AUTOMATED FLOOR POLISHER USING ANDROID

APPLICATION PLATFORM

A Thesis Proposal
Presented to the Faculty of the
Information and Communications Technology Program
STI College Calamba

In Partial Fulfilment
of the Requirements for the Degree
Bachelor of Science in Computer Engineering

Mia Zara A. Gomez

Jeanelle L. Ilao
Lean Errol A. Ogayon

January 2018
 ENDORSEMENT FORM FOR ORAL DEFENSE

TITLE OF RESEARCH: Automated Floor Polisher Using Android

Application Platform

NAME OF PROPONENTS: Mia Zara A. Gomez

Jeanelle L. Ilao
Lean Errol A. Ogayon

In Partial Fulfilment of the Requirements

for the degree Bachelor of Science in Computer Engineering
has been examined and is recommended for Proposal Defense.

ENDORSED BY:

Engr. Ralph Laurence G. Visaya

Thesis Adviser

APPROVED FOR PROPOSAL DEFENSE:

Engr. Ralph Laurence G. Visaya

Thesis Coordinator

NOTED BY:

Fe M. Dalangin, MAITE
Program Head

January 2018

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 APPROVAL SHEET

This thesis proposal titled: Automated Floor Polisher Using Android Application
Platform prepared and submitted by Mia Zara A. Gomez; Jeanelle L. Ilao; and Lean
Errol A. Ogayon, in partial fulfilment of the requirements for the degree of Bachelor of
Science in Computer Engineering, has been examined and is recommended for acceptance
an approval.

Engr. Ralph Laurence G. Visaya

Thesis Adviser

Accepted and approved by the Thesis Review Panel

in partial fulfilment of the requirements for the degree of
Bachelor of Science in Computer Engineering
Accepted and approved by the Thesis Review Panel
in partial fulfilment of the requirements for the degree of
Bachelor of Science in Computer Engineering

__________________________ __________________________
Panel Member Panel Member

__________________________
Lead Panelist

Noted:

Engr. Ralph Laurence G. Visaya Fe M. Dalangin, MAITE

Thesis Coordinator Program Head

January 2018

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 ACKNOWLEDGEMENTS

This design project would not have been probable without the guidance, support and advice
of various individuals. Without them, the proponents might not meet their objectives in
doing the study. The proponents want to give their deepest gratitude to them for their
invaluable help and support.

To our God Almighty for giving us wisdom, strength, knowledge and blessings to make
this study possible that made us surpass all the trials we encountered while doing the study.

We would like to express our appreciation and gratitude to our adviser, Prof. Ralph
Laurence Visaya, who had helped and guided us for the development of this design project.

To our program head Mrs. Fe M. Dalangin-Yedra, MAITE, for guiding us and encouraging
us throughout this design project.

To Engr. Rosenda A. Alzona for also guiding us and encouraging us to finish this design
project. For the advices and support from the very start with her patience and knowledge
despite her busy schedules.

Last but not the least, we would like to express our special and deepest gratitude to our
family and relatives for their whole-hearted support and love. For our parents who have
been our number one supporter and encourager to pursue this study, for their unconditional
love and for moral and financial support that they gave from start to end.

Without all of them, we would not finish this design project. Thus, we are forever indebted
or the assistance and support extended to them.

Mia Zara A. Gomez

Jeanelle L. Ilao

Lean Errol A. Ogayon

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 Abstract

Title of research: Automated Floor Polisher Using Android Application Platform

Researchers: Mia Zara A. Gomez

Jeanelle L. Ilao
Lean Errol A. Ogayon

Degree: Bachelor of Science in Computer Engineering

Date of Completion: May 2018

Key words: Arduino, smartphone, polisher, android studio, eclipse

In this research paper, the proponents presented the design and development of an
automated floor polisher that will be controlled using a smartphone through an android
application. The proponents used the internet to gather researches pertinent to the relevance
of the study. It consists of the future and local literatures that are used to help the proponents
in this study. This study makes use of the Arduino Microcontroller as the main controller
unit of the hardware. It also consists of dc motors, ultrasonic sensor, Bluetooth module as
for doing the main rover and cleaner in the hardware. In the system part, it used the Android
Studio and Eclipse for doing the android application. In this study, the ultrasonic sensor
serves as the distance and area measurement for the study. In the android interface, there is
a button for the manual and automatic setting of the floor polisher. Manual setting will be
going to let the user to manual tap the buttons for the left, right, up and down for doing the
memory mapping of the area of a certain room. Then once done, the user will click the
button to set it to automatic state and it will start the automatic polisher.

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 Table of Contents

Page
Title Page i
Endorsement Form for Proposal Defense ii
Approval Sheet iii
Acknowledgements iv
Abstract v
Table of Contents vi
List of Tables vii
List of Figures Viii
List of Appendices ix
Introduction 1
Background of the problem 2
Overview of the current state of technology 7
Objectives of the study 7
Scope and limitations of the study 8
Literature Review 1
Review of related literature, studies or systems 2
Synthesis 16
Automated Floor Polisher Using Android Application Platform 17
Results and Discussions 27
Conclusions and Recommendations 29
References 30
Appendices 33

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 List of Figures

Figure Title Page

Figure 1.1 Type of Floor 3

Figure 1.2 Type of Equipment 4
Figure 1.3 Type of Usage 4
Figure 1.4 Type of Sales 5
Figure 1.5 Time consumed in polishing the floor 5
Figure 1.6 Equipment Effectivity 6
Figure 1.7 Equipment Satisfaction 6
Figure 3.1 Arduino Mega 17
Figure 3.2 DC Motor 18
Figure 3.3 Data Logging Shield 19
Figure 3.4 Secure Digital Card 20
Figure 3.5 Bluetooth Module 20
Figure 3.6 Ultrasonic Sensor 21
Figure 3.7 Android Phone 21
Figure 3.8 Battery Li-Po battery 22
Figure 3.10 Eclipse 22
Figure 3.11 Heirarchal Block Diagram 23
Figure 3.12 Block Diagram 24
Figure 3.13 Flowchart 25

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 List of Appendices

Appendix Page
A. Gantt chart of activities
B. Actual Thesis Expenses
C. User’s Manual
D. Technical Specifications
E. Curriculum Vitae of Researchers

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 Introduction

Innovation is now part of our evolving world. It is believed that innovation is the successful
exploitation of new ideas. While there is innovation, innovation processes also occur
wherein continuous improvements and processes relays to the new idea. Nowadays, we do
not only repress an idea to an end point but constantly search an advancement that can
provide long term significance and can also be cost-effective at the same time. There are a
lot of innovation going on today, some are in relation to medicine, agriculture and education
which concerns the help of technology. Thus, technology is the number one innovation of
today’s society.

In recent years, robotic cleaners have taken major attention in robotics research due to their
effectiveness in assisting humans in floor cleaning applications at homes, hotels,
restaurants, offices, hospitals, workshops, warehouses, universities etc. Basically, robotic
cleaners are distinguished on their cleaning expertise like floor mopping, dry vacuum
cleaning, floor polishing, etc. Some products are based on simple cleaning, obstacle
avoidance using infrared sensors while some utilize laser mapping technique. Each
cleaning and operating mechanism of robotic floor cleaners has its own advantages and
disadvantages [KHAL2015].

The most important step to have lavish, durable and cost- effective floor is maintaining it.
Since the floor is definitely a place where people's eyes would usually focus, floor
cleaning should be included in this process. Regular cleaning of floor is required by many
companies, homes, hospitals, hotels, universities, workshops, warehouses, offices, etc. to
keep it from being sullied. Not to mention it’s really nice walking or laying on soft, freshly
cleaned floors and furniture. In addition, cleaning floors may improve the health of people.
When bacteria are caught in the fabrics of your carpet, allergy related issues and other
illnesses might occur. However, by cleaning your floors, you can eliminate almost all of
these allergens and help keep everyone in the building as healthy as possible. Proper
maintenance of the floor can also prevent injuries such as tripping and slipping. Bad
practice in floor cleaning is a major cause of accidents itself.
With the advanced feature that will let the user set the automated floor polisher to polish
the whole floor of their home while they are not there, the user will surely meet a pretty
neat floor by the time they got back. Automated floor polisher is also an excellent cleaning
device for people who undergo mobility problems. Additionally, the fact that automated
floor polisher saves time and effort to get the floor polished, is apparently one of the notable
strengths of such floor polisher. If it were to be a manual floor polisher, the polishing will
have to be done by the user. Opposite to that, automated floor polisher will complete the
rest of the job, leaving the user to tackle other important assignments or even relax for a
moment.

In the Philippines, Google’s Android is widely used because it is cheaper and affordable
than others. Android user in the Philippines increased by 300%, iPhone users by 62% in
2011, according to Smart Communications [PINA2013].

Nowadays, health and cleanliness should be prioritized. Floor is one of the things a person
prefers to be taken care of. With our technology, it is possible to have an application using
android phone to control a device such as floor polisher. Sweeping and mopping the floor
is not enough for the cleanliness of the floor and for maintaining it. There are some
instances that a person cannot use or control large floor polisher due to its heaviness.

Background of the problem

In Canlubang, Calamba City, most of the households are using brooms, rugs, and other
cleaning equipment like vacuum and scrubbers. Few of the households are using coconut
husk, floor wax, and dry mop. While several of the households are using electrical floor
polisher. With this, it evidently means that the households are able to maintain the
cleanliness and glossiness of the floor. However, households are still encountering
problems in maintaining the glossiness and durability of the floor.

People at home are too busy for daily or weekly floor cleaning, especially for families with
children. According to survey tally 39% of the households who are using brooms, rugs,

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vacuum and scrubbers have a ceramic tile floor. To maintain its cleanliness, the households
need to use broom in sweeping the dust or a vacuum a couple times a week. While mopping
the floor is twice a month or once a month by using warm water and a detergent, and it will
be dried up using dry rug to maintain its glossiness. At the same time, the households use
scrubbers to remove grout and stains on the floor.

On the other hand, 55% of the households who uses coconut husk, floor wax, and dry mop
have a concrete and wooden floor. To maintain its glossiness, households will apply first
the floor wax on the floor and will use a cut coconut with the fibrous outer husk left on or
the coconut husk that will polish the floors. While, the household who uses the floor
polisher have a wooden tile.

According to one of the households who uses floor polisher, the floor polisher is not easy
to maneuver and is a heavy equipment. It cannot be lifted to be put on the second floor of
the house. Hence, the household uses floor wax and coconut husk on the second floor of
the house. While one of the households who has a granite, tile has a difficulty in using and
transferring the floor polisher.

It is also a time consuming and tiring task in which they spent most of the time on cleaning
the floor. While the elderly who lives by themselves do not have the strength or the ability
to clean by themselves and will most likely to hire a worker to do the task.

In proportion to the survey tally 93% of the households have a difficulty in using the
cleaning equipment.

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Overview of the current state of the technology

Currently, most of the households in Canlubang, Calamba City have a ceramic tile. To be
able to clean and maintain its glossiness, households are using brooms to sweep the dust
and the households will then use wet mop or rug with detergent to wash the floor. After
this, the household will wipe the floor with rug to dry the area. On the other hand, the
households who have concrete and wooden floor uses floor wax, coconut husk, and a rug
to maintain the glossiness of the floor. First the household will sweep the dust, then floor
wax will be applied on the rug and will finally apply it on the floor, through the use of one
foot the household will scrub the floor using coconut husk. While those households who
uses electric floor, polisher uses different brush. For the household with wooden floor, they
use white thin rug to polish the floor. The households will apply first the wax then will start
to polish the floor. The household with the granite tile is using green brush, for it removes
the dust and polish the granite tile.

With these ideas, the proponents came up with an idea of the problems that will be solved
by the proponents in this study. Specifically, the problems will be :

1. How to develop a polisher that will lessen and reduce the time of polishing?
2. What are the needed component in order to make this device work automatically?
3. How can this study make a high ratings usage and comfortability to the user?

Objectives of the study

The general objective of this study is to develop an automated floor polisher using Android
application platform which can help automating task on floor polishing.

Specifically, this study aims:

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1. To develop a device that will reduce the time consumed in polishing the floor.
2. To create a program that will work automatically that will reduce the manpower in
cleaning or polishing the floor
3. To develop a device that will give a high satisfaction for the user.

Scope and limitations of the study

Scope

In this study, the proponents will design a device that is capable of controlling a robotic
system using android application platform. It has memory mapping in terms of turns and
time in milliseconds. The researchers used the Arduino Microcontroller as the main
microcontroller or brain of the system. Arduino IDE is being used for the programming
platform of the Arduino programming. Also the proponents used the Android SDK and
Eclipse for the Android Application Developing for the android phone controller.It will
save every turns and the time travel in secure digital card so that, for the second run of the
device it will automatically run on its own. The proponents used the SC Card Module for
the testing of the data. This device has a DC motor that converts the electrical energy into
mechanical energy to enable to rotate the brushes to polish the floor. The proponents used
a DC motor and a DC Motor Driver L298N H-Bridge that is compatible to Arduino
Microcontroller. It also has Bluetooth module for a short range connectivity of the device
and the android phone. The android phone will serve as the controller of the device. The
android phone will control the floor polisher when getting the measurement of the room
using the memory mapping for the first time it will be tested before it will automatically
clean the room. It will also be used as the user interface of the device it will show the
progress task of the device on a percentage format. On the other hand, the ultrasonic sensor
is a device that can measure the distance to an object by using sound waves. It will trigger
the device to stop once it detects the obstacle in front of it and will continue if the obstacle
has been removed. It has sound and light indicator for unwanted stop. Also, battery life
indicator if the battery is low. The main source of its power is by the use of a battery.

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Limitations

Though the design project shows a bright future for household activities, it also has its
limitations. The device does not have an automatic path correction, once the device was
moved or shoved, the path of the device would change. For that reason, accuracy of the
device’s direction would be uncertain. The device cannot identify the area that has been
memory mapped if it is being used on another area. So, it’s not recommended be used on
many different areas. If the device encountered obstacles or objects, the operation will be
terminated, thus, it would not entirely meet the set tasks that’s supposed to be done. If the
battery becomes low, the speed of the device will become slower. Therefore, the
maintenance of the device’s efficiency and the time it could consume considerably depends
on the battery.

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 Literature Review

Review of related literature, studies or systems

This section present related literature, studies or systems which the proponents believe are
significant to the present study. The proponents have used available literature which provides with
deeper insight into the various aspects of this study.

Foreign Studies

Smart Floor Cleaning Robot (CLEAR)

In the study of Uman Khalid, Muhammad FaizanBaloch, HaseebHaider, Muhammad

UsmanSardar, Muhammad Faisal Khan, Abdul Basit Zia et. Al. Tahseen Amin Khan Qasuria in
(2015) with the advancement of technology, robots are getting more attention of researchers to
make life of mankind comfortable. This paper presents the design, development and fabrication of
prototype Smart Floor Cleaning Robot (CLEAR) using IEEE Standard 1621 (IEEE Standard for
User Interface Elements in Power Control of Electronic Devices employed in Office/Consumer
Environments). Subject robot operates in autonomous mode as well as in manual mode along with
additional features like scheduling for specific time and bagless dirt container with auto-dirt
disposal mechanism. This work can be very useful in improving life style of
mankind[KHAL2015].

Lawn Analyzer

According to the study of Martin Edlund in (2015), the proposed design solution for the sensor
used optical infrared barriers to detect straws of grass and motion sensing circuits to provide
feedback on object detection. This design solution was developed with requirements and
specifications that derive from examination of the restrictions that accommodate commercial
robotic lawnmowers. Results from the demonstrator shows that the required height resolution can
be established with the design. The tolerances from the first functional tests conform throughout
the validation and provide proof that the design solution is operational for the stated purpose. The
height data output is discussed as feedback in scheduling and path planning of robotic
lawnmowers, where more advanced control systems could enable more efficient use of resources
in tomorrow’s appliances [EDLU2015].

Design and Simulation of an Autonomous Dust Cleaner

According to Ravi TejaSunkavalli in (2015) The Adopted Principles and Techniques The main
motive of this thesis is to develop simple automated dust cleaner using simple principles and parts
while proving it to be much useful than expected. Various factors are taken into consideration while
working towards the desired output. These factors are mainly: 1) High Complexity leads to high
costs 2) Affordable for each and every household. 3) Easy Application As researched by (Ying-
Wen Bai and Ming-Feng Hsueh, 2012) there are 3 main processes which are implemented to an
autonomous dust cleaners. Planning of Robot's Path by Laser Measurement and location: In this
kind of autonomous dust cleaners, the robot uses a laser measurement technology to detect certain
flags or symbols and then maps or plans their path to move. Though this method proved to be the
most efficient method, it's very costly to meet the normal consumer needs and very complicated
algorithms are required with high powered micro controllers to program the Cleaning Robot.
Owing to its high cost and high complexity we are eliminating this method at this stage. 2 Planning
of Robot's Path by Video Camera: According to (Gonzalez.J, 1994), this kind of autonomous robots
uses a radial laser scanner. Then that radial laser scanner scans the surroundings producing a 2
dimensional explanation. Then a map builder which is designed to produce a short line segments,
vaguely shapes any kind of surroundings and this is called a local map. So, various local maps are
generated as the robot moves. In order to make the robot observe all the surroundings, these local
maps are combined into a global map. These proved to be next efficient autonomous robots with
a little lower price compared to those robots which are using laser measurement and detection.
Planning of Robot's Path by Random Walk: As per (Yu Liu, Xiaoyong Lin, 2008) this was used
for most of the time in the development of autonomous robotic vacuum cleaners. In this method
the path of the robot is based on a random walk. Which means when the robot senses a hurdle
through its ultrasonic sensor it is programmed to turn away from it and goes in another direction.
This proved out to be the most optimum as it uses a less complicated algorithm. It is also easy to
achieve since there is considerably less hardware when compared to the other two. It is also
described that a local complete coverage path planning is one other form of describing a path
planning based on the coverage rate and efficiency [TEJA2015].

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Development of a Bluetooth Based Mobile Application for Autonomous Systems

According to TomásTormo Franco in (2012) the study of Autonomous systems are widely used
nowadays. Its applications cover from factory automation or space exploration, to home robots
aimed to address real-life problems in households or workplace environments. Home robot’s
presence is increasing in daily life, as their level of autonomy and intelligence improves
[FRAN2012].

Design and Fabrication of Automatic Floor Cleaner

The study of Swarup Raj Jena in 2015, the processof using different components to make the whole
machinery process operate automatically. We may use micro-controller, image sensing technique
for achieving desired motion. Especially when different types of motions are involved the process
become very much complicated and need different algorithm for optimum movement of the
system. Again when different power sources are used and they have to be operated at different time
microcontroller is essential. In our case the purpose of the micro-controller is to make all the
systems work in proper sequence and move according to the image sensed. Image sensing is
basically achieved by ultrasonic sensors. These type of sensors work according to the passive type
of sensory circuit. This system sends ultrasonic range wave and the wave reflects after
encountering any obstacle. This retraced wave is sensed by the sensory circuit which there by
calculates the distance of the obstacle. The data achieved from this process is processed for the
future movement of the machine [JENA2015].

According to Vatsal Shah (2015). The research and development of an autonomous mobile robot
and a Manual Phone Application Control prototype able to vacuum cleaning a room or even an
entire house is not a trivial challenge. In order to tackle such a task, so that it could be
completed in six weeks (the duration of the course), some simplifications and assumptions
were made to the designers initial idea of an “ideal” autonomous/manual vacuum cleaner. In
this way, some functional requirements that would improve the robot performance were not taking
into account due either to their inherent complexity or to their mechanical implications. These
robots operate semi- or fully autonomously to perform services useful to the well-being of humans

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and equipment. With the aim of keeping our robot as simple as possible, while able to perform the
initial goals, i.e. an autonomous vacuum cleaner robot able to randomly navigate through a room
or a house with the minimum human assistance, the following specifications were found: Obstacle
avoidance, Floor detection Collision detection, Fan motor monitoring, Light Sensing, Real Time
Clock System on automatically [SHAH2015].

Smart Mini Automatic Vacuum Cleaner Using PIC Microcontroller

The Studyof Mohamad Shaiful Faiz Bin Abd Rahim 2015A Robot Vacuum Cleaner is design to
help people to complete their task. This project intend to design a smart mini robot vacuum cleaner
by using 18F4550 PIC Microcontroller as a platform for the controlling input and output device.
The existing robot vacuum cleaner is expensive and bigger in size. The purpose of this project is
to design and implement a Vacuum Robot. Vacuum Robot is designed to make cleaning process
become easier rather than by using manual vacuum. The idea is basically by having the sensor to
detect any object and send the output to a PIC that will control the Vacuum Robot movement. By
using Vacuum Robot, user can just turn on the Vacuum Robot to clean without having to monitor
the Robot. The methodology and scope of study are performed by doing literature reviews and
research on various sensors, motor, PIC, and the programming of the PIC. Vacuum Robot will have
several criteria that are efficient, organized and user-friendly, which meets human needs
[FAIZ2015].

Autonomous floor mopping apparatus

In the study of Shigng Raju in (2015) this robot is autonomous and can be remotely controlled. A
feed roller lets out a roll towelling, take-up roller reels in the towelling, and a motor system causes
it to rotate while robot moves. Autonomous motion using IR sensor mechanism and manually
controlled via GUI controls. Simple roller brushing and vacuuming [RAJU2015].

Autonomous floor cleaning robot

Harvey Koselka, Bret A. Wallach, David Gollaher (2004) Self-adjusting cleaning head with brush
assembly having counter rotating,asymmetric brushes. Independent, vacuum assembly so that the
cleaning capability and efficiency is optimized. A removable dust cartridge. A control system, in
communication with the motive system having feedback from sensors. Simple roller brushing

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separate vacuum assembly. Dirt compartment with auto-disposal. Autonomous motion using IR
sensor mechanism and manually controlled via GUI controls [KOSE2004].

Autonomous floor-cleaning robot

Joseph L. Jones, Newton E. Mack, David M. Nugent, Paul E. Sandin, (2005) The robot chassis
carries cleaning elements to suck particles up from the cleaning surface and apply a cleaning fluid
onto the surface to collect the cleaning fluid up from the surface using a rotating sponge. The robot
includes controls and drive elements configured to control the robot using sensor mechanism. A
removable dust cartridge with separate tank for cleaning fluid. A roller brush brooming the dirt
into dirt compartment aided by a vacuum cleaner Autonomous motion using IR sensor mechanism
and manually controlled via GUI controls. Dirt compartment with auto-disposal [NEWT2005].

Cleaning Robot and control method

Shih-Che HUNG, Yao-Shih Leng (2013), contains a movement module, a sound wave sensor
module, a cleaning module (vacuum only) and a controlling module. Autonomous motion using
IR sensor mechanism and manually controlled via GUI controls with brushing and vacuuming
[HUNG2013]

Autonomous surface cleaning robot for dry cleaning

Andrew Ziegler, Duane Gilbert, Christopher John Morse, Scott Pratt, Paul Sandin, Nancy
Dussault, Andrew Jones, (2005), Includes a transport drive and control system arranged for
autonomous movement of the robot. Vacuuming assembly and a waste container for storing waste.
Also includes wet cleaning separately. Autonomous motion using IR sensor mechanism and
manually controlled via GUI controls. Brushing and vacuuming assembly with a waste container
capable of auto-disposing. Wet cleaning feature is not available [ZIEG2005].

Automated lawn mower or floor polisher

According to the Study of Robert L. Martin (1989), An Automated Self Propelled Lawn mower
utilizes a pair of drive motors for independently driving left and right hand drive wheels. Each
drive motor is coupled to the respective drive wheel by a double output gear reduction unit. One
side of the output shaft from each gear reduction unit is provided with a rotary photo encoder for
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providing speed and position information relating to each drive wheel. This information from each
rotary photo encoder is fed to a computer control via a computer interface. Each independent wheel
drive motor is computer controlled through an interface and motor drive relays. An infrared
obstacle detector is mounted on each corner of the mower frame for detecting obstructions. Grass
touch detection switches on the rear of the mower frame provide an indication of the relative
position of the cut or uncut grass which is fed through the computer via the interface circuit for
providing computer directional control to the independent wheel drive motors which steer the
mower along the proper track. A separate blade drive motor is turned on or off by a photo switches
which detects uncut grass. The speed of the blade drive motor is controlled by a manual switch.
A floor polishing pad may be substituted for the lawn mower blade to enable use of the device as
an automated floor polisher [MART1989].

Mobile robot for cleaning

According to the study of Nikolai Romanov, Collin Eugene Johnson, James Philip Case, Dhiral
Goel, Steffen Gutman, and Michael Dooley (2011) A robotic cleaner includes a cleaning assembly
for cleaning a surface and a main robot body. The main robot body houses a drive system to cause
movement of the robotic cleaner and a microcontroller to control the movement of the
robotic cleaner. The cleaning assembly is located in front of the drive system and a width of the
cleaning assembly is greater than a width of the main robot body. A robotic cleaning system
includes a main robot body and a plurality of cleaning assemblies for cleaning a surface. The main
robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller
to control the movement of the robotic cleaner. The cleaning assembly is located in front of the
drive system and each of the cleaning assemblies is detachable from the main robot body and each
of the cleaning assemblies has a unique cleaning function [ROMA2011].

Local Studies

The Effectiveness of the Improvised Remote Controlled Floor Polisher in Polishing the Floor
(Tiles)

In the study of Anallee Aron in (2009) the main objective of this study is to produce the desired
robotic product (Remote Controlled Floor Polisher) out of recycled materials, which can help in

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doing some household chores. The researchers used materials such as: R.C. Car which will serve
as the body of the said robot it will be collected from any available sources, Motorcycle Battery
as the source of energy will be bought from any hardware stores and DC Electric Fan Dynamo as
the Polisher’s spinner which will be aimed from any unused DC electric fan. And to test its
effectiveness in terms of polishing the floor by conducting a survey [ARON2009].

Synthesis

From the published and unpublished materials, the proponents gained ideas, credible sources of
technical information about the implementation of robotics cleaners, automated floor cleaners, and
a microcontroller as the brain of this project. Based on the review of related literature, it can be
summarized that the device is possible in controlling a robotic system. The research also helped
the proponents to understand more about the components functions, limitations and capabilities
that the proponents will use to create a better device and system. It gives an ideas and better
understanding on how the proponents will conduct and make the project possible. However, its
effectiveness, accuracy, and reliability depend on the performance and construction of the system.
Several techniques or method can be acquired to improve the system will be discussed and its
impact on the overall performance. Therefore, the combination of different techniques and
methods by different researchers is essential that serve as a basis for making a better suitable
system to increase the accuracy. As the technology advances, different systems became well known
in today’s world as they became more accurate and reliable in terms of the performance. In this
study, the proponents intended to illustrate that this device is not a duplication of other works. The
proponents believe that each and every literature and studies in this research. The proponents relate
and differentiate the research based on the flow based on the analysis from the proposed study.
Based on the related literature, it can assess that the experiment is done with the same output using
different methods and efficiency. In addition, the proponents will design a prototype that will
assist people on polishing the floor in easiest way on controlling it. Moreover, the proponents will
create a system that will save the time travel and turns of the device to enable to use it without the
use of the controller.

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 AUTOMATED FLOOR POLISHER USING ANDROID APPLICATION PLATFORM

Overview of the project

The design project was created by the proponents to help the households of Canlubang, Calamba
City on automating the task in floor polishing. It is also to lessen the time that is being consumed
in polishing the floor. Furthermore, it will be more convenient for the households.

System design specification

Automated floor polisher using android application platform is a device that can automatically run
on its own. The device composed of different components such as Bluetooth connections between
the android phone and the device. It has Bluetooth module that connects the android phone and
the device in controlling the device. On the other hand, the Arduino mega serves as the brain of
the device, which controls the other components for its different functionalities. The data logging
shield is connected to the microcontroller, which is responsible in saving the data that is being
gathered by the device. Furthermore, the DC Motors is in charge in propulsion of the device. The
ultrasonic sensor is accountable in measuring the distance to an object or wall.

Hardware Design and Specification

Arduino Mega

Figure 3-2: Arduino Mega

Arduino projects can be stand-alone or they can communicate with software on running on a
computer. The proponents will use Arduino Mega microcontroller to meet the functionalities of
other components. The Arduino Mega 2560 is a microcontroller board based on the ATmega2560.
It has 54 digital input/output pins (of which 15 can be used as PWM outputs), 16 analog inputs, 4
UARTs (hardware serial ports), a 16 MHz crystal oscillator, a USB connection, a power jack, an
ICSP header, and a reset button. It contains everything needed to support the microcontroller;
simply connect it to a computer with a USB cable or power it with a AC-to-DC adapter or battery
to get started. The Mega is compatible with most shields designed for the Arduino Duemilanove
or Diecimila.[ADAF2012]
Specifications:

Microcontroller ATmega2560
Operating Voltage 5V
Input Voltage
7-12V
(recommended)
Input Voltage (limits) 6-20V
54 (of which 14 provide
Digital I/O Pins
PWM output)
Analog Input Pins 16
DC Current per I/O Pin 40 mA
DC Current for 3.3V Pin 50 mA
256 KB of which 8 KB
Flash Memory
used by bootloader
SRAM 8 KB
EEPROM 4 KB
Clock Speed 16 MHz

DC Motors

Figure 3-3: DC Motors

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A motor is an electrical machine which converts electrical energy into mechanical energy.
The principle of working of a DC motor is that whenever a current carrying conductor is placed in
a magnetic field, it experiences a mechanical force. [ELEC2014]

Bluetooth Module

Figure 3-5: Bluetooth Module

A short range wireless connectivity, Laird offers the widest range of high-performance classic
Bluetooth and Bluetooth Low Energy (BLE) modules for data and audio applications. With over
a decade of experience in the development and production of Bluetooth wireless modules and
associated development kits, we are the ideal Bluetooth technology partner for OEMs.
[LAIR2017]

Ultrasonic Sensor

Figure 3-6: Ultrasonic Sensor

An Ultrasonic sensor is a device that can measure the distance to an object by using sound waves.
It measures distance by sending out a sound wave at a specific frequency and listening for that
sound wave to bounce back. By recording the elapsed time between the sound wave being
generated and the sound wave bouncing back, it is possible to calculate the distance between the
sonar sensor and the object. [WEBC2017]

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Android Cellular Phone

Figure 3-7: Android Cellular Phone

The Android cell phone is a cell phone running the Android OS. A typical Android cell phone is
a smartphone with a touch screen interface, multiple connectivity options, Internet browsing
capabilities, support for video playback and a camera. [TECH2015]

Battery

Figure 3-8: Powerbank

Power bank also called “mobile battery”, “external battery”, “spare battery”, “digital charging
companion”, and “charging stick”. It also has a very personal name: “mobile phone lover”. “Power
bank” concept has been developed along with the rapid growth and popularization of digital
products, and its definition is: portable power supply which is easy to carry with large capacity. In
the light of the growing diversity of digital products features, more frequent usage, as well as closer
and closer work association with our daily life, the problems how to increase the use time of digital
products and electronic products, how to facilitate human living, how to add power supply, and

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how to play its full role have no time to delay. Power bank, is the best solution designed to address
these problems. Carrying a mobile power can achieve outside charging for a variety of digital
products anytime, anywhere.

Software

Eclipse

Figure 3-10: Eclipse

Eclipse is a Java-based open source platform that allows a software developer to create a
customized development environment (IDE) from plug-in components built by Eclipse members.
[TECH2011]. Eclipse is a Java-based open source platform that allows a software developer to
create a customized development environment (IDE) from plug-in components built by Eclipse
members. Eclipse is managed and directed by the Eclipse.org. Consortium. In the enterprise, a
major advantage to an open source development platform is that it allows an IT department to mix
and match development tools rather than being committed to a single vendor's suite of
development products. Although the Eclipse Platform is written in Java, it supports plug-ins that
allow developers to develop and test code written in other languages.

Android SDK
A software development kit that enables developers to create applications for the Android
platform. The Android SDK includes sample projects with source code, development tools,
an emulator, and required libraries to build Android applications. Applications are written using
the Java programming language and run on Dalvik, a custom virtual machine designed for
embedded use which runs on top of a Linuxkernel.

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Arduino IDE
The Arduino Integrated Development Environment - or Arduino Software (IDE) - contains a text
editor for writing code, a message area, a text console, a toolbar with buttons for common functions
and a series of menus. Programs written using Arduino Software (IDE) are called sketches. These
sketches are written in the text editor and are saved with the file extension. ino. The editor has
features for cutting/pasting and for searching/replacing text. The message area gives feedback
while saving and exporting and also displays errors. The console displays text output by the
Arduino Software (IDE), including complete error messages and other information. The bottom
right hand corner of the window displays the configured board and serial port. The toolbar buttons
allow you to verify and upload programs, create, open, and save sketches, and open the serial
monitor. [SM2015]

Input Process Output

INPUT PROCESS OUTPUT

User
Android
Manual Room
Application:
Mapping
- Manual Mode
Floor Polisher
- Automatic Automatic
Cleaning
Mode

Figure 3-12: Input Process Output Chart

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Figure 3-13 Block Diagram for Room Saving

In the figure 3-11 above shows the connection of the system in block formation. At first the
Arduino is the center of the system. The Bluetooth module will serve as the connection between
the android applications through an android phone. Then after than depending on the situation
when measuring the room, at first the user will input any actions through android application. The
Ultrasonic Sensor will give the measurement of the distances and the area of the room then it will
be saved to the microcontroller. The motor will run and be controlled by the dc motor driver.

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Figure 3- 14: System Flowchart

In the figure above shows the flowchart of the system. In this case, the user will input the desired
direction in order to measure the area of the room. After that, if the measurement is finished now
it will be stored to the microcontroller. Then, the user will set the hardware to auto mode then it
will start cleaning and polishing based on the measurement of the room. If there is an interruption
caused by an obstacle, then it will be going to stop. If none, then it will continue to polish until all
area has been cleaned.

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Figure 3.15: Motor Control System Algorithm

In the figure shown, it realizes program for the motion of the motor when it will stop and when
it will move. The motor counter value sets as 100 and the bumper is only a frame that has an
obstacle detector that will detect the if the obstacle is present and it will automatically reverse the
direction where the obstacle is present.

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 Start

Measure
Voltage

NO

If v < 3

YES

Buzzer

Figure 3-17 Buzzer Alarm System

In the figure shows the flowchart of the voltage level indicator. If the voltage sensor sensed that
the voltage of the battery is less than 3 volts, the buzzer will indicate a sound so that the user will
know the battery needs to be charged.
 Figure 3-16 Block Diagram for Bluetooth and Motor Controller

In the figure above shown the theory about the connection of the Bluetooth module to
microcontroller. An android phone will be connected to the Bluetooth of the microcontroller. The
user on the android device will input the direction of the polisher. The button from the android
application will then send a signal to the microcontroller and then the microcontroller will send
signal to trigger the motor driver to know its direction based on the user’s input.

Figure 3 – 17: Front Motor Schematic Diagram

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 Figure 3 – 19: Sensor Connections to Arduino

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 Results and Discussions

Introduction

In this chapter, the proponents will test the device to analyze and determine if the device is able to
meet high integrity output. In this part, the proponents have the ability to get more out of the theory
that the proponents put in and arrived to a successful design project.

To validate if every components meets its functionality and if the device will accomplish the
desired output, tests and trials will be conducted, circuitry checking to determine if the components
is connected properly.

Testing of Arduino Uno

Arduino is connected to the USB port of the PC, and there is a required driver for it. Check the
serial communication port used by the Arduino mega in the tools of Arduino interactive
development environment (IDE). Checking what atmega processor is currently using and select it
to the tools of Arduino mega IDE testing the program which is available for Arduino IDE if the
program is executed properly.

Testing of Bluetooth

This test is done with bluetooth module by connecting to the android device. Turn on the bluetooth
in android phone and check if the bluetooth of the device has been detected. Then test if the controls
in android phone is executed properly to the device.

Testing the Software of Android Apps in Mobile Phone

In testing an android software, it can be done by using emulator. To emulate, click on the emulate
tab on the Android software Development Kit and dot the test.

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Results and Analysis

To complete this study properly, it is necessary to analyze the data collected in order to test the
hypothesis and answer the research questions. As already indicated in the preceding chapter, data
is interpreted in a descriptive form.

Functionality: The ability of the device to perform a function and operate well without failure to
the concept of controlling the device using mobile phones. With the use of bluetooth technology,
the floor polisher can be controlled within the range of the bluetooth module to transmit data within
the mobile phones to the microcontroller. After testing and analyzing the corresponding
components achieved its desired functionality and output.

Summary

The smart phone world is expanding at a rapid pace. With its wireless technology, it is really
helpful to communicate with others easily and do things within its range. Floor polisher is one of
the equipment used in cleaning floor. But mostly of the households are using coconut husk and
other equipment in polishing floor.

The proponents came up with this project wherein the floor polisher can be controlled remotely by
the use of android phone via Bluetooth or it can automatically move on its own by saving data to
the database. It’s also consist of sensors wherein the distance of the polisher to an object can be
avoided.

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 Conclusions and Recommendations

Conclusion
In this design project, the proponents introduced an automated floor polisher using android
application platform through wireless technology. Thus, the proponents concluded the following:

1. To communicate the mobile phone to the device through bluetooth, the device and the
mobile phone should be near with each other.

2. The android phone is one of the smart phones that is an open platform which alo provides
complete software pack and its programmable applications. To control the floor polisher
using android phone, the application installed on the mobile phones has its functions with
its corresponding purpose.

Recommendation

1. The future researchers may use a wider range wireless technology such as wifi to control
the device in a long distance that will not interrupt the connection by lacking of signal.

2. iOS mobile application may be added as the controller of car.

3. The use of other microcontroller with high specifications, fast performance ad more inputs
and outputs may be considered to improve the project.

4. Finally, the future researchers can use image processing to have an accurate direction for
the device.
 References

Thesis
Joseph L. Jones, Newton E. Mack, David M. Nugent, Paul E. Sandin, “Autonomous floor-
cleaning robot,” U.S. Patent 6883201 B2, April 6, 2005.

Harvey Koselka, Bret A. Wallach, David Gollaher,“Autonomous floor mopping

apparatus,” U.S. Patent 6741054 B2, May 25, 2004.

Griffin, C. (2009). An Automated Cleaning System for Hospitals. Retrieved from

http://doras.dcu.ie/14901/1/Final_ethesis.pdf

Martin, R, (1989) Automated Lawan Mower or Floor Polisher. Retrieved from

https://patents.google.com/patent/US4887415A/en?q=floor+polisher

Jena, S., (2015). Design and fabrication of automatic floor cleaner.

Retrieved from http://ethesis.nitrkl.ac.in/7606/1/2015_Design_Jena.pdf

Romanav, N. Johnson, C., Case, J., Goel, D., Gutmann, S, and Dooleym, (2011) Mobile Robot
Cleaning. Retrieved from
https://patents.google.com/patent/US20110202175A1/en?q=floor+polisher+with+vacuum+cl
eaner

Shih-Che HUNG, Yao-Shih Leng, “Cleaning robot and control method thereof,” U.S.
Patent 20130231819 A1, September 5, 2013.

Sunkavalli R., (2015) Design and Simulation of an Autonomous Dust Cleaner.

Retrieved from
http://csusdspace.calstate.edu/bitstream/handle/10211.3/163263/Thesis%20final%20e
xact%20Report%20ORIGINAL.pdf;sequence=1
Ziegler,A., Gilbert,D., Morse,C., Pratt, S., Sandin,P., Dussault, N., Jones, A.,
“Autonomous surface cleaning robot for wet and dry cleaning,” U.S. Patent
7389156 B2, June 22, 2014.

Internet Site
Centaur F. M. (1999). Brief History of Flooring Machines. Retrieved from
https://centaurmachines.com/brief-history-flooring-machines/

Edlund M., (2015). Lawn Analyzer. Retrieved from

http://www.diva-portal.org/smash/get/diva2:915973/FULLTEXT01.pdf

Frank D. (2016). Floor Machine History—Evolution to Innovation. Retrieved from

https://tornadovac.com/docs/Floor_Machine_History.pdf

Journal
Kaur, M., Abrol, P., (2014). Retrieved from Design and Development of Floor Cleaner
Robot (Automatic and Manual). Retrieved from
http://research.ijcaonline.org/volume97/number19/pxc3897776.pdf

Franco T., (2012). Development of a Bluetooth Based Mobile Application for Autonomous
Systems. Retrieved from
http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.821.5876&rep=rep1&type=
pdf

Shah,V., (2015). Floor Cleaning Robot with Mobile-App or Autonomous. Retrieved from
https://www.researchgate.net/publication/299372806_Floor_Cleaning_Robot_with_M
obile-App_or_Autonomous

Encyclopedia
Kosharovskii B.N (2010). Floor Polisher. Retrieved from

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 http://encyclopedia2.thefreedictionary.com/Floor+Polisher

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APPENDICES
 APPENDIX A. GANTT CHART

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 MONTH JUNE JULY AUGUST SEPTEMBER OCTOBER NOVEMBER DECEMBER JANUARY FEBRUARY MARCH
ACTIVITY
Client Searching
Planning
Analysis
Draft
Chapter 1
Chapter 2
Chapter 3
Chapter 4
Chapter 5

Table : Gantt chart

Legend: On Going Finished

The Gantt chart presents the summary of activities. Listed are the activities and opposite them are their duration or periods of execution.
On the 2nd week of June up until the 1st week of July, the proponents do client searching. On the 2nd week of June up to present, the
proponents do analysis of the client’s problem. The planning of the proponents scheduled on the 1st week of June up until the 4th week
of August. After that, the proponents do the documentations as shown on the Gantt chart below.
 APPENDIX B. ACTUAL THESIS EXPENSES

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 THESIS EXPENSES

Quantity Specifics Approximate Cost Actual Cost

1 Arduino IDE Freeware

1 Eclipse Freeware

1 Android SDK Free

2 DC Motor 1,700.00

1 Ultrasonic Sensor 550.00

1 Android phone 5,000.00

1 Bluetooth Module 250.00

1 L298N Motor Driver 500.00

1 Data Logging Shield 700.00

Arduino Mega
1 600.00
Microcontroller

1 3,500.00
Battery Li-Po

1 280.00
Secure Digital Card

TOTAL: 13,330.00

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Prepared by:

Jeanelle L. Ilao Leann Errol A. Ogayon

Mia Zara A. Gomez

Noted by:

Fe L. Ilao Divina Gracia A. Gomez

Efren P. Ogayon

Approved by:

Engr. Ralph Laurence G. Visaya Engr. Ralph Laurence G. Visaya

Thesis Adviser Thesis Coordinator

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 APPENDIX C.USER’S MANUAL

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Appendix C. User’s Manual
User Input View

Manual button

Automatic Button

Left Button

Up Button

Right Button

Down Button

Display Distance/Area Values

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 APPENDIX D. TECHNICAL SPECIFICATIONS

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Arduino Mega 2560

Figure D-1 Arduino Mega 2560 Schematic Diagram

Figure D-2 Pin Configuration of ATMEGA2560

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 Figure D – 3: L298N Motor Driver

Figure D – 4 L298 Pin Configurations

Specifications:

 Driver: L298N
 Driver power supply: +5V~+46V
 Driver Io: 2A
 Logic power output Vss: +5~+7V (internal supply +5V)

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 Logic current: 0~36mA
 Controlling level: Low -0.3V~1.5V, high: 2.3V~Vss
 Enable signal level: Low -0.3V~1.5V, high: 2.3V~Vss
 Max power: 25W (Temperature 75 cesus)
 Working temperature: -25C~+130C
 Dimension: 60mm*54mm
 Driver weight: ~48g
 Other extensions: current probe, controlling direction indicator, pull-up resistoer
switch, logic part power supply

Figure D – 5 DC Gear Motor Wheel

Specification:

Motor:
 Voltage: DC 3V-6V
 Current: 100 MA-120MA
 Reduction rate: 48: 1
 RPM (With tire): 100-240
 Tire Diameter: 65mm
 Car Speed(M/minute): 20-48

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  Motor Weight (g): 29/each
 Motor Size: 70mm X 22mm X 18mm
 Noise: <65dB
Tire Parameter:
 Center hole: 5.3MM x 3.66MM
 Wheel size: 65 x 26mm

Figure D-6 Ultrasonic Sensor HC-SR04

Specifications:

 Operating Voltage: 5V DC
 Operating Current: 15mA
 Measure Angle: 15°
 Ranging Distance: 2cm - 4m

Figure D -7 Piezoelectric Buzzer

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 Figure D- 8 Dimension of Piezoelectric Buzzer

Bluetooth Module HC-05

Figure D – 9: HC-05 Bluetooth Module

HC-05 Specification:

 Bluetooth protocol: Bluetooth Specification v2.0+EDR

 Frequency: 2.4GHz ISM band
 Modulation: GFSK (Gaussian Frequency Shift Keying)

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  Emission power: ≤4dBm, Class 2
 Sensitivity: ≤-84dBm at 0.1% BER
 Speed: Asynchronous: 2.1Mbps(Max) / 160 kbps, Synchronous: 1Mbps/1Mbps
 Security: Authentication and encryption
 Profiles: Bluetooth serial port
 Power supply: +3.3VDC 50mA
 Working temperature: -20 ~ +75Centigrade
 Dimension: 26.9mm x 13mm x 2.2 mm

Figure D – 10: Digital Compass HC5883L

Specifications

 I2C interface
 1-2 degree heading accuracy
 Integrated 12-bit ADC
 160Hz max data rate
 Range of -8 to +8 Gauss

Voltage Sensor

Figure D-11: Voltage Sensor

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Specification:

 Divider ratio: 5:1

 Resistor Tolerance: 1%
 Max input voltage: 25V
 Resistor Value: 30K/7.5K Ohm

Pinout:

INPUT:

 GND – This is where you connect the low side of the voltage you are measuring.

* Caution: This is the same electrical point as your Arduino ground.

 VCC – The is where you connect the high side of the voltage you are measuring
(0 - 25V)

OUTPUT:

 S: This connects to Arduino analog input.

 – (or minus): This connects to your Arduino ground.
 +: This is not connected. It does absolutely nothing.

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 APPENDIX E. CURRICULUM VITAE OF RESEARCHERS

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 Curriculum Vitae of
Jeanelle L. Ilao
2462 Molave Street Tuntungin Los Banos Laguna
[email protected]
(0977) 852 1352
EDUCATIONAL BACKGROUND
Level Inclusive Dates Name of school/ Institution
Tertiary 2015-present STI College Calamba
Tertiary March 2014 Colegio de San Juan de Letran-
Calamba
High School March 2008 Saint Francis of Assisi College
Elementary March 2004 Paciano Rizal Elementary Rizal

PROFESSIONAL OR VOLUNTEER EXPERIENCE

Nature of Experience/ Name and Address of Company
Inclusive Dates
Job Title or Organization
December 2012 OWLCHI (Operation We Rotary Club of Calamba City
Love Children) Volunteer
December 2013 OWLCHI (Operation We Rotary Club of Calamba City
Love Children) Volunteer

AFFILIATIONS
Inclusive Dates Name of Organization Position
th
2016 ACOES (Affliation of 4 year representative
Computer Engineering
Society)
2013 LCOES (Letran Computer Graphic artist and design
Engineering Society)
2013 Dominican Networking Treasurer
2013 Rotaract Club of Secretary
LetranCalamba
2011 Rotaract Club of Board Member
LetranCalamba

SKILLS
SKILLS Level of Competency Date Acquired
Java Programming Novice 2013
Asp.Net Novice 2010
Computer Repair Novice 2010
Adobe Photoshop Novice 2008

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 Curriculum Vitae of
Leann Errol A. Ogayon
Brgy.Banlic San Isidro Heights Cabuyao Laguna
[email protected]

EDUCATIONAL BACKGROUND
Level Inclusive Dates Name of school/ Institution
Tertiary 2013- present STI College Calamba
Vocational/Technical May 14,2012 STI College Calamba
High School March 31, 2009 Tagkawayan High School
Elementary March 2005 Aliji Elementary School

PROFESSIONAL OR VOLUNTEER EXPERIENCE

Nature of Experience/ Name and Address of Company
Inclusive Dates
Job Title or Organization
May 7,2012 Technecian OPU Engineering Samsung Electronics Samsung
Department Electronics
December Data Encoder Calamba city HallCalamba
2011-march Laguna
2012

AFFILIATIONS
Inclusive Dates Name of Organization Position
2013- up to ACOES (Affliation of Member
present Computer Engineering
Society)

SKILLS
SKILLS Level of Competency Date Acquired

Knowledge in Computer Novice 2010

(Basic)

TRAININGS, SEMINARS OR WORKSHOP ATTENDED

Inclusive Title of Training, Seminar or Workshop
Dates
Oct. 4,2015 Understanding Network: Network Engineering Fundamental
Local Area Network Design

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 Curriculum Vitae of
Mia Zara A. Gomez
Blk.1 Lot 6 CarmelrayGk Village Canlubang, Calamba Laguna
[email protected]
0936-5913-838

EDUCATIONAL BACKGROUND
Level Inclusive Dates Name of school/ Institution
Tertiary 2013 – Present STI Calamba
Vocational/Technical October 2010 Calamba Manpower Development
Center
High School March 2010 Canlubang National High School
Elementary March 2006 Canlubang Elementary School

PROFESSIONAL OR VOLUNTEER EXPERIENCE

Nature of Experience/ Name and Address of Company
Inclusive Dates
Job Title or Organization

AFFILIATIONS
Inclusive Dates Name of Organization Position
2016 ACOES (Affliation of President
Computer Engineering
Society)

SKILLS
SKILLS Level of Competency Date Acquired

Knowledge in Computer 2010

(Basic)

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