3.1 Morphological Chart

Serial No.	Subfunctions	Means 1	Means 2	Means 3	Means 4
1	Detect obstacles	Ultrasonic Sensor	IR Sensor	ToF Sensor	Bumper Switch
2	Wipe / dry the floor	Microfiber Pad	Sponge Pad	Rubber Squeegee	Cotton Mop
3	Sweep / loosen dirt	Side Brush	Roller Brush	Rotary Brush	Disc Brush
4	Remove dirt by suction	Vacuum Motor	Centrifugal Blower	Suction Fan	—
5	Move the Robot	2-Wheel Drive	4-Wheel Drive	Track Drive	Mecanum Wheel Drive
6	Supply Electrical Power	Li-ion Battery Pack	NiMH Battery Pack	—	Lead Acid Battery
7	Control System & Navigation	Arduino UNO/NANO	ESP32 (WiFi/Bluetooth)	Raspberry Pi Pico	Dedicated Microcontroller Board

3.2 Concept Design

Serial No.	Subfunctions	Concept 1 (Budget)	Concept 2 (Balanced)	Concept 3 (Mediocre)	Concept 4 (Advanced)	Concept 5 (Highest Spec)
1	Detect Obstacles	IR sensor	Ultrasonic Sensor	ToF Sensor	Ultrasonic Sensor	ToF Sensor
2	Wipe / Dry the floor	Microfiber Pad	Microfiber Pad	Sponge Pad	Rubber Squeegee	Mix of Sponge and Microfiber Pad
3	Sweep / Loosen dirt	Side Brush	Roller Brush	Rotary Brush	Disc Brush	Disc Brush
4	Remove dirt by suction	Suction Fan	Vacuum Motor	Centrifugal Blower	Centrifugal Motor	Centrifugal Motor
5	Move the Robot	2 - Wheel Drive	2 - Wheel Drive	Tread drive	4 - Wheel Drive	Mecanum Wheel Drive
6	Supply Electrical Power	Li-ion Battery Pack	Li-ion Battery Pack	Li-ion Battery Pack	Li-ion Battery Pack	Li-ion Battery Pack
7	Control System	Arduino Board	Arduino Board	ESP 32 Board	Raspberry Pi Pico	Raspberry Pi Pico

3.3 Function Tree

3.4 Pugh Chart

Design Objectives	Weights	Design 1	Design 2	Design 3	Design 4	Design 5
Safety	9	D	+	++	++	--
Ease Of Use	7	A	++	++	++	-
Portability	5	T	-	--	-	++
Use of Standard Parts	6	U	+	--	--	++
Cost	6	M	-	--	--	++
Score(+)			4	4	4	6
Score (-)			2	6	5	3
Total			18	15	15	6

3.4.1 Sketch_Design_1

3.4.2 Sketch_Design_2

3.4.3 Sketch_Design_3

3.4.4 Sketch_Design_4

3.4.5 Sketch_Design_5

3.5 Score justification

Design No.	Objective	Score Allocated	Justification for the Score
1	Safety	D	Open deck chassis leaves the battery, wiring, and spinning motor exposed
	Ease of use	A	Sweeps independently, but requires manual trash compartment clearing
	Portability	T	Lightweight, compact single-tier wooden/acrylic deck
	Use of standard Parts	U	Standard components Arduino Uno, yellow TT gear motors
	Cost	M	Standard low-to-mid hobby budget
2	Safety	+	Full top-cover casing encloses the electronics like Arduino Uno and motor
	Ease of use	++	Major usability jump because of LCD screen, Bluetooth remote
	Portability	-	Bulkier and heavier than Design 1
	Use of standard Parts	+	Built using standard, widely available modules
	Cost	-	Higher manufacturing and component cost than Design 1
3	Safety	++	Heavily closed aluminum chassis with a full front impact bumper
	Ease of use	++	Exceptional hands-off autonomy: 360° LiDAR, STM32 SLAM mapping
	Portability	--	Extremely heavy and difficult to move: solid aluminum plates
	Use of standard Parts	--	Requires custom CNC-machined structural parts
	Cost	--	Highest cost of all concepts
4	Safety	++	Consumer home appliance safety grade: fully enclosed
	Ease of use	++	Automatic return-to-base docking station with self-charging contacts
	Portability	-	Less portable than Design 1 because transporting the system requires the dock
	Use of standard Parts	--	Highly proprietary: requires custom plastic injection molds
	Cost	--	High tooling and unit cost: includes two full cleaning sub-assemblies
5	Safety	--	Severe safety hazard: open, high-RPM bare fan blades
	Ease of use	-	Low cleaning effectiveness: narrow plastic intake nozzle
	Portability	++	Exceptional portability: ultra-featherweight hollow plastic bottle body
	Use of standard Parts	++	Uses universally accessible toy-grade BO motors, SG90 mini servo
	Cost	++	Low cost recycled components

3.6 Functional Clustering

Sl. No.	Main Function Category	Sub-functions Included
1	1. Cleaning Unit	• 1.1 Clean the floor • 1.2 Loosen dirt • 1.3 Collect loose dust • 1.4 Carry collected dust
2	2. Mobility Unit	• 2.1 Move across the room • 2.2 Change direction
3	3. Sensing & Control Unit	• 3.1 Detect nearby obstacles • 3.2 Control the cleaning system • 3.3 Switch robot ON/OFF • 3.4 Show robot is operating
4	4. Power & Protection Unit	• 4.1 Supply electrical power • 4.2 Protect electronic parts • 4.3 Keep prototype affordable • 4.4 Make robot easy to maintain • 4.5 Keep robot compact and portable

3.6.1 Subsystem List

S. No.	Subsystem
1	Cleaning Unit
2	Mobility Unit
3	Sensing and Control Unit
4	Power and Protection Unit

3.7 Interaction Details

Subsystem Pair	Interaction Domain	Detailed Description	Combined Interaction Summary
Subsystem 1 (Cleaning Unit) with Subsystem 2 (Mobility Unit)	Spatial	Brushes mount directly to the chassis frame.	Coordinates move speed with cleaning intensity and aligns cleaning path with drive direction.
	Data	Motor speed syncs with brush rotation and suction power.
	Material	Debris is collected while rolling over surfaces.
Subsystem 1 (Cleaning Unit) with Subsystem 3 (Sensing & Control)	Spatial	Debris sensors sit along the robot's path and suction duct.	Adjusts suction and motor speed dynamically based on surface feedback and clog/tank alerts.
	Data	Dirt/dust tank levels, motor load, and clog alerts sent to controller.
	Material	Air suction metered based on sensor commands.
Subsystem 1 (Cleaning Unit) with Subsystem 4 (Power & Protection)	Spatial	Vacuum motor wired to power bus inside housing.	Supplies power to vacuum motors and cuts power instantly during jam overloads.
	Data	Current draw and stall telemetry sent to safety system.
	Material	—
Subsystem 2 (Mobility Unit) with Subsystem 3 (Sensing & Control)	Spatial	Encoders, cliff, and bump sensors positioned on wheel assemblies.	Drives navigation and steering while instantly stopping or rerouting when cliffs/obstacles are detected.
	Data	Encoder counts, speed commands, and drop alerts exchanged.
	Material	—
Subsystem 2 (Mobility Unit) with Subsystem 4 (Power & Protection)	Spatial	Drive motors structurally attached to chassis power lines.	Regulates motor voltage for speed/inclines and auto-docks on low battery.
	Data	Low-battery signals trigger return-to-dock routing.
	Material	—
Subsystem 3 (Sensing & Control) with Subsystem 4 (Power & Protection)	Spatial	Logic board and battery controller co-located in electronics bay.	Controls charging states and manages system power safety cut-offs.
	Data	Battery health, power states, and thermal warnings exchanged.
	Material	—