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All Journal International Journal of Reconfigurable and Embedded Systems (IJRES) TELKOMNIKA (Telecommunication Computing Electronics and Control)
Mohd Razali Mohamad Sapiee
Universiti Teknikal Malaysia Melaka
Computer Science & IT Economics, Econometrics & Finance

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Synchronous Mobile Robots Formation Control Mohd Razali Mohamad Sapiee; Khalil Azha Mohd Annuar
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 16, No 3: June 2018
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v16i3.8397

Abstract

Synchronous mobile robots formation control is one of the most challenging and interesting fields in robotics. The mobile robots communicate with each other through wireless communication to perform similar movement. This study analyzed two mobile robots that can perform synchronous movement along a shaped path. A square shape is set as a path for the mobile robot movements. The front robot being the leading robot transmits the instruction of its movement to the robot behind it, acting as the following robot through a wireless communication. The instruction sent by the leading robot is received by the following robot through a program embedded in the leading robot microcontroller which then drives the following robot to move and imitates the movement of the leading. The algorithm for the movement is tested on the hardware and the results of the experiment are included to verify the effectiveness of the proposed method.
Development of internet of things-based exoskeleton for monitoring elbow rehabilitation therapy Geevanthran A/L Vegurgama; Mohd Razali Mohamad Sapiee; Khalil Azha Mohd Annuar
International Journal of Reconfigurable and Embedded Systems (IJRES) Vol 15, No 2: July 2026
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijres.v15.i2.pp553-562

Abstract

The elbow joint is a complex articulation comprising the humeroulnar and humeroradial joints, facilitating flexion-extension movements essential for daily activities. Leveraging advancements in connected systems and paradigms such as the internet of things (IoT), this study proposes an affordable, effective, and IoT-enabled one-degree-of-freedom (1DOF) elbow exoskeleton for home-based rehabilitation. The exoskeleton is designed to provide a natural range of elbow movements (flexion and extension) while enabling real-time monitoring of rehabilitation progress through mobile applications and web servers. The system collects qualitative data on elbow movements, which are critical in rehabilitation therapy, and enables patients to save their rehabilitation status for future reference. This data can be accessed by doctors remotely, ensuring continuity of care. For patients unable to lift their arm independently, a servomotor provides mechanical assistance, enabling them to achieve desired angles for rehabilitation. The IoT platform generates real-time graphs, offering detailed insights into the recovery process through data analysis. This project is a significant advancement in clinical and healthcare settings, as it reduces dependency on human support or physiotherapists. By integrating IoT technology, the proposed exoskeleton ensures effective, autonomous, and data-driven rehabilitation for elbow joint recovery.
A low cost intelligent sorting mechanism using infrared and colour sensor with servo driven robotic arm Khajan Segaran; Khalil Azha Mohd Annuar; Sanjoy Kumar Debnath; Mohd Razali Mohamad Sapiee
International Journal of Reconfigurable and Embedded Systems (IJRES) Vol 15, No 3: November 2026
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijres.v15.i3.pp683-692

Abstract

In the era of industrial automation, traditional manual sorting remains a bottleneck characterized by high operational costs and reduced throughput. This research presents an integrated automated sorting system comprising a robotic arm and a conveyor belt mechanism designed to streamline object classification. The system utilizes an infrared (IR) sensor for object detection and a colour sensor for classification based on predetermined criteria. Upon detection, the robotic arm executes precise picking motions to sort objects by colour, significantly minimizing human intervention. Experimental results demonstrate the system's high reliability and efficiency. While the IR sensor consistently detected objects within a 5 cm range, the integration of a physical stopper proved essential for stabilizing object positioning. Initial inaccuracies in colour detection were resolved through iterative frequency-to-red, green, blue (RGB) mapping, eventually achieving 100% accuracy for red, green, and blue targets. Performance tuning revealed that a 1 s servo delay optimized the balance between mechanical stability and speed, yielding an average cycle time of 6.66 seconds. With a 95% overall success rate, this system offers a cost-effective automation solution tailored for small and medium-sized enterprises (SMEs) and highlights the scalability of servo-based robotic sorting in manufacturing and recycling sectors.
Co-Authors Geevanthran A/L Vegurgama Khajan Segaran Khalil Azha Mohd Annuar Sanjoy Kumar Debnath