2022 8th International Conference on Control, Automation and Robotics

Aquatic Garbage Gatherer Operated System

(AGGOS)

Peter Paul E. Malaluan Kirk Russell F. Olipas Rommel M. Ramos

College of Information and Computing College of Information and Computing College of Information and Computing
Sciences Sciences Sciences
University of Santo Tomas University of Santo Tomas University of Santo Tomas
2022 8th International Conference on Control, Automation and Robotics (ICCAR) | 978-1-6654-8116-8/22/$31.00 ©2022 IEEE | DOI: 10.1109/ICCAR55106.2022.9782632

Manila, Philippines Manila, Philippines Manila, Philippines

peterpaul.malaluan.cics@ust.edu.ph kirkrussell.olipas.cics@ust.edu.ph rommel.ramos.cics@ust.edu.p

Ichiro M. Yamasawa Eugenia R. Zhuo

College of Information and College of Information and
Computing Sciences Computing Sciences
University of Santo Tomas University of Santo Tomas
Manila, Philippines Manila, Philippines
ichiro.yamasawa.cics@ust.edu.ph https://orcid.org/0000-0002-
15340299X

Abstract—Water waste has been an underlying complication I. INTRODUCTION

that the Philippines have and is ultimately contaminating the
bodies of water surrounding the country, affecting the lives of the A. Project Context
Filipinos and marine life. With this in mind, the developers have Robots can help in various fields, especially when it comes
developed the Aquatic Garbage Gatherer Operated System
to housing, health care, the police force, traffic, and the army [1].
controlled via a mobile application and could collect floating water
waste. The robot should be able to float, collect trash, be controlled
Other than assisting people and making work easier, technology
from the mobile application, use a rechargeable battery and solar has also become an instrument in addressing global concerns.
panel to supplement its power. The mobile application should be One of these pressing problems is water pollution which is
able to maneuver the robot, monitor its battery and container brought about by the increasing number of waste and improper
status, and display the robot’s point of view (POV). It should also disposal. It is a challenge faced by every country and is being
provide a manual and frequently asked questions (FAQ) that will confronted not only through human efforts but also by robots
guide and aid the user. Upon mentioning the objectives of the and technology.
project, the developers have used the Prototyping methodology.
After developing and testing the robot and the mobile application, The Philippines is no stranger to problems with water
results show that the functionalities coincide with the goals stated pollution. More than 163 million plastic sachet packets along
by the developers. AGGOS can successfully collect garbage such with 48 million shopping bags and 45 million thin-film bags
as bottles and cans on surface water ranging from 17-29 pieces, were being used by Filipinos daily [2]. These wastes, such as but
and it can operate for at least 4 hours when the battery is full. The not limited to sachets of shampoos, toothpaste and soy
connection between the mobile application and the Robot reaches sauce, water and soda bottles, and plastic bags, are the main
up to 60 meters, without obstructions. The mobile application also contributors to the alarming level of marine plastic pollution [3].
successfully controls the robot, detects its battery life, shows the
camera feed, and monitors its bin status. After all the testing are As these wastes were continuously dislodged in the waters,
performed, there are some limitations that have the potential for the Philippines’ 27-kilometer Pasig River was eventually hailed
enhancements such as improvement of Bluetooth module, camera as the top dumper of plastics in the ocean across the world with
module, sensors, conveyor belt, and addition of light source its annual contributions of 63,000 tons of plastics wastes [4].
material in the robot, able to adjust the speed of the robot in the Furthermore, it was identified by a Netherlands-based group that
mobile application, and alert system for both the robot and the at least 19 rivers in the Philippines are among the top 50
mobile application
waterways that produce plastic globally in a study in June 2021;
Keywords—Aquatic Garbage Gatherer Operated System, some of which are Tullahan, Meycauayan, Pampanga, and
Floating water waste garbage collector, Mobile application- Libmanan rivers [5]. Inspired by the aforementioned news and
controlled robot, Arduino Project, Prototyping Methodology studies, the developers intend to utilize robots and automation
as means of contributing to the solution and have come up with
the Aquatic Garbage Gatherer Operated System (AGGOS).

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 It is through the implementation of the project - AGGOS, a implemented for the casing of electronics as well as
robot capable of collecting floating garbage on the sea, that buoyant materials to make the robot stay afloat.
problems relating to water wastes in the country can possibly be • For AGGOS to continuously perform its work in collecting
mitigated. AGGOS was conceptualized as a small step solution garbage, a rechargeable battery will be used as an energy
with a bigger picture in mind. It is a prototype that aims to source while having a solar-charged panel to extend the
disseminate environmental awareness and save bodies of water battery life of the robot while in use during daylight hours.
from the ever-growing garbage seen floating around. More
• It will be difficult for the user to check if the bin is full once
importantly, this project envisions protecting marine life and
serves as one of the means to improve the life of the Filipino AGGOS reaches a farther distance. In order to address this
people. issue, the robot will use a sensor that will inform the user
through the mobile application if the bin is full.
B. Purpose and Description • The distance of AGGOS would be able to cover an area
The developer’s purpose of creating this project is for within at most approximate value of 60 meters from the
lessening water waste floating on water by collecting it through controller, depending on the implemented Bluetooth
a remote-controlled robot. AGGOS will be built so that Filipinos technology.
can lessen water waste that is ultimately critical for bodies of • AGGOS will be controlled by the user through a mobile
water and ocean life for the fishing industry, tourism application that will be connected through the
development, and health improvement. By applying the aforementioned wireless networking technology.
developers' field in automation, they might help organizations • Since the robot is only a prototype, it will only be tested on
affiliated with the government such as the Local Government an ideal environment, specifically on a pool that would
Unit (LGU) in fighting for a healthier and cleaner environment
have controlled wave oscillation, wavelength, etc. [6], and
for the betterment of Filipino society. There are also some Non-
the main test that will be conducted will be the boat’s
Government Organizations (NGOs) that aim to clear the garbage
washed up on waterways. buoyancy or ability to float on stable water. In line with
this, the robot’s maneuverability and ability to collect
II. OBJECTIVES, SCOPE AND LIMITATION floating waste will also be tested in the said environment.
• The mobile application will be exclusively designed for
A. Objectives
mobile phones that have an android operating system with
The project’s general objective is to develop an Aquatic version 8.0 Oreo and higher.
Garbage Gatherer Operated System controlled via a mobile app • The mobile application will first need to connect to the
to help clean physical waste that is on bodies of water. AGGOS and after successfully connecting, it will show the
Specifically, battery of the robot, its perspective, the status of the
1. To determine the final overall specification of the robot container, and the navigational buttons that can control it.
that can float on water; • AGGOS would not be able to perform autonomous tasks
2. To build a robot that is controlled by a user and is capable with just a click of a button in the mobile application. It
of collecting floating garbage on water; will need a user to control the robot manually.
3. To use a Bluetooth connection to link both the mobile • The robot would not be able to dispose of the collected
application and robot; water waste by itself when the sensors have detected that
4. To recharge batteries as its primary energy source through the bin is full.
the use of solar panels and/or charger, and; • The camera mounted on the robot would not be able to
5. To create an Android application to control the robot while rotate and view its surroundings without maneuvering it.
presenting battery life and camera input mounted on the • The robot will not be built to perform submerged activities.
robot. • The application will not be able to measure its distance
from the robot itself.
B. Scope and Limitations
• The mobile application will not be able to decrease or
The main focus of this project is to build a robot that will be increase the rotations per minute (rpm) of the DC motor of
used in collecting floating water waste and an Android mobile the robot as it is initially configured.
application that will be used to control the robot. The size of the • The robot would run for at least 1 cycle. Within this cycle,
robot would be at least 14.5 inches in length, 9 inches in height, it should be able to collect trash and navigate to where the
and 14.5 inches in width. The scope and limitation of the project user controls it.
are as follows:
• The mobile application would not be published publicly in
• AGGOS will be capable of collecting physical waste on the the Google Play Store or any other application store. It
surface of the water using a conveyor belt that is positioned would be implemented locally through an APK file.
at an angle towards the surface water with a detachable • The robot will not be able to detect and repel marine plants
container positioned horizontally for ease of collection. and animals away from AGGOS itself.
• There can be situations where ripples or waves may tip the • The user will be the one to remove impediments, if any,
robot over. In order to counteract this, lightweight and such as marine plants, animals, and other materials that
waterproofing materials shall be considered and

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 may affect the functionality of AGGOS, as the robot will Main power source comes from a lithium-ion rechargeable
not be able to remove encumbrances on its own. battery due to its higher power and low cost. Along with this is
• The robot would not be able to filter the small particles in an inclusion of solar panels as an alternative means of
the water and would not be able to sanitize water recharging the battery, especially during daylight operations.
chemically.
Zulkefli [11] stated that direct current motor is an important
• AGGOS would not be able to locate itself geographically. drive configuration for many applications across a wide range
• The robot would not be able to collect garbage larger than of powers and speeds. This means that the DC motors'
its opening and, initially, the robot only aims to collect significance in propelling AGGOS in motion from one location
lightweight plastics and cans. Specifically, the AGGOS to another could be utilized by the developers.
aims to collect sachets, toothpaste tubes, plastic soda
bottles, empty plastic bags, sardine cans, soda cans, and Lastly, the developers would conduct a User Acceptance
any materials not larger than a 1.5L soda bottle. Large Testing and the data would help in creating a more friendly user
plastic containers such as large water plastic gallons, and interface. The mobile application would help the users in
large oil cans and canisters, will not be collected if the accessing the robot and the survey would help in creating a
overall size of the garbage is larger than the opening of the better app experience for the user.
container of AGGOS.
IV. METHODOLOGY
• AGGOS will not have the ability to handle harsh
environments such as violent waves, heavy rain, and
scorching temperatures.
III. REVIEW OF RELATED LITERATURE
The project's developers have conducted study on relevant
systems and studies that might serve as a foundation or
reference for the project. The Aqua Skimmer [7], Water Trash
Collector [8], and Efficient Waterwheel Garbage Collector [9]
are some of the closest studies or devices that focus on
collecting floating garbage on bodies of water. The mentioned Fig. 4.1. Prototype Model
items will serve the same purpose as the developers' study, but
they will be operated manually via a mobile application and will Figure 4.1 represents the prototype model to be used for the
feature a battery that can be recharged by a port or by a solar construction of the project. This platform acts as a guide to
panel mounted on the boat. confirm that each requirement is met up until deployment.
Prototype model is under the systems development method in
The microcontroller is the primary source of logic and which the project is built, tested and modified if deemed
distribution of work to all components. The developers are necessary until it meets the target’s goal. Once completed, the
leaning towards arduino microcontrollers since it is commonly project can now be fully developed with all the needed systems
used for automation projects. Based on Octopart’s Arduino and components to execute its tasks. The developers shall have
Datasheet [10] Arduino can sense the environment by receiving this method since it allows prompt detection of errors and
input from a variety of sensors and can affect its surroundings debugging. Proper division and management of tasks and
by controlling lights, motors, and other actuators. Having deliverables is supported by this method until the project is
such capability to accommodate various sensors and motors concluded.
may help the developers for this project.
Sensors are the main components that help people in
creating a higher form of automation because it can act as a
human “sense” and send out signals that can be read or
interpreted by devices. Initially, the sensors that the developers
looked into, which might be useful in the study, would be a
proximity sensor, weight sensor, and an ultrasonic sensor. After
further research and output testing, the developers have
concluded that the most appropriate sensor to use would be the
infrared sensor. Fig. 4.2. Detailed Use Case Diagram
For the connectivity of AGGOS to the mobile application
Figure 4.2 shows the Detailed Use Case Diagram of
and vice-versa, the developers are targeting to apply Bluetooth
AGGOS for the user and as well as the overview of the
technology, specifically, the AT-09 bluetooth module as it
relationship and connection between the user’s smartphone,
achieves the developer’s target for the project which is 60
AGGOS mobile application, and AGGOS robot. The diagram
meters connection between the robot and the mobile application.
displays what the user can do with the AGGOS mobile
application and how the user can interact with the AGGOS

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 robot through the AGGOS mobile application. This helps V. RESULTS AND DISCUSSION
understand what electronic components of the AGGOS robot
are responsible for interpreting the inputs of the user.

Fig. 5.1. Block Diagram of AGGOS Robot

In Figure 5.1, it is shown that the Arduino mainboard is the

central hub for every component as it gets the input and it can
give the output to the Bluetooth module which would be relayed
to the mobile application. The idea of connecting the solar panel
directly to the battery is to show that it supplements power to it.

Fig. 5.1.1. AGGOS Robot

Fig. 4.3. Overall Process

Figure 4.3 shows the overall flow of the prototype and its
mobile application. It will start by the initial setup of the
necessary software services such as Bluetooth, location services,
mobile, and mobile hotspot. After that, switch 1 and 2 of the
AGGOS robot will be turned on and the connection to the
mobile hotspot will be established. The mobile application will
be launched and it will establish a connection. When successful,
the control interface of the mobile application will be displayed
in which the user can maneuver the robot through the directional
pad, monitor its POV through the video feed, and the battery and
container status.
Fig. 5.1.2. AGGOS Robot

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 Figure 5.1.1 to Figure 5.1.2 shows the AGGOS Robot along
with its important parts. The overall dimensions of the AGGOS
Robot is 52 inches in length, 26 inches in width, and 22 inches
in height.

Fig. 5.5. Result of Trial Connection from Mobile Phone to AGGOS Robot

Fig. 5.2. AGGOS Mobile Application

Figure 5.2 shows the actual design and interface of the

AGGOS Mobile Application. From left to right, the figure
shows the Home screen, the connection window when
attempting to connect to the AGGOS Robot, and the control
interface of the mobile application.
Fig. 5.6. Results of trial connection from Mobile Application to AGGOS Robot

Fig. 5.3. Number of Floating Waste collected

Figure 5.3 shows the number of floating waste collected Fig. 5.7. Results of motion of robot from the mobile application
during the full system demonstration of the robot. In the three
system demonstrations conducted, the AGGOS robot is able to VI. CONCLUSION AND RECOMMENDATION
collect 24, 29, and 17 floating waste. The bin collected different A. Conclusion
numbers of floating wastes due to the shape and size of the
floating wastes themselves. After thorough evaluation and testing, it is safe to conclude
that the developers are able to develop a prototype that floats and
collects floating waste and that it is controlled by an Android
mobile application. The prototype is 52 inches in length, 26
inches in width, and 22 inches in height with an overall weight
of 20 pounds. It is able to perform all of its functionalities within
4 hours given that it is with the assistance of its solar panel. The
charging time of the prototype if the battery is fully drained is at
10-11 hours however it varies for it is also dependent on how
much of the battery is consumed during operation. The
connection between the prototype and the mobile application is
established via Bluetooth services and a mobile hotspot with a
maximum range of 60 meters in an environment without any
obstructions. The mobile application can successfully control
Fig. 5.4. Battery Capacity Result and maneuver the prototype through the directional pad in its

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 control interface and as well as view the video feed and monitor • Implementing an Alert Notification System in the Mobile
the battery and container status of the prototype. The prototype Application that will inform the user that the container of
is able to collect floating waste while being controlled by the the robot is already full.
mobile application. There are instances in which inconsistency • Adding a feature in the AGGOS Mobile Application of
in the amount of floating waste collected depends on the size, being able to adjust the propeller speed of the AGGOS
location, and the number of the floating waste. Robot.
B. Recommendation
REFERENCES
The developers were able to produce a prototype garbage
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