I-Care Robot 2016

1.0 Acknowledgement

This project consumed huge amount of work, research and dedication.

Its implementation would not have been possible without the support and
encouragement of many individuals and organisations. Therefore, we
would like to extend our sincere gratitude to all of them.

First of all, we are very thankful to the Principal of Sekolah Menengah

Kebangsaan Puteri, Dr.Hjh Rani Bt Abd.Mutalib for her financial and
logistical support and for providing necessary guidance concerning the
project’s implementation.

We are also grateful to Mr. Shahfiq Abas, sales executive-Sasbadi

Learning Solutions Sdn. Bhd for provision of expertise and technical
support in the implementation. Without their knowledge and experience, the
end result of the project would not be of superior quality and thus, their
support has been essential.

We would like to express our sincere appreciation to Sultan Ismail

College (S.I.C), Kota Bharu teachers, especially Encik Muhd Anuar Bin
Fauzi and Cik Haslinda for their kind co-operation in lending part of the
robot kit and also for devoting their time and knowledge in the
implementation of this project.

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Last but not least, we would like to express our gratitude to our mentor
and also our teacher, Puan Zul Afida Bt Abdullah, all teachers of Sekolah
Menengah Kebangsaan Puteri and colleagues for their kind co-operation
and endless encouragement which help us in completing this project.

CONTENTS

CONTENT PAGE NO.

1. ACKNOWLEDGEMENT 1

2. OUR PROJECT VISION, MISSION 3-4

&OBJECTIVES
3. TEAM MEMBERS AND MENTOR 5

4. INTRODUCTION TO THE 6-11

PROJECT
5. DESIGNING AND BUILDING 12-15
PROCESS
a. Concept and implementation 16
b. Brainstorming and solutions to 17
the problem
c. Pictures of the project

6. PROGRAMMING 18-19
7. GANTT CHART 20

8. CONCLUSION 21

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9. APPENDICES 22

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2.0 OUR PROJECT’S VISION, MISSION AND OBJECTIVES

VISION:

A productive and versatile cognitive robot is required for future use in handle waste and control
pollution. Pollution control is a term used in environmental management. The robotics vision is
to have such robots and to deploy them on environmental management. Being community
places a premium on sustaining such an environment for both themselves and future generations,
and pursues sustainable development. Community enjoys a reliable and safe energy supply at
reasonable prices, while improving energy efficiency, promoting energy conservation and
minimising the environmental impacts from the production and use of energy.

MISSION:

Our mission is to make the formulate policies and plans on environmental protection, energy,
conservation and the promotion of sustainable development. It’s also providing first-class physical
infrastructure for the treatment and disposal of waste by using autonomous robot. Our mission is to
contribute towards realising this vision by applying our professional knowledge and judgement and
administer robust environmental impact assessment in the planning of new development and major
projects. We are providing to create innovative solutions using robotics technology to manage and recycle
waste.

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OBJECTIVE:

1. To define a series of performance measures both for general service robotic applications
for the robotic inspections scenarios of interest for the end-user. In this respect the system
has to be designed to be robust, flexible, adaptable, portable, safe, intelligent, effective
and economic in achieving the desired operation.

2. System design and control strategies for robots physically interacting with the human
world. The design of the entire system addressing the interaction with the environment
represents one of the main contributions of this project to the field of robotics and control
system design.

3. New contribution to human-robot interaction and communication. One of the objectives

is to develop an advanced human-robot invention for the purpose of endowing the system
with advanced action capabilities. This will be achieved by employing the state of the art
in term of virtual reality and sensing technology (such as augmented reality and hap tic
devices) in order to allow the operator to guide the robot in the actions to be achieved by
hiding the complexity of the vehicle dynamics. Ideally the service robot represents a
"flying hand" that allows human to act as if the operator is giving direction to the site,
allowing a level of interaction between the human and the environment that has never
been reached before in the field of robotics.

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3.0 TEAM MEMBERS AND MENTOR

Principal:
DR.HJH RANI BT ABD MUTALIB

Mentor:
MDM.ZUL AFIDA BT ABDULLAH

TEAM LEADER
NIK ABDUL HADI BIN NOOR NASRAN

PROGRAMMER BUILDER
CHE MUHAMAD AIMAN HAKIMI BIN CHE OTHMAN
AHMAD DANIAL BIN RUJHAN

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4. 0 INTRODUCTION TO THE PROJECT

Definition of pollution:

Pollution is an undesirable change in the physical, chemical or biological characteristics of air,

water and soil that may harmfully affect the life or create potential health hazard of any living organism.
Pollution is thus direct or indirect change in any component of the biosphere that is harmful to the living
components and in particular undesirable for man, affecting adversely the industrial progress, cultural and
natural assets or general environment of living society.

What are pollutants?

Any substance which causes pollution is called a pollutant. A Pollutant may thus include any
chemical or geochemical (dust, sediment, grit etc.) substance, biotic component or its product, or physical
factor (heat) that is released intentionally by man into the environment in such a concentration that may
have adverse harmful or unpleasant effects.

A Pollutant has also been defined as “any solid, liquid or gaseous substance present in such
concentration as may be or tend to be injurious to the environment.” Pollutants are the residues of things
we use and throw away. There are many sources of such pollutants. The lakes and rivers are polluted by
water from chemical and other factories, and the air by gases of automobile exhausts, industries, thermal
power plants etc.

There has been a serious concern all over the world about the rivers turning murky, fish rotting on
sea shores, tree withering, cities choking with foul air, toxic chemicals being cycled into food stuffs and
disease epidemics appearing so frequently.

Cost of Pollution:

Cost of pollution can be evaluated in the following ways:

(1) Medical care of health due to diseases as tuberculosis, typhoid, lung cancer etc.
(2) Loss of resources by unnecessary wasteful exploitation.
(3) Pollution control involving money, funds, manpower etc. for disposal, of pollutants and for control
devices developed.
(4) Corrosion of metals as iron, steel, copper, brass, nickel, zinc, leads etc.
(5) Damage to crop production, and
(6) Damage to buildings (including historical monuments) and textiles.

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Project theme:

Rap The Scrap

Mission:

Create innovative solutions using robotics technology to reduce, manage and recycle waste!

What is reducing?

Keeping purchases to a minimum is an important way of reducing the toll on the Earth's resources.
Lowering consumption is the key to the concept of reducing, which can apply to physical objects as well
as natural resources, such as gas, electricity and water. Not to be confused with reusing or recycling,
reducing means lowering or eradicating use from the start. Cutting back on unnecessary purchases lowers
the rate at which materials are used, but also effectively lowers the energy, gas and transportation costs
that are accrued when an item is made and sold. The term "reduce" clearly applies to lifestyle. Reducing
driving would mean combining trips, carpooling, and walking, biking, and taking public transportation
when possible. Taking shorter showers, landscaping appropriately to the local climate and replacing older,
less efficient appliances with Energy Star appliances all fit under the reducing concept.

What is managing waste?

Waste management is all the activities and actions required to manage waste from its inception to
its final disposal. This includes amongst other things, collection, transport, treatment and disposal
of waste together with monitoring and regulation. It also encompasses the legal and regulatory framework
that relates to waste management encompassing guidance on recycling etc.

The term usually relates to all kinds of waste, whether generated during the extraction of raw
materials, the processing of raw materials into intermediate and final products, the consumption of final
products, or other human activities ,including municipal (residential, institutional, commercial),
agricultural, and social (health care, household hazardous wastes, sewage sludge). Waste management is
intended to reduce adverse effects of waste on health, the environment or aesthetics.

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Waste management in Stockholm, Sweden

What is recycling?

Recycling is the process of converting waste materials into reusable objects to prevent waste of
potentially useful materials, reduce the consumption of fresh raw materials, energy usage, air pollution
(from incineration) and water pollution (from land filling) by decreasing the need for "conventional"
waste disposal and lowering green house gas emissions compared to plastic production. Recycling is a
key component of modern waste reduction and is the third component of the "Reduce, Reuse and
Recycle" waste hierarchy. There are some ISO standards related to recycling such as ISO 15270:2008 for
plastics waste and ISO 14001:2004 for environmental management control of recycling practice.

Recyclable materials include many kinds of glass, paper, metal, plastic, tires, textiles
and electronics. The composting or other reuse of biodegradable waste such as food or garden waste is
also considered recycling. Materials to be recycled are brought to a collection centre or picked up from
the curb side, then sorted, cleaned and reprocessed into new materials destined for manufacturing.

In the strictest sense, recycling of a material would produce a fresh supply of the same material for
example; used office paper would be converted into new office paper, or used polystyrene foam into new
polystyrene. However, this is often difficult or too expensive (compared with producing the same product
from raw materials or other sources), so "recycling" of many products or materials involves their reuse in
producing different materials (for example, paperboard) instead. Another form of recycling is
the salvage of certain materials from complex products, either due to their intrinsic value (such as lead
from car batteries, or gold from circuit boards), or due to their hazardous nature (e.g., removal and reuse
of mercury from thermometers and thermostats

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Benefits of using robotics

Recent developments in the robotics world has made robots more user friendly, intelligent, and
most importantly affordable. With these benefits of robotics it is no wonder that they have found jobs in
every field. That is right, from industrial manufacturing to the medical field robots are being used.

The benefits of robots has increased their flexibility with being capable of performing a variety of
tasks and applications. They are more precise and consistent than human workers. Robots also allow for
increased production and profit margin because they can complete tasks faster. Robots have the ability to
work around the clock since they do not require vacations, sick days, or breaks. They also make fewer
mistakes than humans, saving companies’ time.

Other benefits of robotics is that they can work in any environment, adding to their
flexibility. Robots eliminate dangerous jobs for humans because they are capable of working in
hazardous environments. They can handle lifting heavy loads, toxic substances, and repetitive
tasks. This has helped companies to prevent many accidents, also saving time and money.

1. Synopsis of the project

a. Background

Based on the theme that was given by NRC, we chose to highlight a theme that was based on
managing and recycling waste. In relation to our project, we have created the robots to manage and
recycle waste. Waste collected is then transported to an appropriate disposal facility. We used dump
truck robot to collect rubbish then bring it to recycle centre. In the centre, rubbish will be moving by
conveyer assembly and automatically sort by sorter robot using infrared scanner. The sorter can identify
the type of waste such as paper, glass and plastic. Other waste will be process and change to biodiesel and
energy.

b. Robot functionality

I-Care Robot is the pride of our team. We also believe that I-care Robot could bring many
benefits for human and save our nature.

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I-care robot was created to be as a rubbish collector and another robot is functioning as a waste
sorter robot. For better explanation, we draw the plan to describe the process from rubbish collection until
its change to another raw material and other energy.

Plan layout for managing and recyling waste in manufacture

Housing
area

Rubbish dump
area

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LANDSCAPING FOR ROBOTIC COMPETITION

Housing Area Recycling centre and manufacturing

Rubbish dump area

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c. Uniqueness and interactive behavior

Socially intelligent robotics is the pursuit of creating robots capable of exhibiting natural-
appearing social qualities. Beyond the basic capabilities of moving and acting autonomously, the field
has focused on the use of the robot's physical embodiment to communicate and interact with users in a
social and engaging manner. One of its components, socially assistive robotics, focuses on helping
human users through social rather than physical interaction. Early results already demonstrate the
promises of socially assistive robotics, a new interdisciplinary research area with large horizons of
fascinating and much needed research. Even as socially assistive robotic technology is still in its early
stages of development, the next decade promises systems that will be used in hospitals, schools, and
homes in therapeutic programs that monitor, encourage, and assist their users. This is an important time
in the development of the field, when the board technical community and the beneficiary populations
must work together to shape the field toward its intended impact on improved human quality of life.
Refer to our project, I-Care Robot is created to run autonomous using the modern technology.

DESIGNING AND BUILDING PROCESS

Our team has decided to create the I-Care robot to fulfil the theme given. The theme is to create
the robot which can manage and recycle waste to keep our environment clean. I-Care Robot is an
effective robot to collect rubbish and recycle waste using sorter robot. The sorter robot can differentiate
between different waste such as paper, glass and plastic.

So we have come up with an idea to build a robot that can help people in managing waste to keep
our environment clean.

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(a) Pictures of the projects

Dump truck robot

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Sorter robot

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Final model and pictures depicting

different angles

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b. Concept and Implementation

The concept of creating machines that can operate autonomously dates back to classical times, but
research into the functionality and potential uses of robots did not grow substantially until the 20th
century. Throughout history, it has been frequently assumed that robots will one day be able to mimic
human behaviour and manage tasks in a human-like fashion. Today, robotics is a rapidly growing field, as
technological advances continue; researching, designing, and building new robots serve various practical
purposes, whether domestically, commercially, or militarily. Many robots are built to do jobs that are
hazardous to people such as defusing bombs, finding survivors in unstable ruins, and exploring mines and
shipwrecks. Robotics is also used in STEM (Science, Technology, Engineering, and Mathematics) as a
teaching aid.

Implementation is the carrying out, execution, or practice of a plan, a method, or any design, idea,
model, specification, standard or policy for doing something. As such, implementation is the action that
must follow any preliminary thinking in order for something to actually happen. Thus, we proceeded with
the design of the robot kit in a way that would allow step-by-step assembly and testing as the students
learned each concept.

In robotics competition, this is the phase where students “build the thing.” All the details are
used to create a finished, functional robot to compete with (or a subsystem that is part of a larger finished
product). This stage can involve purchasing components, cutting parts, assembly, and more - anything it
takes to produce a final product. Once the solution has been implemented, the analysis completed, and the
design has been found acceptable, the design process is complete. Refer to our robot, we use colouring
cube for example: yellow cube simulated for glass, green cube simulated for paper and red cube simulated
for plastic. In reality, the robot will be scanning the real rubbish by infra-red to determine its type and
position.

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c. Engineering and stability of the structures

I-Care Robot mechanical structures such as wheels platform, arm, or other construction, are
capable of interacting with its environment. The sensors that have been included inside of I-Care Robot
are able to sense the surrounding and give useful feedback to the devices. And lastly, the systems to
process sensory input in the context of the current situation and instruct the device to perform actions in
response to the situation. The robot structure consists basically of the body part that includes the arms and
the wheels. Some programming is required to make the arms and wheels turn under command. One of the
most interesting aspects of I-Care Robot in general is its behavior, which requires a form of intelligence to
move.

2. PROGRAMMING

a. Concept

I-Care Robot is created using NXT and EV3 programme and part. For dump truck, we use NXT
programme. For sorter robot, we use EV3 programme. We are applying the law of Physics in our project.
The Y axis is for the rotation in a full horizontal circle. X axis is used to make the claw move up and
down in 180 degree also to thrown the rubbish to conveyer assembly.

b. Brainstorming and solution to problem

The fundamental challenge of all robotics is this: It is impossible to ever know the true state of
the environment. A robot can only guess the state of the real world based on measurements returned by its
sensors. It can only attempt to change the state of the real world through the application of its control
signals.

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Thus, one of the first steps in control design is to come up with an abstraction of the real world,
known as a model, with which to interpret our sensor readings and make decisions. As long as the real
world behaves according to the assumptions of the model, we can make good guesses and exert control.
As soon as the real world deviates from these assumptions, however, we will no longer be able to make
good guesses, and control will be lost. Often, control once lost can never be regained. (Unless some
benevolent outside force restores it.)

Thus, a key to the advancement of robotics is the development of more complex, flexible, and
robust models - advancement which is subject to the limits of the available computational resources.

C. Printed programming

Dump truck - using NXT programme for claw and moving

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Sorter robot - using EV3programme for sort rubbish

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GANTT CHART

Name of the project: UNDERGROUND

I-CARE MINING ROBOT GENERATION 1 (UMR Gen.1)
ROBOT

PROJECT TIMETABLE

FEB MAC APR MAY JUN JUL AUG SEPT OCT

MONTHS M1 M2 M3 M4 M5 M6 M7 M8 M9 M10 M11 M12 M13 M14 M15 M16 M17 M18 M19 M20 M21 M22 M23 M24 M25 M26 M27 M28 M29 M30 M31 M32 M33 M34 M35 M36
Project activity
Brainstorming
Top 10 designs
Evaluate/Eliminate designs
Test Kit and Data Collection
Design Related Component
Strategy Related Component
Design Finalized
Build

Primary Mechanism Prototyping

Primary Mechanism Engineering
Build ( Primary Mechanism )

Secondary Mechanism Prototype

Secondary Mechanism Engineer
Build (Secondary Mechanism)

Final Mechanical Assembly

Programming Test Bed
Autonomous Design/Testing
Programming
Practice
Presentation

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CONCLUSION

For the conclusion, our team has decided to create the mining coal robot to fulfil the theme
given. The theme is to create innovative solutions using robots technology to manage and recycle waste
to keep environmental clean. I-Care Robot is an effective robot to collect rubbish and sort the rubbish
using infrared to differentiate type of waste and position. In relation to our project, we have created the
robots to help people especially in environmental department to minimize the pollution and hazard come
from the waste. We have done few researches about the technology using in manage waste and applying
current ideas in order to help people. At the same time, we hope to decrease the rate of hazard and
desease cause from pollution. We also believe that I-Care robot could bring many benefits for people in
the near future.

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REFERENCES

1. Sultan Ismail College, Kota Bharu, Mr Anuar, Mrs Siti Safura (ICT teacher).

2. https://en.wikipedia.org/wiki/pollution

3. http://ieeexplore.ieee.org/

4.www.youtube.com/watch robot tutorial

5. http://www.robotin3days.com/gantt-chart-and-schedule-for-first-robotics-season/

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