Development of a Comprehensive Approach for Precise Positioning and Orientation of Multiple Mobile Robots in a Specified Formation Using Computer Vision and the Internet of Things Sneh Soni, Ansh Ruparel, Shreedhar Shah, Harsh Kapadia, Himanshu Patel Serbian Journal of Electrical Engineering, 2026 The integration of Internet of Things (IoT) technologies into Multi- Robot Systems (MRS) has marked a significant advancement in the field of robotics and has opened up new avenues for innovation in robotics applications. By leveraging IoT technologies, robots in an MRS can be interconnected over a network, facilitating seamless communication and data exchange which can be used in various industrial as well as commercial applications. As manufacturing processes evolve towards increased automation and connectivity, MRS provides a versatile solution for tasks such as logistics, transportation, and collaborative assembly. This work presents a complete MRS architecture that combines Message Queue Telemetry Transport (MQTT) based wireless communication, overhead camera-assisted pose estimation using ArUco markers, a graphical control interface, and onboard sensing to achieve accurate multi-robot formation control. Unlike high-cost optical motion-capture systems like Vicon or infrastructure-dependent Ultra-Wide Band (UWB) localization, the proposed system attains centimeter-level accuracy using only a single overhead camera and low-power ESP32-based mobile robots. Real-time position and orientation feedback is computed using a Python-OpenCV pipeline, while MQTT ensures lightweight, low-latency communication between the master operating station and the robots. The Augmented Reality University of Cordoba (ArUco) markers are mounted on the top of each robot to give unique identity to each robot for easy identification and position orientation feedback. The system is experimentally validated across square, triangle, rectangle, and line formations. Each formation is executed over five independent trials, and statistical performance metrics in form of mean ? standard deviation demonstrate consistent accuracy and repeatability. A baseline comparison using pure encoder odometry shows substantially higher drift, confirming the benefit of closed-loop visual feedback. An ablation experiment disabling the magnetometer further quantifies its contribution to orientation stability. Additionally, a full timing and latency analysis covering frame rate, image-processing time, MQTT round-trip delay, and actuator reaction time verifies that the end-to-end control loop operates within real-time bounds. For the square formation task, the average position error remains below 10% relative to the robot?s chassis size and under 1% relative to the overall field dimensions. Similarly, the quantitative results and images are discussed for triangle, line and rectangle shape. The results demonstrate that the proposed MRS achieves robust, precise, and repeatable formation control with minimal hardware cost and infrastructure requirements. The effectiveness of the proposed algorithms and the overall MRS architecture for accurate positioning and orientation of mobile robots can be effectively utilized in a variety of industrial applications. Additionally, it can provide enhanced adaptability and flexibility in manufacturing, improved real-time communication through IoT, and feedback mechanisms.
Design and development of a model for tennis elbow injury prediction and prevention using Artificial Neural Network (ANN) and Adaptive Neuro-Fuzzy Inference System (ANFIS) approaches Heena Patel, Himanshu K. Patel, Ashish Sharma, Sumit Srivastava BMC Musculoskeletal Disorders, 2025 Lateral epicondylitis, commonly referred to as tennis elbow, is a frequent sports injury that poses diagnostic and management challenges. Players often self-treat and delay medical intervention, exacerbating the condition, which highlights the need for early identification and prevention strategies. Purpose This study aims to enhance the understanding of tennis elbow mechanisms and identify key factors influencing its development. Method This research introduces a novel approach integrating Design of Experiments (DoE) with Response Surface Methodology (RSM) and an Expert System (ES) using both Artificial Neural Network (ANN) and Adaptive Neuro-Fuzzy Inference System (ANFIS) for personalized injury prevention recommendations. This combined methodology provides valuable insights and empowers players to adopt safer playing practices, potentially reducing the incidence of tennis elbow. Comprehensive education for athletes, coaches, and physicians on tennis elbow management is emphasized for early diagnosis and improved treatment outcomes. Result After analysis of the computing model, 99% accuracy was achieved using the ANFIS approach for tennis elbow injury prediction. The accuracy was validated through multi-model prediction involving training, validation, and testing phases. Conclusion The proposed work not only offers a deeper understanding of the factors influencing tennis elbow this srisk but also provides personalized preventive strategies through the expert system.
The Relation between the Speed of Electromagnetic Waves and Gravity 16th International Conference on Advances in Computing Control and Telecommunication Technologies Act 2025, 2025
Frequency-Dependent Influence of Applied Magnetic Fields on Heat Exchange in Ferrofluid-based Thermal System Kanikdeep Flora, Himanshu Patel Korean Journal of Materials Research, 2025 Magnetic nanoparticles in nanofluid have a unique ability in that they can be influenced by an external magnetic field, making them a promising heat-exchanging fluid to meet the demands of highly efficient thermal systems.The parametric impact of the magnetic field (static and time-varying) on the heat exchanging rate of Fe 3 O 4 nanoparticles and water-based ferrofluid was investigated in this study.The experimental setup for generating a variable frequency magnetic field and analyzing the thermal behavior of ferrofluid is presented.Temperature data was obtained as heat is transferred from heated water to the ferrofluid used as a coolant.An enhancement of the heat transfer of the magnetic nanofluid was observed when varying the magnetic field frequency, through experimental analysis.The concentration of Fe 3 O 4 nanoparticles in the ferrofluid was varied (0.5 wt%, 1 wt%)to study the impact of nanoparticle loading on heat transfer.An alternative approach for controlling the heat exchange rate in thermal systems is proposed, utilizing the magnetic tunability of the ferrofluid.
Retinal Diseases Classification using Deep Learning Abhishek Vanani, Ankit Sharma, Himanshu Patel 2025 IEEE Guwahati Subsection Conference Gcon 2025, 2025 Optical coherence tomography(OCT) technique is non-intrusive technique and is used for taking cross-sectional pictures of retinal layers in our eyes. It utilizes light waves in order to capture images of our retina and thus permits ophthalmologists to determine eye diseases. Thus, it has become a crucial methodology to identify and estimate retinal abnormalities and diseases, if present. With OCT images ophthalmologists can see distinct layers of retina across different images obtained, but due to more number of pictures to be visualized it becomes more time consuming for them to go through them and diagnose the pathology in the patient’s eye. In this work, we built various models with the help of Deep Learning technology that could classify various diseases including Drusen, Diabetic Macular Edema(DME), Choroidal Neovascularization(CNV), and Normal. The proposed models are LeNet5, AlexNet, GoogLeNet, VGG19 and MobileNet v2. The highest accuracy among all of the above 98.62 % is obtained with MobileNetV2.
Redefining Time: A Revolutionary Framework of Time and its Implications 16th International Conference on Advances in Computing Control and Telecommunication Technologies Act 2025, 2025
Haptic Feedback for Telerobotic Ultrasound Procedures: Enhancing Safety Through Force Limiting Meet Parmar, Himanshu K. Patel, Rajat Jayantilal Rathod International Conference on Control Automation and Information Sciences Iccais, 2025 The development of telerobotic systems for medical diagnostics has made it easier for people in remote areas and areas that don't get enough healthcare to get it. Ultrasound imaging is an important part of non-invasive diagnostics that depends on precise control of probe pressure to make sure the images are clear and the patient is safe. But because telerobotic ultrasound systems don't give direct tactile feedback, they can apply too much or too little contact force, which can make the diagnosis less effective and the patient less comfortable. This paper talks about a telerobotic ultrasound system with haptic feedback that uses a real-time force-limiting algorithm to give the operator more control and lower the risks that come with using too much force. The system has a master-slave structure. On the patient side, there is a UR5 robotic arm with an ultrasound probe and a force sensor. On the operator side, there is a haptic interface that lets the operator feel the force in both directions. Using tissue phantoms to test the system shows that adding haptic feedback to force limitation greatly cuts down on force overshoot and makes tasks more precise. This makes the system safer and better at doing remote diagnostics.
Evaluation of Tilt Angle Estimation Techniques in Single-Axis Solar Trackers Harsh Kapadia, Ansh Ruparel, Kabir Jain, Himanshu Patel 2025 2nd International Conference on Integration of Computational Intelligent System Icicis 2025, 2025 This research presents a cost-effective, IoT-enabled single-axis solar tracking system. The detailed design of a single-axis solar tracking system for power plants is discussed in the paper. The primary focus is on calculating the solar PV Panel's tilt angles, making the system sensorless. Four tilt angle calculation methods, the true tracking and backtracking algorithm, the declination angle, the tangent angle, and the zenith angle, were implemented and evaluated in Python. The results of each algorithm were compared with the industry standard system advisor model (SAM) to assess accuracy. The approach based on the true tracking and backtracking algorithm demonstrated superior performance with minimal root mean square error (RMSE), ensuring optimal solar energy generation. Further optimisation of the tilt update frequency improved efficiency while balancing operational efforts. The results highlight the scalability and adaptability of the system, offering a practical solution to improve energy generation and cost effectiveness in solar farms.
A Comprehensive Analysis on IO-Link Communication and Transceivers 16th International Conference on Advances in Computing Control and Telecommunication Technologies Act 2025, 2025
Disease Detection in Leaves using Deep Learning Sanket Lakhani, Krishn Limbachiya, Ankit K. Sharma, Himanshu K. Patel 2024 15th International Conference on Computing Communication and Networking Technologies Icccnt 2024, 2024
Qualitative Comparison of Commercial NO2 Sensors and Selection Criteria for Various Applications 14th International Conference on Advances in Computing Control and Telecommunication Technologies Act 2023, 2023
Arduino Based Smart Energy Meter using GSM Himanshu K. Patel, Tanish Mody, Anshul Goyal Proceedings 2019 4th International Conference on Internet of Things Smart Innovation and Usages Iot Siu 2019, 2019
Advanced safety control system for industrial articulated robots Parag D. Lalwani, Pramit Dutta, Himanshu K. Patel, Naveen Rastogi, K.K. Gotewal Proceedings of the International Conference on Electronics Communication and Aerospace Technology Iceca 2017, 2017
ECALTOOL: Fuzzy logic based computer program to calibrate the Hargreaves equation for accurate estimation of evapotranspiration Agricultural Engineering International Cigr Journal, 2014
Sustainable Desorption Study of Chemicals Contributing to COD and Color from Activated Char Prepared from Neem Leaf in Textile Wastewater H Patel Journal of The Institution of Engineers (India): Series A 106 (2) , 2025 2025
Aloe Vera as a Green Corrosion Inhibitor for Protection of Metals and Alloys -A Review H Patel, R Vashi Journal of Fundamental and Applied Sciences 17 (1), 51-68 , 2025 2025
Removal of Organic Acid From Wastewater by Adsorption: A Case Study of Acetic Acid, Propionic Acid, and Phenylacetic Acid onto a Banana Peel S Deokar, AR Jadhav, HJ Patel, SN Joglekar, PD Pathak Advances in Water and Wastewater Treatment, 263-284 , 2024 2024
Adsorption Studies of Reactive Black 5 Using Activated Bio-Char Prepared by Co-Pyrolysis of Municipal Sewage Sludge (MSS)-Sugarcane Bagasse (SCB) HJ Patel, PD Pathak Advances in Water and Wastewater Treatment, 213-227 , 2024 2024
Removal of COD, BOD and color of different industrial effluents using activated Neem char H Patel Environmental Advances 16 , 2024 2024 Citations: 15
Handbook for Chemical Process Industries H Patel 2023 Citations: 12
Comparison of batch and fixed bed column adsorption: a critical review H Patel International Journal of Environmental Science and Technology 19 (10), 10409 … , 2022 2022 Citations: 210
Characterization and adsorptive treatment of distillery spent wash using bagasse fly ash H Patel Arabian Journal for Science and Engineering 47 (5), 5521-5531 , 2022 2022 Citations: 18
A review on green synthesis of nanoparticles and their diverse biomedical and environmental applications MS Samuel, M Ravikumar, A John J, E Selvarajan, H Patel, PS Chander, ... Catalysts 12 (5), 459 , 2022 2022 Citations: 423
Elution profile of cationic and anionic adsorbate from exhausted adsorbent using solvent desorption H Patel Scientific Reports 12 (1665) , 2022 2022 Citations: 25
Co-pyrolysis based activated Bio-char: Characterization and its utilization for secondary treated pulp and paper industry wastewater DV Kapatel, YC Rotliwala, HJ Patel Materials Today: Proceedings 57, 1724-1729 , 2022 2022 Citations: 9
Clean approach for chromium removal in aqueous environments and role of nanomaterials in bioremediation: Present research and future perspective MS Samuel, E Selvarajan, R Chidambaram, H Patel, K Brindhadevi Chemosphere 284, 131368 , 2021 2021 Citations: 91
Review on solvent desorption study from exhausted adsorbent H Patel Journal of Saudi Chemical Society 25 (8), 101302 , 2021 2021 Citations: 237
Blood biocompatibility enhancement of biomaterials by heparin immobilization: a review H Patel Blood Coagulation & Fibrinolysis 32 (4), 237-247 , 2021 2021 Citations: 29
Adsorptive column studies for removal of acid orange 7 dye using bagasse fly ash S Deokar, H Patel, P Thakare, S Bhagat, VV Gedam, P Pathak Indian J. Chem. Technol.(IJCT) 28 (3), 319-327 , 2021 2021 Citations: 5
Batch and continuous fixed bed adsorption of heavy metals removal using activated charcoal from neem ( Azadirachta indica ) leaf powder H Patel Scientific Reports 10 (1), 16895 , 2020 2020 Citations: 222
Environmental valorisation of bagasse fly ash: a review H Patel RSC advances 10 (52), 31611-31621 , 2020 2020 Citations: 66
Fixed-bed column adsorption study: a comprehensive review H Patel Applied Water Science 9 (45) , 2019 2019 Citations: 953
Preparation of covalently heparin-polymer conjugate and; use thereof H Patel IN Patent 410,516 , 2019 2019
Continuous Adsorption of Methylene Blue Dye from Aqueous Solution onto Guava Leaf Powder in Fixed Bed RTVVAC Himanshu Patel Journal of Applicable Chemistry 8 (5), 2246-2254 , 2019 2019 Citations: 1
MOST CITED SCHOLAR PUBLICATIONS
Fixed-bed column adsorption study: a comprehensive review H Patel Applied Water Science 9 (45) , 2019 2019 Citations: 953
A review on green synthesis of nanoparticles and their diverse biomedical and environmental applications MS Samuel, M Ravikumar, A John J, E Selvarajan, H Patel, PS Chander, ... Catalysts 12 (5), 459 , 2022 2022 Citations: 423
Removal of Congo Red dye from its aqueous solution using natural coagulants H Patel, RT Vashi Journal of Saudi Chemical Society 16 (2), 131-136 , 2012 2012 Citations: 308
Review on solvent desorption study from exhausted adsorbent H Patel Journal of Saudi Chemical Society 25 (8), 101302 , 2021 2021 Citations: 237
Batch and continuous fixed bed adsorption of heavy metals removal using activated charcoal from neem ( Azadirachta indica ) leaf powder H Patel Scientific Reports 10 (1), 16895 , 2020 2020 Citations: 222
Comparison of batch and fixed bed column adsorption: a critical review H Patel International Journal of Environmental Science and Technology 19 (10), 10409 … , 2022 2022 Citations: 210
Characterization and Treatment of Textile Wastewater RTV Himanshu Patel Elsevier , 2015 2015 Citations: 162
Treatment of textile wastewaterby adsorption and coagulation H Patel, RT Vashi E-Journal of Chemistry 7 (4), 1468-1476 , 2010 2010 Citations: 133
Charcoal as an adsorbent for textile wastewater treatment H Patel Separation Science and Technology 53 (17), 2797-2812 , 2018 2018 Citations: 96
Comparison of naturally prepared coagulants for removal of COD and color from textile wastewater H Patel, RT Vashi Global NEST Journal 15 (4), 522-528 , 2013 2013 Citations: 95
Clean approach for chromium removal in aqueous environments and role of nanomaterials in bioremediation: Present research and future perspective MS Samuel, E Selvarajan, R Chidambaram, H Patel, K Brindhadevi Chemosphere 284, 131368 , 2021 2021 Citations: 91
Environmental valorisation of bagasse fly ash: a review H Patel RSC advances 10 (52), 31611-31621 , 2020 2020 Citations: 66
Adsorption of crystal violet dye onto tamarind seed powder H Patel, RT Vashi Journal of Chemistry 7 (3), 975-984 , 2010 2010 Citations: 63
Fixed bed column adsorption of ACID Yellow 17 dye onto Tamarind Seed Powder H Patel, RT Vashi The Canadian Journal of Chemical Engineering 90 (1), 180-185 , 2012 2012 Citations: 54
A comparison study of removal of methylene blue dye by adsorption on Neem leaf powder (NLP) and activated NLP H Patel, RT Vashi Journal of Environmental Engineering and Landscape Management 21 (1), 36-41 , 2013 2013 Citations: 38
Characterization and column adsorptive treatment for cod and color removal using activated neem leaf powder from textile wastewater H Patel, RT Vashi Journal of Urban and Environmental Engineering 9 (1), 45-53 , 2015 2015 Citations: 34
Blood biocompatibility enhancement of biomaterials by heparin immobilization: a review H Patel Blood Coagulation & Fibrinolysis 32 (4), 237-247 , 2021 2021 Citations: 29
Elution profile of cationic and anionic adsorbate from exhausted adsorbent using solvent desorption H Patel Scientific Reports 12 (1665) , 2022 2022 Citations: 25
Characterization and adsorptive treatment of distillery spent wash using bagasse fly ash H Patel Arabian Journal for Science and Engineering 47 (5), 5521-5531 , 2022 2022 Citations: 18
Batch adsorption treatment of textile wastewater H Patel, RT Vashi Characterization and treatment of textile wastewater, 111-125 , 2015 2015 Citations: 18
