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30,411 Article Results

Potential as biogas energy and organic fertilizer: a mixture of rice husks and cow dung on full scale anaerobic digestion

10.11591/ijape.v14.i3.pp533-540
Hashfi Hawali Abdul Matin , Syafrudin Syafrudin , Suherman Suherman , Budiyono Budiyono , Iqbal Syaichurrozi
Rice husk is a biomass that can potentially be converted into biogas energy. In this research, a study was carried out regarding the effect of alkaline pretreatment and then a study related to the potential for developing biogas from rice husks in Indonesia and a study related to the potential utilization of biogas by-products in the form of slurry as solid organic fertilizer. So, the main objective is to determine the effect of alkaline pretreatment of rice husks on the potential development of rice husks as raw material for biogas production on a full-scale anaerobic digestion (AD). Research related to the effect of alkaline pretreatment using 3% NaOH by immersion in the substrate for 24 hours was carried out on a lab scale. The variable TS is set at 27%, C/N ratio is 35, uses a 2-liter digester, and measurements are carried out every other day for 60 days. Furthermore, the up-scale was carried out with an AD fixed dome model with a volume of 6 m3. In this study, it was found that pre-treatment with 3% NaOH increased biogas productivity by 1.6 times higher. The potential for rice husk to be converted into biogas energy can reach 3.5 million liters of biogas by 2022. The by-product of biogas in the form of slurry also has the potential to be used as solid organic fertilizer directly. Parameter tests that have been carried out show that the slurry in biogas from rice husks that have gone through a 60-day AD fermentation process complies with the Indonesian National Standard (SNI) 7763:2018 concerning solid organic fertilizers.
Volume: 14
Issue: 3
Page: 533-540
Publish at: 2025-09-01

Design of a binary weighted multilevel voltage source inverter for renewable energy purposes

10.11591/ijape.v14.i3.pp712-721
Abdulkareem Mokif Obais , Ali Abdulkareem Mukheef
The flexibility and linearity of renewable energy generation techniques motivate the efforts to find high-performance circuitries capable of integrating the generation stations of renewable energy with the utility grid. As a result of its potential for power modules exploited in new generations of semiconductor switching devices, the voltage source inverter (VSI) has become widespread in the applications of renewable energy systems. In this paper, a new configuration of multilevel VSI is introduced. It is constructed of a unidirectional voltage supply having 15-nonzero levels and feeding a single-phase VSI equipped with an extra-freewheeling circuit. The output voltage of this configuration has 31 different voltage levels following a sinusoidal path. The unidirectional voltage supply is built of eight solid-state switching devices and four binary weighted DC voltage sources, which are realized by using appropriate solar panels. The simulation results of the introduced configuration have revealed almost sinusoidal output voltage and current for both inductive and resistive appliances. The number of employed switching devices is largely reduced compared to a conventional multilevel VSI. No harmonic reduction circuit or traditional pulse width modulation technique is employed in the current design. This system is designed and tested on PSpice.
Volume: 14
Issue: 3
Page: 712-721
Publish at: 2025-09-01

Effect of DC link capacitor short-circuit on an inverter fed induction motor performance

10.11591/ijape.v14.i3.pp631-639
Cheikh Oudaa , Ethmane Isselem Arbih Mahmoud , Mohamed Amine Khelif , Ahmed Mohamed Yahya , Bendiabdellah Azeddine , Abdel Kader Mahmoud
Induction motors are widely used in industrial power plants because of their durability, reliability and high performance under different operating conditions of the electrical system. It is also important to note that most of these motors are controlled by variable frequency drives. By adjusting the drive parameters, the motor can be managed according to design. The reliability of motor control systems based on variable speed drives is therefore crucial for industrial applications. Unlike induction motors, the power supply components of these electrical machines are delicate and susceptible to faults. To enhance the performance of the control-motor system, it is essential for researchers to understand how faults affect the drive system as a whole. In this context, this paper addresses short-circuit faults in the intermediate circuit capacitor of an induction motor driven by an inverter. The simulation results of these capacitors faults are presented, and their impact on the behavior of the rectifier, the inverter, and the induction motor is analyzed and interpreted.
Volume: 14
Issue: 3
Page: 631-639
Publish at: 2025-09-01

Boost efficiency performance through the enhancement of duty cycle based MPPT algorithm

10.11591/ijape.v14.i3.pp541-550
Ahmed Badawi , I. M. Elzein , Walid Alqaisi , Al Hareth Zyoud
The use of direct power control (DPC) has become popular as an effective control strategy for pulse width modulated (PWM) converters. The incremental conductance algorithm (INC) is utilized to control the duty cycle (D) in tracking the optimal point to increase power efficiency in wind energy conversion systems (WECS). WECS parameters are adjusted to achieve unity power factor, allowing the system to extract maximum power (𝑃𝑚𝑎𝑥) from WECS. Simulation results show that wind speed has a significant impact on the captured power, with a proportional relationship between wind speed and power. Control strategies are employed to optimize the (D) to reach the desired operating point. A DC-DC boost converter is connected to WECS, where the (D) controls the MOSFET to maintain 𝑉𝑜𝑢𝑡 at the optimal level on the DC link. Various wind speed profiles are simulated in this study to evaluate system efficiency, especially under conditions of rapid wind speed fluctuations. The controller based on (D) demonstrates superior tracking performance through the DC link, ensuring that 𝑉𝑜𝑢𝑡 remains at an optimal level.
Volume: 14
Issue: 3
Page: 541-550
Publish at: 2025-09-01

Investigation of DC-AC converter control techniques with enhanced MOSFET gate driver

10.11591/ijape.v14.i3.pp676-687
Elmourabit Bouazza , Akaaboune Jalil , Oulaaross Mohamed , Benchagra Mohamed
To promote the use of photovoltaic (PV) systems and reduce costs, it is crucial to develop innovative approaches for grid integration, thereby contributing to global power generation. This article presents the development of an integrated power circuit using the TOSHIBA-TLP350 as a gate driver for the implementation of a single-phase H-bridge inverter, combined with inductor–capacitor–inductor (LCL) filters. This circuit was designed and controlled using a high-frequency pulse width modulation (PWM) signal generated by an ATmega328P microcontroller board, with a predefined program, to facilitate the filtration and reduction of both current and voltage harmonics present at the output of the filters. The study primarily focuses on a grid-connected mode of operation but also demonstrates adaptability to the islanded mode. The proposed application in this article can be adapted to other renewable energy conversion systems. The effectiveness of this achievement is demonstrated through detailed experimental results, highlighting the potential benefits for cost reduction and performance improvement of photovoltaic systems.
Volume: 14
Issue: 3
Page: 676-687
Publish at: 2025-09-01

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

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

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

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

Hybrid deep learning and active contour for segmenting hazy images

10.11591/ijra.v14i3.pp429-437
Firhan Azri Ahmad Khairul Anuar , Jenevy Jone , Raja Farhatul Aiesya Raja Azhar , Abdul Kadir Jumaat
Image segmentation seeks to distinguish the foreground from the background for further analysis. A recent study presented a new active contour model (ACM) for image segmentation, termed Gaussian regularization selective segmentation (GRSS). This interactive ACM is effective for segmenting certain objects in images. However, a weakness of the GRSS model becomes apparent when utilized on hazy images, as it is not intended for such conditions and produces inadequate outcomes. This paper introduces a new ACM for segmenting hazy images that hybridizes a pretrained deep learning model, namely DehazeNet, with the GRSS model. Specifically, the haze-free images are estimated using DehazeNet, which fuses the information with the GRSS model. The new formulation, designated as GRSS with DehazeNet (GDN), is addressed via the calculus of variations and executed in MATLAB software. The segmentation accuracy was evaluated by calculating Error, Jaccard, and Dice metrics, while efficiency was determined by measuring processing time. Despite the increased processing time, numerical experiments demonstrated that the GDN model achieved higher accuracy, as indicated by the lower error and higher Jaccard and Dice than the GRSS model. The GDN model can potentially be formulated in the vector-valued image domain in the future.
Volume: 14
Issue: 3
Page: 429-437
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

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

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

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

Design and implementation of Internet of Things-enabled long-range autonomous surveillance bot for LPG leak detection and environmental safety monitoring

10.11591/ijra.v14i3.pp361-369
Rajesh Singh , Anita Gehlot , Rahul Mahala , Vivek Kumar Singh
Liquefied petroleum gas (LPG) accidents pose significant safety risks, requiring continuous monitoring and Internet of Things (IoT) technology to prevent gas leakage and ensure human safety. This work proposes distributed field-oriented IoT gas sensing robots for detecting dangerous flammable gases like Ammonia, Sulphur Dioxide, Nitrogen Dioxide, and Carbon Dioxide. The SnoLURk solution enables cost-effective IoT gas leak detection in indoor and outdoor robots using budget-friendly casings and sensors. The study also discusses a robotic system for gas leak detection, aiming to detect and combat burglary using ZigBee and GSM modules. Cloud support allows Wi-Fi zone residents to receive alerts and send investigators via email, enabling remote data analytics monitoring. The IoT-based Worker's Health Monitoring System improves health and safety practices in industrial environments by monitoring workers' health 24/7. It allows on-site and off-site monitoring, enabling quick intervention and avoiding complications. The system's applications include construction, mining, manufacturing, and healthcare. Future versions may include improved sensors and machine learning.
Volume: 14
Issue: 3
Page: 361-369
Publish at: 2025-09-01
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