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All Journal Journal of Fuzzy Systems and Control (JFSC) Control Systems and Optimization Letters
Son-Thanh Phung
Ho Chi Minh City University of Technology and Engineering (HCM-UTE)
Aerospace Engineering Automotive Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering

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Design and Implementation of an IoT-Enabled Autonomous Fire-Fighting Robot Using Vision-Based Fire Detection Hoang-Thong Nguyen; Quoc-Thuan Nguyen; Phuoc-Dat Tran; Quang-Khai Nguyen; Thi-Hong-Lam Le; Le-Minh-Kha Nguyen; Van-Hiep Nguyen; Thanh-Binh Nguyen; Ngoc-Hung Nguyen; Thi-Ngoc-Thao Nguyen; Son-Thanh Phung; Hoang-Lam Le; Thanh-Toan Nguyen; Hai-Thanh Nguyen
Journal of Fuzzy Systems and Control Vol. 3 No. 3 (2025): Vol. 3 No. 3 (2025)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v3i3.354

Abstract

This paper presents the design and implementation of an IoT-enabled autonomous fire-fighting mobile robot for early hazard detection, remote monitoring, and emergency response. The proposed system integrates real-time deep learning–based fire detection using a YOLO model with fire and gas sensor–based monitoring for IoT-based alert transmission and SLAM-based environmental visualization to form a multifunctional robotic platform capable of performing a sequence of tasks from detection and warning to initial fire response. The robot is capable of autonomous movement with obstacle avoidance, while a 2D SLAM-based mapping module is employed to provide environmental visualization for monitoring and decision support. A mobile application enables remote supervision and control, and real-time alerts are delivered through an IoT platform to enhance situational awareness. Experimental results show that the proposed system achieves a fire detection and response success rate of approximately 70%, with reliable fire recognition and fast response time under indoor testing conditions. The developed robot demonstrates strong potential as a practical solution for improving safety and supporting early-stage fire response in residential and industrial environments.
Trajectory Tracking Controller Design for a One-degree-of-Freedom Robotic Arm using Fuzzy Logic and Neural Controllers Quang-Thien Nguyen; Anh-Huy Nguyen; Hoang-Linh Le; Hai-Thanh Nguyen; Thi-Hong-Lam Le; Ngoc-Hung Nguyen; Van-Hiep Nguyen; Thanh-Binh Nguyen; Thi-Ngoc-Thao Nguyen; Minh-Tam Nguyen; Phong-Luu Nguyen; Hoang-Lam Le; Son-Thanh Phung
Control Systems and Optimization Letters Vol 4, No 1 (2026)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/csol.v4i1.271

Abstract

The one-degree-of-freedom (1-DOF) robotic arm is a fundamental platform widely used in laboratories for teaching and evaluating position and trajectory control strategies. This paper presents the modeling, simulation, and experimental implementation of a 1-DOF robotic arm system using intelligent control approaches. A Fuzzy Logic Controller (FLC) and a neural network controller (NNC) based on a multi-layer perceptron (MLP) were designed and evaluated in MATLAB/Simulink and implemented in real time on an STM32F4 embedded hardware platform. Both controllers were tested under step and sinusoidal reference inputs, achieving tracking errors below 5°, settling times of approximately 0.1 s (within ±2%), and limited overshoot. Although the neural network successfully reproduced the general control behavior of the FLC, the fuzzy controller demonstrated slightly smoother responses and lower control effort under multi-level step conditions. A primary contribution of this work is the development and validation of a low-cost STM32F4G-based embedded platform for implementing and experimentally evaluating intelligent control algorithms, providing a practical and scalable solution for intelligent control research and laboratory education in universities.
Co-Authors Anh-Huy Nguyen Hai-Thanh Nguyen Hoang-Lam Le Hoang-Linh Le Hoang-Thong Nguyen Le-Minh-Kha Nguyen Minh-Tam Nguyen Ngoc-Hung Nguyen Phong-Luu Nguyen Phuoc-Dat Tran Quang-Khai Nguyen Quang-Thien Nguyen Quoc-Thuan Nguyen Thanh-Binh Nguyen Thanh-Toan Nguyen Thi-Hong-Lam Le Thi-Ngoc-Thao Nguyen Van-Hiep Nguyen