and
 3

disposing of it within the receptacle. With the help of the TDS sensor, the data

from the ThingSpeak application can be used to evaluate the quality of the river.

Objectives of the Study

This study generally aims to design and develop Autonomous and

Mobile Control Trash Collector for River Debris under Bridges with Water Quality

Monitoring for the 2nd Semester, School Year 2023 – 2024.

Specifically, this study sought to:

1. Design and develop an Autonomous and Mobile Control Trash Collector

for River Debris under Bridges with Water Quality Monitoring with the

following technical features:

a. Real-time data acquisition;

b. Remote Control Interface;

c. AI Recognition; and

d. Compact mechanism

2. Test the quality of Autonomous and Mobile Control Trash Collector for

River Debris under Bridges with Water Quality Monitoring the in terms

of:

a. Functional Suitability;

b. Performance Efficiency;

c. Maintainability;

d. Reliability;

3. Develop a user’s manual.

 4

Conceptual Framework

The main purpose of this project is to design and prototype a

trash collector that will further refined experimentally for usage in the real world

and to clean up garbage from rivers. This research use the IPO model (Input-

Process-Output).

Input Process Output

` *Knowledge Requirement Autonomous and

- Basic knowledge in Mobile Control Trash
electronics engineering Collector for River
Knowledge in Process 1: Debris under Bridges
Artificial intelligence Planning with Water Quality
specifically Image Monitoring
processing Process 2:
Gather the Quality Dimensions:
*Software Requirement
- Arduino IDE needed data
*Functional Suitability
ThingSpeak and resources
*Maintainability
Bluetooth App *Reliability
Process 3:
*Hardware Requirement *Performance Efficiency
Programming
Arduino Uno R3 the code
DC motor
3.7 volts 18650 Li- On Process 4:
Battery Assembling the
- Ultrasonic Sensor prototype
- Bluetooth Module
L293D motor driver
Process 5:
TDS Sensor
Testing of
Submersible
prototype
electric water pump

Feedback
 5

Figure 1 Conceptual framework of Autonomous and Mobile Control Trash Collector

for River Debris under Bridges with Water Quality Monitoring

Figure 1 shows the conceptual framework outlining the essential

component and procedures required for the development of the device. The input

of the research project begins with the acquisition of necessary sources,

knowledge, and materials. The process provides a step-by-step procedure guiding

the development of the device. The output represents the expected result of the

research project.

.
 6
Table 1

Bill of Materials
Description Quantity Unit

Microcontroller. Modules and Sensors

Microcontroller

Arduino Uno R3 1 pc

Module
HC-06 Bluetooth module 1 pc

Sensors

Ultrasonic Sensor 1 pc

TDS Sensor 1 pc

Other Electronics Components

Motors

DC Motor 4 pcs

L293D motor driver 1 pc

Resistors

10k ohms 5 pcs

47 ohms 5 pcs

330 ohms 5 pcs

Battery

3.7 Volts 18650 Li-On rechargeable battery 3 pcs

 7

PCB 4x4 1 pc

20AWG Silicone 2 pin Wire 5 pcs

Miscellaneous

Screws pc/set
1

Trashbin pc
1

Submersible electric water pump pc

1

PVC pipe (30mm) pcs

5

Sunboard sheet (6” x 20” , 5mm) pcs

4

Ferric chloride bottle

1

As shown in Table 1, these are the materials needed for the research project.
 8

Estimated Cost
Description Price (php) Qty Cost (php)

Microcontroller. Modules and Sensors

Microcontroller
Arduino Uno R3 319.00 1 319.00

Modules

HC-05 Bluetooth module 199.00 1 199.00

Sensors
Ultrasonic sensor 72.00 1 72.00

TDS sensor 472.00 1 472.00

Other Electronics Components

Motor

DC Motor 129.00 4 516.00

L293D motor driver 52.00 1 52.00

Resistors

10k ohms 1.00 5 5.00

47 ohms 1.00 5 5.00

330 ohms 1.00 5 5.00

Battery

3.7 Volts 18650 Li-On rechargeable 3 798.00

266.00
battery
PCB 4x4 30.00 1 30.00

20AWG Silicone 2 pin Wire 25.00 5 125.00

 9

Miscellaneous

Screws 45.00 1 set 45.00

Trashbin 150.00 1 150.00

Submersible electric water pump 419.00 1 419.00

PVC pipe (30mm) 55.00 5 275.00

Sunboard sheet (6” x 20” , 5mm) 50.00 4 200.00

Ferric chloride 45.00 1 45.00

Total 3,732.00

As shown in Table 1, the total estimated cost of all materials is 3,732.00

pesos.
 10

REFERENCES

ELECTRONIC RESOURCES

Merlita, V., Caelian. (2023). Implementation and Challenges of Solid Waste

Management in Communities of a Component City in the Philippines.
Technium Social Sciences Journal, 44:28-40. doi:
10.47577/tssj.v44i1.8897

M., Rosenberg. (2022). Philippines. Asia-Pacific journal of ocean law and

policy, 7(2):300-306. doi: 10.1163/24519391-07020008

Agnes, C., Rola. (2022). Challenges in Governance and Implementation of

the Philippines’ Solid Waste Management Programs: Focus on Plastics.
41(2019):1-23. doi: 10.57043/transnastphl.2019.1672

Sea circular country briefing the Philippines. (n.d.). https://www.sea-

circular.org/wp-content/uploads/2020/04/SEA-circular-Country-
Briefing_THE-PHILIPPINES.pdf

GOVERNMENT PUBLICATIONS

Cissé, G. (2019, June). Food-borne and water-borne diseases under climate

change in low- and middle-income countries: Further efforts needed for
reducing environmental health exposure risks. Acta tropica.
https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7172250/

Benioff Ocean Initiative. 2021. Plastic waste capture in rivers: An inventory of

current technologies
 11

Coin-operated Water Dispenser system with coin changer capability

Background of the Study

The advancement of technology has transformed how we engage

with automated systems resulting in the creation of coin operated machines that

provide convenience, efficiency and improved user experiences. These machines,

such, as vending machines, ticket dispensers and self-service kiosks have become

elements of transactions by offering self-service options and simplified payment

processes. This research delves into the world of coin operated systems with coin

changing mechanisms focusing on their effective transactions. Through an

exploration of literature and studies this study seeks to clarify the functionality,

advantages and consequences of combining a coin operated system with a coin

changing feature to highlight their role, in enhancing efficiency and improving user

interactions.

Kamat et al. (2022) developed a coin-based mobile charging system

using an Arduino UNO microcontroller, providing a convenient solution for charging

mobile phones in various settings, including travel and emergency situations. The

system incorporates password-based security features for device protection and

can be applied in locations like commercial complexes and colleges where mobile

usage is restricted. By enhancing sustainability, reliability, and user experience,

the study aims to address common challenges in mobile phone charging and

proposes future implementation in rural areas with limited power access.

Prof Desai et al (2017), in their work, a design for an Arduino-based

 12

vending machine that dispenses chocolates and addresses the issue of coin-

based machines not returning change. It utilizes Radio Frequency Identification

(RFID) technology for cashless payments, with three main components: RFID card

scanning, Arduino programming, and product delivery. The focus is on solving the

problem of vending machines that do not refund money.

The coin-operated water dispenser system with coin changer

capability has been meticulously designed using an Arduino Uno microcontroller

as the brain of the operation. This innovative system incorporates essential

components such as a coin sensor to accurately detect and validate inserted coins,

a water pump for dispensing the desired amount of water, an LCD display for user

interaction and feedback, and additional hardware including a transformer,

regulator, and rectifier to ensure stable power supply and operation. The Arduino

Uno serves as the central control unit, orchestrating the interaction between the

coin sensor, water pump, and display to enable seamless coin-operated

functionality and water dispensing. With the integration of these components and

the Arduino Uno's programmable capabilities, this system offers a user-friendly

and efficient solution for accessing clean drinking water through coin-operated

transactions, while providing the convenience of automatic change return for

enhanced user experience.

Garcia M., (2017), in their work focused on a coin-based security

system designed for self-service kiosks. The study highlighted the significance of

coin validation in enhancing security measures and preventing fraudulent activities

in automated kiosk operations. By implementing a coin-based security system, the

 13

researchers addressed concerns related to transaction security and user

authentication in self-service kiosk environments.

Hence, the integration of coin changer capability in insert coin

vending water dispensers aligns with the growing demand for seamless and user

friendly vending solutions. By prioritizing customer convenience, operational

efficiency, and accuracy in transactions, vending machine operators can enhance

their service offerings and differentiate themselves in the competitive market.

Objectives of the Study

This study generally aims to design and develop Coin-operated Water

Dispenser system with coin changer capability for the 2nd Semester, School

Year 2023 – 2024.

Specifically, this study sought to:

1. Design and develop an with the following technical features:

a. Implementing a reliable coin sensor for accurate coin validation and

recognition;

b. Integrating a coin changer mechanism to provide change for users

inserting coins exceeding the required amount;

c. Incorporating a water dispensing system controlled by a

microcontroller (Arduino UNO) to dispense the desired amount of

water based on the coins inserted; and

d. Including a user-friendly interface with an LCD display for clear

 14

instructions, feedback, and payment confirmation.

2. Test the quality of Coin-operated Water dispenser with coin changer

capability in terms of:

a. Functionality;

b. Durability;

c. User satisfaction;

d. Operational efficiency;

e. Hygiene and safety standards;

f. Reliability

3. Develop a user’s manual

 15

Conceptual Framework

Input Process Output

`*Knowledge Requirement
Coin-operated Water
Basic knowledge in Process 1: Dispenser system with
electronics Planning coin changer capability
engineering
Process 2: Quality Dimensions:
Knowledge in user
interface design Gather the *Functionality
- Payment systems needed data *Durability
and resources * User satisfaction
*Software Requirement * Operational efficiency
Arduino IDE Process 3: * Hygiene and safety
Programming standards
the code *Reliability
*Hardware Requirement
- Arduino Uno R3
-1N4007 Rectifier Diode Process 4:
- KY-033 Metal Touch Assembling the
Sensor Module prototype
-16x2 LCD Display
Module Process 5:
- CH-926 Multi-Coin
Acceptor Testing of
- KBP210 Bridge Rectifier prototype
-220V to 12V Step-Down
Transformer
-12V DC Solenoid Valve
- LM7805 voltage
regulator
- DC 12V Submersible
Water Pump

Feedback

Figure 1 shows the conceptual framework of the Coin-operated Water

Dispenser system with coin changer capability
 16

Figure 1 shows the conceptual framework outlining the essential

components and procedures required for the development of the device. The input

of the research project begins with the acquisition of necessary sources,

knowledge, and materials. The process provides a step-by-step procedure guiding

the development of the device. The output represents the expected result of the

research project.
 17
Table 1

Bill of Materials
Description Quantity Unit

Microcontroller. Modules and Sensors

Microcontroller

Arduino Uno R3 1 pc

Modules

KY-033 Metal Touch Sensor Module 1 pc

16x2 LCD Display Module 1 pc

Other Electronics Components

1N4007 Rectifier Diode 1 pc

LM7805 Voltage Regulator 1 pc

220V to 12V Step-Down Transformer 1 pc

CH-926 Multi-Coin Acceptor 1 pc

KBP210 Bridge Rectifier 1 pc

12V DC Solenoid Valve 1 pc

2-Channel 5V Relay Module 1 pc

Jumper Wires, Dupont Connectors 1 pack

PCB 3x3 1 pc

Miscellaneous

DC 12V Submersible Water Pump 1 pc

Screws 1 set

As shown in Table 1, these are the materials needed for the research project.
 18

Estimated Cost
Description Price (php) Qty Cost (php)

Microcontroller. Modules and Sensors

Microcontroller
Arduino Uno R3 1,350.00 1 1,350.00

Modules

KY-033 Metal Touch Sensor Module 150.00 1 150.00

16x2 LCD Display Module 200.00 200.00

Other Electronics Components

1N4007 Rectifier Diode 10.00 1 10.00

LM7805 Voltage Regulator 35.00 1 35.00

220V to 12V Step-Down Transformer 245.00 1 245.00

CH-926 Multi-Coin Acceptor 455.00 1 455.00

KBP210 Bridge Rectifier 30.00 1 30.00

12V DC Solenoid Valve 200.00 1 200.00
2-Channel 5V Relay Module 100.00 1 100.00

Jumper Wires, Dupont Connectors (pack) 85.00 1 85.00

PCB 3x3 20.00 1 20.00

Miscellaneous

DC 12V Submersible Water Pump 350.00 1 350.00

Screw set 300.00 1 300.00

Total 3,530.00

As shown in Table 1, the total estimated cost of all materials is 3,530.00

pesos.
 19
REFERENCES

JOURNALS

Garcia, M., & Wong, L. (2017). "Coin-Based Security System for Self-Service
Kiosks." Journal of Information Security and Privacy, 14(4), 231-245

ELECTRONIC RESOURCES

Kamat, A., Kulkarni, A., Akshay, K., Kasturi, R., & Balur, N. (2017). “Coin based
mobile charging system”: An Arduino UNO microcontroller approach,
Communication on Applied Electronics (CAE), www.caeaccess.org,
Volume 6-No.7 ISSN. 2394-4714

Prof Desai, Jahav S., Patil P., Giri N., (2017) “Automatic chocolate vending
machine by using Arduino Uno” International Journal of Innovative
Research in Computer Science & Technology (IJIRCST),
www.papers.ssrn.com, ISSN. 2347-5552
 20
Smart Mini Lawn Mower Robot

Background of the Study

Maintaining a well-manicured lawn is a common aspiration for many

homeowners, however it requires significant time, effort, and resources. Traditional

lawn mowers, whether manual or motorized, necessitate active human

involvement, which can be labor-intensive and time-consuming. The advent of

smart technologies has paved the way for innovative solutions in various sectors,

including lawn care. Among these innovations is the development of smart lawn

mower robots, designed to automate the lawn maintenance process and enhance

the convenience, efficiency, and sustainability of lawn care.

Historically, lawn mowing has evolved from manual reel mowers to

gas-powered and electric mowers. Each progression aimed to reduce human effort

and increase efficiency. However, these conventional mowers still require direct

human operation and charging at charging stations. The introduction of robotic

lawn mowers marks a significant leap forward, integrating advanced technologies

such as robotics, artificial intelligence (AI), and the Internet of Things (IoT) to

provide a fully automated lawn mowing solution. These smart lawn mower robot

typically incorporate sensors, solar powered charging, and connectivity features to

enhance their functionality. Sensors enable the mower to detect obstacles and

adjust its path accordingly, ensuring safe operation and preventing damage to

property. Incorporating solar panels into the design, these mowers can harness

energy from the sun to power their onboard systems, including sensors, and

connectivity features. Connectivity features such as Bluetooth connectivity enable

 21
remote monitoring and control via smartphone application.

A study by Trebi-Ollennu et al. (2004) discusses the integration of

autonomous navigation systems in robotic mowers, highlighting the transition from

simple path-following mechanisms to more complex navigation strategies that

utilize sensor fusion and real-time data processing (Trebi-Ollennu, Y., Dolan, J. M.,

Stancliff, S. B., & Hinkel, H. H., 2004). These advancements have significantly

enhanced the operational capabilities and efficiency of smart lawn mower robots.

The market for smart lawn mower robots has seen substantial growth

over the past decade. Factors contributing to this growth include the increasing

adoption of smart home technologies, the growing awareness of the environmental

benefits of electric mowers, and the rising preference for automated solutions that

save time and effort.

According to a report by Grand View Research (2021), the global

market for robotic lawn mowers is expected to grow significantly, driven by

technological advancements and the increasing demand for automated home

solutions. The report emphasizes the role of artificial intelligence and machine

learning in enhancing the performance and usability of these devices (Grand View

Research, 2021). Current smart lawn mower robots struggle with complex terrains,

including steep slopes, uneven surfaces, and intricate landscaping. Research is

needed to enhance the robots' navigation systems to handle these challenges

more effectively. The battery life of smart lawn mower robots limits their operating

time and coverage area. Advances in battery technology and energy-efficient

algorithms could improve their performance and sustainability. While the long-term
 22
benefits are promising, the high upfront cost remains a barrier for many

consumers. Studies focusing on cost-reduction strategies and economic models

could facilitate broader adoption.

The researchers were mainly influenced by the significance of lawn

mower robot innovation in lawn care, providing homeowners with a blend of

convenience, efficiency, and environmental benefits. For this reason, the

researchers designed and developed the smart mini lawn mower robot with mobile

control, voice recognition, and autonomous operation to provide homeowners

relief from the time-consuming task of manual lawn mowing while ensuring

thorough and consistent results. Moreover, the lawn mower robot incorporates

solar-powered operation to reduce emissions and noise pollution, contributing to a

cleaner and healthier outdoor environment.

Objectives of the Study

The objective of this study is to design and develop a Smart Mini Lawn Mower

equipped with advanced technical features and functionalities for the 2nd

Semester, School Year 2023 – 2024.

Specifically, this study sought to:

1. Design and develop an Smart Mini Lawn Mower Robot with the following

technical features:

a. Obstacle detection and avoidance;

b. Voice recognition;
 23
c. Remote Control Interface;

d. Solar powered; and

e. Edge-cutting

2. Test the quality of Smart Mini Lawn Mower Robot in terms of:

f. Functional Suitability;

g. Performance Efficiency;

h. Maintainability;

i. Reliability;

3. Develop a user’s manual.

 24
Conceptual Framework

Input Process Output

`
Smart Mini Lawn
*Knowledge Requirement Process 1: Mower Robot
Basic knowledge in Planning
Quality Dimensions:
electronics
engineering Process 2:
*Functional Suitability
-Knowledge in wireless Gather the
*Performance Efficiency
communication protocols needed data and
*Maintainability
specifically Bluetooth resources
*Reliability
*Software Requirement
Process 3:
Arduino IDE
Programming
- Bluetooth App
the code
*Hardware Requirement
- Arduino Uno R3 Process 4:
- 6V DC Geared motor Assembling the
- L293D motor driver prototype
shield
- 12V DC motor Process 5:
- HC-05 Bluetooth
Testing of the
Transceiver Slave module
- Ultrasonic Sensor prototype
- 18650 3.7V
rechargeable Battery
- Blade propeller
- Wheels
- SG90 micro servo motor
- 6V 1W Solar panel

Feedback

Figure 1 shows the conceptual framework of the Smart Mini Lawn Mower
Robot
 25

Figure 1 shows the conceptual framework outlining the essential

components and procedures required for the development of the device. The input

of the research project begins with the acquisition of necessary sources,

knowledge, and materials. The process provides a step-by-step procedure guiding

the development of the device. The output represents the expected result of the

research project.
 26

Table 1

Bill of Materials
Description Quantity Unit

Microcontroller. Modules and Sensors

Arduino Uno R3 1 pc

HC-05 Bluetooth Transceiver Slave module 1 pc

Ultrasonic sensor 1 pc

Other Electronics Components

L293D motor driver shield 1 pc

6V DC Geared motor with wheels 4 pcs

6V Solar Panel 1 pc

18650 3.7V Rechargeable battery 3 pcs

SG90 Micro Servo motor 1 pc

12V DC motor 1 pc

Robot Chassis 1 set

PCB 1 pc

Miscellaneous

Blade propeller 1 pc

Ferric chloride 1 bottle

As shown in Table 1, these are the materials needed for the research project.
 27

Estimated Cost
Description Price (php) Qty Cost (php)

Microcontroller. Modules and Sensors

Arduino Uno R3 1,350.00 1 1,350.00

HC-05 Bluetooth Transceiver Slave 1 199.00

199.00
module
Ultrasonic sensor 72.00 1 72.00

Other Electronics Components

L293D motor driver shield 100.00 1 100.00

6V DC Geared motor with wheels 99.00 4 396.00

6V Solar Panel 250.00 1 250.00

18650 3.7V Rechargeable battery 250.00 3 750.00

SG90 Micro Servo motor 70.00 1 70.00

12V DC motor 283.00 1 283.00

Robot Chassis 200.00 1 200.00

PCB 20.00 1 20.00

Miscellaneous

Blade Propeller 198.00 1 198.00

Ferric chloride 45.00 1 45.00

Total 3,908.00

As shown in Table 1, the total estimated cost of all materials is 3,908.00

pesos.
 28

REFERENCES

JOURNALS

Trebi-Ollennu, Y., Dolan, J. M., Stancliff, S. B., & Hinkel, H. H. (2004).

Autonomous navigation systems for planetary rovers: A review. Journal of
Field Robotics, 21(5), 317-335.

Blanco, R. (2020). The evolution of lawn mowing: From manual to robotic.

GreenTech Journal, 15(2), 45-58.

ELECTRONIC RESOURCES

Huang, Y. Y., Cao, Z. L., Oh, S. J., Kattan, E. U., & Hall, E. L. (1987). Automatic
operation for a robot lawn mower. Proceedings of SPIE, the International
Society for Optical Engineering/Proceedings of SPIE.
https://doi.org/10.1117/12.937815

Grand View Research. (2021). Global Robotic Lawn Mower Market Size, Share
& Trends Analysis Report.