ANALYSIS OF PALAWAN NATIONAL SCHOOL TOWER E (STEM) BUILDING

DESIGN TOWARDS FIRE RESILIENCY

_________________________________________

A Research Proposal
Presented to the Faculty
of the Science, Technology
Engineering and Mathematics
of the Senior High School
of Palawan National School

_________________________________________

In Partial Fulfillment
of the Requirements in
Capstone

_________________________________________

by

IRENE C. BENDANILLO 
YENNAH ERIKA C. LOPECILLO 
EARL JUSTIN N. LUCERO 
THRESCIA ANN MAY B. MONTING 
GERRO D. ORBISO 
RYAN GIE D. SALVADOR 
ARRAFI M. UTUALI 
 January 2023
APPROVAL SHEET

This research proposal entitled “ANALYSIS OF PALAWAN NATIONAL

SCHOOL TOWER E (STEM) BUILDING DESIGN TOWARDS FIRE
RESILIENCY” prepared and submitted by Bendanillo, Irene C. Lopecillo, Yennah
Erika C. Lucero, Justin Earl N. Monting, Threscia Ann May B. Orbiso, Gerro D.
Salvador, Ryan Gie D. Utuali, Arrafi M., in partial fulfillment of the requirements in
the Capstone has been examined and recommended for pre-oral examination.

__________________________
MR. PETER PAUL P. PAALAN
Research Adviser

PANEL OF EXAMINERS

Accepted and approved in partial fulfillment of the requirements for the

course Research in Daily Life 2.

___________________________
PANEL NAME
Chairman

______________________________ _______________________________
PANEL NAME PANEL NAME
Member Member

Date: _________________________

ii
 ACKNOWLEDGEMENT

We would like to express our heartfelt gratitude and appreciation to the

following people who have all contributed in their own special ways towards the
completion of this research proposal:
First of all, Peter Paul P. Paalan, our research adviser, for sharing his
knowledge and intuitive judgment which assisted the writing and conducting of
this study.
The researchers would like to genuinely thank their family, especially their
parents for their undying support in this study’s conduction. This project would
not be possible without their patient understanding and furtherance.
Above all, to our Almighty and Loving Father for the knowledge, strength,
talent and blessings he showered upon to perform this research.

ICB
YELC
EJNL
TAMBM
GPDO
RGDS
AMU

iii
 DEDICATION

This research study

is sincerely dedicated to
our family, friends, colleagues,
students, and to the local people
of Puerto Princesa City.

To God be the Glory!

ICB
YELC
EJNL
TAMBM
GPDO
RGDS
AMU

iv
 TABLE OF CONTENTS

TITLE PAGE i

APPROVAL SHEET ii

ACKNOWLEDGEMENT iii

DEDICATION iv

TABLE OF CONTENTS v

LIST OF FIGURES viii

LIST OF TABLES ix

LIST OF APPENDICES xi

Chapter

I THE PROBLEM AND ITS BACKGROUND

Introduction 1

Statement of the Problem 4

Hypotheses 5

Significance of the Study 6

Scope and Delimitation 8

II REVIEW OF RELATED LITERATURES

Waste Management 10

Shorelines and Coastal Areas’ Status 16

Robotic Sensors 23

Robotic Mechanism 30

Synthesis 40

Conceptual Framework 45

Research Paradigm 46

Definition of Terms 50

v
 III RESEARCH DESIGN AND METHODOLOGY

Research Design 52

Sampling Technique and Procedures 54

Instrumentation 55

Data Gathering Procedures 56

Data Analysis 58

Risk and Safety 62

Ethical Considerations 62

BIBLIOGRAPHY
APPENDICES
CURRICULUM VITAE

vi
 LIST OF FIGURES

Figure Page/s

1 Map of BM Road, BM Beach, Barangay San Pedro, Puerto 9

Princesa City, Palawan

2 Flow Chart 45

3 Research Paradigm 46

vii
 LIST OF APPENDICES

Appendix Page/s

A Letter of Permission to the Palawan National School 78

Head Principal to Conduct the Study

B Letter of Permission to the Head Teacher of STEM of 79

Palawan National School to Conduct the Study

C Letter of Permission to the Brgy. San Pedro 80

Barangay Captain to Conduct Testing and Data
Collection in BM Beach

D Human Informed Consent 81

E Daily Logs 83

F Narrative Accomplishment Report 88

G Gantt Chart 98

H Plan For Dissemination and Advocacy 101

viii
 Chapter 1

THE PROBLEM AND ITS BACKGROUND

Introduction

Infrastructure plays a role in every individual's life in the modern world. A

proper environment is what students need as they study and what they need to do

in their classroom. Our daily lives involve many dangerous substances and

activities. Having a comfortable place in seeking knowledge will give them peace

and focus. A good learning environment is a good investment. 93

The goal of this study is

The major significance of the contribution of this study “CoastLect: An

Automated Debris Collector for Shorelines Along Coastal Areas” is

This study aims to Analyze the Palawan National School Tower E (STEM)

Building Design towards the Building code of the Philippines. This study also aims

to prevent loss of life and property damage. This study will help the students and

teachers to have a safe and comfortable place to study. This may give them

focus, and a better environment.

Statement of the Problem

93
"Philippines Needs More Investments in School Infrastructure – PIDS." Philstar.Com. March 24,
2022. https://doi.org/https://www.philstar.com/business/2022/03/24/2169396/philippines-needs-
more-investments-school-infrastructure-pids.
 This study aims to analyze the Palawan National School STEM Building Fire

Resiliency. This study will surely benefit the community, environment, and

construction of building and facilities industries, especially the agencies that aim

for a safe infrastructure. This study also aims to provide an accomplishment

report of the result of the Fire Resiliency Analysis of Tower E Building in Palawan

National School that the community, the teachers and the students can benefit

from having a better and safer facility.

Specifically, this study sought answers to the following questions:

1. What are the benefits of the Building Code in terms of:

a. ----

b. --

2. What are the safety accessories in the building according to the Building Code:

a. ------

b. ------

3. In comparison to other

-----

a. ----

Hypothesis

2
1. Ha: There is a significant difference between the use of an automatic

garbage collector from the traditional method of removing trash from the

beach.

Ho: There is no significant difference between the use of an automatic

garbage collector from the traditional method of removing trash from the

beach.

2. Ha: There is a significant difference between the costing of

manufacturing automated debris collector in shorelines and the costing

budgeted by the government to maintain the coastal areas clean.

H0: There is no significant difference between the costing of

manufacturing automated debris collector and the costing budgeted by

the government to maintain the coastal areas clean.

3. Ha: There is a significant difference between the costing of

manufacturing automated debris collector in shorelines and the costing

budgeted by the government to maintain the coastal areas clean.

H0: There is no significant difference between the costing of

manufacturing automated debris collector and the costing budgeted by

the government to maintain the coastal areas clean.

3
Significance of the Study

The investigations of the study “Analysis of Palawan National School

Tower E (STEM Building) Design towards Fire Resiliency” is deemed

significant for the following:

For the Residents. This study will benefit the Residents of Puerto

Princesa in securing their safety, especially the teachers and students along the

Puerto Princesa City.

For the Department of Education. The outputs of this study will benefit

the Department of Education in ensuring a safe and comfortable place to study

that will give the student and teachers peace and focus at school. This study will

also provide ideas for them to develop a Fire Resilient Building for public schools.

For the Bureau of Fire Protection. The output of this study will give

support to the bureau of fire protection in implementing the fire protection code of

the philippines. 

For the Palawan National School Community. This study will benefit the

Palawan National School Community in securing the safety of the teachers and

students. This study will also inspire young students in Palawan National School

to contribute more and participate more in Palawan’s Engineering Sector.

For the Researchers. The study will challenge us to be a more effective

community in our community by pursuing this project. As STEM students, this

project will also challenge us to go more in understanding the structures and the

things that a standard building should have which will benefit us in the future. 

4
 For the Future Researchers. The study will serve as a guide manual in

enhancing our environment while enhancing our knowledge and abilities. The

information from this study will provide a fundamental grasp of the project’s

potential issues and solutions. 

Scope and Delimitation

Problem: This study is entitled “CoastLect: An Automated Debris

Collector for Shorelines Along Coastal Areas”.

It aims to determine the CoastLect: Automated Debris Collector as a debris

collection machine for shorelines along coastal areas It will also discuss the

project’s efficiency and efficacy after it has been developed and put through

multiple road tests. However, this study is delimited on the following:

1. The machine’s efficiency in collecting trash in water areas where trash

populations are also counted.

5
 2. Overall costs and savings for the government if the project will be

implemented.

3. Efficiency of the project in various weather conditions.

4. The project’s flexibility to diverse coastline specifications, such as

whether they are rocky or sandy.

5. The project’s durability and sustainability, as well as the average

maintenance rate.

Locale. The area where the investigation will be held is at BM Road, BM

Beach, Barangay San Pedro, Puerto Princesa City, Palawan.

The map of BM Road, BM Beach, Barangay San Pedro, Puerto Princesa

City, Palawan is presented below.

6
Figure 1. Map of Palawan National School, Lacao Street, Barangay Manggahan,
Puerto Princesa City, Palawan

Time Frame. The study started on

Participants. The participants in the study will be selected professionals,

mechanical engineer, computer engineer, electro-mechanical, as well as the

residents of Bgy. San Pedro that are currently residing within the coastal area of

BM Beach.

7
 Chapter 2

REVIEW OF RELATED LITERATURES AND STUDIES

This chapter presents the relevant literature and studies local or foreign

taken from some books, journals, published thesis and dissertation, and from the

internet.

A. Waste Management

By 2050, 70% of the world’s population will be living in urban areas. Cities

in developing countries face considerable challenges, and that includes wastes. 94

People are always innovating their way of life to make it more efficient and

convenient, but in the process, several problems also follow. Unfortunately, the

nature sees our innovative footprint as destructive rather than beneficial. Wastes

and trash that we leave behind as we foster a progressive community will remain

on this planet even after we leave, which is why greener waste management

would be ideal for lessening the damage to our environment.

Cities are home to half the world’s 7.5 billion people and contribute to about

three-quarters of global economic output. Demographic experts estimate that an

additional three billion people will live in cities by 2050, increasing the urban share

of the world’s population to two-thirds. Yet, cities and urban areas across the

world face major social and ecological challenges: pollution is one of the

greatest.95 As people move into the city, waste production will have a significant

impact on the well-being of all residents. On further understanding of it, waste is

always an important problem in this era, where people are not aware of the waste

they produce in their household or institutions. Waste is directly linked to human

94
Steward et. al. (2019)
95
Steward et. al. (2019)

10
development, both technological and social. The compositions of different wastes

have varied over time and location, with industrial development and innovation

being directly linked to waste materials. 96 These concepts are already dangerous

to read about; imagine how much more dangerous they will be in their damaging

results if we never put good solution for it.

In one of the Dirk Inghels’ articles, it was said that green waste, consisting

of leaves, wood cuttings from pruning, and grass collected from parks and

gardens, is a source of biomass that can be used for material and energy

valorization.97 This research has long been used in many urbanized countries, and

it is widely used in first-world countries. However, as much as we are inspired by

this beautiful waste-to-power innovation, technicalities and technology to support

this project are limited in our country, particularly here in Puerto Princesa City.

The idea is viable if the tools are available, but given our resources, trash like this

serve little purpose other than as fertilizers. However, in order to make our energy

and waste management safer and more environmentally friendly, we must pursue

and challenge the government to obtain the necessary technology. Therefore, our

group’s research effort somehow links to Dirk Inghels’ only objective of informing

his readers to be green and clean. Even when the final product differs, the goals

—to be green and clean—remain the same.

Inghel’s article was supported by his co-author, who talked about that since

the Industrial Revolution, the global economy has grown rapidly through the use

of mainly non-renewable raw materials as feedstock for products and energy; this

96
Suresh (2016)
97
Dirk Inghels, Wout Dullaert, and Jacqueline Bloemhof (2016). “A model for improving
sustainable green waste recovery”.
https://www.sciencedirect.com/science/article/pii/S0921344916300477. Retrieved in November 18,
2022

11
has led to the depletion of non-renewable stocks. 98 It’s interesting that the goal of

converting garbage into green energy has more benefits in the contemporary

society. According to the author, it’s a good replacement for energy fuels like

petrol and diesel that are quickly running out. However, Ebenezer said that his

investigation into energy transformation in Palawan led to the conclusion that it

would be more practical and suitable for the locals to continue using the energy

sources that we were accustomed to using. 99 One reason for this is because there

hasn’t been a thorough dialogue with the people about how we should transition

to a greener economy because our supply is constrained. Therefore, in relation to

these, enlightening discussions are a go to achieve the goal of greener energy.

Projects like ours in the classroom might serve as a starting point. Even if

economic waste collectors are a long way from energy solutions, they might

nonetheless foster a greener perception in students’ minds. Additionally, if we

discover that cleaning conveniently without leaving any carbon behind might alter

the way we clean our surroundings, it will be simpler for us to decide that a

cleaner city will be created using technology and discernment.

We attempt to address a problem with a problem, according to a Harvard

University researcher who came to that conclusion on his research blog. He has

straightforward ideas. The accumulation of garbage and litter, which endangers

human health, is the issue. It really is a problem. We did, however, attempt to

resolve this issue through a different issue. 100 The engines and equipment we use

98
Dirk Inghels, Wout Dullaert, and Jacqueline Bloemhof (2016). “A model for improving
sustainable green waste recovery”.
https://www.sciencedirect.com/science/article/pii/S0921344916300477. Retrieved in November 18,
2022
99
Ebenezer Cabildo (2018). “Palawan’s Energy Reserve”. Retrieved in November 18,
2022
100
J.M Smith (2014)

12
to gather these wastes emit emissions that have various effects on us. We can

assume that these little issues are just really a byproduct of the larger issue.

However, as emissions build up in the atmosphere, they also have long-term

effects that may alter how we live. But if we simply use the innovations of highly

intelligent people, we’ll incline to the solution that doesn’t harm the environment. 101

One of the studies conducted at PSU’s main campus mentions some

classic but still essential concepts for better waste management. Even if this was

quite typical for us, greener solutions will always be relevant as long as rubbish

exists. From the opinion of A. Avila, a large portion of the trash we produce at

home comes from the food we consume. 102 We frequently just toss the leftovers in

the trash after we finish our meals without giving it much attention. In fact, the

largest single source of solid waste in the United States is food waste. There are,

however, ways to cut down on food waste and prevent it from going to the landfill.

Composting food waste is one approach to reduce it. Food scraps and other

organic debris are broken down into a nutrient-rich soil amendment through the

process of composting. The soil in your garden can then be improved by using

this amendment.103 The concept may seem unrelated to our research and project,

but as long as the objectives are the same—to tackle the waste problems with

technology and equipment that don’t harm the environment—then the concept is

still relevant and helpful.

You might not have given the waste you produce much thought up until

lately. Many people are pleased to create a procedure for getting rid of rubbish.

Waste management is receiving more and more attention, and proactive

101
J.M Smith (2014)
102
Ebenezer Cabildo (2018). “Palawan’s Energy Reserve”. Retrieved in November 18,
2022
103
“Managing and Reducing Wastes”. The Recycle Guy blog space. 2020

13
businesses are seeing the advantages of starting a waste reduction program. 104

This was a smart move that kept us out of the trash. The effects and advantages

of how we handle our rubbish are now better understood by the general public.

On the other hand, one of the most dangerous and widely dispersed

trashes that can have an impact on our life is coastal rubbish. 105 It is easily

transportable over oceans and continents. The government allocates the least

money to coastal communities, which likewise have the worst rubbish

management.106 The detrimental impacts of aquatic plastic litter on river and

marine creatures have been well-documented. At least 267 species are thought to

be negatively impacted by plastic marine trash worldwide, including 86% of sea

turtles, 44% of seabirds, and 43% of marine mammals. 107 Physical dangers from

ingestion and entanglement as well as toxicological dangers from toxins attached

to and trapped within plastic particles are the most frequent concerns to wildlife. 108

Furthermore, Plastic aquatic debris can directly interfere with navigation, hinder

commercial and recreational fishing, endanger health and safety, and decrease

tourism in addition to deteriorating the habitats and ecosystem services that

humans depend on.109 The biggest danger to vessel navigation comes from large

debris, such as abandoned fishing nets and ropes that float at or just below the

surface. Ships may run aground on heavy objects, damaging hulls and propellers,

while lines and nets can entangle in motor intakes and become twisted around

104
John Ruete (2016). “Coastal Rubbish”. Retrieved in November 19, 2022
105
John Ruete (2016). “Coastal Rubbish”. Retrieved in November 19, 2022
106
“Impacts of Mismanaged Trash”. United States Environmental Protection Agency. May
2022. https://19january2021snapshot.epa.gov/trash-free-waters/impacts-mismanaged-
trash_.html. Retrieved in November 20, 2022
107
“Trash Free Waters”. United States Environmental Protection Agency. May 2022.
https://www.epa.gov/trash-free-waters. Retrieved in November 20, 2022
108
R. Bryce (2021). “Coastal damages to human”. Retrieved in November 20, 2022
109
R. Bryce (2021). “Coastal damages to human”. Retrieved in November 20, 2022

14
propellers.110 Aquatic waste, being tangled in nets and lines when swimming or

diving, and sharp debris that builds up on beaches can all cause harm to humans.

scuba divers frequently become tangled up in nets or lines. Most of the time, they

can set themselves free.111 The aesthetic and recreational value of rivers,

beaches, and marine resources is also diminished by aquatic litter. The

accumulation of plastic waste on beaches is a particular issue for coastal cities

since unsightly waste and marine life trapped in trash can make the area less

alluring to locals and visitors. Cleaning up marine trash from beaches involves

significant financial costs.112

To summarize this paper, an automated powered trash collector is an

appropriate concept that aligns with greener objectives and is focus to the

problem with lesser priority. Its dynamic has been simplified to make production

easier. These types of projects and research help students like me become more

aware of what trash can do and how our innovative minds can save us from harm.

According to one research, The Journal of Waste management says that the

revenues generated by the waste management would top by $60 million by 2018.

But there are only a few people who sincerely consider this as an industry into

various facets of waste management like recycling and reusing, and reap the

benefits.113 This may seem absurd, but there is greener in trash, but it will not be

converted to something useful unless implementation of green solutions must

become a standard not only in Puerto Princesa but also worldwide.

B. Shorelines and Coastal Areas’ Status

110
R. Stewart (2019). “Human Effects”. Retrieved in November 20, 2022
111
John Smart (2018). “Environmental effects of Human”. Retrieved in November 20, 2022
112
John Smart (2018). “Environmental effects of Human”. Retrieved in November 20, 2022
113
R. Smith (2018). The Journal of Waste. Retrieved in November 20, 2022

15
 Variations in climate, ecosystems, and sea level that occur across a wide

variety of timescales all have an ongoing impact on the shoreline. The

combination of natural and man-made processes frequently exacerbates

shoreline change and increases the risk factors to coastal communities. One of

the three environmental issues that are taken into consideration for development

projects including ports, harbors, fishing jetties, and embankment facilities is

shoreline alteration.

To coastal scientists, engineers, and managers for coastal management

and engineering design for coastal development, the shifting position of the

shoreline over time is of fundamental relevance. For example, the design of

coastal protection, the calibration and verification of numerical models for

structures, the estimation of sea level rise, the creation of hazard zones, the

formulation of policies, and the control of coastal development activities all require

precise shoreline information.

The line of contact between land and water is defined as a shoreline. In

other terms, shoreline is defined as the intersection of a specified plane of water

with the shore or beach (e.g., the high water shoreline would be the intersection of

the plane of mean high water with the shore or coast). 114

However, the shoreline approximates the mean high-water line on coast

and geodetic survey nautical charts and surveys. In Coast Survey usage, the term

is considered synonymous with coastline. The line delineating the shoreline on

Mahmud Hassan and Rebecca Gillaspy (2022). “Shoreline & Beach I An Overview”.
114

Study.com. https://study.com/learn/lesson/shoreline-beach-overviewfeatures. Retrieved in January

3, 2023

16
National Ocean Service nautical charts and surveys approximates the mean

higher water line.115

The terms shoreline and coastline are often used indiscriminately as

synonyms. However, it is generally preferable to define the shoreline as the

physical transition between land and water and the coastline as a proxy of the

shoreline position that designates the boundary between land and sea for use in

shoreline management, see the article Coastline. The line delineating the

shoreline on nautical charts (sea maps) approximates the mean high water

(MHW) line.116

The coast, also known as the coastline or seashore, is defined as the area

where land meets the ocean, or as a line that forms the boundary between the

land and the coastline. The Earth has around 620,000 kilometers (390,000 mi) of

coastline. Coasts are important zones in natural ecosystems, often home to a

wide range of biodiversity.117 The coast is the strip of land near the ocean that

includes the beach and the immediate inland area beside it. 118

Coastal dunes are an essential part of beach-dune systems. Dunes

systems have their own intrinsic values and provide a range of goods and

services, including the protection of tangible goods located on the shoreline

affected by waves, storms, and sea erosion.119

115
Website owner (2016). “National Oceanic and Atmospheric Administration”.
https://shoreline.noaa.gov/glossary.html. Retrieved in January 3, 2023
116
Job Dronkers (2021). “Definition of Shoreline”. Coastal Wiki.
www.coastalwiki.org/wiki/Shoreline. Retrieved in January 3, 2023
117
“Definition of Coast”. n. d. Wikipedia. https://en.m.wikipedia.org/wiki/Coast. Retrieved in
January 3, 2023
118
“Shoreline Features”. n.d. CliffsNotes.
https://www.cliffsnotes.com/study-guides/geology/the-shorelines/shoreline-features. Retrieved in
January 7, 2023
119
Carla Garcia-Lozano and Josep Pintó (2018). “Current status and future restoration of
coastal dune systems on the Catalan shoreline (Spain, NW Mediterranean Sea)”. Food and
Agriculture Organization of the United Nations. https://agris.fao.org/agris-search/search.do?
recordID=US201800258507. Retrieved in January 7, 2023

17
 Shorelines are the narrow zones on Earth’s surface where the land meets

the sea. Deltas are parts of the shorelines where sediments accumulate and

prograde seaward at the river mouths. Shorelines and deltas are arguably the

most complex sedimentary systems because of the highly dynamic nature of the

land–ocean interaction.120 Shorelines change shape and position over multiple

spatial and temporal scales, in which water level motions from waves and tides to

relative sea-level change drive episodes of erosion and accretion. 121

The shoreline is constantly influenced by sea level variations, climate and

ecosystems that occur over a wide range of time-scale. The combination of

manmade activities often exacerbates the shoreline change and increases the risk

factors to coastal communities.122 Shoreline change refers to the loss or gain of

land area, or change to the landscape on the marine edge. 123

Shoreline change is one of the three identified environmental concerns

considered for the developmental activities such as ports, harbor, fishing jetties

and embankment facilities. The changing position of shoreline over time is of

elemental importance to coastal scientists, engineers, and managers for coastal

management and engineering design for coastal development. 124 Shoreline

change is one of the most common natural processes that prevail upon coastal

120
M. Royhan Gani (2020). “Regional Geology and Tectonics”.
https://www.sciencedirect.com/topics/earth-and-planetary-sciences/shoreline. Retrieved in
January 7, 2023
121
Helene Burningham and Miriam Fernandez-Nunez (2020). “Sandy Beach
Morphodynamics”. https://www.sciencedirect.com/topics/earth-and-planetary-sciences/shoreline-
change. Retrieved in January 7, 2023
122
Ye Yincan et. al. (2017). “Marine Geo-Hazards in China”.
https://www.sciencedirect.com/topics/earth-and-planetary-sciences/coastal-erosion. Retrieved in
January 7, 2023
123
“Coastal Shoreline Change”. National Park Service. 2020.
https://www.nps.gov/im/secn/shoreline-change.html. Retrieved in January 8, 2023
124
Gegar Prasetya (n. d.). “Thematic paper: The role of coastal forests and trees in
protecting against coastal erosion”. https://www.fao.org/3/ag127e/ag127e09.html. Retrieved in
January 8, 2023

18
areas. The most important aspect of managing coastal areas is identifying the

location and change over time of shoreline.125

According to Kankara et. al., beach erosion is a persistent issue on many

Indian coast shorelines. There is a growing need for precise knowledge about

historical trends and rates of shoreline displacement as the coastal population

expands and community facilities are threatened by erosion. Additionally, a

thorough examination of shoreline movement that varies from one coastal region

to another is required.126

The National Centre for Coastal Research (NCCR) is conducting a study

on coastal alterations along the Indian mainland in order to address these national

demands. The development of standardized, reproducible techniques for mapping

and assessing shoreline movement is one goal of this initiative, which also aims to

provide regular periodic updates on shoreline changes, coastal erosion hotspots,

land gain/loss, etc. for Indian shorelines. Wet/dry lines on sandy shores,

vegetative lines, and seashores facing the direction of seawall are all regarded as

shorelines in the analysis of shoreline change along the Indian coast. 127

Their paper contains information on shoreline alterations from 1990 to 2016

as well as rates of change, outline the analysis methodologies used, and analyzes

the findings. Analyses of shoreline change are based on a comparison of various

125
E. Tamassoki, H. Amiri, and Z. Soleymani (2014). “Monitoring of shoreline changes
using remote sensing (case study: coastal city of Bandar Abbas)”.
https://iopscience.iop.org/article/10.1088/1755-1315/20/1/012023. Retrieved in January 8, 2023
126
R.S. Kankara, M.V. Ramana Murthy, and M. Rajeevan (2018). “National Assessment of
Shoreline Changes along Indian Coast”.
https://www.indiaspend.com/wp-content/uploads/2018/11/National-Assessment-of-Shoreline-
Changes-NCCR-report.pdf. Retrieved in January 8, 2023
127
S. Prasad (2022). “National Centre for Coastal Research to prepare shoreline
management plan for erosion-hit Puducherry coast”.
https://www.thehindu.com/news/cities/puducherry/national-centre-for-coastalresearch-to-prepare-
shoreline-management-plan-for-erosion-hit-pondy-coast/article66056301.ece. Retrieved in
January 8, 2023

19
shoreline positions that have been digitally scanned from satellite photographs.

From 1990 to 2016, a range of time periods are covered by the shoreline’s

position. The nine YA shorelines position, i.e., for the years 1990, 2000, 2006,

2008, 2012, 2013, 2014, 2015, and 2016, are used to compute long-term rates of

change. The rates of change shown in their report only reflect conditions as of the

most current coastline data, therefore they cannot be used to forecast where the

beach will be in the future or how quickly it will change. 128

In order to analyze the temporal shoreline changes between 1990 and

2016 utilizing 9 data sets, a coastline measuring 6031 km was mapped in a scale

of 1:25000. The outcomes are divided into three groups: erosion, stability, and

accretion. Overall, 33% of the coastline is subject to varied degrees of coastal

erosion, 29% is in an accreting state, and 38% is in a stable state. The state wise

analyze suggests that, more than 40% of erosion is seen in four states and UT,

i.e., coasting states including Tamil Nadu (41%), Kerala (45%), West Bengal

(63%), and Pondicherry (57%). While accretion is surpassing 40% along the

coasts of Andhra Pradesh (42%) and Odisha (51%). Except for Kerala, India’s

west coast is largely in stable condition, with a few isolated areas of eroding

coast. Analyses of land gain and loss showed that the West Bengal coast lost

around 99 sq km of land over the previous 26 years. Changes in the shoreline are

plotted along with information about the infrastructure, ports, industries, and

human activities. 526 maps, 66 district maps, and 10 state/UT maps are produced

128
R.S. Kankara, M.V. Ramana Murthy, and M. Rajeevan (2018). “National Assessment of
Shoreline Changes along Indian Coast”.
https://www.indiaspend.com/wp-content/uploads/2018/11/National-Assessment-of-Shoreline-
Changes-NCCR-report.pdf. Retrieved in January 8, 2023

20
over the whole Indian coast in 1:25000 sizes to identify the most susceptible

coastal areas.129

Their review can be very useful, because a systematic long-term shoreline

change study can provide information on shoreline reorientation due to structures,

changes in beach width, land loss, land gain and historical rate of changes. And

they also included the causes for shoreline change. The natural causes and

anthropogenic causes. And this information will be very useful to coastal

managers and other stakeholders in identifying critical areas for coastal

management to safeguard property and population living in coastal areas. 130

India’s coastline is changing as a result of both natural and anthropogenic

factors. An increase in demand for coastal resources of the coastal region’s

population explosion. To solve the many coastal issues, such as coastal erosion,

closure of river, lagoon, and creek mouths, etc. precise information on shoreline

changes is crucial. Before establishing any coastal protection strategy, it is

essential to have a thorough understanding of long-term shoreline change,

including its behavior and extent.131 The shoreline computation is one of the most

important parameters in detection of coastal erosion and deposition as well as the

study of coastal morphodynamics.132

129
R.S. Kankara, M.V. Ramana Murthy, and M. Rajeevan (2018). “National Assessment of
Shoreline Changes along Indian Coast”.
https://www.indiaspend.com/wp-content/uploads/2018/11/National-Assessment-of-Shoreline-
Changes-NCCR-report.pdf. Retrieved in January 8, 2023
130
S. Heckbert and A.J. Richardson (2011). “Ecological Economics of Estuaries and
Coasts”. https://www.sciencedirect.com/topics/earth-and-planetary-sciences/coastal-ecosystem.
Retrieved in January 13, 2023
131
Hridayesh Joshi (2018). “INDIA: KERALA’S COASTLINE FACES SERIOUS THREAT:
A MULTIMEDIA REPORT”. https://www.preventionweb.net/news/india-keralas-coastline-faces-
seriousthreat-multimedia-report. Retrieved in January 13, 2023
132
Mirza Razi Imam Baig, Ishita Afreen Ahmad, Shahfahad, Mohammad Tayyab, and
Atiqur Rahman (2020). “Analysis of shoreline changes in Vishakhapatnam coastal tract of Andhra
Pradesh, India: an application of digital shoreline analysis system (DSAS)”.
https://www.tandfonline.com/doi/full/10.1080/19475683.2020.1815839. Retrieved in January 13,
2023

21
 In order to implement appropriate safeguards while building structures and

infrastructure in eroding coastal areas, it is equally crucial to understand the

causes of erosion. Before building any construction on the coast, coastal

managers and policy makers need precise knowledge on long-term shoreline

changes.133

Their review is slightly similar to our research study. Although our research

study is more on how we can manage the cleanliness of our shoreline and

coastline. Compared to their review, they focused more on the updates and

information on shoreline changes along the coastline.

Therefore, the review on shoreline changes along the Indian coast for the

period 1990-2016 is providing information to people in India, especially to the

coastal managers and also people living in coastal areas. And the goal of their

project is to produce the systematic data on coastal changes at different time

scales, their nature, and extent that will be necessary to develop better

management strategies.

C. Robotic Sensors

133
Gegar Prasetya (n. d.). “Thematic paper: The role of coastal forests and trees in
protecting against coastal erosion”. https://www.fao.org/3/ag127e/ag127e09.html. Retrieved in
January 8, 2023

22
 In order to better understand how this machine’s debris collection works

and to determine the role of sensors in its operation, the concepts of robotic

sensors need to be established. Thus, a discussion of related literature regarding

robotic sensors must be included. This review will go over the definition of sensor,

robotic sensor and its types, as well as its impact on the efficiency of a robot’s

function and in this study.

Any devices that can automatically capture and record data that can then

be transmitted, stored, and analyzed is known as a sensor. 134 It captures physical

attributes, e.g. temperature, mass, speed, pressure, or heat bodies gathered from

a specified environment through its receptor and converts it into observable

electrical impulses through its transducer. 135 It also collects and relays data on

how such data will be used in inferring information about the user or the user’s

surroundings.136 Given that robots operates by executing the data it has collected,

sensors play an important role in a robot’s function.

As a robot’s key component, robot sensor has been receiving increased

attention from robot researchers.137 In robots, sensors are used to estimate the

robot’s condition and environment via signals that are sent to the controller that

allows the robot to take the appropriate action and behavior. 138 According to Song
134
Mark Andrejevic and Mark Burdon (2015). “Defining the Sensor Society”.
https://journals.sagepub.com/doi/abs/10.1177/1527476414541552. Retrieved in December 16,
2022
135
Mohd Javaid, Abid Haleem, Shanay Rab, Ravi Pratap Singh, and Rajiv Suman (2021).
“Sensors for daily life: A review”.
https://www.sciencedirect.com/science/article/pii/S2666351121000425?
ref=cra_js_challenge&fr=RR-1. Retrieved in December 16, 2022
136
Mark Andrejevic and Mark Burdon (2015). “Defining the Sensor Society”.
https://journals.sagepub.com/doi/abs/10.1177/1527476414541552. Retrieved in December 16,
2022
137
Aiguo Song, Guangming Song, Daniela Constantinescu, Lei Wang, and Quanjun Song
(2013). “Sensors for Robotics”. https://www.hindawi.com/journals/js/2013/293656/. Retrieved in
December 16, 2022
138
Heba Soffar (2016). “Robotic sensing (Robot Sensors) uses, types & importance”.
Online Sciences. https://www.online-sciences.com/robotics/robotic-sensing-robot-sensors-uses-
types-importance/. Retrieved in December 16, 2022

23
et al. robots can use sensors as their vision, sense of touch (tactile), force sensor

(motion), and environment modelling sensor. 139

According to Song et al. robots rely on sensors to provide them with

information about their surroundings. 140 The concepts above clearly state that

sensors do play a crucial role in robot function. Acting as the robots’ guide and

tool to determine the situation about their surroundings, robots and machines

were able to take appropriate action and display appropriate behavior. The

sensors can detect the temperature, mass, speed, pressure, or heat of bodies in a

certain environment, that will be very useful in the function a certain robot needs

to accomplish. Thus, without a sensor, a robot, machine, or device will not be able

to accomplish certain tasks without having drawbacks or malfunctions.

One of its examples is the usage of sensors in smartphones. According to

Masoud et al., smartphones use sensors to improve their usability. Smartphones

use sensors to enhance their power management, detect changes in their

displacement, orientation, and tilt, acquire images for the camera, and read

fingerprints, and such, that result in the more efficient use and variety of features

of smartphones.

There are multiple types of sensors: speed sensor, PIR sensor (pyro-

electric sensor), ultrasonic sensor, and motion sensor. Each sensors have

different uses: speed sensor is used in detecting and measuring the speed of

vehicles or certain objects, PIR sensor is used in determining the infrared light

radiation that things produce, ultrasonic sensor is used in estimating the attributes

139
Aiguo Song, Guangming Song, Daniela Constantinescu, Lei Wang, and Quanjun Song
(2013). “Sensors for Robotics”. https://www.hindawi.com/journals/js/2013/293656/. Retrieved in
December 16, 2022
140
Aiguo Song, Guangming Song, Daniela Constantinescu, Lei Wang, and Quanjun Song
(2013). “Sensors for Robotics”. https://www.hindawi.com/journals/js/2013/293656/. Retrieved in
December 16, 2022

24
of a certain object or entity by generating high-frequency-sound waves, and

motion sensor is used in detecting motion of a certain entity or person. 141

However, according to Javaid et al. there are some critical sensors that we

use and help us in our daily lives. These are: level, temperature, proximity,

pressure, water quality, chemical, gas, smoke, infrared (IR), image, motion

detection, accelerometer, gyroscope, humidity, and optical sensors. 142

Level sensor is a sensor that measures the amount or level of fluids,

liquids, or other substances flowing through an open or closed system. It is best

used in fuel gauging, sea level monitoring, tsunami warning, water reservoirs,

medical equipment, compressors, hydraulic reservoirs, machine tools, beverage

and pharmaceutical processing, high or low-level detection, and such. 143

Temperature sensor is a sensor that measures the amount of temperature

around its environment. One of its examples of usage is in the healthcare sector,

wherein temperature sensors are used as a device for measuring localized

temperature changes in soft tissue which is important in understanding the

thermal phenomena of homeostasis.144

141
Mayuri Bapat (2016). “Insights to Sensor Technology and it’s Applications”.
https://www.academia.edu/23161697/Insights_to_Sensor_Technology_and_its_Applications.
Retrieved in December 20, 2022
142
Mohd Javaid, Abid Haleem, Shanay Rab, Ravi Pratap Singh, and Rajiv Suman (2021).
“Sensors for daily life: A review”.
https://www.sciencedirect.com/science/article/pii/S2666351121000425?
ref=cra_js_challenge&fr=RR-1. Retrieved in December 21, 2022
143
Mohd Javaid, Abid Haleem, Shanay Rab, Ravi Pratap Singh, and Rajiv Suman (2021).
“Sensors for daily life: A review”.
https://www.sciencedirect.com/science/article/pii/S2666351121000425?
ref=cra_js_challenge&fr=RR-1. Retrieved in December 21, 2022
144
Tomoyuki Yokota, Yusuke Inoue, Yuki Terakawa, Jonathan Reeder, Martin
Kaltenbrunner, Taylor Ware, Kejia Yang, Kunihiko Mabuchi, Tomohiro Murakawa, Masaki Sekino,
Walter Voit, Tsuyoshi Sekitani, and Takao Someya (2015). “Ultraflexible, large-area, physiological
temperature
Sensors for multipoint measurements”. https://www.pnas.org/doi/full/10.1073/pnas.1515650112.
Retrieved in December 22, 2022

25
 Proximity sensor is a device that detects the movement or presence of a

certain object without physical contact. One of its uses is in vehicles, which

contain proximity sensors that function in detecting objects near them that is

useful in preventing accidents as well as in parking vehicles. 145

Pressure sensor is a sensor that measures the amount of pressure within

gasses or liquids. One of its notable uses is in healthcare sector, these are used

in diagnostic health monitoring and precision surgery (detecting biological signals

associated with health status, including blood flow, tendon repair, and such.) 146

Water quality sensor is a device that monitors the quality of a water for a

variety of applications. It helps in preventing contamination from non-potable

water cross-connections, polluted water entering the distribution system through

leaking pipes in a low-pressure location, microbial growth in distribution system

pipes and such.147

Chemical sensor is a device that is used for detecting liquid changes or

chemical changes in the air. One of its main uses is in the healthcare sector,

where it is used to determine a person’s health condition through the detection of

chemical materials from both the body and the surrounding environment. 148

145
D. Shin (2022). “USING EXISTING VEHICLE PROXIMITY SENSORS FOR REMOTE
MAPPING OF EMPTY PARKING SPACES”. https://www.tdcommons.org/dpubs_series/5227/.
Retrieved in December 22, 2022
146
Sara Rachel Arussy Ruth, Vivian Rachel Feig, Helen Tran, and Zhenan Bao (2020).
“Micro-Engineering Pressure Sensor Active Layers for Improved Performance”.
https://onlinelibrary.wiley.com/doi/abs/10.1002/adfm.202003491. Retrieved in December 22, 2022
147
Mohd Javaid, Abid Haleem, Shanay Rab, Ravi Pratap Singh, and Rajiv Suman (2021).
“Sensors for daily life: A review”.
https://www.sciencedirect.com/science/article/pii/S2666351121000425?
ref=cra_js_challenge&fr=RR-1. Retrieved in December 22, 2022
148
Moo Yeol Lee, Hae Rang Lee, Cheol Hee Park, Seul Gi Han, and Joon Hak Oh (2018).
“Organic Transistor-Based Chemical Sensors for Wearable Bioelectronics”.
https://pubs.acs.org/doi/abs/10.1021/acs.accounts.8b00465#. Retrieved in December 22, 2022

26
 Gas sensor is a device that detects various gases and monitors the quality

of the air. It is mainly used in indoor environments, industries, and aviation for the

detection of various toxic domestic gases and vapors. 149

Smoke sensor is a sensor that detects and measure the amount of smoke

in a certain environment or area. One of its main use is protecting properties and

humans from indoor fire which is used in industrial businesses, buildings, and

such.150

Infrared sensor (IR) is a device that recognizes its surroundings through

emission and detection of infrared radiation. It is mainly used in home appliances,

remote controls, infrared vision (for visualization of heat leaks in electronics,

monitor blood flow, and to allow art historians to see through beneath layers of

paint), breath analysis, wearable gadgets, optical communication, non-contact

based temperature measurement, and automotive blind-angle detection. 151

Image sensor is a device that detects and converts optical images to

electrical signals that can then be stored or displayed. One example of its use is in

the healthcare sector, where it is used in determining diseases such as lung,

breast, and brain tumors at an earlier stage through visual examination process. 152

Motion detector sensor is a device that is designed to measure and detect

physical movement in a certain area and convert it into an electric signal. This
149
Sanjit Manohar Majhi, Ali Mirzaei, Hyoun Woo Kim, Sang Sub Kim, and Tae Whan Kim
(2021). “Recent advances in energy-saving chemiresistive gas sensors: A review”.
https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7494497/. Retrieved in December 22, 2022
150
Jianxin Wang, Junpan Su, and Ruyuan Hua (2019). “Design of a smart independent
smoke sense system based on NB-IoT technology”.
https://ieeexplore.ieee.org/abstract/document/8669528/. Retrieved in December 22, 2022
151
Mohd Javaid, Abid Haleem, Shanay Rab, Ravi Pratap Singh, and Rajiv Suman (2021).
“Sensors for daily life: A review”.
https://www.sciencedirect.com/science/article/pii/S2666351121000425?
ref=cra_js_challenge&fr=RR-1. Retrieved in December 22, 2022
152
P. Mohamed Shakeel, Tarek E. El. Tobely, Haytham Al-Feel, Gunasekaran Manogaran,
and S. Baskar (2019). “Neural Network Based Brain Tumor Detection Using Wireless Infrared
Imaging Sensor”. https://ieeexplore.ieee.org/abstract/document/8599180. Retrieved in December
22, 2022

27
device is mostly used in secured businesses where no movement should be

observed at all times, where this sensor makes the detection of anyone’s

presence simpler. It is used for intrusion detection systems, automatic door

control, boom barriers, smart cameras (i.e., motion-based capture and video

recording), toll plazas, automatic parking systems, automated sinks and toilet

flushers, hand dryers, and energy management systems. 153

Accelerometer sensor is a device that is used for measuring and detecting

acceleration and vibration. They are mostly used in cars, engines, buildings, and

security installations for measuring vibrations. They can also be used in

measuring electronic equipment like 3-D games, computer mice, and

telephones.154

Gyroscope sensor is a sensor that monitor angular rate or angular velocity

of a certain frame or object. Wherein the rotating speed’s measurement around an

axis is known as angular velocity. They are mostly used for navigation and

angular velocity measurement, in car navigation systems, gaming controllers,

cellphone and camera devices, consumer electronics, robotics control, drone &

RC control helicopter or UAV control, vehicle control/ADAS, and rotational velocity

measurement.155

Humidity sensor is a device that measures the amount of water vapor

present in a gas, also known as humidity. It has a wide range of applications,

153
Mohd Javaid, Abid Haleem, Shanay Rab, Ravi Pratap Singh, and Rajiv Suman (2021).
“Sensors for daily life: A review”.
https://www.sciencedirect.com/science/article/pii/S2666351121000425?
ref=cra_js_challenge&fr=RR-1. Retrieved in December 22, 2022
154
Ilham Arun Faisal, Tito Waluyo Purboyo and Anton Siswo Raharjo Ansori (2020). “A
Review of Accelerometer Sensor and Gyroscope Sensor in IMU Sensors on Motion Capture”.
https://www.academia.edu/download/71039855/826-829.pdf. Retrieved in December 22, 2022
155
Mohd Javaid, Abid Haleem, Shanay Rab, Ravi Pratap Singh, and Rajiv Suman (2021).
“Sensors for daily life: A review”.
https://www.sciencedirect.com/science/article/pii/S2666351121000425?
ref=cra_js_challenge&fr=RR-1. Retrieved in December 22, 2022

28
including humidity control in various industrial processes, agricultural moisture

monitoring, the medical field, weather forecasting, indoor humidity sensing, and

domestic machine control.156

Optical sensor is a device that detects and converts the physical amount of

light into an electrical signal that a human or electronic instrument/device can

read. This sensor is one of the most commonly used sensors. It is used in the

healthcare sector, environmental monitoring, energy, aerospace, and many other

fields. This device was used for surveillance, ambient light detection, security, and

such.157

Among all of these types and applications, it is clear that there are various

types of sensors, each with a distinct purpose and function. In this research, we

will develop a machine. Specifically, a debris collection machine for shorelines

along coastal areas. As a machine that needs to work unmanned, it needs to use

sensors to work optimally. Thus, the type of sensors compatible with this

machine’s function has now been determined based on the reviewed literature

and concepts discussed above. The machine is automated and runs on batteries.

It will be equipped with a battery sensor to determine the machine’s battery status

as well as to control the charging voltage and current as needed. Proximity sensor

to detect the debris close to the machine as it moves along the shoreline. An

optical sensor must also be used to determine whether the object is the debris

156
Chao Lv, Cun Hu, Junhong Luo, Shuai Liu, Yan Qiao, Zhi Zhang, Jiangfeng Song, Yan
Shi, Jinguang Cai, and Akira Watanabe (2019). “Recent Advances in Graphene-Based Humidity
Sensors”. https://www.mdpi.com/2079-4991/9/3/422. Retrieved in December 22, 2022
157
Mohd Javaid, Abid Haleem, Shanay Rab, Ravi Pratap Singh, and Rajiv Suman (2021).
“Sensors for daily life: A review”.
https://www.sciencedirect.com/science/article/pii/S2666351121000425?
ref=cra_js_challenge&fr=RR-1. Retrieved in December 22, 2022

29
that should be collected or not. Accelerometer and gyroscope sensors are also

used to ensure that the machine moves optimally.

It is evident that machines will be unable to operate optimally and efficiently

in the absence of sensors. Sensors are important in this study because one of its

goals is to develop a cleaning machine that does not require human labor.

Sensors became more integrated as technology advanced. As a result, the time

has come to employ such sensors for the benefit of our environment.

D. Robot Mechanism

Humans need robots for dangerous, repetitive, and high-precision tasks.

Robots perform tasks that humans cannot in hostile environments while

performing

repetitive tasks quickly and accurately. The modern industrialized world

would not be complete without robots. Our project “CoastLect: An Automated

Debris Collector for Shorelines Along Coastal Areas” is here to help our

fellow Filipinos who live along the shoreline areas. The purpose of this project is

to help in mitigating the persistent beach pollution that has a great contribution to

marine pollution.

The world needs robots or a myriad of reasons, including dangerous jobs

and automated manufacturing. Robots work without needing to rest, sleep or eat,

allowing manufacturers to streamline processes and improve performance.

Robots are being used in a variety of roles, from cleaning up hazardous waste

and chemical spills to defusing bombs and protecting soldiers in the field.

Originally developed for the military, new humanoid robots and “exo-suits” are

30
being developed in the private sector for a variety of uses, from manual labor to

assist the disabled and those with mobility issues.

Robots also offer a level of precision unmatched by the human hand and

repeatable accuracy over a long period. These properties make it ideal for precise

cutting, welding, and construction processes. Robots are also revolutionizing

medical procedures by allowing many types of surgery to be performed using non-

invasive ambulatory procedures, as opposed to traditional surgeries that require

longer recovery times is bringing medical robots have now advanced to the point

of being used in brain, heart, and eye surgery, allowing doctors to treat conditions

that previously could only be treated with treatments almost as dangerous as the

conditions that caused them, It is now possible 158. The performance of robotic

mechanisms will be influenced by the precision of the motion control. The motions

for each joint of the robotic mechanisms alter depending on the various payload

masses when the robotic end-effector is carrying varied weights. The potential

drawback of conventional control systems is that they cannot account for the

influence of load changes. To address the aforementioned problem, adaptive

control, particularly model reference adaptive control (MRAC), has been

proposed. Model reference, self-tuning, and gain-scheduled are the three

categories into which adaptive control is typically broken down. The authors of this

study pay exclusive attention to the model-reference technique. As far as the

authors are aware, there aren't many new research articles in the field of MRAC,
159
particularly for robotic mechanisms because robotic While some precedents

158
Staff Writer (2020). “Why do we need Robots?”. https://www.reference.com/history-
geography/need-robots-9f9f50d8b03b4ceb. Retrieved in January 3, 2023
159
Dan Zhang and Bin Wei (2017). “A review on model reference adaptive control of
robotic manipulators”. https://www.sciencedirect.com/science/article/abs/pii/S1367578816301110.
Retrieved in January 3, 2023

31
have demonstrated the benefits of using floor sweeping robots for building

maintenance, there are many performance issues with traditional platforms.

A major contributor to poor performance is the fixed morphological design,

which severely restricts navigation and access. To that end, this article introduces

a new Tetris-inspired, reconfigurable floor cleaning robot called hTetro. The

designed robot can reconfigure its form into one of seven one-sided tetrominoes

depending on the perceived environment, maximizing its coverage area. In this

paper, we present the coverage area performance of the hTetro robot and

systematically compare its performance with two commercially available fixed-

form robotic platforms.

Our experiments show that hTetro achieves significantly higher coverage

performance than other platforms due to its ability to shape-shift according to

navigation within the environment.160 Fixed-form cleaning robots lack adaptations

to access and perform cleaning in unstructured environments. Although

reconfigurable robots such as hTetro developed in previous research have solved

this problem, the problem of robot locomotion operability and its associated real-

time control remains unsolved. This paper explores whether a four-wheel

independent control steering and drive mechanism (4WISD) offers an effective

solution for high robotic maneuverability and can serve as a single mechanism for

locomotion and transformation through control strategies interlocking mechanisms

between submodules of the hTetro platform have been improved, and kinematic

and dynamic closed-loop control schemes have been developed to enable

160
Thein ThanTun, Loulin Huang, Rajesh ElaraMohan, and Seong Guang He Matthew
(2018). “Floor Cleaning Robot with Reconfigurable Mechanism”.
https://www.sciencedirect.com/science/article/abs/pii/S0926580517306908. Retrieved in January
5, 2023

32
cleaning tasks to be performed in hazardous environments.161 According to the

statistical conclusions, the proposed hTetro-Infi is capable of significantly

improving area coverage compared to an existing tiling-theory based floor

cleaning robot. Furthermore, the area coverage improvement of hTetro-Infi is

noteworthy. Therefore, the proposed concept is beneficial in improving the

abilities of a reconfigurable cleaning robot. 162 The proposed motion planning

method applies polyomino tiling theory to tile the defined space, generate

reference coordinates, generate a navigation path over the generated tile set, and

maximize area coverage. It aims to become We summarize all these aspects and

conclude with experiments in simulated environments comparing the proposed

technique with conventional approaches. The results show that the proposed

motor planning method achieves significantly higher performance with respect to

the recovered area than the conventional method. 163

Cleaning a dirty room is a very important task for humans to maintain their

quality of life. Recently, especially in Asian countries such as China and South

Korea, many high-rise buildings whose facades are easily stained with dust and

pollution are being built. Human workers cling to gondolas and ropes to clean the

mostly glass façade. This is a dangerous task as it requires a long stay in the air

and the danger of falling. To help people avoid this dangerous and strenuous

task, many researchers have attempted to develop unmanned façade cleaning

161
Thein ThanTun, Loulin Huang, Rajesh ElaraMohan, and Seong Guang He Matthew
(2018). “Floor Cleaning Robot with Reconfigurable Mechanism”.
https://www.sciencedirect.com/science/article/abs/pii/S0926580517306908. Retrieved in January
5, 2023
162
S. M. Bhagya P. Samarakoon, M. A. Viraj J. Muthugala, Anh Vu Le, Mohan Rajesh
Elara (2020). "A Reconfigurable Floor Cleaning Robot With Infinite Morphologies".
https://ieeexplore.ieee.org/abstract/document/9062480. Retrieved in January 5, 2023
163
Prabakaran Veerajagadheswar, Ku Ping-Cheng and Masami Iwase (2020). “Motion
planner for a Tetris-inspired reconfigurable floor cleaning robot”.
https://journals.sagepub.com/doi/full/10.1177/1729881420914441. Retrieved in January 5, 2023

33
robots. However, there are still many problems to be solved before cleaning

robots become efficient and popular. This study examines and analyzes robots

used to clean building facades and glass. Robots are classified by type of

climbing mechanism and mounting mechanism, and cleaning methods, mobility,

obstacle overcoming performance, etc. are analyzed. 164

A control law based on biaxial clinometer information is proposed, and it

enables the robot to move horizontally in round pipes or ducts. Finally, the motion

of a single wheel purely rolling in a cylindrical workspace is simulated.

Experiments using a car-like mobile robot moving in round ducts are carried out to

show the feasibility of the proposed algorithm. 165 The task of autonomous motion

control of mobile robots is considered. A mathematical model of the motion control

system is constructed and analyzed. The method of fuzzy logic enables the

construction of a logical language model of a motion control system that reflects

the entire semantic formulation of the problem using qualitative expressions

corresponding to the way "humans" think and make decisions. 166 The proposed

mechanism first combines the robot's own motor encoders with linear regression

in a neural network to compute the movement distance and rotation angle for the

robot's own position estimation. At the same time, an auto-rotating camera scans

the number of infrared points on the docking station to find the position of the

docking station, allowing the cleaning robot to recharge properly in his two stages

164
TaeWon Seo, Youngjae Jeon, Changmin Park & Jongwon Kim (2019). “Survey on
Glass And Façade-Cleaning Robots: Climbing Mechanisms, Cleaning Methods, and Applications”.
https://link.springer.com/article/10.1007/s40684-019-00079-4. Retrieved in January 5, 2023
165
Zhangjun Song, Hongliang Ren, Jianwei Zhang, and Shuzhi Sam Ge (2015).
“Kinematic Analysis and Motion Control of Wheeled Mobile Robots in Cylindrical Workspaces”
https://www.researchgate.net/publication/288250925_Kinematic_Analysis_and_Motion_Control_of
_Wheeled_Mobile_Robots_in_Cylindrical_Workspaces. Retrieved in January 5, 2023
166
Artem Vinogradov, Alexey Terentev, Mikhail Kochetkov, and Vladimir Petrov (2019).
“Model of Fuzzy Regulator of Mobile Robot Motion Control System”.
https://ieeexplore.ieee.org/document/8657027. Retrieved in January 6, 2023

34
of existing infrared range and extended infrared range. In addition, 6-axis

acceleration and ultrasound are applied to handle angular errors caused by

collisions. Experimental results show that the proposed recharge mechanism

significantly improves recharge efficiency.167

The new robot is very compact compared to most traditional stair cleaning

and climbing robots. Only one motor is used to power the climbing mechanism,

and both legs of the robot can be retracted when not climbing. Its compact

structure allows the new robot to move along risers and clean stairs. This is a

distinct advantage over most similar robots. The cleaning device is configured

similarly to current floor cleaning robots. Sensors and control systems are

designed to help you navigate stairs and avoid falls and collisions. Experiments

show that the new robot has a high success rate in climbing and descending

common types of stairs, and can clean corresponding stairs. 168 To enable efficient

debris collection from sandy surfaces, we designed a mechanism that mimics

sweeping a floor with a broom and dustpan. To locate itself, the robot was

equipped with a scanning range finder that measured the position of her two poles

placed at the corners of the desired workspace. The navigation system used

sensor information to calculate the robot's position and orientation, and to correct

path errors.169 In order to efficiently collect small dust particles from sandy soil, the

robot is equipped with a mechanism that picks up the dust in the same way that a

167
Ching-Lung Chang, Chuan-Yu Chang, Zhi-Yuan Tang, and Shuo-Tsung Chen (2018).
“High-Efficiency Automatic Recharging Mechanism for Cleaning Robot Using Multi-Sensor".
https://www.mdpi.com/1424-8220/18/11/3911. Retrieved in January 6, 2023
168
Lei Zhang, Yuan Yang, Yugang Gu, Xiaogang Sun, Xingtian Yao, and Liguo Shuai
(2016). “A New Compact Stair-Cleaning Robot”.
https://asmedigitalcollection.asme.org/mechanismsrobotics/article-abstract/8/4/045001/384296/A-
New-Compact-Stair-Cleaning-Robot. Retrieved in January 6, 2023
169
Tomoyasu Ichimura and Shin-ichi Nakajima (2016). “Development of an autonomous
beach cleaning robot Hirottaro”. https://ieeexplore.ieee.org/abstract/document/7558676. Retrieved
in January 6, 2023

35
human sweeps the floor with a broom and dustpan. Additionally, the robot was

able to autonomously navigate sandy beaches with poor natural landmarks

through self-localization using poles and scanning rangefinders. We reported on

the performance evaluation of litter collection and autonomous navigation on a

sandy beach.170

A developed robot can work autonomously in collecting cans with claws like

an excavator. In addition to a detailed description of the design and construction

of the system, this paper presents a description of the developed embedded

electronic module, motor closed loop. Velocity control systems and optical flow

algorithms that allow computer vision systems to detect, avoid obstacles, track

and collect cans.171 Litter and debris left on beaches can endanger the lives of

coastal animals such as turtles and birds, and can harm the tourism industry by

detracting from the natural beauty of beaches. To solve this problem, most coastal

regions are involved manual work, volunteer work, or a large Zamboni-like

machine for picking up trash. However, these operations are very costly and time

consuming. Mechanized and autonomous forms of garbage collection and

disposal must be used to effectively stem the increasing negative impact of

garbage on coastal ecosystems. Develop a robot that can traverse sand, pick up

small debris, dispose of trapped debris, dodge large objects, and more. Ocean,

while functioning autonomously, presents various technical challenges. The

present invention is based on a later developed concept of raking or combing

170
Tomoyasu Ichimura and Shin-ichi Nakajima (2018). “Performance Evaluation of a
Beach Cleaning Robot Hiirottaro 3 in an Actual Working Environment”.
https://ieeexplore.ieee.org/abstract/document/8571634. Retrieved in January 6, 2023
171
Felippe Schmoeller da Roza, Vinicius Ghizoni da Silva, Patrick Jose Pereira and
Douglas Wildgrube Bertol (2015). “Modular robot used as a beach cleaner”.
https://www.researchgate.net/profile/Douglas_Bertol/publication/310474598_Modular_robot_used_
as_a_beach_cleaner/links/5838395e08aef00f3bf9ea03/Modular-robot-used-as-a-beach-
cleaner.pdf?_sg%5B0%. Retrieved in January 6, 2023

36
sand to a certain degree of continuity and integrity that is guaranteed. It can

remove large pieces as well as the majority of small items such as broken glass

and nails. It does not require or involve the removal of consequential amounts of

beach sand itself or the movement of debris. Take in various garbage that has

accumulated on the beach, throw away the sand in a special trash can, and

collect the garbage.172

The filter mechanism consists of a system that is used to separate sand and

small-sized debris (plastic pieces, glass pieces, cans, cigarette butts, etc.) using a

vibrating mechanism. The drive mechanism remotely controls the robot's

movements via a Bluetooth module that sends and receives signals with the help

of a walkie-talkie. This type of system works in the most economical way for the

environment.173 The robot moves over the sand on sprockets, and trash is picked

up by a conveyor belt with metal hooks. The novelty of this robot is that it provides

a mechanism to identify and classify polyethylene and plastic separately. The

features of this robot are that it is simple, inexpensive and easy to use. 174 The

concept of this project is to find solutions to help the marine environment where

litter and debris affect the environment and everything that surrounds it. This

mechanical system will help organizations and volunteers working on this

172
Amit Kumar Yadav, Animesh Singh, M. A. Murtaza, and Ajendra Kumar Singh (2018).
"Eco Beach Cleaner".
https://www.researchgate.net/profile/Ajendra-Singh/publication/333396256_Eco_Beach_Cleaner/
links/5cebb784458515712ec61cc5/Eco-Beach-Cleaner.pdf. Retrieved in January 10, 2023
173
Nasreen Bano; Amina Amin; Hussain Boghani; Hiba Tariq; Saba Bakhtawar; Illyas
Waggan; Tanzila Younas (2019). “Radio Controlled Beach Cleaning Bot”.
https://ieeexplore.ieee.org/abstract/document/9117269. Retrieved in January 10, 2023
174
Wijesinghe, G.L.C., Isuranga, M.P.U., Subasinghe, H.L., and Milinda, H.G.T. (2022).
“Design and fabrication of autonomous beach cleaning and garbage sorting robot”.
http://ir.lib.ruh.ac.lk/handle/iruor/9384. Retrieved in January 10, 2023

37
problem. In addition, it is specially designed to pick up litter from beaches and

shores.175

As people are highly sensitive to physical movement and spatiotemporal

affordances, well-designed robot motion can communicate, engage, and offer

dynamic possibilities beyond the machines' surface appearance or pragmatic

motion paths. We present techniques for movement centric design, including

character animation sketches, video prototyping, interactive movement

explorations, Wizard of Oz studies, and skeletal prototypes. 176 Floor cleaning

robots were developed to overcome the problems encountered in traditional

cleaning processes. hTetro is a self-reconfigurable floor cleaning robot introduced

to improve area coverage. Polyomino tile theory is used by hTetro to plan area

coverage. Energy consumption and area coverage depend on tile placement and

are often conflicting factors. Therefore, hTetro has to maintain a trade-off between

area coverage and power consumption to improve its performance. 177

Therefore, robots were once considered science fiction so much, so that

using them in our daily lives used to seem absurd. Nonetheless, they have

arrived. Automation has already proven its worth in the automotive, mining, and

military industries. Robots have proven to be reliable and efficient. As the

environmental problem begins to emerge, our solution must follow suit. As a

result, incorporating robotics into the mass garbage cleaning industry will give us

175
R. Pravee, L. Prabhu, P. Premjith, Adarsh. K. Mohan, Ajayraj (2022). “Design
experimental of RF controlled beach cleaner robotic vehicle”.
https://iopscience.iop.org/article/10.1088/1757-899X/993/1/012030/meta. Retrieved in January 15,
2023
176
Guy Hoffman and Wendy Ju (2014). “Designing robots with movement in mind”.
https://dl.acm.org/doi/10.5898/JHRI.3.1.Hoffman. Retrieved in January 15, 2023
177
M. A. Viraj J. Muthugala, S. M. Bhagya P. Samarakoon, and Mohan Rajesh Elara
(2020). “Tradeoff Between Area Coverage and Energy Usage of a Self-Reconfigurable Floor
Cleaning Robot Based on User Preference”. https://ieeexplore.ieee.org/stamp/stamp.jsp?
tp=&arnumber=9072413. Retrieved in January 15, 2023

38
an advantage in resolving coastal issues and much more. No matter how good

the machines are, robotics will not transform your cleaning operations overnight or

even by themselves. They will, however, play an important role in assisting us in

future proofing our environment by bringing various efficient and effective

solutions.

Synthesis

39
 Waste has always been a significant problem. Being linked to human

development—namely industrial, social, and technological—it had a significant

impact on the well-being of the residents as well as on society. In the first part of

this review, "waste management" is tackled. It is stated here that the wastes that

we leave behind remain on this planet even after we leave, which is why greener

waste management is very much needed in order to lessen the further damage it

can bring to our environment.

As stated by A. Avila, the majority of the garbage we generate at home

comes from the food we eat. Whereas the leftovers from our meals are simply

tossed out without much thought. Avila proposed composting as a solution to this

problem. In which, food scraps and other organic debris are broken down to

create a nutrient-rich soil amendment.

Furthermore, according to D. Inghels, green waste such as leaves, wood

cuttings from pruning, and grass collected from parks and gardens can be used to

generate energy. However, given that the only efficient way to dispose of these

wastes due to our current resources is to use them as fertilizers, pursuing and

challenging the government to acquire the necessary technology is a must.

On the other hand, for this study's main focus, coastal trash, that this type

of trash is one of the most dangerous and widely dispersed trashes that can

impact our lives. Our government's current approach is to fund waste

management in coastal communities, which is inefficient. As a result, the best way

to reduce such wastes is to encourage a more convenient method of disposal.

Concerning coastal areas, the second theme of this study, titled "shorelines

and coastal areas' status," focuses on shorelines. Coastline, also known as

shoreline or seashore, is defined here. Indian Coast shorelines became a model

40
suitable for use as a reference for our study's concept application, serving as our

locale's basis.

Beach erosion has been affecting Indian coastlines for a long time,

according to Kankara et al., as the coastal population grows, so does the rate of

erosion and the threat level, and one solution is to thoroughly examine shoreline

movement from one coastal region to another.

The National Centre for Coastal Research (NCCR) investigated

shoreline change from 1990 to 2016 by comparing various shoreline positions in

satellite photographs. It has been discovered that the Indian coastline has

changed significantly, with pollution caused by human activities being one of the

main causes.

As a result, robotic sensors are discussed in the third theme. In relation to

the study's objective, robotic sensors are critical in order for its product to function.

Understanding what sensors are and determining the appropriate type of sensors

to use in this study is therefore critical. Sensors use signals to estimate the robot's

condition and environment, which are then sent to controllers, which determine

the appropriate action and behavior for the robot.

According to Song et al., robots cannot function without sensors, as they

are dependent on the information they provide about their surroundings. Sensors

can detect the temperature, mass, speed, pressure, or heat of bodies. Due to this,

robots can function optimally and without drawbacks.

To support this, according to Masoud et al., smartphones use sensors to

improve their usability. They use sensors to improve their power management,

displacement, orientation, and tilt change detection, image acquisition in the

41
camera, reading and processing fingerprints, and many other functions. Given

that a smartphone is a type of robot, sensors are critical to its operation.

The various types of sensors that this study's product can use are also

discussed here. Level, temperature, proximity, pressure, water quality, chemical,

gas, smoke, infrared, image, motion detection, accelerometer, gyroscope,

humidity, and optical sensors are among those we use and rely on in our daily

lives, according to Javaid et al. Each of these sensors serves a different

purpose, and if used and applied correctly, they can have a positive impact on

CoastLect.

The robot mechanism is also discussed to round out this study's literature

review. Robots are required for humans to perform tasks quickly and accurately.

In this review, a floor cleaning robot known as "hTetro" is translated as a

reference to CoastLect. It is a reconfigurable robot inspired by Tetris that is used

to clean floors. It adapts to its surroundings through proximity and optical sensors,

which allow it to perceive its surroundings and thus improve its performance,

particularly its coverage area. Because coastal areas are rougher than floors,

making CoastLect adapt some features from it, such as its adaptability, is

essential for this study.

42
B. Theoretical Discussion

Our environment is continually undergoing abrupt changes, particularly in

its climate behavior. Pollution, primarily pollution caused by humans, is one of its

main causes. Waste that washes up on shorelines is one example of this. Thus,

many professionals have researched and suggested methods to address these

enduring problems. One of the keys to minimizing it, according to an article by

Dirk Inghels, is employing wastes as a source and material for energy

valorization. The idea of innovating waste-to-power supports Inghel's stated goal

of "becoming green and clean," however the effectiveness of this strategy

depends on the resources a particular nation or state has. Considering that we

currently face a dilemma, particularly with regard to our resources, obtaining such

goal will be far from possible. Thus, government should be very careful and wise

in obtaining the necessary technology to be utilized in minimizing waste.

Choosing the right sensor is critical for robots to function properly and

without flaws. According to a study conducted by Mohd Javaid et al., the price of

the sensor determines its quality. Furthermore, this theory contradicts the study's

single goal of developing a convenient debris collecting machine. Despite the fact

that there are numerous sensors to choose from, there are numerous factors to

consider. To go along with the current crisis and to test this theory, one of the

study's objectives included costing and efficiency.

43
C. Gaps in the Literature

Due to the difficulty in developing these types of machines, there have

been no successful applications. There have been many in its early stages, but

due to the high cost of required resources, its attainability has decreased. It is

highly reliant on its program and sensors as well. Thus, multiple tests and

observations should be done.

Furthermore, in order for the machine to be well maintained, skilled labor

and knowledge of the machine are required to avoid malfunction or having the

machine destroyed. It will not be user friendly because these types of machines

are still new to the community and general knowledge about them is insufficient.

As previously stated, due to its high resource requirement, only a limited amount

of it will be used, and most likely only for tests and observation of its drawbacks

and weaknesses. Moreover, because our country is currently experiencing a

resource crisis, specifically inflation, funding for the aforementioned product

developments will be insufficient. With our coastal areas becoming increasingly

vulnerable, it is more prudent to seek a more appropriate approach to our current

crisis situation.

44
Conceptual Framework
To illustrate the study to be conducted, the flow chart is presented below.

Developing the CoastLect: An Automated Debris

Collector for Shorelines Along Coastal Areas

Identifying the specifications and components of the

machine

Illustrating and designing the exterior and interior

parts of the machine using 3D Model Autocad

Assemblage and construction of the machine’s

interior and exterior components

Evaluating and analyzing the performance of the

machine

Engineers, communities, and residents’ evaluation

about the machine

Figure 2. Flow Chart

45
 To illustrate the study to be conducted, the research paradigm is presented

on the next page/ below.

Input Process Output

1. Description of CoastLect’s
.
specifications in terms of:
Components A. Developing the
Design (Internal and External)
CoastLect: An
Voltage, Current, and Resistance
Automated Debris
Cost
Collector for
Weight
Shorelines Along
Size
Dimension
Coastal Areas:

a. Identification of the
proposed location CoastLect: An
where the project will Automated
be executed Debris Collector
for Shorelines
b. Data collection of the
Along Coastal
garbage to be treated
in the area location to Areas
execute the project

c. Blueprint design for

dimension and capacity

d. Structural design
(internal and external)

e. Determining of the
cost and materials
collection

B. Construction of
CoastLect

a. Skills (component
skills needed in the
project’s construction)

b. System

c. Mechanism

d. System feedbacks
(construction and
design)

46
Description of CoastLect’s
capacity in terms of:
Loading Capacity C. Analysis of the
Runtime Capacity
material and its
Sensor Capacity
effectivity on the
location

a. Observation

b. Troubleshooting
CoastLect: An
c. Testing Automated
Debris Collector
D. Identification of the for Shorelines
factors that affects it Along Coastal
function through
Areas
testing
Levels of acceptance of the
engineers and residents a. Data Collection
regarding CoastLect’s
performance in terms of:

Cost E. Evaluation of the

Efficiency
project’s
Durabiity
effectiveness
regarding other
approaches though
data collection

a. Production

b. Maintenance

c. Costing

d. Power saved

F. Identification of
factors that affects its
effectiveness through
testing and data
collection

a. Advantages

b. Disadvantages

47
Description of CoastLect’s
edge in comparison to other
tools used in removing G. Comparison of
debris along beaches in data collected
terms of: regarding other toold
and CoastLect’s
a. Efficiency identity in all factors
available:
b. Convenience
a. Time
CoastLect: An
b. Cost Automated
Debris Collector
c. Effectiveness for Shorelines
Along Coastal
d. General Result
Areas
e. Feedback from the
community

g. Costings

48
 Figure 2. Research Paradigm

Figure 2 shows the research paradigm of the study, comprising the three

major parts of the IPO Model of Evaluation, namely input, process, and output.

The input contains the objectives that this study aims to answer. The descriptions

of CoastLect’s specifications, its capacities, the level of acceptance of engineers

and communities regarding its cost, efficiency, and durability, as well as its edge

compared to the other cleaning tools used in removing debris along beaches

Meanwhile, the process involves the actual application of the actions that

need to be performed in order to satisfy the objectives included in the output. The

process of CoastLect’s development, construction, as well as the testing and data

collection to determine its efficiency is located here.

All of these results into the study’s output, which is the actual product,

CoastLect: An Automated Debris Collector for Shorelines Along Coastal Areas.

49
Definition of Terms

In order to facilitate a common understanding of the information conveyed

in this research study, these terms are hereby defined operationally and

theoretically. For clarification, the important term used in the study has been

defined.

4WISD – a four-wheel robot mechanism that have its steering and driving

mechanism independently controlled.

Algorithm – process or set of rules followed by computers and robots.

Anthropogenic – change in environment caused or influenced by people.

Biaxial Clinometer – a clinometer having two axes used in measuring heights

and slopes for surveying.

Dynamic – in constant change or progress.

Gondola – a cable car that works aerial through cables.

Homeostasis – self-regulating process of a certain organism’s organ system or

body

Kinematic – in motion, moving.

Mean High Water (MHW) – the average level of each pair of successive high

waters.

Mechanism – a system of parts in a machine working together.

Rubbish – litter, waste material.

Spatiotemporal – involves or having both space and time qualities.

UAV – Unmanned Aerial Vehicle

50
Modern Reference Adaptive Control (MRAC) – an alternative for classic

controller algorithms of robots, it helps in controlling slow processes of controller’s

parameters.

Morphodynamics – the study of changes in landscape due to sedimentation and

erosion.

Polythylene – commonly known as plastic. Is a light, versatile synthetic resin

made from ethylene.

Polyomino Tile Theory – tiling of the plane by specific types of polyominoes

(connected tile obtained by gluing together units of squares).

Receptor – a part of robot that receives and transcribes information from

surroundings.

Tetris – refers to a block that consists of an arrangement of four adjoining cubes.

Transducer – the one that converts the information the receptor received into

observable impulses.

51
 Chapter 3

RESEARCH DESIGN AND METHODOLOGY

This chapter presents the research design, sampling method and

techniques, instrumentation, research methods and procedures, and data analysis

used in this study. It also includes ethical considerations dealing with human

participants, potentially hazardous biological agents, and hazardous activities and

devices.

Research Design

According to Sacred Heart University, general structure research design’s

purpose is to ensure that the evidence obtained allows you to address the

research problem as clearly as possible. Obtaining evidence relevant to the

research problem in social sciences research typically entails specifying the type

of evidence required to test a theory, evaluate a program, or accurately describe a

phenomenon. Researchers, on the other hand, frequently begin their

investigations far too soon, before they have critically considered what information

is required to answer the study’s research questions. Without first addressing

these design issues, the conclusions reached risk being weak and unconvincing,

failing to adequately address the overall research problem. 178 The research

method will help identify CoastLect’s acceptance testing characteristics in terms of

cost, efficiency, and durability in comparison to other cleaning tools or materials

currently available. To accomplish this, researchers will gather evidence pertinent

to the problem. This method will effectively describe the data that will be required

178
Sacred Heart University, “Organizing Academic Research Papers: Purpose of Guide –
Descriptive Design, Observation Design”, retrieved from https://library.sacredheart.edu/c.php?
g=29803 in January 8, 2023
for an adequate test of the hypotheses, explain how such data will be obtained,

and describe the data analysis methods that will be used to determine whether or

not the hypotheses are true or false.

This study will also use the descriptive-observational research method.

According to Research Library, SHU, Descriptive research designs help in

answering the questions of who, what, when, where, and how they are related to

a specific research problem; however, a descriptive study cannot provide

conclusive answers to why. Descriptive research is used to gather information

about the current state of a phenomenon and to describe “what exists” in terms of

variables or conditions in a given situation. 179 With the help of the CoastLect’s

components, design, and other mechanical and electrical generation, this

approach will focus some necessary descriptions. It will then cater to the

description of the CoastLect’s capacity, including its loading and running times.

The environment in which the subject is being viewed is entirely natural and

unaltered. While providing data that may be analyzed, genuine tests frequently

have a negative impact on the subject’s usual behavior.

Sampling Technique and Procedures

179
Sacred Heart University, “Organizing Academic Research Papers: Purpose of Guide –
Descriptive Design, Observation Design”, retrieved from https://library.sacredheart.edu/c.php?
g=29803 in January 8, 2023
53
 The researcher will employ purposeful sampling techniques in building and

into the technical analysis of CoastLect. According to Complete Dissertation,

purposeful sampling, also known as purposive and selective sampling, is a

sampling technique used by researchers to recruit participants who can provide

in-depth and detailed information about the in-detailed circumstances,

technicalities, and phenomenon under investigation and the project itself. 180 It is

highly subjective, with the researcher determining the qualifying criteria that each

participant must meet in order to be considered for the research study.

Additionally, in manufacturing projects, the researchers will adhere to

mechanical standard procedure. Planning, design, construction, troubleshooting,

and testing are all part of the process. To ensure quality output, the researchers

will employ sampling from machinery experts.

The key informants will be selected through a homogenous purposive

sampling, in which in this form of sampling, candidates who share the same traits

or characteristics will be focused on. These are the criteria the key informants to

be included in the sample had to meet: 1. The Position of the Key Informant; this

will determine the informant’s capability in answering the hypothesis of the

researchers. 2. Specific Area of Expertise; wherein the informant will be scanned

based on their subject of expertise. 181 3. Knowledge; the informant must have

enough knowledge about the topic. Lastly, 4. Voluntary; the informant’s

willingness to answer and follow the guidelines honestly and sincerely.

Instrumentation

180
Complete Dissertation, “Purposive sampling”, retrieved from
https://dissertation.laerd.com/purposive-sampling.php in January 9, 2023
181

54
 The researcher used the following instruments in this study to collect all of

the data needed to answer the study’s problem.

For the specifications of CoastLect, a ruler, triple beam balance, voltmeter,

paper, pen, pencil, recording notebook, and Autodesk Tinkercad will be used.

A letter of permission, informed consent forms, and a structured

questionnaire with open-ended questions will be used to conduct the interviews. A

pen and a notebook will be used to jot down key points in their statements, and an

audio recorder will be used to capture their responses.

The researcher will use a camera, scratch paper, pencil, and note books to

conduct naturalistic observations. The camera will be used to capture images and

videos of the CoastLect and its components. During the naturalistic observation,

the pen and note book will be used to record all significant observations. The

researcher will use large rocks, tree branches, and large trash to represent the

problem that our machine will collect in order to test the efficiency of the

CoastLect project. The testing will take place on BM Beach. To assess the validity

and efficacy of the CoastLect project, the researchers will apply certain criteria to

which the project must pass. These criteria are:

1. Replacement materials are available.

2. Machine performance after starting the engine.

3. System and hardware functionality.

4. Minimal flaws are the goal.

55
 For the user acceptance testing, a survey questionnaire will be distributed

to the respondents, containing questions regarding the cost, efficiency, and

durability of the CoastLect through the form of Likert Scale. In measuring the

survey questionnaire’s reliability, Cronbach’s Alpha will be applied as well defined

by the following formula:

Nc
a=
v + ( N−1 ) c

where N = Number of Items, c = average inter-item covariance among the items,

v = average variance

If the calculated result is close to 1.0, the survey questionnaire has high reliability.

Data Gathering Procedures

Interview from Environmental and Mechanical experts

Prior to the construction of CoastLect, advice and knowledge input will be

sought from selected environmentalists who can provide data on the existing

coastal garbage problem, as well as engineers and programmers who will be

instilling knowledge in the project itself. Participants will be chosen through

purposive sampling using Tremblay’s key informant method. 182 They will also be

required to sign a Human Informed Consent form. Their permission will be

obtained to keep written and audio records of their individual responses. The

information gathered will be also published for this research activity and further

study in the future.

182
Tremblay, M. A. (1957). “The Key Informant Technique: A Nonethnographic
Application”. American Anthropologist. 59(4), 688-701. https://www.jstor.org/stable/666104.
Retrieved in January 13, 2023
56
Interview from coastal communities

The researchers will collect adaptation rates from coastal communities by

branding the project and distributing questionnaires that will also introduce the

project to them. They will be able to provide feedback on the project and

determine whether it will be beneficial to them as a result of it.

Collection of coastal garbage data

The researchers will collect a quantitative ratio of existing garbage along

the city’s major coastline with the help of locals and in accordance with DENR

guidelines. Environmental experts will determine the level of intensity of trash from

various coastlines and categorize it using their standard criteria.

Preparation and trial

The data from environmental experts’ recommendations will be valuable for

machine testing. The machine will be tested in terms of garbage tracks and

overall condition. Time and collection rate will be recorded. The testing will not

only record the project’s effectiveness, but also any necessary adjustments based

on the success rate gathered.

Data Analysis

Qualitative Mechanical Analysis

57
 The project will heavily rely on CoastLect’s mechanism and built as a sign

of its success. Before going into production, the project must pass a number of

tests and gauges. It is necessary to create control charts using a variety of testing

data in order to test the project’s working accuracy. Using this data, you can

determine whether the variability and target values associated with CoastLect fall

within the specification bounds established by the mechanical experts under

consideration. The output functionality of the apparatus must be parallel to the

functionality of the Arduino programming. The effectiveness and efficiency of the

project as a whole are significantly impacted by each and every element. To boost

the working force of the program and the functionality of the machine, a

collaborative basis system must be implemented in the project. Unexpected

events within the machine must also be addressed by the system so that they can

be easily troubleshooted.

CoastLect Error, Accuracy, and Response Time Data Analysis

During the testing of the CoastLect, evaluation of its error, accuracy, amd

response time will be done also. Accuracy is the instrument’s capacity in

measuring the results close to the true value. In which, the following formula will

be used in calculating the device’s error and accuracy. 183

normal testing result

relative error=
unit testing result

absolute error=testing result−manual testing result

183
Fraden, J. (1995). “Design and Applications”. Handbook of Modern Sensors Physics.
https://www.researchgate.net/publication/31745824_Handbook_of_modern_sensors_Physics_desi
gns_and_applications. Retrieved in January 15, 2023
58
 This formula will be used throughout the trials, and the mean will be

determined after calculating the accuracy and error of the prototype device in

terms of error, accuracy, and response time. The device’s response time will be

determined through recording the time between dipping the probes in the water

sample and the corresponding LEDs turning on in seconds. The device’s average

response time will then be determined using the response time of trials.

Single Factor ANOVA and Post Hoc Test Data Analysis

The single-factor analysis of variance (ANOVA) will be used to determine

whether there is a statistically significant difference in error, accuracy, and

response time between the data gathered from unit testing and manual testing of

the samples. A single-factor ANOVA is used to determine whether there is a

significant difference between two or more means. The formula to be used will be

as follows:

MSR
F=
MSE

where F=F−statistic ; MSR=regression mean square ; MSE=mean squared error

The F-test will reveal whether there are any significant differences in any of

the variable parameters determined by manual and unit testing, or whether the

model is significant overall. Tukey's post hoc honestly significant difference (HSD)

test will be used to determine whether the F-value is significant and which specific

pairs of means or data input differ significantly, as shown by the formula:

59
 T =q∗
√ MSE
n

where T =HSD Statistic; q , MSE=mean squared error ; n=number of samples

Apply the Tukey's HSD post hoc test to see if there are any significant

differences between means.184 If the T is greater than the critical value from the Q

table, the two parameters or means will differ significantly depending on the

number of groups or treatments and degrees of freedom for the error

component.185

Weighted Average and Standard Deviation Data Analysis

The questionnaire will be answered through a Likert Scale by participants.

The weighted mean and standard deviation of the responses will be calculated to

assess the overall cost, mobility, durability, and reliability of the prototype

device.186

The weighted mean is computed by multiplying the weight associated with

a specific outcome by its quantitative outcome and summing the results. 187

n
(Σ i=1 w iXi )
W= n
Σ i=1 wi
184
“Post Hoc Tests: Tukey Honestly Significant Difference Test”. The SAGE Encyclopedia
of Communication Research Methods. 2017. https://dx.doi.org/10.4135/9781483381411. Retrieved
in January 13, 2022
185
“Tukey Test / Tukey Procedure / Honest Significant Difference”. Statistics How To.
2017. https://www.statisticshowto.com/probability-and-statistics/statistics-definitions/post-hoc/
tukey-test-honest-significant-difference/. Retrieved in January 13,2023
186
Harry N. Boone and Deborah A. Boone (2012). “Analyzing Likert Data”. Journal of
Extension. 50(2). https://archives.joe.org/joe/2012april/pdf/JOE_v50_2tt2.pdf. Retrieved in January
13, 2023
187
“Weighted Mean”. Corporate France Institute. December 4, 2022.
https://corporatefinanceinstitute.com/resources/data-science/weighted-mean/. Retrieved in
January 13, 2023
60
 where W =weighted mean ;n=number of terms; w 1=weights applied ;

X =data value

Strongly agreeing has a weighted value of 5, agreeing has a weighted

value of 4, neutral has a weighted value of 3, disagreeing has a weighted value of

2, and strongly disagreeing has a weighted value of 1. The weighted mean will be

used to apply each of the evaluation parameters (cost, efficiency, and durability).

A higher weighted mean corresponds to a higher level of acceptability. The

weighted standard deviation will also be used to determine how far the responses

deviate from the mean. Each of the evaluation parameters (cost, portability,

durability, and reliability) will be subject to a weighted standard deviation. The

following formula will be used to calculate the weighted standard deviation:

√
n 2
Σ w (x −x́)
σ = i=1 i i
(M −1) n
Σ i=1 wi
M

where σ =weighted standard deviation ; n=number of terms ;

w i=weights applied ; x i=data values ;W =weighted mean;

M =number of non−zero weights

A large weighted standard deviation will suggest that the responses will vary more

widely.

Risk and Safety

61
 As safety and minimization of exposure to hazards should be followed,

wearing of Personal Protective Equipment (PPE) during the testing period and

assembly of the machine is done. Precautions will be observed during the

programming stages and installation of the parts to avoid mechanical malfunctions

and errors that may cause critical injuries. Proper knowledge about installation,

programming, specifications of the parts that will be used, and risk assessment

will also be ensured. The parts and tools to be used are made sure to be tested

and highly reliable. During the testing phase, distance from vulnerable areas and

entities will be cautiously observed as well.

Ethical Considerations

To address ethical concerns, the researchers will first seek the barangay

captain's permission to conduct a research study in the area, and the local

interviewees will be chosen fairly. In the creation of the interview guide, offensive,

discriminatory, and derogatory language will be avoided. Furthermore, the

researchers will treat respondents fairly before, during, and after the interview.

CoastLect Assembly, Manual Testing, and Unit Testing

Before building the robot and the manual testing of the prototype, the

researchers will first ask the Barangay San Pedro barangay captain for

permission. This will be done under the experts’ and safety advisors’ supervision.

The researchers will not begin the assembly and manual and unit testing without

the consent of the barangay captain and the experts.

62
Human Participants

The Likert Scale survey questionnaires will be distributed to human

participants through the usage of the greatest variation purposive sampling

technique. We will follow Tremblay's guidelines for key informants. The study's

main sources of information are mechanical engineers, ICT specialists, and/or

government employees with at least three years of experience from the National

Disaster Risk Reduction Management Council (NDRMMC). Institutional Review

Board (IRB) approval will be obtained before dealing with human subjects. There

will be three survey questions created for the respondents in English, Filipino, and

Cuyonon written for the respondents. The purpose, benefits, and risks of

participation in the study will all be thoroughly explained to the respondents before

they start answering the questions. The researchers will reassure the respondents

that their participation is entirely optional and that they are free to discontinue it at

any time. The researchers will also ensure the respondents' privacy and

confidentiality. The participants in the study must also give their informed consent

without being coerced by the researchers.

Hazardous Chemicals, Activities, and Devices

The researchers must be properly outfitted and protected when handling

hazardous chemicals given the use of electrical tools and materials. Electrical

parts such batteries, jumper cables, soldering irons, a liquid crystal display,

resistors, and sensor probes will be used to assemble the prototype gadget.

63
Waste Disposal

Electronics that have been discarded or are no longer needed will either be

donated or given to a recycler. All forms of waste should never be burned in an

incinerator.

64
 BIBLIOGRAPHY

Andrejevic, Mark and Burdon, Mark (2015). “Defining the Sensor Society”.

https://journals.sagepub.com/doi/abs/10.1177/1527476414541552.

Retrieved in December 16, 2022

Andrejevic, Mark and Burdon, Mark (2015). “Defining the Sensor Society”.

https://journals.sagepub.com/doi/abs/10.1177/1527476414541552.

Retrieved in December 16, 2022

Baig, Mirza Razi Imam; Ahmad, Ishita Afreen; Shahfahad, Tayyab, Mohammad;

and Rahman, Atiqur (2020). “Analysis of shoreline changes in

Vishakhapatnam coastal tract of Andhra Pradesh, India: an application of

digital shoreline analysis system (DSAS)”.

https://www.tandfonline.com/doi/full/10.1080/19475683.2020.1815839.

Retrieved in January 13, 2023

Bano, Nasreen; Amin, Amina; Boghani, Hussain; Tariq, Hiba; Bakhtawar, Saba;

Waggan, Illyas; Younas, Illyas (2019). “Radio Controlled Beach Cleaning

Bot”. https://ieeexplore.ieee.org/abstract/document/9117269. Retrieved in

January 10, 2023

Bapat, Mayuri (2016). “Insights to Sensor Technology and it’s Applications”.

https://www.academia.edu/23161697/Insights_to_Sensor_Technology_and

_its_Applications. Retrieved in December 20, 2022

Burningham, Helene and Nunez, Miriam Fernandez (2020). “Sandy Beach

Morphodynamics”. https://www.sciencedirect.com/topics/earth-and-

planetary-sciences/shoreline-change. Retrieved in January 7, 2023

65
Chang, Ching-Lung; Chang, Chuan-Yu; Tang, Zhi-Yuan; and Chen, Shuo-Tsung

(2018). “High-Efficiency Automatic Recharging Mechanism for Cleaning

Robot Using Multi-Sensor". https://www.mdpi.com/1424-8220/18/11/3911.

Retrieved in January 6, 2023

“Coastal Shoreline Change”. National Park Service. 2020.

https://www.nps.gov/im/secn/shoreline-change.html. Retrieved in January

8, 2023

Da Roza, Felippe Schmoeller; Da Silva, Vinicius Ghizoni; Pereira, Patrick Jose;

and Bertol, Douglas Wildgrube (2015). “Modular robot used as a beach

cleaner”.

https://www.researchgate.net/profile/Douglas_Bertol/publication/31047459

8_Modular_robot_used_as_a_beach_cleaner/links/

5838395e08aef00f3bf9ea03/Modular-robot-used-as-a-beach-cleaner.pdf?

_sg%5B0%. Retrieved in January 6, 2023

“Definition of Coast”. n. d. Wikipedia. https://en.m.wikipedia.org/wiki/Coast.

Retrieved in January 3, 2023

Dirk Inghels, Wout Dullaert, and Jacqueline Bloemhof (2016). “A model for

improving sustainable green waste recovery”.

https://www.sciencedirect.com/science/article/pii/S0921344916300477.

Retrieved in November 18, 2022

Dirk Inghels, Wout Dullaert, and Jacqueline Bloemhof (2016). “A model for

improving sustainable green waste recovery”.

https://www.sciencedirect.com/science/article/pii/S0921344916300477.

Retrieved in November 18, 2022

66
Dronkers, Job (2021). “Definition of Shoreline”. Coastal Wiki.

www.coastalwiki.org/wiki/Shoreline. Retrieved in January 3, 2023

Ebenezer Cabildo (2018). “Palawan’s Energy Reserve”. Retrieved in November

18, 2022

Ebenezer Cabildo (2018). “Palawan’s Energy Reserve”. Retrieved in November

18, 2022

Faisal, Ilham Arun; Purboyo, Tito Waluyo and Ansori, Anton Siswo Raharjo

(2020). “A Review of Accelerometer Sensor and Gyroscope Sensor in IMU

Sensors on Motion Capture”.

https://www.academia.edu/download/71039855/826-829.pdf. Retrieved in

December 22, 2022

Fraden, J. (1995). “Design and Applications”. Handbook of Modern Sensors

Physics.

https://www.researchgate.net/publication/31745824_Handbook_of_modern

_sensors_Physics_designs_and_applications. Retrieved in January 15,

2023

Gani, M. Royhan (2020). “Regional Geology and Tectonics”.

https://www.sciencedirect.com/topics/earth-and-planetary-sciences/

shoreline. Retrieved in January 7, 2023

Hassan, Mahmud and Gillaspy, Rebecca (2022). “Shoreline & Beach I An

Overview”. Study.com. https://study.com/learn/lesson/shoreline-beach-

overviewfeatures. Retrieved in January 3, 2023

67
Hoffman, Guy and Ju, Wendy (2014). “Designing robots with movement in mind”.

https://dl.acm.org/doi/10.5898/JHRI.3.1.Hoffman. Retrieved in January 15,

2023

Ichimura, Tomoyasu and Nakajima, Shin-ichi (2016). “Development of an

autonomous beach cleaning robot Hirottaro”.

https://ieeexplore.ieee.org/abstract/document/7558676. Retrieved in

January 6, 2023

Ichimura, Tomoyasu and Nakajima, Shin-ichi (2018). “Performance Evaluation of

a Beach Cleaning Robot Hiirottaro 3 in an Actual Working Environment”.

https://ieeexplore.ieee.org/abstract/document/8571634. Retrieved in

January 6, 2023

“Impacts of Mismanaged Trash”. United States Environmental Protection Agency.

May 2022.

https://19january2021snapshot.epa.gov/trash-free-waters/impacts-

mismanaged-trash_.html. Retrieved in November 20, 2022

J.M Smith (2014)

J.M Smith (2014)

Javaid, Mohd; Haleem, Abid; Rab, Shanay; Singh, Ravi Pratap; and Suman, Rajiv

(2021). “Sensors for daily life: A review”.

https://www.sciencedirect.com/science/article/pii/S2666351121000425?

ref=cra_js_challenge&fr=RR-1. Retrieved in December 22, 2022

Javaid, Mohd; Haleem, Abid; Rab, Shanay; Singh, Ravi Pratap; and Suman, Rajiv

(2021). “Sensors for daily life: A review”.

68
 https://www.sciencedirect.com/science/article/pii/S2666351121000425?

ref=cra_js_challenge&fr=RR-1. Retrieved in December 22, 2022

Javaid, Mohd; Haleem, Abid; Rab, Shanay; Singh, Ravi Pratap; and Suman, Rajiv

(2021). “Sensors for daily life: A review”.

https://www.sciencedirect.com/science/article/pii/S2666351121000425?

ref=cra_js_challenge&fr=RR-1. Retrieved in December 22, 2022

Javaid, Mohd; Haleem, Abid; Rab, Shanay; Singh, Ravi Pratap; and Suman, Rajiv

(2021). “Sensors for daily life: A review”.

https://www.sciencedirect.com/science/article/pii/S2666351121000425?

ref=cra_js_challenge&fr=RR-1. Retrieved in December 22, 2022

Javaid, Mohd; Haleem, Abid; Rab, Shanay; Singh, Ravi Pratap; and Suman, Rajiv

(2021). “Sensors for daily life: A review”.

https://www.sciencedirect.com/science/article/pii/S2666351121000425?

ref=cra_js_challenge&fr=RR-1. Retrieved in December 22, 2022

Javaid, Mohd; Haleem, Abid; Rab, Shanay; Singh, Ravi Pratap; and Suman, Rajiv

(2021). “Sensors for daily life: A review”.

https://www.sciencedirect.com/science/article/pii/S2666351121000425?

ref=cra_js_challenge&fr=RR-1. Retrieved in December 22, 2022

Javaid, Mohd; Haleem, Abid; Rab, Shanay; Singh, Ravi Pratap; and Suman, Rajiv

(2021). “Sensors for daily life: A review”.

https://www.sciencedirect.com/science/article/pii/S2666351121000425?

ref=cra_js_challenge&fr=RR-1. Retrieved in December 22, 2022

John Ruete (2016). “Coastal Rubbish”. Retrieved in November 19, 2022

John Ruete (2016). “Coastal Rubbish”. Retrieved in November 19, 2022

69
John Smart (2018). “Environmental effects of Human”. Retrieved in November 20,

2022

John Smart (2018). “Environmental effects of Human”. Retrieved in November 20,

2022

Joshi, Hridayesh (2018). “INDIA: KERALA’S COASTLINE FACES SERIOUS

THREAT: A MULTIMEDIA REPORT”.

https://www.preventionweb.net/news/india-keralas-coastline-faces-

seriousthreat-multimedia-report. Retrieved in January 13, 2023

Kankara, R.S.; Murthy, M.V. Ramana; and Rajeevan, M. (2018). “National

Assessment of Shoreline Changes along Indian Coast”.

https://www.indiaspend.com/wp-content/uploads/2018/11/National-

Assessment-of-Shoreline-Changes-NCCR-report.pdf. Retrieved in January

8, 2023

Kankara, R.S.; Murthy, M.V. Ramana; and Rajeevan, M. (2018). “National

Assessment of Shoreline Changes along Indian Coast”.

https://www.indiaspend.com/wp-content/uploads/2018/11/National-

Assessment-of-Shoreline-Changes-NCCR-report.pdf. Retrieved in January

8, 2023

Kankara, R.S.; Murthy, M.V. Ramana; and Rajeevan, M. (2018). “National

Assessment of Shoreline Changes along Indian Coast”.

https://www.indiaspend.com/wp-content/uploads/2018/11/National-

Assessment-of-Shoreline-Changes-NCCR-report.pdf. Retrieved in January

8, 2023

70
Kumar, Amit; Yadav, Animesh Singh, Murtaza, M. A.; and Singh, Ajendra Kumar

(2018). "Eco Beach Cleaner".

Lee, Moo Yeol; Lee, Hae Rang; Park, Cheol Hee; Han, Seul Gi; Joon Hak Oh,

Joon Hak (2018). “Organic Transistor-Based Chemical Sensors for

Wearable Bioelectronics”.

https://pubs.acs.org/doi/abs/10.1021/acs.accounts.8b00465#. Retrieved in

December 22, 2022

Lozano, Carla Garcia and Pintó, Josep (2018). “Current status and future

restoration of coastal dune systems on the Catalan shoreline (Spain, NW

Mediterranean Sea)”. Food and Agriculture Organization of the United

Nations. https://agris.fao.org/agris-search/search.do?

recordID=US201800258507. Retrieved in January 7, 2023

Lv, Chao; Hu, Cun; Luo, Junhong; Liu, Shuai; Qiao, Yan; Zhang, Zhi; Song,

Jiangfeng; Shi, Yan; Cai, Jinguang ; and Watanabe, Akira (2019). “Recent

Advances in Graphene-Based Humidity Sensors”.

https://www.mdpi.com/2079-4991/9/3/422. Retrieved in December 22,

2022

Majhi, Sanjit Manohar; Mirzaei, Ali; Kim, Hyoun Woo; Kim, Sang Sub; and Kim,

Tae Whan (2021). “Recent advances in energy-saving chemiresistive gas

sensors: A review”.

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7494497/. Retrieved in

December 22, 2022

“Managing and Reducing Wastes”. The Recycle Guy blog space. 2020

71
Mohd Javaid, Abid Haleem, Shanay Rab, Ravi Pratap Singh, and Rajiv Suman

(2021). “Sensors for daily life: A review”.

https://www.sciencedirect.com/science/article/pii/S2666351121000425?

ref=cra_js_challenge&fr=RR-1. Retrieved in December 22, 2022

Muthugala, M. A. Viraj J.; Samarakoon, S. M. Bhagya P.; and Elara, Mohan

Rajesh (2020). “Tradeoff Between Area Coverage and Energy Usage of a

Self-Reconfigurable Floor Cleaning Robot Based on User Preference”.

https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9072413.

Retrieved in January 15, 2023

“Organizing Academic Research Papers: Purpose of Guide – Descriptive Design,

Observation Design”. Sacred Heart University. Retrieved from

https://library.sacredheart.edu/c.php?g=29803 in January 8, 2023

“Post Hoc Tests: Tukey Honestly Significant Difference Test”. The SAGE

Encyclopedia of Communication Research Methods. 2017.

https://dx.doi.org/10.4135/9781483381411. Retrieved in January 13, 2022

Prasad, S. (2022). “National Centre for Coastal Research to prepare shoreline

management plan for erosion-hit Puducherry coast”.

https://www.thehindu.com/news/cities/puducherry/national-centre-for-

coastalresearch-to-prepare-shoreline-management-plan-for-erosion-hit-

pondy-coast/article66056301.ece. Retrieved in January 8, 2023

Prasetya, Gegar (n. d.). “Thematic paper: The role of coastal forests and trees in

trees in protecting against coastal erosion”.

https://www.fao.org/3/ag127e/ag127e09.html. Retrieved in January 8, 2023

72
Prasetya, Gegar (n. d.). “Thematic paper: The role of coastal forests and trees in

trees in protecting against coastal erosion”.

https://www.fao.org/3/ag127e/ag127e09.html. Retrieved in January 8, 2023

“Purposive sampling”. Complete Dissertation. Retrieved from

https://dissertation.laerd.com/purposive-sampling.php in January 9, 2023

“Shoreline Features”. n.d. CliffsNotes.

https://www.cliffsnotes.com/study-guides/geology/the-shorelines/shoreline-

features. Retrieved in January 7, 2023

R. Bryce (2021). “Coastal damages to human”. Retrieved in November 20, 2022

R. Bryce (2021). “Coastal damages to human”. Retrieved in November 20, 2022

R. Pravee, L. Prabhu, P. Premjith, Adarsh. K. Mohan, Ajayraj (2022). “Design

experimental of RF controlled beach cleaner robotic vehicle”.

https://iopscience.iop.org/article/10.1088/1757-899X/993/1/012030/meta.

Retrieved in January 15, 2023

R. Smith (2018). The Journal of Waste. Retrieved in November 20, 2022

R. Stewart (2019). “Human Effects”. Retrieved in November 20, 2022

Ruth, Sara Rachel Arussy; Feig, Vivian Rachel; Tran, Helen; and Bao, Zhenan

(2020). “Micro-Engineering Pressure Sensor Active Layers for Improved

Performance”.

https://onlinelibrary.wiley.com/doi/abs/10.1002/adfm.202003491. Retrieved

in December 22, 2022

S. Heckbert and A.J. Richardson (2011). “Ecological Economics of Estuaries and

Coasts”. https://www.sciencedirect.com/topics/earth-and-planetary-

sciences/coastal-ecosystem. Retrieved in January 13, 2023

73
Samarakoon, S. M. Bhagya P; Muthugala, M. A. Viraj J.; Elara, Anh Vu Le, Mohan

Rajesh (2020). "A Reconfigurable Floor Cleaning Robot With Infinite

Morphologies". https://ieeexplore.ieee.org/abstract/document/9062480.

Retrieved in January 5, 2023

Seo, TaeWon; Jeon, Youngjae; Park, Changmin; & Kim, Jongwon (2019).

“Survey on Glass And Façade-Cleaning Robots: Climbing Mechanisms,

Cleaning Methods, and Applications”.

https://link.springer.com/article/10.1007/s40684-019-00079-4. Retrieved in

January 5, 2023

Shakeel, P. Mohamed; Tobely, Tarek E. El.; Al-Feel, Haytham; Manogaran,

Gunasekaran; and Baskar, S. (2019). “Neural Network Based Brain Tumor

Detection Using Wireless Infrared Imaging Sensor”.

https://ieeexplore.ieee.org/abstract/document/8599180. Retrieved in

December 22, 2022

Shin, D. (2022). “USING EXISTING VEHICLE PROXIMITY SENSORS FOR

REMOTE MAPPING OF EMPTY PARKING SPACES”.

https://www.tdcommons.org/dpubs_series/5227/. Retrieved in December

22, 2022

Soffar, Heba (2016). “Robotic sensing (Robot Sensors) uses, types &

importance”. Online Sciences.

https://www.online-sciences.com/robotics/robotic-sensing-robot-sensors-

uses-types-importance/. Retrieved in December 16, 2022

Song, Aiguo; Song, Guangming; Constantinescu, Daniela; Wang, Lei; and Song,

Quanjun (2013). “Sensors for Robotics”.

74
 https://www.hindawi.com/journals/js/2013/293656/. Retrieved in December

16, 2022

Song, Aiguo; Song, Guangming; Constantinescu, Daniela; Wang, Lei; and Song,

Quanjun (2013). “Sensors for Robotics”.

https://www.hindawi.com/journals/js/2013/293656/. Retrieved in December

16, 2022

Song, Aiguo; Song, Guangming; Constantinescu, Daniela; Wang, Lei; and Song,

Quanjun (2013). “Sensors for Robotics”.

https://www.hindawi.com/journals/js/2013/293656/. Retrieved in December

16, 2022

Song, Zhangjun; Ren, Hongliang; Zhang, Jianwei; and Ge, Shuzhi Sam (2015).

“Kinematic Analysis and Motion Control of Wheeled Mobile Robots in

Cylindrical Workspaces”

https://www.researchgate.net/publication/288250925_Kinematic_Analysis_

and_Motion_Control_of_Wheeled_Mobile_Robots_in_Cylindrical_Workspa

ces. Retrieved in January 5, 2023

Staff Writer (2020). “Why do we need Robots?”.

https://www.reference.com/history-geography/need-robots-

9f9f50d8b03b4ceb. Retrieved in January 3, 2023

Steward et. al. (2019)

Steward et. al. (2019)

Suresh (2016)

Tamassoki, E.; Amiri, H.; and Soleymani, Z. (2014). “Monitoring of shoreline

changes using remote sensing (case study: coastal city of Bandar Abbas)”.

75
 https://iopscience.iop.org/article/10.1088/1755-1315/20/1/012023.

Retrieved in January 8, 2023

ThanTun, Thein; Huang, Loulin; ElaraMohan, Rajesh and Matthew, Seong Guang

He (2018). “Floor Cleaning Robot with Reconfigurable Mechanism”.

https://www.sciencedirect.com/science/article/abs/pii/S0926580517306908.

Retrieved in January 5, 2023

ThanTun, Thein; Huang, Loulin; ElaraMohan, Rajesh and Matthew, Seong Guang

He (2018). “Floor Cleaning Robot with Reconfigurable Mechanism”.

https://www.sciencedirect.com/science/article/abs/pii/S0926580517306908.

Retrieved in January 5, 2023

“Trash Free Waters”. United States Environmental Protection Agency. May 2022.

https://www.epa.gov/trash-free-waters. Retrieved in November 20, 2022

Tremblay, M. A. (1957). “The Key Informant Technique: A Nonethnographic

Application”. American Anthropologist. 59(4), 688-701.

https://www.jstor.org/stable/666104. Retrieved in January 13, 2023

“Tukey Test / Tukey Procedure / Honest Significant Difference”. Statistics How To.

2017. https://www.statisticshowto.com/probability-and-statistics/statistics-

definitions/post-hoc/tukey-test-honest-significant-difference/. Retrieved in

January 13,2023

Veerajagadheswar, Prabakaran; Cheng, Ku Ping and Iwase, Masami (2020).

“Motion planner for a Tetris-inspired reconfigurable floor cleaning robot”.

https://journals.sagepub.com/doi/full/10.1177/1729881420914441.

Retrieved in January 5, 2023

76
Vinogradov, Artem; Terentev, Alexey; Kochetkov, Mikhail; and Petrov, Vladimir

(2019). “Model of Fuzzy Regulator of Mobile Robot Motion Control

System”. https://ieeexplore.ieee.org/document/8657027. Retrieved in

January 6, 2023

Wang, Jianxin; Su, Junpan; and Hua, Ruyuan (2019). “Design of a smart

independent smoke sense system based on NB-IoT technology”.

https://ieeexplore.ieee.org/abstract/document/8669528/. Retrieved in

December 22, 2022

Website owner (2016). “National Oceanic and Atmospheric Administration”.

https://shoreline.noaa.gov/glossary.html. Retrieved in January 3, 2023

“Weighted Mean”. Corporate France Institute. December 4, 2022.

https://corporatefinanceinstitute.com/resources/data-science/weighted-

mean/. Retrieved in January 13, 2023

Wijesinghe, G.L.C., Isuranga, M.P.U., Subasinghe, H.L., and Milinda, H.G.T.

(2022). “Design and fabrication of autonomous beach cleaning and

garbage sorting robot”.

Yincan, Ye et. al. (2017). “Marine Geo-Hazards in China”.

https://www.sciencedirect.com/topics/earth-and-planetary-sciences/coastal-

erosion. Retrieved in January 7, 2023

Yokota, Tomoyuki; Inoue, Yusuke; Terakawa, Yuki; Reeder, Jonathan;

Kaltenbrunner, Martin; Ware, Taylor; Yang, Kejia; Mabuchi, Kunihiko;

Murakawa, Tomohiro; Sekino, Masaki; Voit, Walter; Sekitani, Tsuyoshi; and

Someya, Takao (2015). “Ultraflexible, large-area, physiological temperature

77
Zhang, Dan and Wei, Bin (2017). “A review on model reference adaptive control

of robotic manipulators”.

https://www.sciencedirect.com/science/article/abs/pii/S1367578816301110.

Retrieved in January 3, 2023

Zhang, Lei; Yang, Yuan; Gu, Yugang; Sun, Xiaogang; Yao, Xingtian; and Shuai,

Liguo (2016). “A New Compact Stair-Cleaning Robot”.

https://asmedigitalcollection.asme.org/mechanismsrobotics/article-

abstract/8/4/045001/384296/A-New-Compact-Stair-Cleaning-Robot.

Retrieved in January 6, 2023

APPENDIX A. Letter of Permission to the Palawan National School Head

Principal to Conduct a Study

April 2023

To Dr. Eduardo G. Santos

School Principal, Palawan National School

Puerto Princesa City

Province of Palawan

Greetings!

We would like to let you know that we, a group of Grade 12 researchers from the
tenth block of the Science, Technology, Engineering, and Mathematics (STEM)
strand, are currently working on a study entitled, “CoastLect: An Automated
78
Debris Collector for Shorelines Along Coastal Areas” as a part of the course
curriculum. In this regard, we hereby request to kindly allow us to go outside the
school campus after school hours to conduct research for the said project.

Your positive response regarding our request will greatly help for the success of
the study. Thank you very much and God Bless!

Very respectfully yours,

John Fritz M. Alarilla

Japhne Vien C. Alvarez
Threscia Ann May B. Monting
Kervie T. Saldevia
Arrafi M. Utuali
Researchers

Approved by:

DR. EDUARDO G. SANTOS

Principal IV

79
APPENDIX B. Letter of Permission to Head Teacher of Science, Technology,
Engineering, and Mathematics (STEM) of Palawan National School to Conduct
the Study

April, 2023

To Ma’am Geraldine Dangan

Head Teacher of Science, Technology, Engineering, and Mathematics (STEM),

Palawan National School

Puerto Princesa City

Province of Palawan

Greetings!

We would like to bring into your kind concern that we want to conduct research
about a robot that aims to create an Automated Debris Collector robot whose
findings will be based on information gleaned through localization, mapping,
exploration, and object recognition. It is, therefore, entitled “CoastLect: An
Automated Debris Collector for Shorelines in Coastal Areas”. In addition, we will
do on-site interviews, surveys, and the actual manual testing of our product with
selected professionals that will contribute a lot to the success of our study.

Your approval to conduct this study will be greatly appreciated.

Thank you very much and God Bless!

Very respectfully yours,

John Fritz M. Alarilla

Japhne Vien C. Alvarez
Threscia Ann May B. Monting
Kervie T. Saldevia
Arrafi M. Utuali
Researchers

Approved by:

GERALDINE DANGAN

80
 STEM Head Teacher

81
APPENDIX C. Letter of Permission to the Brgy. San Pedro Barangay Captain to
Conduct Testing and Data Collection in BM Beach

April, 2023

To Hon. ____________________

Brgy. Captain, Brgy. San Pedro

Puerto Princesa City

Province of Palawan

Greetings!

We are the Grade 12 research students of Palawan National School who are
enrolled in the 10th block of Science, Technology, Engineering, and Mathematics
(STEM) strand. We are now undertaking a study entitled “CoastLect: An
Automated Debris Collector for Shorelines Along Coastal Areas”. The researchers
are hoping for your consideration in doing the robot making process an
conducting an interview of the professionals regarding robotic engineering.

Very respectfully yours,

John Fritz S. Alarilla

Japhne Vien C. Alvarez
Threscia Ann May B. Monting
Kervie T. Saldevia
Arrafi M. Utuali
Researchers
Approved by:

Hon. ______________________

Brgy. San Pedro Captain

82
APPENDIX D. Human Informed Consent

Human Informed Consent Form

Instructions to the Student Researcher(s): An informed
consent/assent/permission form should be developed in consultation with the Adult
Sponsor, Designated Supervisor, or Qualified Scientist.
This form is used to provide information to the research participant (or parent/guardian)
and to document written informed consent, minor assent, and/or parental permission.
When written documentation is required, the researcher keeps the original, signed form.

If the form is serving to document parental permission, a copy of any survey or

questionnaire must be attached.

Alarilla, John Fritz S.

Alvarez, Japhne Vien C.
Researcher/s: Monting, Threscia Ann May B.
Saldevia, Kervie T.
Utuali, Arrafi M.
Title of CoastLect: An Automated Debris Collector for
Research: Shorelines Along Coastal Areas

I am asking for your voluntary participation in my research study. Please read the
following information about the project. If you would like to participate, please sign in
the appropriate area below.
a) Purpose of the study:
The researchers are aiming to create an Automated Debris Collecting robot for
shorelines along coastal areas. Its collecting process functions automatically,
not requiring very much manpower to work. Moreover, it also aims to minimize
beach pollution as it will be automatically detecting scattered debris along
shorelines as it rovers around a specific route around the beaches.
b) If you participate, you will be asked to:
 Evaluate the product’s specifications, in terms of:
a.) Components, b.) Design (Internal and External), c.) Voltage, Current,
Resistance,
d.) Cost, e.) Weight, f.) Size, and g.) Dimension

 Assess its capacity, in terms of:

a.) Loading Capacity, b.) Runtime Capacity, and c.) Sensor Capacity

 Rate its acceptance testing characteristics, in terms of:

a.) Cost, b.) Efficiency, and c.) Durability

 Compare the product to other tools, in terms of:

a.) Efficiency and b.) Convenience
c) Time required for participation:
The time needed for your participation is approximately 40-60 minutes in
duration.
d) Potential Risks of Study:
All information acquired in this survey and interviews will be included in our
analysis and discourse while having its confidentiality maintained. Recalling
traumatic or unpleasant situations may be experienced. However, to make sure
83
 things are going smoothly beforehand, the researchers would be doing their
utmost in clarifying and identifying any questions or activities that may trigger
such risks. In which, participants will not be subjected to participate without
their own voluntary agreement.
e) Benefits:
People who will be participating in this study may have a better understanding
in this certain type of research field. This study will aid not only the
environment but also the communities and residents as well.
f) How confidentiality will be maintained:
Your responses are completely anonymous. No names or other personal and
identifying information will be asked nor used in collecting and reporting the
data.

Voluntary Participation:
Participation in this study is completely voluntary. If you decide not to participate there
will not be negative consequences. Please be aware that if you decide to participate, you
may stop participating at any time and you may decide not to answer any specific
question.
By signing this form, I am attesting that I have read and understood the information
provided.

Research Participant Signature Date Reviewed & Signed

(mm/dd/yy)

Research Participant Signature Date Reviewed & Signed

(mm/dd/yy)

Research Participant Signature Date Reviewed & Signed

(mm/dd/yy)

Research Participant Signature Date Reviewed & Signed

(mm/dd/yy)

Research Participant Signature Date Reviewed & Signed

(mm/dd/yy)

Research Participant Signature Date Reviewed & Signed

(mm/dd/yy)

84
APPENDIX E. Daily Logs

85
86
87
88
89
APPENDIX F. Narrative Accomplishment Report

90
91
92
93
94
95
96
97
98
99
 APPENDIX G. Gantt Chart

GANTT CHART

TITLE : CoastLect: An Automated Debris Collector for Shorelines

Along Coastal Areas
CATEGORY/ FIELD : Mechanical Engineering
RESEARCHERS : Alarilla, Alvarez, Monting, Saldevia, Utuali
PHONE / E-MAIL : [email protected]
RESEARCH PERIOD :

SEPT OCT NOV DEC

Week 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
OCULAR SURVEY/ REVIEW
TITLE DEVELOPMENT
TITLE PROPOSAL
Checklist Form 1A
Approval Form(1B)
Capstone Forms Checklist
PRELIMINARIES
Title Page
Approval Sheet
Acknowledgment
Dedication
Table of Contents
List of Tables
List of Figures
INTRODUCTION
Introduction
Research Paradigm
Statement of the Problem
Hypothesis
Significance of the Study
Scope and Delimitation
LITERATURE REVIEW
Literature Selection
Literature Writing
Plagiarism Checking
Literature Revision
Synthesizing Literature
Themes
Synthesis
Conceptual Framework
100
Research Paradigm
Definition of Terms
METHODOLOGY
Research Design
Sampling Procedures and
Technique
Instrumentation
Procedures
Risk and Safety
Ethical Considerations
 Human Participants
 Vertebrate Animals
Data Analysis
INSTITUTIONAL REVIEW
BOARD (IRB) REVIEW
Pre-Oral Defense
DEC JAN FEB MAR
Week 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
DATA COLLECTION
Courtesy Call
(indicate the procedures)
Add more rows if needed
Data Analysis/ Hypothesis Testing
CHAPTER IV
Data Presentation
Data Interpretation and Analysis
(indicate the problems)
Add more rows if needed
CHAPTER V
Summary
Conclusions
Recommendations
ABSTRACT
BIBLIOGRAPHY
APPENDICES
Letter of Permissions
Laboratory / Observation Reports
(please specify)
Material Safety Data Sheets
Photo documentations
Gantt Chart
Budget Proposal
Financial Report
101
Plan for Dissemination and
Advocacy
Data Logbook (Research
Journal)
CURRICULUM VITAE
FINAL DEFENSE
RECOMMENDATIONS
CAPSTONE EXPO
SUBMISSION OF FINAL
OUTPUT

Prepared by:

THRESCIA ANN MAY B. MONTING

Chairman for Planning

Reviewed by:
KERVIE T. SALDEVIA
Group Representative

102
APPENDIX H. Plan for Dissemination and Advocacy

PLAN FOR DISSEMINATION AND ADVOCACY

Research Title: “CoastLect: An Automated Debris Collector for Shorelines Along

Coastal Areas”

Researchers: John Fritz S. Alarilla, Japhne Vien C. Alvarez, Threscia Ann May B.
Monting, Arrafi M. Utuali

I. Rationale

When chemicals and trash coming from land sources combine and gets
washed or blown into the ocean, it is known as marine pollution. Marine pollution
is a growing problem our society experiences nowadays. As debris and pollution
accumulate beneath and on the ocean's surface, both marine life and humans
suffer, i.e., ocean becomes a dead zone to marine life due to oxygen depletion
caused by accumulated debris, toxins caused by pollution are ingested by
humans through seafood consumption that could lead to long-term health
conditions, etc.

Pollution to marine ecosystems occurs from a variety of sources, such as:

plastics, industrial wastes, toxins from pesticides, fertilizers, etc., oil spills, thermal
pollution, etc. Among these sources, plastic is the most prevalent one. Unlike the
other trash, plastics are non-biodegradable. Meaning, they do not decompose—
making them hazardous to our environment when improperly disposed and
neglected. In which, 80% of the eight million metric tons of marine litter (plastic
bags, water bottles, drinking straws, containers, and so on) comes from land-
based sources, primarily through storm drains, sewers, and other pathways, with
the remainder being dumped directly into the ocean.

Because of the persistent issue of coastal pollution, many scientists and

experts have formulated concepts and approaches to reduce it. However, some of
it weren’t effective and efficient enough.

Having a clean environment reduces hazards and health risks, resulting in

a healthier community. We all know that in order to attain such goal, proper waste
disposal is a must. And right now that our beaches’ situation regarding debris
pollution along beaches have worsen, getting rid of such debris is the most
efficient thing to do. We all are also aware how important technology and robotics
have been in making our daily activities easier to be done. By combining these

103
two, this study aims to keep beaches clean while also reducing pollution the
debris bring.
This research aims to design and construct an automated machine that can
be used in beaches and shoreline along coastal areas for better and efficient
waste removal through debris collection. Using traditional cleaning tools is time
consuming and needs a lot of manpower to use. This automated debris collection
machine enables a cleaner and less polluted beaches and shorelines without
demanding so much manpower and time.

II. Objectives

 To successfully collect debris along shorelines and mitigate coastal

pollution.
 To create specifications of the CoastLect in terms of:
a.) Components
b.) Design (Internal and External)
c.) Voltage, Current, and Resistance
d.) Cost
e.) Weight
f.) Size
g.) Dimension
 To determine the robot’s capacity in terms of:
a.) Loading Capacity
b.) Runtime Capacity
c.) Sensor Capacity
 To determine the robot’s acceptance testing characteristics in terms
of:
a.) Cost
b.) Efficiency
c.) Durability
 To determine the robot’s edge in comparison to other tools used in
removing debris in terms of:
a.) Efficiency
b.) Convenience
 To provide information to the coastal communities regarding the
impacts of coastal pollution as well as the significance of the
CoastLect.

104
OBJECTIVE ACTIVITY RESOURCE TIME PERSON ESTIMATE
S FRAM S D BUDGET
E INVOLVE
D

105
1. To Alarilla,
successfully John Fritz;
collect debris The Alvarez,
along Prototype CoastLect June Japhne
shorelines Testing prototype, 2023 Vien;
and mitigate Recording Monting,
coastal materials Threscia
pollution. Ann May;
Saldevia,
Kervie;
Utuali,
Arrafi
2. To create Alarilla,
specifications John Fritz;
of the Device Autocad March Alvarez,
CoastLect in Designing, 2023 Japhne
terms of Planning, Vien;
components, and Monting,
design, Engineering Threscia
voltage, cost, Ann May;
weight, size, Saldevia,
and Kervie;
dimension Utuali,
Arrafi
3. To Alarilla,
determine John Fritz;
the robot’s Prototype Pencil, pen, March Alvarez,
capacity in Testing record 2023 Japhne
terms of notebook, Vien;
loading camera Monting,
capacity, Threscia
runtime Ann May;
capacity, Saldevia,
sensor Kervie;
capacity Utuali,
Arrafi
4. To Alarilla,
determine John Fritz;
the robot’s Data Questionnair April Alvarez, Php 5000
acceptance collection e, recorder, 2023 Japhne
testing through pen, pencil Vien;
characteristic survey and Monting,
s in terms of interview Threscia
cost, Ann May;
efficiency, Saldevia,
durability Kervie;
Utuali,
Arrafi
106
5. To Alarilla,
determine John Fritz;
the robot’s Data Laptop, April Alvarez, Php 1000
edge in gathering, pencil, record 2023 Japhne
comparison comparison, notebook Vien;
to other tools statistical Monting,
used in correlation Threscia
removing Ann May;
debris in Saldevia,
terms of Kervie;
efficiency and Utuali,
convenience Arrafi

6. To
provide Information Paper, May Alarilla,
information to disseminatio bondpaper, 2023 John Fritz; Php 10000
the coastal n, prototype ink, printed, Alvarez,
communities demonstratio robot’s Japhne
regarding the n prototype Vien;
impacts of Monting,
coastal Threscia
pollution as Ann May;
well as the Saldevia,
significance Kervie;
of the Utuali,
CoastLect. Arrafi

107
 CURRICULUM VITAE

PERSONAL INFORMATION

Name : JOHN FRITZ SUNGKIP ALARILLA

Address : MP Road, Brgy. San Miguel
Puerto Princesa City, Palawan
Date of Birth : February 16, 2005
Place of Birth : Puerto Princesa City, Palawan
Civil Status : Single

EDUCATIONAL BACKGROUND

Institution Educational Degree Years Attended

Secondary Palawan National Senior High School 2021 – present

School

Palawan National Junior High School 2018 – 2021

School (Grade 8 – 10)

Palawan National Junior High School 2017 – 2018

School (Grade 7)

Primary Puerto Princesa Pilot Elementary 2012 – 2017

Elementary School

TRAININGS/ SEMINARS/ WORKSHOPS PARTICIPATED

Inclusive dates Title

N/A N/A

108
 CURRICULUM VITAE

PERSONAL INFORMATION

Name : JAPHNE VIEN ALVAREZ

Address : Bagalay St., BM Road, Brgy. San Pedro
Puerto Princesa City, Palawan
Date of Birth : November 3, 2004
Place of Birth : Bulacan
Civil Status : Single

EDUCATIONAL BACKGROUND

Institution Educational Degree Years Attended

Secondary Palawan National Senior High School 2021 – present

School

Palawan National Junior High School 2018 – 2021

School (Grade 8 – 10)

Jesus The Divine Son Junior High School 2017 – 2018

Academy Incorporated (Grade 7)

Primary San Pedro Central Elementary 2012 – 2017

School

TRAININGS/ SEMINARS/ WORKSHOPS PARTICIPATED

Inclusive dates Title

N/A N/A

84
 CURRICULUM VITAE

PERSONAL INFORMATION

Name : THRESCIA ANN MAY BLANCO MONTING

Address : Purok Narra, Brgy. Sicsican,
Puerto Princesa City
Date of Birth : November 26, 2004
Place of Birth : Puerto Princesa City, Palawan
Civil Status : Single

EDUCATIONAL BACKGROUND

Institution Educational Degree Years Attended

Secondary Palawan National Senior High School 2021 – present

School

Sicsican National High Junior High School 2019 – 2021

School (Grade 9-10)

Sicsican National High Junior High School 2017 – 2019

School (Grade 7-8)

Primary Sicsican Elementary Elementary 2012 – 2017

School

TRAININGS/ SEMINARS/ WORKSHOPS PARTICIPATED

Inclusive dates Title

N/A N/A

85
 CURRICULUM VITAE

PERSONAL INFORMATION

Name : KERVIE TOMIAS SALDEVIA

Address : Purok Maligaya, Tulingan St., Brgy.
Madaragat, New Buncag,
Puerto Princesa City
Date of Birth : Novemer 27, 2004
Place of Birth : Puerto Princesa City, Palawan
Civil Status : Single

EDUCATIONAL BACKGROUND

Institution Educational Degree Years Attended

Secondary Palawan National Senior High School 2021 – present

School

Palawan National Junior High School 2019 – 2021

School (Grade 9 – 10)

Palawan National Junior High School 2017 – 2019

School (Grade 7 – 8)

Primary Puerto Princesa Pilot Elementary 2011-2017

Elementary School

TRAININGS/ SEMINARS/ WORKSHOPS PARTICIPATED

Inclusive dates Title

February 28, 2020 Participant, 2020 Research Cavalcade

Palawan National School, Puerto Princesa
City

86
 CURRICULUM VITAE

PERSONAL INFORMATION

Name : ARRAFI MOHAMMAD AIN UTUALI

Address : Solid Rd., Brgy. San Manuel,
Puerto Princesa City
Date of Birth : June 5, 2004
Place of Birth : Puerto Princesa City, Palawan
Civil Status : Single

EDUCATIONAL BACKGROUND

Institution Educational Degree Years Attended

Secondary Palawan National Senior High School 2021 – present

School

San Jose National Junior High School 2019 – 2021

High School (Grade 9 – 10)

San Jose National Junior High School 2017 – 2019

High School (Grade 7 – 8)

Primary Mangsee Balabac Elementary 2012 – 2017

Palawan

TRAININGS/ SEMINARS/ WORKSHOPS PARTICIPATED

Inclusive dates Title

N/A N/A

87