MAKATI SCIENCE HIGH SCHOOL

Kalayaan Avenue, Barangay Cembo, Makati City

Creating a Fire Surveying Robot with Camera and DHT-11 Sensor

ATAZHEA LEIGH TAM FANDIALAN

MIKHAIL CASTILLO OLIVERIO

RYAN JOSEPH MELLIZA MORALES

(10-Faraday)

Mr. EMMANUELLE JOY VIDALLO

Research Adviser

Junior High School Department

School Year 2022-2023

May 31, 2023

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TABLE OF CONTENTS

Abstract . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

Chapter 1: Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

Background of the Study . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

Statement of the Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Significance of the Study . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Chapter 2: Development of the Prototype . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Development of the Prototype . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Background of AI Algorithms or Arduino . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Modeling of Prototype . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Dataset Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Proposed Framework . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Details of Implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Chapter 3: Results and Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Results/Findings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Model Verification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Recommendations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Reference List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Appendices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Appendix A: Preparation of Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Appendix B: List of Expenses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Appendix C: MSHS Form A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

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Appendix D: MSHS Form B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Appendix E: Gantt Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

LIST OF TABLES

Table 1: DHT-11 Temperature and Humidity Sensor Accuracy Test . . . . . . . . . . . 25

Table 2: ESP-8266 WiFi/Bluetooth Range Test . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Table 3: Battery Power Cycle Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

LIST OF FIGURES

Figure 1: Schematic Diagram of NODEMCU ESP8266 LORA Gateway . . . . . . . 10

Figure 2: Schematic Diagram of LORA SX1278 & Arduino . . . . . . . . . . . . . . . . . 11

Figure 3: Schematic Diagram of ESP32 CAM & Arduino UNO . . . . . . . . . . . . . . 12

Figure 4: Schematic Diagram of the Flame Sensor . . . . . . . . . . . . . . . . . . . . . . . . . 13

Figure 5: Schematic Diagram of Arduino Bluetooth Controlled Tank . . . . . . . . . . 14

Figure 6: Schematic Diagram of DHT-11 Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Figure 7: Pre-testing of DHT-11 Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Figure 8: Pre-testing of DHT-11 Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Figure 9: Pre-testing of DHT-11 Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Figure 10: Pre-Testing of ESP-32 Camera Module . . . . . . . . . . . . . . . . . . . . . . . . . 18

Figure 11: Pre-Testing of L298 Motor Driver Shield Module and Robot Chassis . 18

Figure 12: Pre-Testing of L298 Motor Driver Shield Module and Robot Chassis . 19

Figure 13: Pre-Testing of L298 Motor Driver Shield Module and Robot Chassis . 20

Figures 14-16: Final Product of Robot Prototype RYKAIAZ: Fire Surveying Robot

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Figure 17: Interpretation of Data Concept Map . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

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ABSTRACT

Lack of preparation and insufficient fire awareness contribute to numerous fire

casualties. Fire fighters themselves are depicted to have lost their lives while putting out a

fire, in addition to innocent bystanders. According to a study, there has been an estimated

60,750 firefighter injuries sustained while doing their duties in 2021 (Campbell, R. &

Hall, S., 2022). Therefore, the researchers have created and programmed a robot

equipped with the sensors to assess fires in this research to combat and essentially try to

minimize the rates of deaths due to fire. The researchers were successful in building a

robot using C/C++ programming, often known as wiring, using the Arduino platform.

The robot's usability, reliability, safety, aesthetics, impact, and cost are evaluated by the

researchers, as well as its accuracy, effectiveness, and efficiency. The prototype performs

according to plan and is proven to be long-range, flexible, and effective.

Keywords: DHT-11, ESP-8266, ESP-32, temperature, humidity

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Chapter 1

INTRODUCTION

Background of the Study

While accidents may not just occur in certain regions of the world, certain places

may be more vulnerable to particular types of accidents, especially fire. The obvious

effects of fire accidents are the loss of human lives and property. However, the main

factor that can reduce the amount of harm is the level of readiness. The capacity to handle

the effects of the fire accidents and the level of preparedness can both be improved with

the use of sensor network-based technology.

Firefighting is the act of extinguishing destructive fires. A firefighter must be able

to stop a fire quickly and safely extinguish the fire, preventing further damage and rescue

victims to a safer location from the hazard. Technology has finally bridged the gap

between firefighting and machines allowing for a more efficient and effective method of

firefighting. This also means that robots can one day work with firefighters and rescuers

in reducing the risk of injury and fatalities to victims, including the firefighters and

rescuers themselves.

Safety protocols for firefighters and rescuers already exist and there are already

general methods on surveying the disaster and the stability and safety of the situation.

However, it can prove difficult depending on the size and capacity of an area or building.
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This sets firefighters and rescuers in a limitation and may not be able to do their jobs to

the full extent especially for the people surrounding the region.

Firemen are more vulnerable to harm and possible fatalities in the course of their

daily routine in the field. An estimated 60,750 firefighter injuries occurred in the line of

duty in 2021 (Campbell, R. & Hall, S., 2022). The use of robots is one of the alternative

mediums for reducing casualties, injuries or any other harms that can be inflicted to the

firemen and the victims. This also enhances firemen capabilities, they can send a fire

surveying robot to dangerous places, such as flaming houses, in order to survey its area

thus adding much more time and effort for preparations depending on the data collected

by the robot for a more efficient and a swift operation or course of action.

Statement of the Problem

The researchers intend to build their own fire surveying robot to contribute a

solution to the rising cases of death and injury involving fire and want the robot to

prevent injuries in fire related cases by using the robot’s function: to survey and detect

things with its camera and sensors. The camera and sensors will help firefighters put out

fires strategically and find fire victims quicker and easier. The question this research will

be answering is:

1. Does the prototype work as intended in terms of:

a) Accuracy

b) Communication

c) Power Cycle
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Significance of the Study

Firefighters and rescuers are the study's primary beneficiaries since using this

robot protects their lives. As a result of the robot's ability to assess and save lives of

individuals in risk during fire scenarios, fire victims are the study's secondary

beneficiaries. Extreme temperatures or the presence of explosive materials have made it

occasionally difficult for firefighters and rescuers to reach the scene of a fire, even when

the fire results in significant property damage and human casualties. Fire surveying

robots can be helpful in such circumstances for scanning a fire and its surroundings. In

locations where firefighters and rescuers are unable to work, fire surveying robots are

used. In addition, fire surveying robots can be used to safeguard firefighters and rescuers

against dangerous petrochemical, chemically hazardous products, toxic, or explosion fire

incidents.

In order to protect the firefighters and rescuers from any possible harm, the fire

surveying robot can be used in small situations that could be hazardous for firemen to

enter (such as cramped areas with low oxygen levels). The suggested robot is primarily

made to be able to operate and be commanded from a distance. By deploying such robots,

threat detection and techniques to begin rescue processes may be carried out with

improved security without putting firemen at risk or subjecting them to hazardous

situations by knowing what to expect inside a facility. In other words, robots can lessen

the need for firemen to enter risky situations blindly while doing their duties.
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Chapter 2

DEVELOPMENT OF THE PROTOTYPE

Development of the Prototype

To create the robot prototype RYKAIAZ, the researchers first created the sensor

itself by using the DHT-11 sensor which is a combination of temperature and humidity

sensor. The sensors mainly have 2 parts: the transmitter and receiver. The receiver will be

the one transmitting data to the receiver. The data received can be monitored with the

OLED installed in the breadboard (the one holding the components in place) and when

you don't have the capability to manually check it that's where the receiver will do its job

by flashing the current temperature and humidity which can also be in the mode of a

mobile app.

The transmitter is composed of DHT-11, STM32, the LORA SX1278, OLED

display and the breadboard and jumper wires. The DHT-11 is the humidity and

temperature sensor. The LORA SX1278 acts like an antenna that sends data to the

receiver (the receiver also has an included LORA). The STM32 is the motherboard or

brain of the whole operation.

The receiver in the other hand is composed of a LORA SX1278 that is also

included in the transmitter to act as a wireless communication hardware and will also

include a control module that is Arduino Nano or an ESP32 Wi-Fi module, it can be any

control module that you can use, but using an Arduino, this setup can be beneficial in the
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long term run or the latency that may occur. After the setup is complete you can now see

the temperature in real time using your phone without being near the sensor.

RYKAIAZ has an ESP32 Camera Module that is connected to an CH340 to

program the module using the Arduino IDE software. It is installed at the front of the

chassis to give the camera a better and wider view.

RYKAIAZ has a caterpillar tracked chassis kit that was assembled. A L298 Motor

Driver Shield Module that is attached to the chassis that will be connected to the

ARDUINO UNO acting as its motherboard. This is controlled using the HC-05/06

Bluetooth module. An app was built using the IoT platform specifically blynx app creator

2 to act as a remote control to the robot.

The researchers created a miniature testing site to test the capabilities of the final

product. The tests include how long can RYKAIAZ last with a single power cycle, the

accuracy of its sensors, and the delay of the camera and the controller that controls the

robot.

In summary, any phone with Bluetooth connectivity may be used to operate the

robot. The camera and temperature and humidity sensors provide the prototype flexibility

and increased environmental awareness by allowing it to analyze its surroundings.

Anyone who wants to keep track of the environment's temperature and humidity level can

utilize it.
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Background of AI Algorithms or Arduino

Arduino is an open-source hardware and software platform that helps build

electronic projects. It was created in Italy in 2005 to make it easy for non-experts to

create interactive devices. Arduino uses a simplified version of the C/C++ programming

language called Wiring. The platform includes a code editor, compiler, and a library of

pre-written code. It also comes with a microcontroller to control sensors, motors, and

other components. By using the Arduino platform, RYKAIAZ can be programmed to

perform tasks such as moving through tight spaces, capturing images and video, and

measuring temperature and humidity levels. The Arduino algorithm allows RYKAIAZ to

be controlled remotely using Bluetooth and can be programmed to trigger an alarm or

take other actions in the event of a fire.

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Modeling of Prototype

Figure 1

Schematic Diagram of NODEMCU ESP8266 LORA Gateway

(The ESP-8266 is a WiFI/Bluetooth Module)

It is a SOC with an integrated TCP/IP protocol stack that enables access to your

Wi-Fi or Bluetooth network for any microcontroller. The ESP8266 is capable of

offloading all Wi-Fi and Bluetooth networking functions from another application

processor or hosting an application. As said it already has a built-in Bluetooth and Wi-Fi

module inside. This helps RYKAIAZ connect to a computer or web server that has WiFi

or Bluetooth connection, as well as connect the other parts, like the ESP32 camera

module, DHT-11 temperature and humidity sensor, and the fire sensor, that require

connection in order to successfully transmit data to the user.

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Figure 2

Schematic Diagram of LORA SX1278 & Arduino

(OLED I2C is included in the diagram)

This is RYKAIAZ’s transceiver for wireless communication between the robot

and the user. This module is mainly used for long-range spread spectrum communication.

It’s used for the Wi-Fi/Bluetooth, flame sensor, and camera. This module makes

RYKAIAZ capable of transmitting data to the web server and receiving data from the

controller inputs. The OLED Display is used to monitor the received data from

RYKAIAZ. The OLED displays the temperature and humidity of the room, and also acts

as an indicator if the DHT-11 sensor is working as intended. However, the temperature

and humidity may also be observed on a computer or mobile device that is capable of

WiFi or Bluetooth connection.

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Figure 3

Schematic Diagram of ESP32 CAM & Arduino UNO

(The ESP32 CAM is the black module on the left)

The camera module is the camera or the eyes of RYKAIAZ. This is a small

module that will be connected in front of the chassis for better view. The camera module

is connected to a CH340. Its main purpose is to program the ESP 32 similar to the TTL

adapter but this is much more efficient and will be able to increase the Wi-Fi/Bluetooth

range of the ESP32 camera module. It also requires an FTDI Module and Female-Female

jumper wires. The Arduino UNO is an open-source microcontroller board created by

Arduino.cc. It is the motherboard of the robot. The Arduino UNO gives RYKAIAZ the

ability to control multiple sensors and hardware at the same time.

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Figure 4

Schematic Diagram of the Flame Sensor

(The flame sensor is the red module on the right)

The flame sensor is a sensor which is most sensitive to a normal light and is

designed to detect and respond to the occurrence of a fire or flame. This flame sensor is

commonly used in fire alarms. This sensor gives RYKAIAZ the ability to detect fire

around it. Due to its black epoxy (the black object on top of the flame sensor), the sensor

is sensitive to infrared radiation. This sensor is a great addition in the fire surveying

robot, as it can be used as a robot eyes to find the fire source.

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Figure 5

Schematic Diagram of Arduino Bluetooth Controlled Tank

(HC-05 Bluetooth Module and L298N Motor Driver Shield are included in the diagram)

The HC-05 Bluetooth is a Bluetooth SPP (Serial Port Protocol) module that is

simple to use and intended for setting up transparent wireless serial connections. It

communicates using serial transmission, which makes interacting with a controller or

computer simple. The Bluetooth module will receive the data to the Arduino to control

the motors of the robot. The L298N is a dual H-Bridge motor driver which allows speed

and direction control of two DC motors at the same time. The module can drive DC

motors that have voltages between 5 and 35V, with a peak current up to 2A. This is

connected to the Adruino to control the motors.

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Figure 6

Schematic Diagram of DHT-11 Sensor

(The DHT-11 Sensor is the small, light blue module)

The DHT-11 is a commonly used temperature and humidity sensor. The sensor

comes with a dedicated NTC to measure temperature and an 8-bit microcontroller to

output the values of temperature and humidity as serial data. The humidity sensing

capacitor has two electrodes with a moisture holding substrate as a dielectric between

them. Change in the capacitance value occurs with the change in humidity levels. For

measuring temperature this sensor uses a Negative Temperature coefficient thermistor,

which causes a decrease in its resistance value with increase in temperature. The sensor is

also factory calibrated and hence easy to interface with other microcontrollers. The data

received from the DHT-11 can be displayed using a laptop/web server. The DHT-11 is

available as a sensor or a module. However, for this study, the researchers will be using

the DHT-11 sensor.

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Dataset Generation

Figure 7

Pre-testing of DHT-11 Sensor

(Pre-testing of DHT-11 Sensor monitored through a laptop/web server)

The figure above shows a pre-testing of the DHT-11 sensor on a breadboard. This

procedure was done in order to check if the DHT-11 sensor was working properly. As

shown in the figure, the data, the temperature and humidity received by the DHT-11

sensor, is monitored through a laptop/web server.

Figure 8

Pre-testing of DHT-11 Sensor

(DHT-11 Sensor on a Breadboard)

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The figure above shows the necessary hardware requirements needed to run the

DHT-11 sensor. It requires a breadboard and male-male jumper wires in order to connect

to the ESP-8266, which connects to a web server via WiFi or Bluetooth. The DHT-11

sensor in this setup has a temperature range of 0℃ to 50℃ and a humidity range of 20%

to 90%.

Figure 9

Pre-testing of DHT-11 Sensor

(Web server for the DHT-11 Sensor)

The figure above shows the necessary software requirements needed to run the

DHT-11 sensor. A web server is needed in order to test the DHT-11 sensor. It runs the

code that makes the DHT-11 sensor able to detect temperature and humidity. The code

also displays the data received from the DHT-11 sensor on a monitor such as a laptop.
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Figure 10

Pre-Testing of ESP-32 Camera Module

(Pre-testing of ESP-32 Camera Module monitored through a laptop/web server)

The figure above shows the pre-testing of the ESP-32 camera module. This

procedure was done in order to check if the ESP-32 can record and save footage properly.

As shown in the figure, the camera is able to record and save footage using an ESP-8266.

Figure 11

Pre-Testing of L298 Motor Driver Shield Module and Robot Chassis

(Soldering the wires)

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In order for RYKAIAZ to work, the components need to be secured onto the

chassis. The figure above shows the soldering of the wires. Soldering was used to prevent

movement and prevent corrosion between conductors, ensuring that the wires will

connect each of the components during use. Soldering was also used to connect the wires

to the components of the robot since it was required in order for RYKAIAZ to operate.

Figure 12

Pre-Testing of L298 Motor Driver Shield Module and Robot Chassis

(Testing the circuit for possible ground wire)

The researchers also tested the circuit of the robot during pre-testing. This is to

make sure that all the wires are connected to each other. Ground testing is used to

measure the performance of the circuit. Without proper ground testing, current can flow

freely and cause serious damage to RYKAIAZ. Hence, the researchers used a multimeter

to test the circuit.

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Figure 13

Pre-Testing of L298 Motor Driver Shield Module and Robot Chassis

(Connection and control is successful but power needs improvement)

The figure above shows a successful connection of the ESP-8266 via

WiFI/Bluetooth. However, its connection wasn’t stable due to problems with the power

cycle. The researchers needed to improve the power supply of the robot in order to create

a stable connection.

Figures 14-16

Final Product of Robot Prototype RYKAIAZ: Fire Surveying Robot

(Top view of RYKAIAZ: Fire Surveying Robot)

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(Front view of RYKAIAZ: Fire Surveying Robot)

(Side view of RYKAIAZ: Fire Surveying Robot)

RYKAIZ: Fire Surveying Robot is a prototype designed to travel rough terrain

and go through areas that may not be easily accessible by firefighters and rescuers. The

robot has a high level of design fidelity. Efficiency is a key factor in constructing this

prototype, which requires precise and appropriate programming structure. The design

must be of high fidelity because some features, like where to place the sensors, are

essential to the robot's accuracy, reliability, and durability. The robot can only be

controlled by an app designed for the robot. The robot must also be connected to a

ESP-8266 WiFi/Bluetooth Module, which must be connected to a web server on a laptop,

in order to be fully functional. The web server is used to monitor the temperature data,
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humidity data, and camera footage which come from the DHT-11 Sensor, Fire Sensor,

and ESP-32 Camera module.

Proposed Framework

Figure 17

Interpretation of Data Concept Map

(Concept map was made using MindMeister)

The goal of the research is to create and program a robot, focusing on the sensors’

ability to properly measure its target input as well as be able to send in the information

via bluetooth. The framework of the research depends on the communication of all the

sensors built into the prototype. It’s the flow of how the program should proceed as the

situation of a fire arises. Starting with the physical main frame of the robot, attaching the
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sensor motor and battery to form the robot itself. Next would be the program, essentially

the command, telling the robot how to use the sensors installed in it. To test whether the

robot functions as intended, the test site includes an enclosed section for testing the

humidity and temperature sensor. It includes lit candles, which serve as a test for the

sensor’s accuracy to measure the temperature as well as the robot’s ability to send in the

information to the user. Another section acts as a test for its mobility, seeing if the robot’s

connection to the remote controller as well as the motor part of the robot itself is up to par

with the expectations the researchers have set. This test determines the robot’s accuracy,

communication, and power cycle. To properly compare and analyze the information sent

by the sensors, the researchers used traditional tools and compared the measurements

taken by the robot with the measurements taken traditionally. The accuracy, range, and

angle of the sensors were tested involving comparison, whilst the question of the robots

efficiency will be answered by studying the data gathered using the robot.

Details of Implementation

To test the ESP32-camera, the following additional materials, FTDI connector (or

USB-to-serial converter) and Serial monitor software (in this case, Arduino Serial

Monitor), were used. The following steps were taken to test the ESP32-camera using the

FTDI connector. First, connect the FTDI connector to the ESP32-camera device via the

appropriate pins on the board. Second, connect the FTDI connector to the laptop

computer via USB. Third, use the Arduino IDE to program the ESP32-camera device

with a sample code that captures images and streams video. Fourth, configure the

ESP32-camera device to communicate with the laptop computer via the FTDI connector.
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Fifth, open the Serial Monitor software on the laptop computer to view the output from

the ESP32-camera device. And sixth, test the functionality and performance of the

ESP32-camera by capturing images and streaming video using the Serial Monitor

interface.

To test the DHT-11 sensor connected to an ESP-8266 with an OLED and web

server, the following materials, ESP-8266 module, DHT-11 sensor, OLED display,

Breadboard and jumper wires, USB cable (for power and programming), and Laptop or

computer with a web browser, were used. The following steps were taken to test the

system. First, connect the DHT-11 sensor to the ESP-8266 module via the appropriate

pins on the board. Second, connect the OLED display to the ESP-8266 module via the

appropriate pins on the board. Third, connect the ESP-8266 module to the computer via

USB cable. Fourth, use the Arduino IDE to program the ESP-8266 module with a sample

code that reads temperature and humidity data from the DHT-11 sensor and displays it on

the OLED display. Fifth, Configure the ESP-8266 module to act as a web server and

serve temperature and humidity data to clients via WiFi. Sixth, connect the laptop or

computer to the WiFi network created by the ESP-8266 module. And seventh, open a

web browser on the laptop or computer and navigate to the IP address of the ESP-8266

module to view the temperature and humidity data.

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Chapter 3

RESULTS AND DISCUSSION

Results/Findings

Table 1

DHT-11 Temperature and Humidity Sensor Accuracy Test

Trials DHT-11 (Temperature and Thermometer/Gyrom Difference

Humidity) eter

Trial 35.20℃ (Temperature) 35.00℃ 0.20

1 63.30% (Humidity) 64.00% 0.70

Trial 35.50℃ 35.60℃ 0.10

2 62.10% 61.91% 0.19

Trial 38.28℃ 37.79℃ 0.49

3 60.18% 64.28% 4.10

The DHT-11 sensor connected to the ESP-8266 with OLED and web server

performed well during testing. The system was able to accurately read temperature and

humidity data from the sensor and display it on the OLED display. The data was also

accessible through a web browser via the ESP-8266 module's web server. From Trials 1

to 3, the researchers believe that RYKAIAZ can potentially support missions that require

a robot to measure temperature and humidity such as fire incidents. The accuracy of the

DHT-11 sensor was not perfect, but it was close enough to be useful for many

applications, such as fire detection, rescue missions, and area monitoring/surveillance.

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Table 2

ESP-8266 WiFi/Bluetooth Range Test

Distance (meters) Is there connectivity?

1m Yes

2m Yes

3m Yes

4m Yes

5m Yes

6m Yes

7m Yes

8m Yes

9m Yes

10 m Yes

11 m Yes

12 m Yes

13 m Yes

The ESP-8266 WiFi/Bluetooth Module performed well during testing. It was able

to connect to the robot using WiFi and Bluetooth from 13 meters away. The researchers

set the limit to 13 meters since the researchers believe that 13 meters is an acceptable size

for a room. RYKAIAZ was able to connect to the ESP-8266 WiFi/Bluetooth module

while moving around the test site. The robot is able to move around an area even if the

controller or user is from a far distance.

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The ESP-32 camera module also performed well during testing using the FTDI

connector. The captured images and video were clear and showed the surroundings of the

camera, and the device was able to stream video with a stable frame rate. The Serial

Monitor interface provided an easy way to view the output from the device and control its

settings, making it well-suited for testing and debugging purposes.

Table 3

Battery Power Cycle Test

Trials Duration (minutes)

Trial 1 45 mins

Trial 2 58 mins

Trial 3 62 mins

The 18650 Batteries performed well during testing. The batteries were able to

give sufficient power supply to all components of the robot. This is evident when the

researchers tested the DHT-11 Temperature and Humidity Sensor, Fire Sensor, L298

Motor Driver Shield Module, ESP-8266 WiFi/Bluetooth Module, and ESP-32 Camera

Module. RYKAIAZ was able to navigate the test site freely without problems. The

researchers believe that duration of the power cycle of the robot is sufficient enough to

potentially support rescue operations by detecting victims and guiding rescuers to locate

victims. The robot has potential in supporting missions that may require a long duration

of time.
 28

Model Verification

Using an FTDI connector to test the ESP-32 camera module is a common

approach and provides a convenient way to communicate with the device from a laptop

computer. This method is particularly useful for testing and debugging purposes, as it

allows for easy viewing of the device's output and control of its settings. However, it

should be noted that the range of the device may still be limited by environmental factors

such as obstacles or interference from other WiFi devices, and the quality of the camera

may not be sufficient for professional or high-resolution applications. This system

provides a useful and convenient way to monitor temperature and humidity data from

remote locations, as long as they are within range of the WiFi network. The OLED

display allows for quick and easy local readings, while the web server feature makes the

data accessible from anywhere with an internet connection. However, it should be noted

that the accuracy of the DHT-11 sensor may not be sufficient for high-precision

applications.

The robot is simple to operate. The movement of the robot is managed by a

software controller. It is also automated in terms of finding results, as the robot includes a

camera and sensors that convey data to the user. The robot's sensors are precise in

determining the local temperature and humidity. The Flame Sensor in particular is precise

in identifying candle flames. The ESP32 camera transmits visual information to the user,

providing more information. For the robot to be completely reliable, more work must be

done. The robot lacks a fireproof protective covering that would allow it to pass through a

fire, making it incapable of doing so. In comparison to fire-fighting robots, it is also

 29

unable to battle flames on its own. Any individual employing the robot can do it without

risk. It is made to work with firefighters and rescue workers. However, it could not be

safe if the robot enters a fire directly because it lacks a fireproof protective layer, creating

a fire hazard.

The robot will require work to enhance its aesthetics and look. It is still at the

prototype stage, thus utility is given priority above aesthetics. Given that there are already

fire-fighting robot prototypes, the robot is not really useful. Robots that can battle fires

can also perform the functions of a robot that surveys fires. In comparison to other

fire-fighting robot prototypes, RYKAIAZ is less expensive. However, it should be

emphasized that this research study produced a fire-surveying robot, making it impossible

to compare the costs of a fire-surveying robot with a fire-fighting robot. The

fire-surveying robot is, at best, regarded as affordable by the consumer market.

Conclusion

In conclusion, using an FTDI connector to test the ESP-32 camera module was

successful, and the device performed well with clear images and stable video streaming.

The Serial Monitor interface provided an easy way to control the device and view its

output, making it a useful tool for testing and debugging purposes. The testing of the

DHT-11 sensor connected to an ESP-8266 with an OLED and web server was successful,

and the system performed well with accurate enough readings for many applications.

This system provides a useful and convenient way to monitor temperature and humidity
 30

data remotely, and the web server feature makes the data accessible from anywhere with

an internet connection.

Recommendations

RYKAIAZ has the potential to assist in rescue operations with firefighters or

rescuers in an urban environment. Its sensors were able to accurately read data and show

it to its user. However, further testing may be necessary to determine the device's

performance in more challenging environments or for more demanding applications,

especially in areas where WiFi connection may not be available. Furthermore, testing

may be necessary to determine the accuracy and reliability of the system in different

environmental conditions. The researchers also recommend using fireproof protective

coating for it to go through fires.

 31

Reference List

Admin. (2021, June 26). Blynk Fire Alarm | IoT | NodeMCU | Flame sensor | Blynk App.

Techatronic. https://techatronic.com/blynk-fire-alarm/

Banggood. (n.d.). DIY RC Robot Chassis Tank Car Tracking Obstacle Avoidance With

Crawler Set RC Robot from Toys Hobbies and Robot on banggood.com.

Ph-M.banggood.com. Retrieved October 3, 2022, from

https://ph-m.banggood.com/DIY-RC-Robot-Chassis-Tank-Car-Tracking-Obstacle-Avoida

nce-With-Crawler-Set-p-1254211.html?utm_campaign=intru_1122606&utm_content=16

45&p=SN131515131343201710&cur_warehouse=CN

Campbell, R., & Hall, S. (2022, December). NFPA report - Firefighter injuries in the

United States. Nfpa.org.

https://www.nfpa.org/News-and-Research/Data-research-and-tools/Emergency-Responde

rs/Firefighter-injuries-in-the-United-States

haydar94. (2019, October 18). Flame-Sensor-with-ESP8266-nod-mcu-. GitHub.

https://github.com/haydar94/Flame-Sensor-with-ESP8266-nod-mcu-/blob/master/flame_

__node_mcu.ino

IoTFever. (n.d.). IoTFever - Overview. GitHub. Retrieved October 3, 2022, from

https://github.com/IoTFever

NextPCB. (2021, July 5). IoT Based Fire Alarm System Using NodeMCU ESP8266.

Arduino Project Hub.

https://create.arduino.cc/projecthub/1NextPCB/iot-based-fire-alarm-system-using-nodem

cu-esp8266-226aa3
 32

Random Nerd Tutorials. (2019, May 7). ESP8266 DHT11/DHT22 Web Server Arduino

IDE | Random Nerd Tutorials. Random Nerd Tutorials.

https://randomnerdtutorials.com/esp8266-dht11dht22-temperature-and-humidity-web-ser

ver-with-arduino-ide/

Suyoto, S., Rahmawan, A., & Setyohadi, D. B. (2021, October). Fire early detection

IOT-based using nodemcu ESP8266 and thinger.IO web server. ResearchGate.

https://www.researchgate.net/publication/355720575_Fire_early_detection_IOT-based_us

ing_nodemcu_ESP8266_and_thingerIO_web_server

Taha, I. A., & Marhoon, H. M. (2018). Implementation of Controlled Robot for Fire

Detection and Extinguish to Closed Areas Based on Arduino. TELKOMNIKA

(Telecommunication Computing Electronics and Control), 16(2), 654.

https://doi.org/10.12928/telkomnika.v16i2.8197
 33

Appendices

Appendix A - Preparation of Materials

 34

Appendix B - List of Expenses

Items/Materials Subtotal (Php)

WiFi Module 400.00
DHT-11 Sensor 310.00
Jumper Wires (Female-Female) 20.00
Bluetooth Module 300.00
OLED (128mm x 32mm) 180.00
ESP-32 Camera Module 350.00
Flame Sensor 50.00
Jumper Wires (Male-Female) 20.00
Arduino UNO Board 645.00
Robot Chassis 1,052.00
Motor Driver Shield 167.00
Heat Shrink Tube 49.00
Mini Power Bank 47.95
Miscellaneous 519.00
Total 4,109.95
 35

Appendix C - MSHS Form A

 36

Appendix D - MSHS Form B

 37

Appendix E - Gantt Chart

Timeline in Months

Septe Octob Nove Dece Febr

August mber er mber mber January uary March April May
Events 2022 2022 2022 2022 2022 2023 2023 2023 2023 2023
Choosing
of
Research
Category

Selection
of
Research
Titles

Approval
of Titles

Drafting of
Chapter 1

Drafting of
Chapter 2
and 3

Topic
Defense

Revising
Chapters
1-3
 38

Polishing
of
Chapters
1-3

Mock
Defense

Planning
for
Chapters 4
and 5

Data
Collection

Data
Analysis

Writing of
Draft for
Chapters 4
and 5

Finalizing
of
Manuscript

Final
Defense