UNIVE RSITI TEKNIKAL MALAYSIA MELAKA

DEVELOPMENT OF FOGGING ROBOT BY USING ARDUINO

UNO AND HC-05 BLUETOOTH MODULE

This report submitted in accordance with requirement of the UniversitiTeknikal

Malaysia Melaka (UTeM) for the Bachelor Degree of Electrical Engineering

Technology (Industrial Automation and Robotic) with Honours

by

KHAIROL RIDWAN BIN MUHAMMAD

B071310454

920104-08-6139

FACULTY OF ENGINEERING TECHNOLOGY 2016

UNIVERSITI TEKNIKAL MALAYSIA MELAKA

BORANG PENGESAHAN STATUS LAPORAN PROJEK SARJANA MUDA

TAJUK: Development of Fogging Robot by Using Arduino Uno and HCBluetooth Module

SESI PENGAJIAN: 201

Saya KHAIROL RIDWAN BIN M

mengakumembenarkanLaporan PSM inidisimpan di PerpustakaanUniversitiTeknikal Malaysia Melaka (UTeM) dengansyarat

1. Laporan PSM adalah hak milik 2. Perpustakaan Universiti Teknikal Malaysia Melaka dibenarkan membuat salinan

untuk tujuan pengajian sahaja dengan izin penulis.3. Perpustakaan dibenarkan membuat salinan laporan PSM ini sebagai bahan

pertukaran antara institusi pengajian tinggi.4. **Silatandakan (

SULIT

TERHAD

TIDAK TERHAD

(TANDATANGAN PENULIS)

AlamatTetap:

F2-8 Kuarters Kelas F IPD Pendang

06700 Pendang;

Kedah Darul Aman.

** JikaLaporan PSM ini SULIT atau TERHAD, sila lampirkan surat daripada pihakberkuasa/organisasi

berkenaan dengan menyatakan sekali sebab dan tempoh laporan PSM ini

SULIT atau TERHAD.

UNIVERSITI TEKNIKAL MALAYSIA MELAKA

BORANG PENGESAHAN STATUS LAPORAN PROJEK SARJANA MUDA

Development of Fogging Robot by Using Arduino Uno and HC

2016/17 Semester 1

KHAIROL RIDWAN BIN MUHAMMAD

mengakumembenarkanLaporan PSM inidisimpan di PerpustakaanUniversitiTeknikal Malaysia Melaka (UTeM) dengansyarat-syaratkegunaansepertiberikut:

Laporan PSM adalah hak milik Universiti Teknikal Malaysia Melaka dan penulis.Perpustakaan Universiti Teknikal Malaysia Melaka dibenarkan membuat salinan untuk tujuan pengajian sahaja dengan izin penulis. Perpustakaan dibenarkan membuat salinan laporan PSM ini sebagai bahan

antara institusi pengajian tinggi. )

TIDAK TERHAD

(Mengandungimaklumat yang berdarjahkeselamatanataukepentingan Malaysiasebagaimana yang termaktubdalam AKTA RAHSIA RASMI 1972)

(Mengandungimaklumat TERHAD yang telahditentukanolehorganisasi/badan di manapenyelidikandijalankan)

(TANDATANGAN PENULIS)

8 Kuarters Kelas F IPD Pendang;

Disahkan

(TANDATANGAN PENYELIA)

Cop Rasmi:

** JikaLaporan PSM ini SULIT atau TERHAD, sila lampirkan surat daripada pihakberkuasa/organisasi

berkenaan dengan menyatakan sekali sebab dan tempoh laporan PSM ini

UNIVERSITI TEKNIKAL MALAYSIA MELAKA

BORANG PENGESAHAN STATUS LAPORAN PROJEK SARJANA MUDA

Development of Fogging Robot by Using Arduino Uno and HC-05

mengakumembenarkanLaporan PSM inidisimpan di PerpustakaanUniversitiTeknikal syaratkegunaansepertiberikut:

Universiti Teknikal Malaysia Melaka dan penulis. Perpustakaan Universiti Teknikal Malaysia Melaka dibenarkan membuat salinan

Perpustakaan dibenarkan membuat salinan laporan PSM ini sebagai bahan

berdarjahkeselamatanataukepentingan Malaysia sebagaimana yang termaktubdalam AKTA RAHSIA

(Mengandungimaklumat TERHAD yang telahditentukanolehorganisasi/badan di

Disahkanoleh:

(TANDATANGAN PENYELIA)

** JikaLaporan PSM ini SULIT atau TERHAD, sila lampirkan surat daripada pihakberkuasa/organisasi

berkenaan dengan menyatakan sekali sebab dan tempoh laporan PSM ini perlu dikelaskan sebagai

ii

DECLARATION

I hereby, declared this report entitled “Development of Fogging Robot by Using

Arduino Uno and HC-05 Bluetooth Module” is the results of my own research

except as cited in references.

Signature : ………………………........................

Name : ………………………........................

Date : ……………………….......................

iii

APPROVAL

This report is submitted to the Faculty of Engineering Technology of UTeM as a

partial fulfillment of the requirements for the degree of Bachelor of Engineering

Technology (Industrial Automation and Robotic) with Honours. The member of

the supervisory is as follow:

……………………………….

(MOHAMAD HANIFF BIN HARUN )

iv

ABSTRACT

Traditionally, the fogging process to control the vector was by using

manpower to carry the fogging machine. As a result, the operator of the fogging

machine will exposed to the hazard produced by the fogging machine. Therefore, this

fogging procedure can cause harm to the operator of the fogging machine in the

either for a long or short time period. The main hazard produces by this machine was

the toxic substances that was used to kill the mosquito. The machine operators have a

tendency to inhales the toxic mist if the not using the personal protective equipment

or the personal protective equipments fail to protect the machine operator. Moreover,

the fogging procedure are also used the high temperature to convert the liquid

substances into the mist. Hence, the heat temperature are also can cause harm to the

machine operator. Thereby, this fogging robot was developed to overcome this

problem. This fogging robot will replaced the human for doing this fogging

procedure in the future.

v

ABSTRAK

Secara tradisinya , proses pengasapan untuk mengawal vektor adalah dengan

mengunakan tenaga manusia. Akibatnya, operator pengendali mesin pengasapan

akan terdedah dengan bahaya yang terhasil daripada mesin pengasapan tersebut.

Oleh yang demikian, proses pengasapan ini boleh mengakibatkan kemudaratan

kepada opereator tersebut samaada dalam jangka masa panjang ataupun pendek.

Bahaya utama yang dihasilkan oleh mesin ini adalah bahan toksid yang digunakan

untuk membunuh nyamuk. Operator mesin mempunyai kebarangkalian untuk terhidu

asap toksid ini jika tidak memakai alat pelindung diri atau alat perlindung diri

tersebut gagal untuk berfungsi. Tambahan pula, mesin pengasapan ini juga

mengunakan haba yang tinggi untuk menukar bahan cecair kepada asap. Jesteru itu,

haba yang panas juga boleh mengakibatkan kemudaratan kepada opretor mesin.

Dengan itu, robot pengasapan ini dibina untuk mengatasi masalah ini. Robot

pengasapan ini akan menganti manusia untuk melakukan kerja-kerja pengasapan ini

di masa akan datang.

vi

DEDICATIONS

Special dedicated to

My beloved parents,

My wife and my son,

My friend and my siblings,

Who have encourage, guided and supported me throughout my study.

vii

ACKNOWLEDGMENTS

A special thank for those who helping me to accomplish my PSM project

especially to my project supervisor, Mr. Mohamad Haniff Bin Harun for helping and

guiding me to completing this project. With his supportive attitude this project goes

successfully by achieving the entire project objective. The success of this project is

highly influenced by his information, suggestions and ideas

I also would like to take this opportunity to express my deepest gratitude to

my family and friends who have given me support during my academic years.

Without them, I might not be able to finish the project.

Thank you so much

viii

TABLE OF CONTENT

DECLARATION ii

APPROVAL iii

ABSTRACT iv

ABSTRAK v

DEDICATION vi

ACKNOWLEDGMENTS vii

TABLE OF CONTENTS vii

LIST OF TABLES xi

LIST OF FIGURE xii

LIST OF ABBREVIATIONS, SYMBOLS AND NOMENCLUTURES xiv

CHAPTER 1 1

INTRODUCTION 1

1.0 Project Background 1

1.1 Problem Statement 2

1.2 Objective 2

1.3 Project Scope and Limitations 3

CHAPTER 2

LITERATURE REVIEW 4

2.0 Introduction 4

2.1 Journal 4

2.1.1 Mobile Inspection Robot for Heating, Ventilation and Air Conditioning

(HVAC) Ducting Systems (Aisha et al. 2015) 5

2.1.2 Wall Following Control Algorithm for a Car-Like Wheeled-Mobile

Robot with Differential-Wheels Drive (Prayudhi et al. 2015) 6

2.1.3 Development and Evaluation of Two-Parallel Crawler Robot by Using

Proportional Controller (Azni et al. 2015) 7

2.1.4 Navigation Method of PLC Based Mobile Robot (Saffar et al. 2015) 8

ix

2.1.5 Study and Development of Android Controlled Wireless Pole Climbing

Robot (Megalingam et al. 2015) 8

2.1.6 An Implementation of Mobile Control Room Environment in Android

Platform for Industrial Application (Alexander 2015) 9

2.1.7 Zigbee-assisted Mobile Robot Gardener (Chang et al. 2013) 10

2.1.8 A Study of Bluetooth Application for Remote Controlling Of Mobile

Embedded Systems (Silva et al. 2012) 11

2.1.9 Solar-Powered Android-Based Speed Control of DC Motor via Secure

Bluetooth (Khanna 2015) 11

2.1.10 Mission-Oriented Design: A Fully Autonomous Mobile Urban Robot

(Zhang et al. 2010) 11

2.1.11 A11 Design and Implementation of a 4WS4WD Mobile Robot and Its

Control Applications (Lin et al. 2013) 12

2.1.12 A Main Algorithm of Mobile Robot System Based On The

Microcontroller Arduino (Denysyuk & Teslyuk 2013) 13

2.1.13 Remote Control Robot Using Android Mobile Device

(Nádvorník & Smutný 2014) 14

2.1.14 Design of an Arduino-based Smart Car (Wang et al. 2015) 15

2.1.15 AndroRC: An Android Remote Control Car Unit for Search Missions

(Jing et al. 2012) 15

2.2 Conclusion 17

CHAPTER 3

METHODOLOGY 18

3.0 Introduction 18

3.1 Methodology 18

3.1.1 Mechanical Development 20

3.1.2 Electrical Development 21

3.1.3 Documentation 22

3.2 Mechanical and Electrical Hardware 23

3.2.1 Arduino UNO 23

3.2.2 MDD10A Dual Channel Motor Driver 25

3.2.3 SPG50-60K DC Gear Head Motor 26

x

3.2.4 HC-05 Bluetooth Module 27

3.2.5 Caster Wheel 28

3.2.6 Plastic Wheel for Spg30/Spg50 (80mm) 28

CHAPTER 4

RESULT & DISCUSSION 30

4.0 Introduction 30

4.1 Mechanical And Electrical Development Of Mobile Fogging Robot 30

4.2 Studies On The Effect Of Load Toward The Velocity Of The Mobile

Robot 35

4.3 Experiemnt on the Bluetooth Communication Performance 39

4.4 Analysis on Fogging Mechanism 41

CHAPTER 5 43

CONCLUSION 43

5.0 Introduction 43

5.1 Conclusion 43

5.2 Recomendation 45

REFERENCE 46

APPENDIX A 48

APPENDIX B 53

xi

LIST OF TABLE

Table 3.1: Arduino UNO technical specification 23

Table 3.2: Table 3.2 SPG50-60K technical specification 24

Table 4.1: The Response Of Velocity When Carried A Load In Cement Surface 35

Table 4.2: The Response of Velocity When Carried A Load In Road Surface 36

Table 4.3: The Ability Of The Fogging Robot On The Off-Road Surface. 38

Table 4.4: The Time Response of Bluetooth Module 39

Table 4.5: The Characteristic of the Mist 41

xii

LIST OF FIGURES

Figure 2.1: Control panel Schematic Diagram 5

Figure 2.2: Robot Schematic Diagram 5

Figure 2.3: Mobile robot platforms 6

Figure 2.4: Two-Parallel Crawler Robot system schematic diagrams 7

Figure 2.5: Pole Climbing Robot system schematic diagrams 9

Figure 2.6: Mobile Control Room Environment systems 10

Figure2.7: Zigbee-assisted Mobile Robot Gardener system 10

Figure2.8: CPU unit of Fully Autonomous Mobile Urban Robot 12

Figure2.9: CPU unit of Fully Autonomous Mobile Urban Robot 12

Figure2.10: The 4WS4WD mobile robot 13

Figure2.11: Algorithm of the robot work. 14

Figure2.12: Arduino-based Smart Car 15

Figure2.13: AndroRC flow chart 16

Figure 3.1: Flow Chart 20

Figure 3.2: The chassis of Car-Like 4 Wheeled-Mobile Robot with the Front

Differential-Wheels Drive on the SolidWork 2013 21

Figure 3.3: 3 Electrical hardware configuration layouts 21

Figure 3.4: MIT app inventors 2 22

xiii

Figure 3.5: Arduino UNO 24

Figure 3.6: MDD10A Dual Chanel Motor Driver 25

Figure3.7: SPG50-60K DC Gear Head Motor 26

Figure3.8: HC-05 Bluetooth modules 27

Figure3.9: Caster Wheel 28

Figure3.10: Plastic Wheels for Spg30/Spg50 (80mm) 29

Figure 4.1: Final Design of Fogging Robot by using SolidWork 2013 software 30

Figure 4.2: Electrical Hardware in the Control Element Box 31

Figure 4.3: Mobile Robot 32

Figure 4.4: Android Base Applications On Smartphone. 26

Figure 4.5: Flow Control By Using Manual Valve. 34

Figure 4.6: The Velocity Versus Load Graph on Cement Surface 36

Figure 4.7: The Velocity versus Load Graph on Road Surface 37

Figure 4.8: The Fogging Robot Travelled On The Off-Road Terrain With 5kg Load

38

Figure 4.9: Bluetooth Module Performance experiment 39

Figure 4.10: The Graph Of The Distance Versus Time Response Of The Fogging

Robot 40

Figure 4.11: Mineral Oil Fogging Performances 41

Figure 4.12: Water Fogging Performances 42

Figure 4.13: Water + Mineral Oil Fogging Performances 42

xiv

LIST OF ABBREVIATIONS, SYMBOLS AND NOMENCLATURE

GUI - Graphical User Interface

1

CHAPTER 1

INTRODUCTION

1.0 Project Background

Nowadays, the dengue cases were rapidly increased in Malaysia by 120,836

cases last year (Ministry of Health Malaysia, 2016). The increasing statistic of the

dengue cases demands more fogging process to eliminate the main cause of dengue.

Basically, in Malaysia there are two basic methods on the vector control which is

thermal and cold fogging. Vector control can be defined as any method was used to

eliminate or eradicate the animal including insects or other arthropod which can

transmit the disease pathogens. In the dengue cases, the vector that will be eliminate

or eradicate is the Aedes mosquito. Traditionally, the fogging process used a fogging

machine. There are several types of fogging machine such as mini fogging machine

and thermal fogging machine. The fogging machine also divided into two major

types which is oil-based fog and water-based fog. The fogging machine will be

carried by the machine operator to perform the vector control process. Therefore this

process may cause hazard to the operator. Hence, the major purpose of this fogging

robot is to reduce the hazard taken by the machine operator.

2

1.1 Problem Statement

Currently in Malaysia, the most common fogging process was the thermal

fogging machine. The machine will be carried by the machine operator to fog the

suspected area. Based on the datasheet from the machine produced, the

manufacturers strongly recommended wearing the personal protective equipment

(PPE). This was because main hazards of this machine are the heat and the noise

produced by the machine. Moreover, the chemical reaction between the liquid and

the pesticide will also can cause harm to the machine operator. Due to the higher

demand from the suspected area, it will limit the vector control because of the large

area need to be covered.

1.2 Objective

In order to minimize the hazard towards the operator, overcome the labour issue and

make the fogging process easier, the Fogging Robot will be develop with the three

main objectives which is:-

i. To develop the mechanical and electrical part of the mobile Fogging

Robot

ii. To develop the fogging mechanism so that it can be attached to the

mobile Fogging Robot

iii. To analyze the full system of the fogging robot

3

1.3 Project Scope and Limitations

Hardware design:

i. Mechanical- For the mechanical main structure, this project will be used the

mild steel bar 1inch x 1 inch as the mobile robot chassis material. There are also

several basic mechanical component will design and attached to this fogging robot

like tire, main body and others important mechanical component. This project will

also use corrugated sheets as the main body of the fogging robot.

ii. Electrical and electronic - The main electrical component for this project

was the SPG30-60K DC gear head motor. The DC gear head motor was used as the

main driver of this fogging robot. As the controller, this fogging robot will used the

Arduino UNO as the main board and HC-05 module as the Bluetooth transmission

system. For driving the DC gear head motor, the MDD10A’s Cytron technologies

Dual Channel 10A DC Motor Driver will be used.

Software design - To program the Arduino UNO main board, the

Arduino IDE software will be used. Besides that, to develop the Android application

on the Smartphone, this project will used MIT App Inventor 2

Analysis design and limitation:

Load test experiment – this experiment to test the ability of the fogging robot

ability to carry the load. This experiment is important to the fogging robot because

the robot must have the ability to carry the fogging mechanism system which is the

heaviest part in this fogging robot.

Time Response Vs Distance Experiment - this experiment to analysis the best

working distance of this fogging robot.

4

CHAPTER 2

LITERATURE REVIEW

2.0 Introduction

Basically, in this chapter will discussed on the finding that have been done on

the previous related project and experiment. The findings were gained from the

journal reading, website and the previous project. The finding will be focused on the

mobile robot development, the controller and also the wireless Bluetooth connection

and Android app development as references to the fogging robot development.

In the others hands, beside as the references of the project the literature

review of this fogging robot will also give some idea and guide line on the

development of this fogging robot.

2.1 Journal

There are several journal have been choose to setup the literature review of

this project. Every journal will be summarized based on the main objective of the

journal, the method used, result and also the conclusion have been made for the

project that have been done.

5

2.1.1 Mobile Inspection Robot for Heating, Ventilation and Air

Conditioning (HVAC) Ducting Systems(Aisha et al. 2015)

The main objective of this project is to develop a robot that capable to

do inspection the condition of ventilation ducts. The methods used for this

project are this project will divided into two major part of development which

is control panel part and robot part. The main controller of this project was

the Raspberry Pi. It also used the Arduino UNO with the internet shield to

below:-

Figure 2.1 Control panel Schematic Diagram

Firgure 2.2 Robot Schematic Diagram

The robot used Rover 5 base robot as the main mobile to carry the all the

equipment. The servo equipped to robot will acting as the robot arm which

can change the function as the brush or mechanical gripper. To analyze the

ability of robot, the researcher performed the load test toward the robot.

Based on the experiment result the robot was able to carry the load of the

cable that was attached on the mobile robot.

6

As the conclusion, the robot was able to do the inspection on the

HVAC ducting system. Moreover, the robot was able to send the forward

vision feedback to the user. Others than that, the robot also able to be

attached the mechanical gripper and brushes. Therefore, the robot can retrieve

hazardous or suspicious item from the duct and also clean the duct if

necessary.

2.1.2 Wall Following Control Algorithm for a Car-Like Wheeled-

Mobile Robot with Differential-Wheels Drive(Prayudhi et al. 2015)

The main objective of this project is to develop a car-like wheeled-

mobile robot with differential–wheels drive. Other than that, the robot also

developed to be a wall followed mobile robot. Besides that, the researchers

also design the control algorithm of the robot. In this project, the researchers

introduced are new type of the mobile robot design which car-like wheeled-

mobile robot with differential-wheels drives.

The mobile are design with the front wheel performing the differential

drive motion and also working as the steering mechanism to the mobile robot.

For the rear side, two fixed wheels are attached for followed the movement

the front wheels. For measuring the turning angle, the robot are attached the

encoder to the steering mechanism. Furthermore, the mobile also equipped

with the laser range finder sensor to detected the obstacle, measured the

distance and also to measure the orientation of the robot to the wall. The

mobile platform is as shown in Figure 2.3.

Figure 2.3 Mobile robot platforms

7

Based on the experiment and simulation done by the researcher, the robot

move was very precise since the robot has the feedback signal to correct the

error.

2.1.3 Development and Evaluation of Two-Parallel Crawler Robot by

Using Proportional Controller(Azni et al. 2015)

The main objective of the project is to design and develop the crawler

type robot that was able to pass several types of terrain. Other than that, the

researcher want to analyzed and evaluate the performed of the crawler robot

by using the Proportional controller in term of accuracy and repeatability.

The robot system schematic as shown below in Figure 2.4:-

Figure 2.4 Two-Parallel Crawler Robot system schematic diagrams.

Based on the schematic diagram, the robot used the wireless PS2 controller to

control the movement of the robot. The PS2 controller will send the

instruction data to the SKPS module. The SKPS module will receive the

instruction data from the PS2 controller and processed it so that the data can

be read by the PIC 16F877A microcontroller. The microcontroller will

receive the processed data and interpreted into the move of the robot through

the motor driver and the DC motor movement. Based on the experiment

conducted to this project, the robot are able to do error correction since it’s

used the proportional controller. The best result of this robot is when it has

8

the highest speed. Moreover, this crawler Robot compensated system is

effective on the regular terrain rather than grass train. Therefore, this system

is not suitable to the sub-urban area.

2.1.4 Navigation Method of PLC Based Mobile Robot (Saffar et al.

2015)

The main objective of this project is to develop an algorithm and

analyze the navigation of mobile robot using PLC. The mobile was designed

base on the 3 wheels 2 wheels drive (3W2WD) mobile robot. This means that

the mobile robot wills consisting 3 main wheels which single wheels at the

front and the others two will be at the rear side of the mobile robot. For this

project the front wheels used the castor wheel also acting as the steering to

the mobile robot while the others rear wheel will drive the mobile robot. For

controlling the mobile robot, this project used the Keyence PLC KV-16T.

This mobile robot also will equipped with the three diffuse sensor, relay, two

DC motor, switches, indicator lamp, emergency stop button and 12VDC

batteries. To investigate the navigation of this robot, the navigation

experiment was setup by the researcher. Base on the experiment done by

researcher, the mobile robot able to be controlled by the PLC.

2.1.5 Study and Development of Android Controlled Wireless Pole

Climbing Robot (Megalingam et al. 2015)

The main objective of this project is to develop multipurpose wireless

pole climbing robot by using the embedded system. The robot system

schematic diagram as shown in Figure 2.5, where the climbing robot is

controlled wirelessly though the smart phone.

9

Figure 2.5 Pole Climbing Robot system schematic diagrams

Base on the schematic diagram, the climbing robot are divided into two major

part which is smart phone controller part and pole climbing robot part. For

the smart phone controller part, this project used the MIT AppInventor to

create the Android base GUI. The smart phone will connected to the pole

climbing robot by using the Bluetooth interface that are already build up

inside the smart phone. The HC-05 Bluetooth module has used in this project

to the interfaced the Bluetooth wireless connection between the smart phone

and the pole climbing robot. The main controller for this pole climbing robot

is the Arduino UNO. After receiving the data from HC-05 Bluetooth module,

the Arduino UNO will interpret the data into the mechanical movement

though the motor driver and DC motor.

2.1.6 An Implementation of Mobile Control Room Environment in

Android Platform for Industrial Application (Alexander 2015)

The main objective of this project is to acquire the temperature and

the level sensor reading though the Smartphone. The project used the RTD

sensor and Ultrasonic sensor to get the reading. The Arduino Mega also has

been used as the microcontroller of this project. To transmit the data to the

smart phone the Bluetooth shield has been used. The system schematic is as

illustrated on the Figure 2.6.