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[
1
1
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–
[
1
5
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.
W
a
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r
,
a
v
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y
[
1
6
]
–
[
2
0
]
.
T
h
is
p
ap
er
in
tr
o
d
u
ce
s
an
au
to
n
o
m
o
u
s
waste
co
llectio
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b
o
t
d
esig
n
ed
to
clea
n
wate
r
s
u
r
f
ac
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f
icien
tly
.
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h
e
r
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b
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t
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s
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a
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v
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tem
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to
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to
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llect
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eb
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g
ar
b
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wh
ile
a
wate
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l
d
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y
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B
L
DC
m
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r
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t
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ad
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ce
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ter
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tem
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ased
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n
th
e
YOL
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s
alg
o
r
ith
m
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d
em
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s
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GPS,
C
o
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a
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d
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tio
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p
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atter
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d
T
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x
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ig
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lig
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th
e
r
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b
o
t's
ef
f
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tiv
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in
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to
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v
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m
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er
v
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n
an
d
r
iv
er
p
o
llu
tio
n
m
an
ag
em
en
t
[
2
1
]
–
[
2
5
]
.
2.
B
L
O
CK
DI
AG
RA
M
T
h
e
r
o
b
o
t
b
lo
ck
d
ia
g
r
am
f
o
r
r
iv
er
clea
n
in
g
is
d
is
p
lay
ed
in
Fig
u
r
e
1
.
I
n
th
is
wo
r
k
,
an
Ar
d
u
in
o
-
b
ased
s
m
ar
t
b
u
ild
in
g
a
u
to
m
atio
n
s
y
s
tem
with
p
r
o
g
r
am
m
in
g
s
o
f
twa
r
e
is
p
r
esen
ted
.
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h
e
s
y
s
tem
h
a
s
a
v
er
y
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s
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l
an
d
co
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r
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s
u
p
p
o
r
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a
r
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f
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e
n
s
o
r
s
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h
o
u
g
h
it
em
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tec
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n
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to
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r
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te
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etter
p
lace
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e
d
esig
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tio
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ild
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g
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an
a
g
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t
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s
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(
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MS)
an
d
th
e
co
m
p
letio
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o
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a
n
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ty
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es o
f
g
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r
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d
ay
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r
e
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in
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an
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asp
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ts
.
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h
is
s
y
s
tem
h
elp
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u
s
to
m
in
im
ize
h
u
m
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lab
o
r
.
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r
p
r
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s
m
ajo
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f
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r
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clu
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e
an
R
FID
m
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d
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le
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ate
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ttin
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o
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m
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atio
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k
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ad
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o
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o
o
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en
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f
ir
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d
etec
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n
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m
ain
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y
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ts
.
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r
th
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p
u
r
p
o
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e
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in
g
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s
y
s
tem
an
d
p
r
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g
it
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r
e
al
tim
e,
ev
er
y
h
a
r
d
war
e
s
en
s
o
r
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d
Ar
d
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in
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o
m
p
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n
en
t
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ass
em
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led
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to
th
e
b
est
p
o
s
s
ib
le
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em
o
n
s
tr
atio
n
m
o
d
el.
T
h
e
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tellig
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t
B
MS
en
v
ir
o
n
m
en
t
is
co
r
r
elate
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a
n
d
a
n
i
m
ated
with
th
e
ai
d
o
f
th
ese
m
o
d
els.
T
h
e
f
u
n
cti
o
n
b
ec
o
m
es
ea
s
ily
u
n
d
er
s
to
o
d
.
A
d
ep
en
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ab
le
cir
c
u
it
k
n
o
wn
as
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MS
h
as
r
esp
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s
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ilit
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f
o
r
m
an
a
g
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g
th
e
s
ev
er
al
s
y
s
tem
s
th
at
a
r
e
em
p
lo
y
ed
with
in
it.
“Un
o
”
was
ch
o
s
en
to
co
m
m
em
o
r
ate
th
e
r
elea
s
e
o
f
Ar
d
u
in
o
So
f
twar
e
(
I
DE
)
1
.
0
s
in
ce
it
m
ea
n
s
“o
n
e”
in
I
tal
ian
.
T
h
e
r
ef
er
e
n
ce
v
er
s
io
n
s
o
f
Ar
d
u
i
n
o
wer
e
th
e
Un
o
b
o
ar
d
an
d
v
er
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io
n
1
.
0
o
f
th
e
Ar
d
u
i
n
o
So
f
twar
e
(
I
DE
)
,
wh
ich
h
as
s
in
ce
b
ee
n
r
ep
lace
d
b
y
m
o
r
e
r
ec
en
t v
er
s
io
n
s
.
T
h
e
Un
o
b
o
ar
d
is
th
e
f
ir
s
t
in
a
s
er
ies
o
f
US
B
Ar
d
u
in
o
b
o
ar
d
s
,
an
d
th
e
r
ef
er
en
ce
m
o
d
el
f
o
r
th
e
A
r
d
u
i
n
o
p
latf
o
r
m
,
f
o
r
a
n
ex
ten
s
iv
e
l
is
t o
f
cu
r
r
en
t,
p
ast o
r
o
u
td
ated
b
o
ar
d
s
.
Fig
u
r
e
1
.
B
lo
ck
d
iag
r
am
o
f
r
i
v
er
clea
n
in
g
R
OB
OT
3.
O
P
E
RAT
I
O
N
O
F
RIV
E
R
C
L
E
A
NING
RO
B
O
T
US
I
NG
B
L
U
E
T
O
O
T
H
M
O
DU
L
E
T
h
e
o
p
er
atio
n
o
f
a
r
iv
e
r
clea
n
in
g
r
o
b
o
t
u
s
in
g
a
B
lu
eto
o
th
m
o
d
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le
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tem
atic
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o
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t
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tely
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o
n
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o
l
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d
au
t
o
m
at
e
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e
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n
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n
g
o
f
wate
r
b
o
d
ie
s
.
T
h
e
r
o
b
o
t
is
eq
u
ip
p
ed
with
a
m
icr
o
co
n
tr
o
ller
(
e.
g
.
,
Ar
d
u
in
o
o
r
E
SP
3
2
)
th
at
ac
ts
as
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e
ce
n
tr
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eto
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m
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le
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s
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ch
as
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
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2
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I
AE
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I
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J
R
o
b
&
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to
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Vo
l
.
14
,
No
.
3
,
Sep
tem
b
er
20
25
:
3
3
2
-
3
3
8
334
HC
-
0
5
o
r
HC
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6
)
f
o
r
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co
m
m
u
n
icatio
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.
T
h
is
s
etu
p
allo
ws
th
e
o
p
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ato
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to
co
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o
l
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eto
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ab
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ev
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b
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is
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p
ically
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u
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ted
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b
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en
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r
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l
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atin
g
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b
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ia
DC
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r
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at
ar
e
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o
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war
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itted
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e
m
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n
tr
o
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in
ter
p
r
ets
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ese
co
m
m
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d
s
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ad
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s
ts
th
e
m
o
to
r
o
p
e
r
atio
n
s
ac
co
r
d
in
g
ly
.
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h
is
f
u
n
ctio
n
ality
allo
ws
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p
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ato
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t
o
g
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id
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h
e
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b
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s
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ea
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th
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r
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d
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e
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is
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n
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n
tr
ated
.
Ad
v
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n
ce
d
s
y
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tem
s
m
ay
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clu
d
e
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to
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o
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s
n
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g
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with
u
ltra
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etec
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tacle
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d
a
d
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s
tin
g
th
e
r
o
b
o
t
’
s
p
ath
.
T
ab
le
1
a
n
d
Fig
u
r
e
2
s
h
o
w
t
h
e
r
iv
er
clea
n
in
g
r
o
b
o
ts
.
Fo
r
clea
n
in
g
p
u
r
p
o
s
es,
th
e
r
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b
o
t
i
s
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u
tf
itted
with
a
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llectio
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m
ec
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is
m
,
s
u
ch
as
a
co
n
v
ey
o
r
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elt
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r
a
r
o
b
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tic
ar
m
,
d
esig
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e
d
to
s
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p
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r
lift
f
lo
atin
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d
eb
r
is
f
r
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m
th
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wate
r
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r
f
ac
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As
th
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r
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b
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t
m
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waste
m
ater
ial
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ath
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ed
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co
n
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elt
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ep
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ited
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to
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ag
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co
m
p
a
r
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en
t.
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h
is
b
i
n
ca
n
b
e
em
p
tied
m
an
u
ally
o
n
ce
th
e
clea
n
in
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p
er
atio
n
is
co
m
p
lete.
T
h
e
s
y
s
tem
en
s
u
r
es
ef
f
ec
tiv
e
r
em
o
v
al
o
f
p
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tan
ts
lik
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p
last
ic,
leav
es,
an
d
o
th
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f
lo
atin
g
d
eb
r
is
.
T
h
e
B
lu
eto
o
th
m
o
d
u
le
p
la
y
s
a
cr
u
cial
r
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le
i
n
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im
p
lify
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th
e
o
p
e
r
atio
n
o
f
th
e
r
i
v
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clea
n
in
g
r
o
b
o
t.
E
n
ab
li
n
g
wir
eless
co
m
m
u
n
icatio
n
elim
in
ates
th
e
n
ee
d
f
o
r
p
h
y
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ical
co
n
n
ec
tio
n
s
,
all
o
win
g
th
e
o
p
e
r
ato
r
to
m
ain
tain
a
s
af
e
d
is
tan
ce
f
r
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m
th
e
wate
r
b
o
d
y
.
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lu
eto
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t
h
ter
m
in
al
a
p
p
licatio
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s
o
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cu
s
to
m
-
b
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ilt
ap
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m
ar
tp
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es a
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e
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s
ed
to
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en
d
co
n
tr
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l c
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m
m
an
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m
a
k
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er
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ly
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atile.
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d
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ally
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b
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t
ca
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n
h
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ce
d
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en
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wate
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ality
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r
d
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t
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ar
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s
m
ate
r
ials
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p
an
d
i
n
g
its
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tili
ty
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n
d
waste
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llectio
n
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h
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tech
n
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lo
g
y
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f
f
er
s
a
co
s
t
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en
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ir
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m
e
n
tally
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ly
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t
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ar
ticu
lar
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itab
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m
all
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to
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s
ized
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ies,
s
u
ch
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,
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d
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d
s
.
B
y
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in
g
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lu
eto
o
t
h
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co
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tr
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lled
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b
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tics
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s
tem
p
r
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a
s
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lab
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ef
f
icien
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d
ea
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ily
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b
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m
eth
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g
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ce
r
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o
f
aq
u
atic
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m
a
n
ag
em
en
t.
T
ab
le
1
.
R
iv
er
-
clea
n
i
n
g
r
o
b
o
ts
u
s
e
a
co
m
b
in
atio
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o
f
m
ec
h
a
n
ical
D
e
b
r
i
s
T
y
p
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H
a
n
d
l
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M
e
t
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La
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o
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r
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p
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t
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t
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Fig
u
r
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2
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C
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it d
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am
o
f
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b
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t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
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u
to
m
I
SS
N:
2722
-
2
5
8
6
R
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lea
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A
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Du
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335
4.
P
RO
T
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YP
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RE
SUL
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T
h
e
wate
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lev
el
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en
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r
'
s
o
u
tp
u
t
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is
p
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ed
in
Fig
u
r
e
3
.
Sen
s
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s
ar
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ab
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2
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ts
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ith
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h
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ate
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s
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n
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en
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ity
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r
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ty
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to
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ate:
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r
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to
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f
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ec
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ate:
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r
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en
t,
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ize
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d
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f
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o
f
th
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b
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s
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r
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c
o
llectio
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ec
h
a
n
is
m
,
d
eb
r
is
d
e
n
s
ity
in
th
e
tar
g
et
a
r
ea
.
T
ab
le
2
.
C
o
m
p
a
r
is
o
n
: p
r
o
to
ty
p
e
v
s
.
ex
is
tin
g
r
iv
e
r
-
clea
n
in
g
m
eth
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d
s
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r
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a
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M
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NC
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S
[
1
]
P
.
M
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B
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[
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]
B
.
N
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b
o
,
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.
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