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31,207 Article Results

Consensus-based path planning for UAV swarms under multiple constraints: A review

10.11591/ijra.v15i3.pp621-638
Yana Lu , Lianpeng Li , Hui Zhao , Xu Zhao
UAV swarms are essential for emergency response, logistics, reconnaissance, and environmental monitoring, yet achieving safe and scalable path planning under dynamic conditions and complex constraints remains challenging. Unlike existing surveys that categorize algorithms by theoretical foundations, this paper systematically reviews UAV swarm path planning through the lens of spatial, temporal, and task-level consistency constraints. We classify recent advances into classical path search, intelligent optimization, and deep reinforcement learning, emphasizing how each addresses geometric continuity, behavioral coordination, and full-chain perception–decision–planning consistency under multi-constraint coupling. We further identify critical limitations in scalability, dynamic adaptability, and heterogeneous swarm cooperation, and outline future directions, including distributed control, multi-source perception fusion, cross‑platform collaboration, and robust autonomous decision-making. This review provides a unique, application‑centric taxonomy based on consensus constraints, offering actionable insights for developing consistency-aware UAV swarm path planning technologies.
Volume: 15
Issue: 3
Page: 621-638
Publish at: 2026-09-01

Integrating large language models for context-aware decision making in autonomous mobile robots

10.11591/ijra.v15i3.pp607-620
Vishnu Kumar Mishra , Megha Mishra , Talasila Ram Kumar , Yenna Geetha Reddy , Gundla Rajesh , Battula Phijik , Bandla Srinivasa Rao
The dynamic evolution of industrial automation has created an imperative need to transition from inflexible, rule-based systems to flexible, intelligent agents that can facilitate human-robot collaboration. The purpose of this research was to integrate large language models (LLMs) with autonomous mobile robots (AMRs) to improve context-aware decision-making. The inflexibility of traditional systems has often hindered performance in dynamic environments, as systems often rely on predefined algorithms and sensor configurations. To improve this, a modular framework was created, consisting of a central processing unit and an LLM API to interpret natural language and process environmental information. Quantitative results have been clearly specified in the abstract, which states that the success rate in resolving navigation exceptions by the proposed framework was 89% with a 5% localization error rate. Moreover, substantial savings were observed in token usage and computational resources. This study provided an imperative framework for smarter industrial automation, filling the gap between mechanical precision and artificial intelligence. The practical experimentation of an AMR model gives an outcome of a successful navigation exception resolution rate of 89% by means of the proposed framework, with an error rate of 5% localized to each exception. Additionally, significant reductions in the number of tokens used and the time taken to process tokens provide a scalable means for developing contextually-based, robust, autonomous mobile platforms’ decisions.
Volume: 15
Issue: 3
Page: 607-620
Publish at: 2026-09-01

Remote controlled agricultural robot for spraying liquid type pesticides

10.11591/ijra.v15i3.pp553-560
Kalagotla Chenchireddy , Vadthya Jagan , M. Aruna Bharathi , Malaji Sushama , Varghese Jegathesan , Shabbier Ahmed Sydu
In modern agriculture, the use of automation and robotics is becoming increasingly essential to enhance efficiency, reduce labor, and ensure the safe handling of hazardous materials. This paper presents the design and development of a remote-controlled agricultural robot specifically intended for spraying liquid-type pesticides using radio frequency communication. The system comprises a mobile robot platform equipped with a pesticide tank, a spraying mechanism powered by a DC pump, and a set of drive motors for navigation. The robot is remotely controlled through an RF transmitter and receiver pair, allowing the operator to manually guide the robot across agricultural fields without direct contact with pesticides. The RF module transmits commands such as movement directions and spray activation, which are interpreted by an Arduino microcontroller onboard the robot. The system aims to reduce human exposure to harmful chemicals, minimize labor efforts, and increase precision in pesticide application. This solution is cost-effective, user-friendly, and adaptable for small to medium-sized farms, offering a practical step toward smart farming.
Volume: 15
Issue: 3
Page: 553-560
Publish at: 2026-09-01

Optimization of tensile strength and modulus elasticity from recycled mask polymer blends

10.11591/ijaas.v15.i3.pp894-901
Indah Widiastuti , Slamet Jatmiko , Budi Harjanto , Arif Bagus Panuntun
This research aims to analyze the effect of differences in the proportion of recycled polypropylene (r-PP), compatibilizer, and type of mask on the tensile strength and modulus of elasticity of recycled mask product materials. The research design used in this research uses the Taguchi orthogonal L4 experimental method, which uses a quantitative approach, namely by manipulating certain conditions and providing control over the test samples. This research focused on the effect of varying the proportion of r-PP composition, maleic anhydride polypropylene (MAPP) compatibilizer, as well as varying the type of mask waste used. In this research, the composition of r-PP used was 10% and 30%. Meanwhile, the MAPP composition used is 0% and 6%. In this study, tensile testing was carried out in accordance with the American Society for Testing and Materials (ASTM) D 638 standard type V in the form of a dogbone. The results of the research show that differences in the proportion of r-PP in the composition of the polymer mixture have an effect on the tensile strength and modulus of elasticity of the recycled mask product material.
Volume: 15
Issue: 3
Page: 894-901
Publish at: 2026-09-01

Textile industry innovation: systematic review of key trends and particularities

10.11591/ijra.v15i3.pp720-736
Sebastián Cardona-Acevedo , Alejandro Arango-Correa , Diana Carolina Rios Echeverri , Alejandro Valencia-Arias , Jhon Edward Aguirre Cuervo
Innovation in the textile industry is a key strategic factor, influenced by geographic disparities, structural challenges, and rapid technological change. However, fragmented knowledge makes it difficult to fully understand the phenomenon. This study aimed to analyse how various types of innovation appear and interact in the global textile sector. A systematic literature review was carried out following PRISMA 2020 guidelines, using Scopus and Web of Science databases. From an initial pool of 94 articles, 19 met the inclusion criteria. Findings reveal that beyond specific advancements like automation or smart textiles, structural tensions hinder the integrated adoption of technological, organisational, and sustainability innovations. The diversity of analytical approaches shows there is no single, unified path to innovation in this sector. Instead, multiple innovation trajectories coexist, influenced by local conditions and unequal institutional capacities. In addition, knowledge gaps between developed and emerging regions, as well as the lack of focus on early stages of the supply chain, highlight the need to rethink research priorities. Ultimately, innovation in the textile industry must be understood as a comprehensive process that brings together technology, organisational change, and sustainability, requiring a holistic approach to improve competitiveness and ensure long-term transformation across the sector.
Volume: 15
Issue: 3
Page: 720-736
Publish at: 2026-09-01

Students' perspectives on the effectiveness of ChatGPT in virtual learning

10.11591/ijaas.v15.i3.pp921-931
Isaac Asampana , Henry Akwetey Matey , Ben T. Ocra , Jones Yeboah Nyame
This research investigates how students perceive chat generative pre-trained transformer (ChatGPT) as a learning aid, examining its effects on engagement, usability, and educational achievement. Using the technology acceptance model (TAM) as the conceptual framework, a 24-item survey was designed and administered through simple random sampling. Results reveal that students largely view ChatGPT positively, describing it as an accessible and beneficial tool that promotes flexible and independent learning. The findings confirm TAM predictions, showing that perceived ease of use and favorable attitudes significantly influence adoption. By combining insights from both distance and on-campus learners, the study enriches understanding of how generative artificial intelligence enhances cognitive development and learning adaptability. Overall, the research reflects cautious optimism about ChatGPT’s pedagogical value, acknowledging both its educational benefits and challenges while underscoring the essential role of usability and learner attitudes in fostering sustained artificial intelligence utilization in higher education.
Volume: 15
Issue: 3
Page: 921-931
Publish at: 2026-09-01

Flight supervision and pilot training standards: a study of international aviation regulations

10.11591/ijaas.v15.i3.pp1203-1213
Heni Puspita , Ade Gafar Abdullah , Agus Setiawan , Isma Widiaty , Ike Yuni Wulandari , Johanes Adi Prihantono , Erlian Supriyanto
This paper analyzes variations in pilot training and licensing policies across four major organizations: the International Civil Aviation Organization (ICAO), the Federal Aviation Administration (FAA), the European Union Aviation Safety Agency (EASA), and the Directorate General of Civil Aviation (DGCA) of Indonesia. The main issue here is the impact of contradictory training pathway requirements, flight hours, simulator requirements, language proficiency requirements, and instructor qualification requirements on aviation safety, license transferability, and the construction of the pilot training system in Indonesia. This study employs a qualitative research design, combining a systematic literature review with regulatory comparative analysis. The findings demonstrate that the prescriptive and competency-based model is most prevalent in EASA, where simulation and multi-crew requirements are widely applied; whereas in the FAA, the emphasis is more on total flight experience and rules related to 1,500 hours; and in the Civil Aviation Safety Regulations (CASR), there is minimal implementation but overall consistent with ICAO minimum. The paper finds that the country must progressively harmonize with modern ICAO, EASA, and FAA standards of good practice, prioritizing competency-based training (CBT), fatigue risk management, simulator capacity, and instructor professionalization to enhance safety performance and international recognition.
Volume: 15
Issue: 3
Page: 1203-1213
Publish at: 2026-09-01

Analysis of charge transport kinetics in photovoltaic based on FTO@TiO2@CdS:Cu²⁺@ZnS photoanode

10.11591/ijape.v15.i3.pp1064-1071
Thai Van Thanh , Nguyen Van Minh , Ho Minh Trung
This study examines charge-transport kinetics in TiO₂@CdS:Cu²⁺@ZnS quantum dot-sensitized solar cells, addressing a key research gap regarding how controlled Cu²⁺ incorporation simultaneously affects recombination dynamics and interfacial charge-transfer resistances. While previous works mainly emphasized optical improvements from Cu doping, the coupled effects on impedance characteristics and device performance remain insufficiently clarified. Cu-doped CdS quantum dots with concentrations ranging from 0 to 0.5 mol were synthesized via the SILAR method and protected with a ZnS passivation layer. Electrochemical impedance spectroscopy and I-V characterization were employed to quantify changes in Rct1, Rct2, Jsc, Voc, fill factor, and power conversion efficiency. The optimal Cu(0.2) device achieved 4.69% efficiency with a Jsc of 27.4 mA/cm², reflecting enhanced charge transport, reduced recombination, and improved light absorption. The findings reveal the previously underexplored dual role of Cu doping in tuning both optical and electronic properties. Furthermore, they identify the threshold at which excessive Cu leads to recombination-dominated losses and structural degradation. This work establishes a clearer mechanistic basis for engineering high-performance quantum absorber architectures in next-generation solar cell technologies.
Volume: 15
Issue: 3
Page: 1064-1071
Publish at: 2026-09-01

Impact of an SVC device on voltage and transient stability in power systems

10.11591/ijape.v15.i3.pp975-984
Makhlouf Chouki , Hicham Zaimen , Hassen Belila
The increasing complexity of modern electrical networks, driven by the expansion of transmission networks along with the increasing penetration of renewable-based generation, has intensified concerns regarding voltage control performance and rotor-angle stability. Flexible AC transmission system (FACTS) technology, particularly the shunt-connected static var compensator (SVC), offers effective solutions for enhancing system performance through dynamic reactive power support. This study examines the effect of SVC integration on voltage regulation performance as well as rotor-angle stability within electrical transmission networks. The study is conducted using MATLAB and the electrical network analysis toolbox (PSAT) on IEEE 5-bus, 14-bus, and 9-bus benchmark systems. Voltage stability performance is evaluated under transmission line outage conditions, while rotor-angle stability is assessed through critical clearing time (CCT) analysis during balanced three-phase faults. The simulation results demonstrate that the incorporation of an SVC considerably improves voltage profiles, reduces active and reactive power losses, and enhances system resilience under disturbed operating conditions. Furthermore, the SVC increases the critical clearing time and improves post-fault dynamic behavior, contributing to better preservation of generator synchronism. The presented results confirm that SVC-based compensation provides an effective and practical solution for strengthening both voltage control performance and rotor-angle stability reserves in power transmission systems.
Volume: 15
Issue: 3
Page: 975-984
Publish at: 2026-09-01

Biophysiological responses of premature infants in neonatal nursing care: a descriptive study of infant and maternal characteristics

10.11591/ijphs.v15i3.27051
Dwi Hastuti , Anggorowati Anggorowati , Zubaidah Zubaidah , Tri Nur Kristina , Siti Yuyun Rahayu Fitri
Preterm infants are physiologically vulnerable and require continuous cardiorespiratory and thermal monitoring during neonatal nursing care. Evidence describing physiological indicators in relation to infant maturity and maternal sociodemographic characteristics remains limited. This study aimed to describe physiological indicators (heart rate, respiratory rate, oxygen saturation, and temperature) among preterm infants and examine their associations with infant and maternal characteristics. An observational descriptive study was conducted from August to December 2025 among preterm infants (
Volume: 15
Issue: 3
Page: 726-736
Publish at: 2026-09-01

Physical-maturation with health education on the incidence of anemia among adolescents who married at a young age

10.11591/ijphs.v15i3.26734
Desta Ayu Cahya Rosyida , Nyna Puspita Ningrum , Nina Hidayatunnikmah , Solichatin Solichatin
Physical maturity and the incidence of anemia in adolescents who marry at a young age have an impact on the biological and physiological unpreparedness of the adolescent body that is not yet fully mature against the increased risk of anemia, especially in early pregnancy. The solution in this paper provides health education and increased awareness of the dangers of early marriage to physical health, especially the risk of anemia. Nutrition intervention programs and iron supplements for adolescent girls. The purpose of this study was to evaluate the effect of physical maturity on the incidence of anemia in adolescents who marry at a young age. Quantitative research method with quasi-experimental pre-post test design with control group. The population of the study was 54 young women who were married at a young age. The sample size of 44 respondents. Sampling was done using the accidental technique. Data were analyzed using the Chi-square test. The difference in mean hemoglobin levels in adolescents before and after the intervention was analyzed using the paired t-test. Based on the results of statistical test, a p-value of 0.000 was obtained (p-value ≤ 0.05), which indicated that the difference was statistically significant.
Volume: 15
Issue: 3
Page: 777-786
Publish at: 2026-09-01

Performance analysis of un-equal rotor and stator length switched reluctance motor

10.11591/ijape.v15.i3.pp1190-1199
Mohammed Moanes Ezzaldean Ali , Nadheer A. Shalash
The performance of the SRM motor is influenced by several design parameters, including the lengths of the rotor stack and stator stack. Typically, the SRM is designed with equal rotor and stator lengths. However, there are some limited exceptions where the motor has a rotor that is longer or shorter than the stator; such a motor can achieve a reduction in one or more of the following: iron loss, copper loss, weight, inertia, and cost. To evaluate the performance of the SRM when the stator and rotor lengths are unequal, a 3D-model of the 6/4 SRM was developed using Ansys Motor-CAD software. In this work, two cases were investigated: the first case involved configurations where the stator was shorter than the rotor, and the second case involved configurations where the rotor was shorter than the stator. In both cases, other motor dimensions and variables were held constant. The simulation results show that certain performance indicators of the motor are not negatively affected, where they remain almost constant or even change positively, while other performance indicators are negatively changed, these changes are not significant when the differences between the stator and rotor lengths are within 10%. The cases of unequal length of stator and rotor can be considered as a new option that is manipulated to achieve the optimal design of the SRM, especially for low cost, low inertia, and high-speed applications.
Volume: 15
Issue: 3
Page: 1190-1199
Publish at: 2026-09-01

Performance evaluation of rooftop photovoltaic integration using self-consumption and self-sufficiency indicators with IoT-based monitoring

10.11591/ijape.v15.i3.pp1399-1408
Syukron Al-Fajri , Syafii Syafii
Indonesia’s energy transition has increased the importance of rooftop photovoltaic (PV) systems, yet their integration with the PLN grid remains challenging because intermittent generation affects supply-demand balance and complicates the evaluation of local PV utilization. This study proposes and evaluates a low-cost internet of things (IoT)-based AC-side monitoring system for residential rooftop PV integration using an ESP32 microcontroller and PZEM-004T energy sensors. The proposed framework monitors three measurement points, namely PV output, grid line, and household load, and classifies the operating condition into export and import states. Based on measured historical field data, the operational performance of the system is assessed using the self-consumption ratio (SCR) and self-sufficiency ratio (SSR). The results show that PV generation dominates during daytime operation, whereas household demand becomes increasingly dependent on the PLN grid from late afternoon to night. Across the observation period, daily SCR ranges from 1.08% to 6.86%, while daily SSR ranges from 3.07% to 74.61%, indicating limited overall self-consumption but relatively strong daytime load support. These findings show that the proposed low-cost AC-side IoT monitoring framework can effectively quantify rooftop PV-grid interaction and provide a practical basis for evaluating local PV utilization and grid dependence under actual household operating conditions.
Volume: 15
Issue: 3
Page: 1399-1408
Publish at: 2026-09-01

Multi-objective planning of distributed resources (PV and SVC) with NSGA-II for radial networks: application to the IEEE 33-bus test system

10.11591/ijape.v15.i3.pp1243-1252
Hassane Ousseyni Ibrahim , Abdoul Malik Maman Issaka , Moussa Gonda , Arouna Oloulade , François-Xavier Fifatin
The quality of electricity supply in distribution networks is critically dependent on minimizing active power losses and ensuring voltage stability. This study proposes a unified multi-objective optimization approach for the simultaneous placement and sizing of a photovoltaic (PV) source and a static var compensator (SVC) in radial networks. The non-dominated sorting genetic algorithm II (NSGA-II) is employed as the robust methodology to generate the Pareto optimal front, effectively exploring the trade-offs between two conflicting objectives: active loss minimization and voltage profile improvement. Unlike sequential or single-unit optimization strategies, this joint optimization framework is the key novelty, leveraging the specific physical interaction between PV active power injection and SVC-based dynamic reactive support to maximize overall network efficiency. Simulations are performed on the standard IEEE 33-bus test system. The results demonstrate that the optimal and coordinated integration of a 0.97 MW PV system at bus 14 and a 1.32 MVAr SVC at bus 30 yields superior electrical performance. Specifically, the system achieves a substantial active power loss reduction of 62.53% and decreases the voltage deviation index from 0.117 p.u. to a minimum of 0.0169 p.u., confirming the effectiveness of the proposed NSGA-II approach for comprehensive distributed resource planning.
Volume: 15
Issue: 3
Page: 1243-1252
Publish at: 2026-09-01

Structural and behavioral determinants of HIV among Indonesian MSM

10.11591/ijphs.v15i3.26988
Neila Sulung , Adi Cahya Murfi , Efriza Efriza , Nurdin Nurdin , Cici Apriza Yanti
HIV prevalence among men who have sex with men (MSM) remains disproportionately high in Indonesia. While behavioral risk factors have been widely studied, evidence integrating structural determinants remains limited. This study examined the role of structural and behavioral factors associated with HIV status among MSM in Jambi City, Indonesia. A cross-sectional study was conducted among 60 MSM recruited using non-probability sampling due to the hidden nature of the population. Data were collected using validated structured questionnaires and analyzed using multivariable logistic regression. Fifty percent of respondents were HIV-positive. Low educational attainment emerged as an independent structural determinant of HIV status (AOR = 5.51; 95% CI: 1.14-26.49), whereas behavioral factors showed significant crude associations but lost significance after adjustment. HIV vulnerability among MSM is shaped by structural inequalities beyond individual behaviors. Structural-focused interventions are essential to strengthen HIV prevention strategies in Indonesia.
Volume: 15
Issue: 3
Page: 640-647
Publish at: 2026-09-01
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