LFR - Cover Page

2nd Term A.Y.
2019-2020
EECKT11L – Electrical Circuits 1 (Lab) – ECE181
Midterm Project
LINE FOLLOWER ROBOT
Submitted by:
Belmoro, Stephanie Angel G.
Bringas, Nicole U.
Divina, Jan Matthew A.
Ignacio, Robin
Pablo, Christine Angela R.
Pastrana, Reynald John S.
GROUP 4
Submitted to:
Jerome A. Exito, REE, RME, CMIEE

Instructor
December 20, 2019

LINE FOLLOWER ROBOT 2
ACKNOWLEDGEMENT
We take this opportunity to express our gratitude towards the following

people for their encouragement and guidance without which the successful
completion of our project work would not have been possible.
We are grateful to our project guide Engr. Jerome Exito for his valuable
guidance and suggestion in our project work. It was through his relentless
efforts that we have been able to fulfill our project requirement.
We would further like to extend a warm token of appreciation towards
our college for providing a conducive environment for our project. Also we
would like to thank our School Library for sources (internet, books) which
helped us to build our project.
At last, we want to thank everybody who helped us with this research,
and everyone who will honor us by reading it
NATIONAL UNIVERSITY –MANILA COLLEGE OF ENGINEERING

ABSTRACT
The Line follower robot is a mobile machine that can detect and follow the line drawn
on the floor. Generally, the path is predefined and can be either visible like a black line on a
white surface with a high contrasted color or it can be invisible like a magnetic field. The robot
must sense a line and maneuvers accordingly to stay on course while correcting the wrong
moves using feedback mechanism thus forming a simple but yet effective closed loop System
Therefore, this kind of robot should sense the line with its Infrared Ray (IR) sensors that
installed under the robot.
This robot is simple but effective having straightforward design to perform line
following task.The technical and mechanical issues and problems also have investigated.
Keywords—Line Follower; Circuit, IR Sensors

TABLE OF CONTENTS
Chapter 1 – Introduction………………………………………………………………...5-7
i. Background of the Project……………………………………………………..5-6
ii. Objectives………………………………………………………………………..6
iii. Scope and Delimitation of the Project………………………………………...6-7
Chapter 2 – Literature Review………………………………………………………...8-17

i. Optical Sensors Application…………………………………………………..8-9
ii. Components used in the Project…………………………………………….10-16
iii. Casing Building…………………………………………………………….16-17
Chapter 3 – Methodology……………………………………………………………..18-22
i. The Circuit Diagram of the Robot………………………………………….18-19
ii. Project Development………………………………………………………..19-26
iii. Simulating the Circuit Design………………………………………………….26
Chapter 4 – Results and Discussion…………………………………………………..27-29

i. Hardware Testing and Results………………………………………………27-29
1. IR-LED and Photodiode Stage………………………………………….27-28
2. Motor Stage……………………………………………………………..28-29
3. Competition Results………………………………………………………...29
4. Troubleshooting…………………………………………………………….29
Chapter 5 – Conclusions………………………………………………………………30-31
i. Conclusions…………………………………………………………………….30
ii. Future Recommendation……………………………………………………30-31
References……………………………………………………………………………...32-33
Appendices…………………………………………………………………………….34-50
i. Photo Documentation…………………………………………....................34-36
ii. Official Receipts …………………………………………………………...36-38
iii. Curriculum Vitae…………………………………………………………...39-50

CHAPTER 1
INTRODUCTION
Robotics technology is ascending at a fast pace, delivering us with new technology

that can assist with automobile assembly, home chores, and many other tasks. Robotic
Technology had differed the world around us and is maintaining to impact the way we do
things. Robotics technology transformation from the past to present surrounds almost
everyone in today’s society, and it affects both our work and leisure activities. The
definition of the word robot has a different meaning to many people and most people have
their own definition and meaning for the word robot. According to the Robot Institute of
America, 1979 a robot is a re-programmable, multifunctional manipulator designed to
move material, parts, tools, or specialized devices through various programmed motions
for the performance of a variety of tasks. The use of robots continues to change numerous
aspect of our everyday life, such as health care, education, and job satisfaction. Robots are
growing to be a major part of the world economy, they help ways to make our daily life
easier and assist in producing more products. Robotic technology is becoming one of the
leading technologies in the world. They can perform many functions; robots are used in
many different ways in today’s society. The use of Robotic Technology has made an
immediate impact on the world in several ways. One of which is the Line Follower Robot.
I. BACKGROUND OF THE PROJECT
As technology becomes increasingly important in today's world, it is invaluable to not

only learn how to use technology, but also to understand how to create it. Since being the
engineer one should have sound knowledge of the other discipline. Most of the projects
have limited scope to only specific discipline. This would limit ones innovation and
creativity. This project inspires to make connections across several disciplines rather than
learning topics in isolation as it combines mechanical, electronic, electrical and
programming skills.
 It builds logical thinking.
 It gives visual grasp of math and science.
 It enhances problem solving skills.

 It brings out innovation and creativity.
The robot designed in such a way that it not only track the path and follow it but also
visualize the distance travelled through the LCD displays.
Generally, the line follower robot is one of the self- operating mobile machines that
follows a line drawn on the floor. The path can be a visible black line on a white surface
(reverse). According to ELPROCUS (Electronics, Projects, Focus), A line follower robot
is a robot which follows a certain path controlled by a feedback mechanism.
II. OBJECTIVES
The objectives of the project are:

 The robot must be capable of following a line.
 It should be capable of taking various degrees of turns.
 The robot must be insensitive to environmental factors such as lighting and
noise.
 It must allow calibration of the line’s darkness threshold.
 Scalability must be a primary concern in the design.
III. SCOPE AND DELIMITATION OF THE PROJECT
SCOPE
 “Obstacle detecting sensors” to avoid physical obstacles and continue on the

line.
 Distance sensing and position logging & transmission.

DELIMITATIONS
Initially, this study was to confine itself to not using a microcontroller which is
more efficient than IR sensors. Thus, making the Line Follower Robot lack speed
during demonstrations.
Use of IR even though solves a lot of problems pertaining to interference, makes it
hard to debug a faulty sensor.
 Lack of speed control makes the robot unstable at times.

 Calibration is difficult, and it is not easy to set a perfect value.
 Few curves are not made efficiently, and must be avoided.

CHAPTER 2
LITERATURE REVIEW
I. OPTICAL SENSORS APPLICATIONS
The combination of Infrared Light-Emitting Diode (IR- LED) and

Photodiode is used as the reflective optical sensor. It generate interrupt when the IR -
beam is break to the photodiode. To create the IR break beam, IR LED is used with a
low value resistor so that it shines very bright. The receiver is Photodiode which biases
'on' whenever the IR LED's light is detected. A sensor will be placed adjacent the IR
link and turned on so as to generate a pulse to the Printed Circuit Board (PCB).
Proximity Sensor
obtained from: electronicsforu.com
The robot uses photodiode sensors to sense the line; an array of four IR-
LEDs and Photodiode sensors facing the ground used in this setup. An analog signal
is obtained in output, depends on the amount of light reflected back. We can use any
number of sensors. If we have low number, then our robot movement is not smooth
and it may face problems during sharp turns. If higher number of sensors were, used
robot movement will become smooth and reliable for sharp turns. Thus, optimum
number of sensors required.
Proximity sensors employ reflective indirect incidence principle. The
photodiode receives the radiation emitted by the IR LED once reflected back by the

object. Closer the object, higher will be the intensity of the incident radiation on the
photodiode. This intensity is converted to voltage to determine the distance.
Principle of Working
An IR sensor consists of two parts, the emitter circuit and the receiver circuit. This
is collectively known as a photo-coupler or an opto-coupler.
The emitter is an IR LED and the detector is an IR photodiode. The IR photodiode
is sensitive to the IR light emitted by an IR LED. The photo-diode’s resistance and output
voltage change in proportion to the IR light received. This is the underlying working
principle of the IR sensor.
The type of incidence can be direct incidence or indirect incidence. In direct
incidence, the IR LED is placed in front of a photodiode with no obstacle in between. In
indirect incidence, both the diodes are placed side by side with an opaque object in front
of the sensor. The light from the IR LED hits the opaque surface and reflects back to the
photodiode.
In line following robots, IR sensors detect the color of the surface underneath it
and send a signal to main circuit which then takes decisions according to the algorithm set
by the creator of the bot. Line followers employ reflective or non-reflective indirect
incidence. The IR is reflected back to the module from the white surface around the black
line. But IR radiation is absorbed completely by black color. There is no reflection of the
IR radiation going back to the sensor module in black color.

II. COMPONENTS USED IN THE PROJECT
PCB (Printed Circuit Board – 3 * 4)
A PCB is a thin board manufactured from covering material, composite epoxy,

or alternative laminate material. Conductive pathways are carved or "printed" onto board,
connecting different elements on the PCB, like transistors, resistors, and integrated
circuits.
LDR SENSOR (Light Dependent Resistor)
LDR is a resistor that is light dependent. It changes its resistance depending on the amount
of light that hits it. They are made from semiconductor material so that when light hits the
semiconductor material it becomes more conductive and therefore has less resistance.

LED (Light Emitting Diode)
A LED is a semiconductor that emits visible light once an electrical current pass through
it. The light isn't significantly bright, however in most LEDs it's monochromatic,
occurring at one wavelength.
TRANSISTOR (2N3904)
Transistor is an electronics device which is made of semiconductor and used in electronics

amplification. The 2N3904 is an extremely popular NPN transistor that is used as a simple
electronic switch or amplifier that can handle 200 mA (absolute maximum) and
frequencies as high as 100 MHz when used as an amplifier.

DIODE (1N4148)
A diode is an electronic part that allows current flow in precisely one direction. The
1N4148 could be a general-purpose discrete diode with high switch speed and
modest most current and reverse voltage ratings. Because it could be a low-priced two-
lead part, hobbyists use it for building project circuits, as well as those for audio, radio and
digital applications.
RESISTOR (220OHMS)
A 220Ω resistor has red, red, and brown stripes. The last stripe represents the tolerance.
The tolerance of a 220 ohms resistor is Gold, Gold means ±5%. Resistors are
electrical components that manages the flow of current in a circuit. A high
resistance suggests that there's less current out there for a given voltage. In a resistor,
electrons collide with ions, decelerating the flow of electricity and lowering the
current while producing heat.

10 kΩ POTENTIOMETER
Potentiometer is a small sized electronic component whose resistance can be adjusted

manually. Increasing or decreasing the value of resistance controls the amount of current
flowing in a circuit. If we have a 10kΩ potentiometer, it means that the maximum
resistance of the variable resistor is 10kΩ and the minimum is 0Ω. This means that by
changing the wiper position, you get a value between 0Ω and 10kΩ.
SWITCH
A switch is a component that controls the open-ness or closed-ness of an

electrical circuit. It allows control over current flow during a circuit (without having to
really get in there and manually cut or splice the wires). Switches are important parts in
any circuit which needs user interaction or management.

FOAM BOARD
It is a lightweight and easily cut material used for creating crafts such as making scale
models and mounting of photographic prints, etc. This is the one used by the researchers
to create the case of the line follower robot.
DC MOTOR
Motor is a device that converts any sort of energy into mechanical energy or imparts
motion. In constructing a robot, motor typically plays a very important role by giving
movement to the robot. In general, motor in operation with the impact of conductor with
current and therefore the permanent force field. The conductor with

current typically manufacturing force field that may react with the force field produces by
the magnet to create the motor rotate. There are 3 basic kinds of motor, DC motor, even
servomotor and stepper motor, which are being used in building a robot.
DC motors are most easy for controlling. One DC motor has 2 signals for its operation.
Reversing the polarity of the facility provide across it will modify the direction needed.
Speed may be varied by varying the voltage across motor.
WHEELS AND CASTER WHEELS
A caster is a wheeled device generally mounted to a bigger object that

allows comparatively straightforward rolling movement of the thing.
Casters are primarily housings that embrace a wheel and a mounting to put in the caster to
things, equipment, apparatus and more.
9 VOLT - BATTERY

The nine-volt battery, or 9-volt battery, could be a common size of battery that was
introduced for the first semiconductor radios. It’s a rectangular prism form with rounded
edges and a polarized snap connecter at the top. This kind is usually utilized in walkie-
talkies, clocks and smoke detectors.
III. CASING BUILDING
The researchers come up with an idea to use a lightweight but durable material to
house the Line Follower Robot. With further and thorough discussion, the group
decides to choose a foam board to house the said prototype. This is due to the fact that
using a lightweight material didn’t have much weight to the robot to lessen the burden
of the former. Thus, it didn’t compromise the speed and the agility of the robot.
All components can be installed on the circuit to decrease the weight. For example,
motors can be fixed under the circuit and other segments can be installed on the
circuit. The appearance of robot, definitely, is not important. It is noted that the
performance is much more important than other things.


CHAPTER 3
METHODOLOGY
I. THE CIRCUIT DIAGRAM OF A ROBOT
Obtained from:
http://www.ermicro.com/blog
The 2N3904 NPN Bipolar Junction Transistor (BJT) is designed to operate as the
current gainer amplifier; this means we operate the 2N3904 transistor in its linear region.
The advantages of using the transistor in its linear region is; the transistor collector current
passed through the DC motor will varying according to the base current which controlled
by the LDR (Light Dependent Transistor) and 10 kΩ potentiometer. Therefore the c urrent
through the DC motor will vary according to the light intensity received by the LDR.
Using this simple principal we could easily use this circuit to track the black tape by
locating the LDR and the white LED in such a way that the LDR will receive less light
from the white LED when the LDR position right on top of the black tape and this will
make the DC motor to turn slowly (less collector current). When the LDR position outside

the black tape (on the top of the white background) the LDR will receive more light from
the white LED; this will make the motor to turn faster (more collector current).
The 10 kΩ potentiometer is use to adjust the DC motor speed, while the 1N4148
diode is use to protect the transistor again the EMF (Electromotive Force) generated by
the DC motor inductor when its switch off. The key of successfully building this circuit is
heavily depend on the geared DC motor we chose.
II. PROJECT DEVELOPMENT
In this project, in order to achieve the desired outcome, it must have phases to
follow. In this particular paper, it consists of:
 Phase 1- Buying of Components

 Phase 2 - Component Testing
 Phase 3- Circuit Diagram Effectivity
 Phase 4- Etching of PCB
 Phase 5- Connecting of components into the PCB
 Phase 6- Troubleshooting and Reconfiguration
 Phase 7- Casing Building
 Phase 8- Line Follower Testing
 Phase 9- Finished Prototype
PHASE 1 – BUYING OF COMPONENTS
The researchers bought the following components at various Electronic Stores around
Manila such as DEECO, ALEXAN, SPARKFRUIT and such.

PCB (Printed Circuit Board) (3X4) TRANSISTOR (2N3904)
LDR SENSOR (Light Dependent Resistor) DIODE (1N4148)
LED (Light Emitting Diode) RESISTOR (220OHMS)

10K POTENTIOMETER DC MOTOR
SWITCH WHEELS AND CASTER WHEELS
FOAM BOARD
9V BATTERY

PHASE 2 – COMPONENT TESTING

The researchers test the components if it works. It is done by continuity testing via
multi-tester.
PHASE 3 – CIRCUIT DIAGRAM EFFECTIVITY
The researchers were able to test the effectivity of the diagram in the breadboard using
the components that are stated in the diagram. As a result, the circuit diagram worked.

PHASE 4 – ETCHING OF PCB
The researchers draw the diagram in the printed circuit board (PCB) then they soak it
in the ferric chloride for more than 10 minutes. After soaking and getting the results, the
researchers tests the continuity by using the digital multimeter to see if they are all connected
to each other. Once the etching is done, they proceed to the next step which is the connecting
of the components into the PCB.

PHASE 5 – CONNECTING OF COMPONENTS INTO THE PCB
The researchers gather the components that are going to use in the diagram such as 2
pcs LDR, 2 pcs LED, 2N3904 transistor, 1N4148 diode, 220ohms resistor, 10K potentiometer,
and 2 pcs DC motor.

PHASE 6 – TROUBLESHOOTING AND RECONFIGURATION
In this phase, the researchers troubleshoot and reconfigure the prototype if an anomaly
is present.
PHASE 7 – CASING BUILDING
The researchers used a foam board because it is lightweight material. Since one of the
objectives of this prototype is to be the fastest among the other, the researchers need to
minimize the weight that were going to put in the line follower robot.

PHASE 8 - LINE FOLLOWER TESTING
In this phase, the Line Follower Robot will be now test if the said prototype will
follow the line. If not, it will undergo troubleshooting and reconfiguration.
PHASE 9 – FINISHED PROTOTYPE
The Line Follower Robot is now up and running and will now be tested on how
fast the robot sense the line and how it will respond if it encounter an obstacle and such.
III. SIMULATING THE CIRCUIT DESIGN
To be able to know if the Circuit Diagram presented above works, it will be

simulated in an application. In this case, the researchers use the application PCB
Design and Circuit Simulator Software or “PROTEUS’.
Line Follower Robot Circuit Design

CHAPTER 4
RESULTS AND DISCUSSION
I. HARDWARE TESTING AND RESULTS
The practical analysis of the components and the mathematical calculation

is performed at different stage. Dc motor are most easy for controlling. One dc motor has
two signals for its operation. Reversing the polarity of the power supply across it can be
change the direction required. Speed can be varied by varying the voltage across the motor.
The Dc motor don’t have enough torque to drive the robot directly. So in order to solve
the problem the dc gear motor is which increase the torque of the dc motor in the expense
of the speed.
Mathematical Interpretation: Rotational power (Pr) is given by: Pr= Torque (T) X
Rotational Speed (ω)
Γ=
𝑝𝑟 𝜔
Pr is constant for DC motor for a constant input electrical power. Thus torque (T) is
inversely proportional speed (ω)
Γ≁
1𝜔
1.) IR – LED AND PHOTODIODE STAGE
When a sensor is on white color, LED light will be reflected to the corresponding
LDR. As a result, resistances of LDR decreases and the voltage at non-inverting terminal
(+) of the op-amp will increase. Thus op-amp output goes high and turns on the transistor,
which rotates the motor. When a sensor is on black color, LED light will not be reflected
to LDR, thus the output of the op-amp will be low and the motor will be off.

Thus when the both sensor are on white color, it will run both motors forward and
when any of them on black color it will stop the corresponding motor. Thus the ro bot turns
in corresponding direction since one motor is running.
The sensitivity of the LDR can be adjusted by using the 10K pot. For more
accuracy, cover the sensor-LED pairs in a black wrapper through sides in such a way that
only the reflected light falls on the LDR. The Line Follower can trace path drawn with
black ink on a white chart and the width of the black track should be a little less than the
width between sensors.
Diodes D3 and D4 are provided to cancel the negative voltages produced due to
the back emf of the motor.
2.) MOTOR STAGE
The movement system is an important part of a robot and its objective is how to
move robot from one point to another point. This system has some details which show us
how to use motors and wheels. There are many kinds of motors and wheels. Our choice is
dependent on the robot function, power, speed, and precision. At the beginning of the
project, at first, we wanted to use two step motors for gaining the best speed and a
remarkable control but it was too hard and sometimes impossible to write a good program
for two step motors because each step motor has at least four inputs, and moreover we
must use two motor drivers, L298, for getting
the required voltage to the motors. Actually, it
is better to use gearbox motors instead of
common DC motors because it has gears and
an axle and its speed does not change towards
the top of a hill or downhill. Pay attention that
the more speed is, the less precision will be;
thus it is better to choose a motor that has
authentic Revolutions per Minute (RPM).
Eventually, we used two DC gearbox motors.
2 D. C. Gearbox Motors

It is better to use wheels for line follower robots. We can use three wheels. Two of
them are joined to the motors and installed rear the robot and the other wheel is free and
installed front of the robot as a passive caster.
Front and Rear Wheels
3.) COMPETITION RESULTS
We are not able to join the competition this is for the reason that our project prototype
experienced some difficulty sensing the lines as of that moment.
4.) TROUBLESHOOTING
It is very hard to troubleshoot a certain prototype especially a robot as it is difficult to

pinpoint where the anomaly is and why a robot didn’t respond to the certain outcome. Well,
in this case, the LDR is one of the major reasons why this is happening. In order to address this
issue, make sure that the connections are properly soldered together with the components.
Importantly, the IR-Led is working properly to sense the black line. Also, the wheels must be
symmetrical to avoid inaccuracy of the robot.

CHAPTER 5
CONCLUSIONS
I. CONCLUSIONS
The researchers conclude that the brighter LED light bulb can produce, the higher value
of the light will be absorbed or sensed by the LDR. By this, the line follower robot will move
faster. In addition in terms for the acceleration of the robot, the researchers observed that using
lightweight materials for the body of the car together with the components can also be a factor
in the movement of the product. The researchers also conclude that having a higher voltage of
DC motor, the robot will have a higher acceleration.
The robot itself is capable because it can follow any lines (straight or curve). The design of
the robot has 2 pieces of LDR and LED, 10k potentiometer or trimmer. A switch so that we
can set the robot on and off. Foam board for the casing to cover up the parts like wires, PCB,
2 pieces of DC motors, it helps the robot’s machine run.
II. FUTURE RECOMMENDATIONS
In doing this research, the future researchers need to know the do’s and dont’s of the
component and master the symbol of each in the circuit diagram to lessen the time in analyzing
the components. Also, it is recommended to double check the procedures, so that the result of
the product will be less in terms of error.
Student should also study this research. It can serve as their foundation in doing their
future researches. It can help or improve the methodology and results which are not stated here
in the study. In that case, this study will have other discoveries by the other students due to the
upcoming improvements that they will do in this study.

Future work in this area involves improving the performance of the speed control.
For example, the friction of the ground should be considered. In the test run, the LFR cannot
respond quickly. Thus, the correct maximum speed should be determined and then the gain of
the position controller should be increased for a faster response. In addition, we can set up the
second position sensor to determine the starting point and the end point. Those points will make
it possible to implement the LDR in the LFR system so that the performance can improve over
time.

REFERENCES:
Rouse, M., & Rouse, M. (n.d.). What is light-emitting diode (LED)? - Definition from
WhatIs.com. Retrieved from https://whatis.techtarget.com/definition/light-emitting-diode-
LED.
LeDuc, J. (2017, June 15). Simply Put - 2N3904 NPN Transistor. Retrieved from
https://www.digikey.com/en/articles/techzone/2017/jun/simply-put-2n3904-npn-transistor.
Papiewski, J. (2019, January 10). Function of a 1N4148 Diode. Retrieved from

https://ourpastimes.com/function-1n4148-diode-8507537.html.
Lewis, K. (2019, March 2). Uses of Resistors. Retrieved from https://sciencing.com/uses-

resistors-5432023.html
Magno, A., Santos, R., Berry, J., Rosenquist, R., Mike, Singh, S., … Lima, M. (2019, July
16). Electronics Basics - How a Potentiometer Works. Retrieved from
https://randomnerdtutorials.com/electronics-basics-how-a-potentiometer-works/.
(n.d.). Retrieved from https://learn.sparkfun.com/tutorials/switch-basics/what-is-a-switch
Pwm Technique For Speed Control Of Dc Motor. (2018). International Journal of Modern
Trends in Engineering & Research, 5(6), 28–33. doi: 10.21884/ijmter.2018.5166.zgamk
Jyoti Kolap, Gautham Bekal, Mayank Davande, Kedar Desai, Annmol Hattikudur,
"Automobile based on virtual path", Communication Technologies (GCCT) 2015 Global
Conference on, pp. 402-404, 2015.
Gadhvi Sonal, Punit Raninga, Hardik Patel, "Design and implementation of RGB color line
following robot", Computing Methodologies and Communication (ICCMC) 2017
International Conference on, pp. 442-446, 2017.

Kunal Khade, Revati Naik, Amey Patil, "Design of all color line follower sensor with auto
calibration ability", Embedded Computing and System Design (ISED) 2017 7th International
Symposium on, pp. 1-5, 2017.
Przemyslaw Mazurek, "Line estimation using the Viterbi algorithm and track-before-detect
approach for line following mobile robots", Methods and Models in Automation and Robotics
(MMAR) 2014 19th International Conference On, pp. 788-793, 2014.
S. Barai, A. Dey, B. Sau, "Path following of autonomous mobile robot using passive RFID
tags", Microelectronics Computing and Communications (MicroCom) 2016 International
Conference on, pp. 1-6, 2016.
Fatima R. Ali, Abdulmuttalib T. Rashid, "Design and implementation of static and dynamic
objects store systems using line follower robots", Advance of Sustainable Engineering and its
Application (ICASEA) 2018 International Conference on, pp. 37-42, 2018.

APPENDICES
I. PHOTO DOCUMENTATION
Buying of Components

Components Used

Circuits 1 Class with Sir Exito
II. OFFICIAL RECEIPTS



III. CURRICULUM VITAE
Personal Information:
Name: Reynald John S. Pastrana
Age: 19 years old Gender: Male
Birth Date: December 19, 1999
Birthplace: Tondo, Manila
Address: 736 N.P.C. Line Diamond Street., Area A, Camarin, Caloocan City
Contact No.: 09308197371
Email Address: preynaldjohn@yahoo.com
Father’s Name: Reynaldo S. Pastrana
Mother’s Name: Amelia A. Santiago
Educational Attainment:
Elementary: Year Attended

Camarin Elementary School 2006-2012
High School:
Camarin High School 2012-2016

Senior High School:

Our Lady of Fatima University (OLFU) 2016-2018
College:
National University 2018 - present
 Soldering
 Installing of Wires
 Introduction
 Optical Sensors Applications
 Results and Discussion
Motto: Yesterday is a history, tomorrow is a mystery but today is a gift, that

is why it is called a present.
“Oogway, Kung Fu Panda”

Name:Jan Matthew A. Divina

Age:22
Gender:Male
Birthdate:December 20 1997
Birthplace:Malolos, Bulacan
Address:Blk 528 L9 Ph. 5 Rose st. Heritage Homes, Loma de Gato, Marilao,
Bulacan
Contact NO.:09167018832
Email Address:mattdivina97@gmail.com
Father's Name: Romulo E. Divina
Mother's Name: Berlinda E. Atienza
Elementary
Angelicum Academy 2004-2010
Highschool
Angelicum Academy 2010-2014

College
University of the East Caloocan 2014-2016
National University Manila 2016 - present
 Soldering
 Testing and Troubleshooting
 Simulation of the Circuit Diagram

Nicole U. Bringas
20
July 2 1999
Female
Manila
392 B p. Tuazon Blvd. Cubao, Quezon city
09173160737
Andres B. Bringas
Guinevere Girlie U. Bringas
Legarda elementary school 2006-2017
Nazarene catholic school 2007-2012
High School:
College of the Holy Spirit - Manila 2012-2016
Senior High School:

San Beda university 2016-2018

College:
 Soldering
 Conclusions
 Recommendations

Name: Stephanie Angel G. Belmoro
Age:21
Gender:Female
Birthdate:September 9,1998
Birthplace: Taguig City
Contact NO.:09458300725
Email Address:sab.gutierrez09@gmail.com
Father's Name: Eduardo Manansala
Mother's Name: Teresita Belmoro
Elementary:
Taguig Elementary School 2006-2011
Highschool
Colegio De Santa Ana Taguig City 2011-2015

College
University of the East Manila 2016-2017
National University Manila 2017 – present
 Soldering
 PCB Etcher
 Casing Designer

Robin B. Ignacio
20
JANUARY 17, 1999
MALE
Noveleta, Cavite
538 Jhocson Residences, M.F. Jhocson Street, Samaloc Manila
09568315428
Garry G. Ignacio
Alma B. Ignacio
Apolinario Mabini Elementary School 2005-2011
High School:
Nazareth School of National University 2011-2015
College:

 Soldering
 PCB Etcher
 Casing Builder

Name: Christine Angela R. Pablo
Age: 19 yrs old
Birthdate: July 9,2000
Birthplace: Mandaluyong City
Address: 1713 Firmeza St. Sampaloc Manila
Contact number: 09264061164
Email address: angela_lacandazo09@yahoo.com
Father's name: Carlitus R. Lacandazo
Mother's Name: Corazon P. Lacandazo
Baptist Bible Seminary and Institute 2006-2012
High School:
Baptist Bible Seminary and Institute 2012-2016
Senior High School

Nazareth School - National University 2016-2018

College:
 Soldering
 Case Building
 Track Creator
 Literature Review
 Casing Builder


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2nd Term A.Y.

Jerome A. Exito, REE, RME, CMIEE

December 20, 2019

We take this opportunity to express our gratitude towards the following

NATIONAL UNIVERSITY –MANILA COLLEGE OF ENGINEERING

Keywords—Line Follower; Circuit, IR Sensors

NATIONAL UNIVERSITY –MANILA COLLEGE OF ENGINEERING

Chapter 2 – Literature Review………………………………………………………...8-17

Chapter 4 – Results and Discussion…………………………………………………..27-29

NATIONAL UNIVERSITY –MANILA COLLEGE OF ENGINEERING

Robotics technology is ascending at a fast pace, delivering us with new technology

I. BACKGROUND OF THE PROJECT

As technology becomes increasingly important in today's world, it is invaluable to not

NATIONAL UNIVERSITY –MANILA COLLEGE OF ENGINEERING

 It brings out innovation and creativity.

The objectives of the project are:

III. SCOPE AND DELIMITATION OF THE PROJECT

 “Obstacle detecting sensors” to avoid physical obstacles and continue on the

NATIONAL UNIVERSITY –MANILA COLLEGE OF ENGINEERING

 Lack of speed control makes the robot unstable at times.

NATIONAL UNIVERSITY –MANILA COLLEGE OF ENGINEERING

I. OPTICAL SENSORS APPLICATIONS

The combination of Infrared Light-Emitting Diode (IR- LED) and

NATIONAL UNIVERSITY –MANILA COLLEGE OF ENGINEERING

NATIONAL UNIVERSITY –MANILA COLLEGE OF ENGINEERING

II. COMPONENTS USED IN THE PROJECT

PCB (Printed Circuit Board – 3 * 4)

A PCB is a thin board manufactured from covering material, composite epoxy,

LDR SENSOR (Light Dependent Resistor)

NATIONAL UNIVERSITY –MANILA COLLEGE OF ENGINEERING

LED (Light Emitting Diode)

Transistor is an electronics device which is made of semiconductor and used in electronics

NATIONAL UNIVERSITY –MANILA COLLEGE OF ENGINEERING

NATIONAL UNIVERSITY –MANILA COLLEGE OF ENGINEERING

Potentiometer is a small sized electronic component whose resistance can be adjusted

A switch is a component that controls the open-ness or closed-ness of an

NATIONAL UNIVERSITY –MANILA COLLEGE OF ENGINEERING

NATIONAL UNIVERSITY –MANILA COLLEGE OF ENGINEERING

WHEELS AND CASTER WHEELS

A caster is a wheeled device generally mounted to a bigger object that

NATIONAL UNIVERSITY –MANILA COLLEGE OF ENGINEERING

III. CASING BUILDING

NATIONAL UNIVERSITY –MANILA COLLEGE OF ENGINEERING

NATIONAL UNIVERSITY –MANILA COLLEGE OF ENGINEERING

I. THE CIRCUIT DIAGRAM OF A ROBOT

NATIONAL UNIVERSITY –MANILA COLLEGE OF ENGINEERING

II. PROJECT DEVELOPMENT

 Phase 1- Buying of Components

PHASE 1 – BUYING OF COMPONENTS

NATIONAL UNIVERSITY –MANILA COLLEGE OF ENGINEERING

PCB (Printed Circuit Board) (3X4) TRANSISTOR (2N3904)

LDR SENSOR (Light Dependent Resistor) DIODE (1N4148)

LED (Light Emitting Diode) RESISTOR (220OHMS)

NATIONAL UNIVERSITY –MANILA COLLEGE OF ENGINEERING

10K POTENTIOMETER DC MOTOR

SWITCH WHEELS AND CASTER WHEELS

NATIONAL UNIVERSITY –MANILA COLLEGE OF ENGINEERING

PHASE 2 – COMPONENT TESTING

PHASE 3 – CIRCUIT DIAGRAM EFFECTIVITY

NATIONAL UNIVERSITY –MANILA COLLEGE OF ENGINEERING

PHASE 4 – ETCHING OF PCB

NATIONAL UNIVERSITY –MANILA COLLEGE OF ENGINEERING

PHASE 5 – CONNECTING OF COMPONENTS INTO THE PCB