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Multi-robot coverage algorithm in complex terrain based on improved bio-inspired neural network

10.11591/ijra.v14i3.pp348-360
Fangfang Zhang , Mengdie Duan , Jianbin Xin , Jinzhu Peng
Biological neural network (BNN) algorithms have become popular in coverage search in recent years. However, its edge activity values are weak, and it is simple to fall into a local optimum at a late stage of coverage. When applied to complex environments, the 3D BNN network structure has high computational and storage complexity. In order to solve the above problems, we propose an algorithm for multi-robot cooperative coverage of complex terrain based on an improved BNN. The algorithm models the complex terrain using a 2.5-dimensional (2.5D) elevation map. Combining the dual-layer BNN network with the 2.5D elevation map, we propose an elevation value priority mechanism. This mechanism lets the robot make elevation-based decisions and prioritizes higher terrain areas. The dual neural network's first layer plans the robot's path in normal mode. The second network layer helps the robot escape the local optimum. Finally, the algorithm's full coverage effect in complex terrains and the speed of covering high terrain are verified by simulations. The experiments show that our algorithm preferentially covers high points of the region and eventually covers 100% of complex terrain. Compared with other algorithms, our algorithm covers more efficiently and takes fewer steps than others. The speed of covering high terrain areas has increased by 34.51%.
Volume: 14
Issue: 3
Page: 348-360
Publish at: 2025-09-01

River cleaning robot using Arduino microcontroller

10.11591/ijra.v14i3.pp332-338
Dubala Ramadevi , Kalagotla Chenchireddy , Barkam Rekha , Sunkari Prathyusha , Koriginja Shravani , Karnati Bhargavi
River cleaning robots represent a promising technological solution to address the pervasive issue of water pollution in river systems. These autonomous devices are designed to collect and remove various types of debris from river environments, contributing to improved water quality and ecosystem health. This abstract summarizes the key aspects of river cleaning robots, including their technological advancements, operational mechanisms, and environmental impact. River cleaning robots have evolved significantly from early mechanical designs to sophisticated autonomous systems. Initially, these robots were equipped with basic skimming and collection mechanisms. Recent advancements have incorporated state-of-the-art technologies, including artificial intelligence, machine learning, and advanced sensor systems. Modern river cleaning robots can autonomously navigate complex river environments, detect and classify different types of debris, and operate efficiently with minimal human intervention. The operational capabilities of these robots are enhanced by various design features such as mobility systems, debris collection mechanisms, and renewable power sources. Mobility systems allow robots to maneuver through diverse water conditions, while collection mechanisms like nets, scoops, and suction devices enable effective debris removal. Many robots are powered by renewable energy sources, such as solar panels, which contribute to their sustainability and reduce their environmental footprint.
Volume: 14
Issue: 3
Page: 332-338
Publish at: 2025-09-01

Faraid distribution calculation using AI-based Quranic chatbot

10.11591/ijra.v14i3.pp393-406
Iman Hafizi Md Zin , Nur Farraliza Mansor , Norizan Mat Diah , Shakirah Hashim , Mastura Mansor
Faraid, Islamic inheritance law, refers to that aspect of Shariah law which is not properly understood and has created issues and impediments in the distribution of estates. This paper discusses the development of an AI-based Quranic chatbot to be used by the public to learn the Faraid rules and automate calculations of inheritance distribution. The chatbot has been developed using natural language processing and a rule-based algorithm, which intends to search and get an accurate interpretation from the user queries, retrieve relevant verses of the Quran, and compute the share of inheritance according to the established Islamic jurisprudence. Fuzzy match identifies and corrects variation in queries, enhancing user interaction, ensuring that it appears more intuitive and accessible. The system processes user input regarding heirs of the deceased, estate value, and debts, and applies Faraid rules to generate accurate distribution results that happen to be web-based platforms of this chatbot. It intends to link traditional Islamic knowledge with modern digital solutions, bringing Faraid calculations closer, more comfortable, faster, and transparent. Through rigorous tests and user feedback will prove above, revealing the chatbot’s potential in understanding the application of Islamic inheritance law and promoting digital engagement in all these through Quranic teachings.
Volume: 14
Issue: 3
Page: 393-406
Publish at: 2025-09-01

Robotic mist bath wheelchair: innovations in automated body drying and sanitization for improved patient hygiene

10.11591/ijra.v14i3.pp301-310
Vijay Mahadeo Mane , Harshal Ambadas Durge , Chin-Shiuh Shieh , Rajesh Dey , Rupali Atul Mahajan , Siddharth Bhorge
This paper presents the development and evaluation of the robotic mist bath wheelchair (MBWC), a multifunctional assistive device designed to enhance hygiene and comfort for individuals with limited mobility. The MBWC integrates mist-based bathing, automated sanitization, and warm air-drying into a compact, wheelchair-mounted system suitable for home and clinical settings. Experimental evaluations demonstrated effective temperature maintenance and a 30% reduction in bathing time compared to conventional methods. User trials with 20 participants indicated a 92% satisfaction rate, reflecting improvements in hygiene, comfort, and operational ease. MBWC provides a cost-effective, hygienic alternative to traditional bathing methods, addressing critical challenges in eldercare and rehabilitation environments.
Volume: 14
Issue: 3
Page: 301-310
Publish at: 2025-09-01

Evaluating the development and cutting capacity of a one-square computer numeric controlled milling machine

10.11591/ijra.v14i3.pp451-462
Oluwaseun Kayode Ajayi , Ayodele Temitope Oyeniran , Shengzhi Du , Babafemi Olamide Malomo , Kolawole Oluwaseun Alao , Quadri Ayomide Omotosho , Marvellous Oluwadamilare Fawole , Ayomide Isaiah Lasaki , Godwin Thompson
Traditional subtractive technology is rapidly losing significance with the advent of digital manufacturing technologies, which offer affordable machining with high accuracy and repeatability. Computer numeric controlled (CNC) machining has been around for a while; however, it has been costly to own one. Since the concept of CNC machining is now broadly understood and open-source software is available for control, designers can make use of available local materials to develop cheaper CNC machines. Hence, this presents the evaluation of the design and development of a one-square-meter CNC milling machine. The control was implemented on Arduino Uno, while open-source Universal G-code Sender (UGS) and G-code reference block library (GRBL) were used for the G-code generation and machine control, respectively. The built CNC was calibrated and tested on wood and plastic materials, and the resulting products were acceptable in accuracy up to ±0.02 mm in the first trial, but attained perfect accuracy by the third trial. Multiple tests repeatedly showed that accuracy was maintained. Since the machine is reconfigurable, future work entails automation and incorporating laser cutting capabilities into the machine.
Volume: 14
Issue: 3
Page: 451-462
Publish at: 2025-09-01

IntelliDrive autonomous robot powered by large language model

10.11591/ijra.v14i3.pp339-347
Imran Ulla Khan , D. R. Kumar Raja
The rapid advancements in artificial intelligence (AI) and robotics have paved the way for innovative autonomous systems capable of performing complex tasks. This project integrates robotics with Large Language Models (LLMs) to develop an intelligent, versatile and user-friendly robotic system. The robot is designed to interpret structured commands, make real-time decisions, and navigate autonomously in dynamic environments, addressing key challenges faced by traditional autonomous systems. Central to the system is a Raspberry Pi 4, which serves as the main processing unit, integrating components such as a webcam for visual data capture, an L298N motor driver for motor control, and a Bluetooth speaker for real-time feedback. The LLM API enables the robot to process natural language commands, providing context-aware task execution and adaptability to changing scenarios. Testing has demonstrated the system’s ability to perform autonomous navigation, detect obstacles, and execute tasks effectively. This research offers a foundation for various industries, including logistics, healthcare, education, and hazardous environment operations. By incorporating LLMs the robot overcomes limitations of traditional rule-based systems, enhancing dynamic decision-making and user interaction. With its modular design and scalability, it bridges the gap between human-like intelligence and mechanical precision, setting the stage for future advancements in AI-driven robotics.
Volume: 14
Issue: 3
Page: 339-347
Publish at: 2025-09-01

Robot Gaussian-historical relocalization: inertial measurement unit-LiDAR likelihood field matching

10.11591/ijra.v14i3.pp438-450
Ye-Ming Shen , Min Kang , Jia-Qiang Yang , Zhong-Hou Cai
Robot localization is a foundational technology for autonomous navigation, enabling task execution and adaptation to dynamic environments. However, failure to return to the correct pose after power loss or sudden displacement (the “kidnapping” problem) can lead to critical system failures. Existing methods often suffer from slow relocalization, high computational cost, and poor robustness to dynamic obstacles. We propose a novel inertial measurement unit (IMU)-LiDAR fusion relocalization framework based on Gaussian historical constraints and adaptive likelihood field matching. By incorporating IMU-derived yaw constraints and modeling historical poses within a 3σ Gaussian region, our method effectively narrows the LiDAR search space. Curvature and normal vector-based feature extraction reduces point cloud volume by 50–70%, while dynamic obstacle filtering via multi-frame differencing and neighborhood validation enhances robustness. An adaptive spiral search strategy further refines pose estimation. Compared to ORB-SLAM3 and adaptive Monte Carlo localization (AMCL), our method maintains comparable accuracy while significantly reducing relocalization time and CPU usage. Experimental results show a relocalization success rate of 84%, average time of 1.68 seconds, and CPU usage of 38.4%, demonstrating high efficiency and robustness in dynamic environments.
Volume: 14
Issue: 3
Page: 438-450
Publish at: 2025-09-01

Localization and mapping of autonomous wheel mobile robot using Google cartographer

10.11591/ijra.v14i3.pp322-331
Qory Hidayati , Novendra Setyawan , Amrul Faruq , Muhammad Irfan , Nur Kasan , Fitri Yakub
COVID-19 has become a world concern because of the spread and number of cases that have befallen the world. Medical workers are the first exposed group because they have direct contact with patients. So, a vehicle is needed to replace tasks such as logistics, delivery, and patient waste transportation. An autonomous wheeled mobile robot (AWMR) is a wheeled robot capable of moving freely from one place to another. AWMR is required to have good navigation and trajectory control skills. The purpose of this study is to develop an AWMR navigation system model based on the simultaneous localization and mapping (SLAM) algorithm, accurately in a dynamic environment. With this research, developing a good navigation and trajectory method for AWMR, in the future, it can be applied to produce an AWMR platform for multipurpose. This research was conducted in two stages of development. The first year is the research that is currently being carried out, focused on sensor modeling, designing SLAM-based navigation models, and making navigation system testbeds. This research produces a trajectory navigation and control system that can be implemented on an AWMR platform for the purposes of logistics, transportation, and patient waste in hospitals.
Volume: 14
Issue: 3
Page: 322-331
Publish at: 2025-09-01

An Internet of Things based mobile-controlled robot with emergency parking system

10.11591/ijra.v14i3.pp370-380
Abdul Kareem , Varuna Kumara , Vishwanath Madhava Shervegar , Karthik S. Shetty , Manvith Devadig , Mahammad Shamma , Kiran Maheshappa
This paper presents an Internet of Things (IoT) based mobile-controlled car with an emergency parking system that integrates advanced functionalities to enhance safety and user convenience, utilizing the ESP32 microcontroller as its core. The system allows users to control the car remotely via a mobile application, leveraging Wi-Fi connectivity for seamless communication. Key features include LED indicators for various operations such as reversing, left and right turns, and brake activation, ensuring clear signaling in real-time. The innovative emergency parking system detects obstacles or emergencies using sensors and halts the vehicle automatically, reducing the risk of accidents. The car's lightweight, energy-efficient design, combined with the versatility of the ESP32, ensures a responsive and reliable operation. Additionally, the system provides an intuitive user interface through the mobile app, enabling precise control and real-time feedback. The proposed system is faster in response compared to the existing systems. Moreover, the proposed system consumes less energy, and hence, it uses the battery more efficiently, extending the time of operation. Lower power consumption ensures longer operation time, reducing the need for frequent charging and making the system more practical. This paper demonstrates the integration of IoT and embedded systems to create a smart vehicle solution suitable for various applications, including robotics, automation, and personal transport. Its cost-effectiveness and scalability make it a viable choice for both hobbyists and developers.
Volume: 14
Issue: 3
Page: 370-380
Publish at: 2025-09-01

Energy efficient clustering and routing method for Internet of Things

10.11591/ijra.v14i3.pp418-428
Bhawna Ahlawat , Anil Sangwan
The Internet of Things is crucial in monitoring environmental conditions in remote areas, but it faces significant challenges related to energy consumption, which affects network longevity and coverage. Clustering has proven effective in prolonging the life of sensor networks. Adaptive clustering in wireless sensor networks allows for more effective cluster organization via real-time rearranging of sensor nodes according to important parameters, which include energy levels and the distance between them. Fruit fly algorithm (FFA) and ant colony optimization (ACO) are emerging as encouraging techniques for creating clusters and establishing paths, respectively. This paper describes the use of the FFA to make the clustering process better by selecting the best cluster head and reducing energy consumption. This paper proposes a novel solution that integrates ACO for establishing paths with FFA for clustering. This method is tested in both homogeneous and heterogeneous settings using MATLAB, comparing its performance with two existing algorithms: low energy adaptive clustering hierarchy (LEACH) and biogeography-based optimization algorithm (BOA). According to the findings, the suggested algorithm performs noticeably better than BOA and LEACH in the context of coverage area and network service period, especially in heterogeneous settings.
Volume: 14
Issue: 3
Page: 418-428
Publish at: 2025-09-01

SCADA system in water storage tanks with NI vision LabVIEW

10.11591/ijra.v14i3.pp381-392
Kartika Kartika , Misriana Misriana , M. Fathan Naqi , Asran Asran , Misbahul Jannah , Arnawan Hasibuan , Suryati Suryati
Advances in technology have driven the need for efficient water management systems. This study presents a SCADA-based water management system that integrates LabVIEW and Arduino to monitor and regulate water levels and flow rates in a storage tank. The system uses an HC-SRF04 ultrasonic sensor for water level measurement with 99.77% accuracy and an HX710 pressure sensor, which achieves 98.54% accuracy. The LabVIEW interface displays real-time data, giving users an intuitive view of system performance. A proportional integral derivative (PID) algorithm optimizes the water pump through pulse width modulation (PWM), achieving water flow rate control. The Ziegler-Nichols method tunes the PID parameters to Kp = 16.59, Ti = 1.102, and Td = 0.2755. This tuning ensures the system maintains a consistent target flow rate of 4 liters per minute (L/min) with minimal variation. Initial testing showed a 2.5% overshoot but stabilized at the desired flow rate within 10 seconds, indicating effective control. This SCADA system reduces water and energy waste by enabling continuous real-time monitoring and control. The system provides accurate data through a LabVIEW interface, ensuring effective and informed operational decisions. This robust solution supports efficient water management for industrial and environmental applications, contributing to sustainability and resource optimization.
Volume: 14
Issue: 3
Page: 381-392
Publish at: 2025-09-01

Disease detection on coconut tree using golden jackal optimization algorithm

10.11591/ijra.v14i3.pp407-417
Arun Ramaiah , Muthusamy Shunmugathammal , Hari Krishna Kalidindi , Anish Pon Yamini Kumareson
Millions of people depend on coconut palms for their food and livelihoods, making them one of the most essential crops in tropical countries. However, Diseases may significantly reduce the output of coconut trees and possibly result in their death. To overcome this, a novel golden jackal optimized disease detection in COCOnut tree (GOD-COCO) has been proposed for detecting diseases in coconut trees. First, the input dataset images are pre-processed in pre-processing image rotation, image rescaling, and image resizing, and the enhanced images are gathered. The enhanced images are segmented using the PSP-Net. From the segmented images, the features are extracted using the Dense-Net. Then the features needed are selected using the golden jackal optimization algorithm (GJOA). Finally, the deep belief network (DBN) classifier classifies whether it is normal or abnormal. The experimental analysis of the proposed GOD-COC has been evaluated using the Plant Pathology datasets based on the accuracy, precision, and recall standards. By this, the proposed GOD-COCO achieves an accuracy rate of 99.31% and it achieves an overall accuracy rate of 0.77%, 0.31% and 1.17% by the existing methods such as AIE-CTDDC, DL-WDM, and CLS. Similarly, the proposed GOD-COCO model takes less time, 1.13 milliseconds to detect the disease, than the existing methods, which take 3.04, 2.5, and 2.67 milliseconds, respectively.
Volume: 14
Issue: 3
Page: 407-417
Publish at: 2025-09-01

LoRa-enabled remote-controlled surveillance robot for monitoring and navigation in disaster response missions

10.11591/ijra.v14i3.pp311-321
Anita Gehlot , Rajesh Singh , Rahul Mahala , Mahim Raj Gupta , Vivek Kumar Singh
Rescue missions must be conducted within a strict timeframe, and the safety of all rescuers and civilians is prioritized. The proposed system aims to design a remote-operated aerial surveillance robot for disaster-affected areas for search and rescue missions. Real-time video transmission and RS-232 long-range communication enable operators to navigate rough environments and monitor data collected in real-time. This powerful tool ensures the protection of human life while collecting accurate and meaningful data. Cloud storage for data and surveillance strengthens the system, preventing part failure and fostering collaboration among users. This is a significant step towards using Internet of Things systems alongside remote-controlled robots in disaster response. The robot's key contribution to disaster management is identifying the environment, addressing issues of no visibility, complicated terrains, and speed. Its modification and expansion capabilities make it useful in armed surveillance, industrial monitoring, and environmental studies, making it an important innovation for many other fields.
Volume: 14
Issue: 3
Page: 311-321
Publish at: 2025-09-01

Solar photovoltaic based cascaded multilevel inverter with 33-levels using phase opposition disposition control method

10.11591/ijaas.v14.i3.pp928-935
Chandolu Sai Deepak , Madhu Babu Thiruveedula , Bandari Rahul Teja , Supe Gowtham , Sthambhampally Vivek , Panuganti Yeshwanth Kumar
A cascaded multilevel inverter (MLI) tailored for photovoltaic (PV) networks, aiming to improve power quality and support transformer-less operation. The symmetric MLI design is selected for its effectiveness in minimizing harmonics and enhancing fault tolerance in high-power scenarios, where the use of power semiconductor converters can introduce complications. The proposed inverter configuration achieves thirty-three voltage levels, optimizing power quality while using insulated gate bipolar transistor (IGBT) semiconductor switches. The phase opposition disposition (POD) control method is applied to trigger necessary switching signals for the inverter's components. To ensure high output voltage for the MLI, a boost converter is employed, and the overall system is tested with an R load. The effectiveness of the design is validated through MATLAB/Simulink simulations, which demonstrate a notable reduction in total harmonic distortion (THD). 
Volume: 14
Issue: 3
Page: 928-935
Publish at: 2025-09-01

Rapid and efficient maximum power point tracking in photovoltaic systems with modified fuzzy logic approach

10.11591/ijece.v15i4.pp3621-3631
El-bot Said , Yassine El Moujahid , Chafik El Idrissi Mohamed , Abdessamad Benlafkih
Photovoltaic systems (PVs) often face difficulties in maximizing their output power and maintaining a stable DC-DC connection voltage, especially under variable weather conditions (VWC). The power produced by photovoltaic panels is very sensitive to changes in sunlight and temperature, which vary throughout the day. This paper presents the design of an intelligent controller approach based on modified fuzzy logic (MFLC), adapted to enable the most effective maximum power point tracking (MPPT) of a photovoltaic solar module. The technique reduces delays in MPPT and sustains efficiency despite changing environmental conditions. A DC-DC boost converter is connected to the photovoltaic solar module, which in turn is linked to a load, and computer simulations using MATLAB/Simulink were used to validate the method's effectiveness. Results reveal that the MFLC controller significantly enhances the efficiency of the PVs, achieving improvements of up to 97.05%, with a rapid settling time of less than 10 milliseconds across all test scenarios.
Volume: 15
Issue: 4
Page: 3621-3631
Publish at: 2025-08-01
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