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Hirpan Hirpan; Hamzah Upu; Syafruddin Side; Muhammad Darwis

Prosiding Seminar Nasional Ilmu Pendidikan 2025 Asosiasi Riset Ilmu Pendidikan Indonesia

Measurement learning is a fundamental and applicable mathematical topic in everyday life, but it often causes learning difficulties for students, especially in understanding the meaning of units, relationships between quantities, and the conceptual measurement process. These difficulties are not only caused by students' limited cognitive abilities, but also by learning designs that do not fully facilitate social interaction and student learning development. This study aims to reconstruct the contextual didactic design in measurement learning by reviewing the role of social interaction and the Zone of Proximal Development (ZPD) in the student learning process. This study uses a qualitative approach with the type of Didactic Design Research (DDR). The research stages include analysis of the initial didactic situation to identify student learning barriers, implementation of contextual didactic design in measurement learning, and retrospective analysis of student responses as a basis for reconstructing the didactic design. Data were collected through learning observations, analysis of student work results, interviews, and learning documentation. Data analysis was carried out qualitatively by examining social interaction patterns, forms of scaffolding, and student movements in the Zone of Proximal Development. The results of this study indicate that understanding of measurement concepts develops through social interactions between students and between students and teachers within a meaningful learning context. Social interactions and scaffolding provided gradually can encourage students to move from actual abilities to potential abilities within the Zone of Proximal Development. Retrospective analysis indicates that reconstruction of the didactic design is necessary to refine the learning context, activity sequence, and scaffolding strategies to better align with students' learning characteristics. The reconstruction of the didactic design can reduce learning barriers and improve the quality of students' conceptual understanding in measurement learning. This research provides theoretical contributions to the study of social constructivism-based mathematics education and provides practical implications for teachers in designing measurement learning that is more responsive to social interactions and student learning development.

Khansa Hani Zhahira; Dewi Rani Gustiasari; Ristan Kenedi; Rudolf Frinsiarman Jepiter Zalukhu; Sarifah Sarifah

Jurnal Motivasi Pendidikan dan Bahasa 2025 International Forum of Researchers and Lecturers

Podcasts as digital communication media have continued to grow and have become an important platform for delivering ideas, opinions, and public education. This study aims to analyze locutionary, illocutionary, and perlocutionary speech acts in the YouTube content Podcast Warung Kopi (PWK) entitled “Mental Dr. Tirta Turun, Gara-Gara Video Marah-Marah Dilihat dan Ditiru Sama Anaknya.” This research employs a descriptive qualitative method using listening and note-taking techniques to examine the utterances produced by the host and the guest speaker. The data consist of transcribed conversations that are classified based on Austin’s speech act theory. The findings reveal 17 speech act data, consisting of 4 locutionary acts, 9 illocutionary acts including assertive, directive, expressive, and commissive types, and 4 perlocutionary acts. These results indicate that podcasts function not only as entertainment and information media but also as effective tools in influencing listeners’ attitudes, raising awareness, and shaping behavioral responses, particularly in relation to health and social issues.

Enteng Hardiansyah; Lailan Sofinah Haharap; Muhammad Farros Atiqi

Uranus: Jurnal Ilmiah Teknik Elektro, Sains dan Informatika 2025 Asosiasi Riset Teknik Elektro dan Informatika Indonesia

Flower disease detection is a common challenge in modern agriculture. Various factors, such as changes in leaf color, shape, petal structure, and environmental conditions, make it difficult to achieve high accuracy with conventional models. Transfer learning is an effective solution to improve model performance in image detection, especially when available data is limited. This study used several pre-trained models, namely VGG16, ResNet50, and EfficientNet-B0, to detect three types of flower diseases: black spot on roses, white powdery mildew, and leaf rust. The process included data processing, increasing the data volume, model training, and result verification. The results showed that the EfficientNet-B0 model provided the highest accuracy of 97.2%, significantly better than the CNN model created from scratch with an accuracy of 85.1%. This study proves that the transfer learning method is very effective in improving the accuracy of flower disease detection. These results confirm that transfer learning is effective for detecting plant diseases with higher accuracy, especially when the dataset is limited.  

Isnaini Lilis Elviyanti; Syukron Ahmad Aftah; Titi Maemunah; Dwiyono Waluyo; M. Ngabdul Kafi

Jurnal Riset Rumpun Matematika dan Ilmu Pengetahuan Alam 2025 Pusat riset dan Inovasi Nasional

Processing plastic waste into fuel oil with pyrolysis technology. Research on plastic oil as an alternative fuel has been widely conducted. One of them is research on processing plastic bag waste into fuel oil with pyrolysis technology. In this study, a set of pyrolysis equipment was made by Lecturers and Students of UMNU Kebumen. The plastic waste used in this study was 1 kg of plastic bag. Meanwhile, the pyrolysis process used a temperature of 250oC-300oC. The fuel oil produced in the pyrolysis process of this study was approximately 400 ml. The average density of fuel oil from plastic bag waste was 0.733 gr/ml. The results of this density calculation are in the possibility of the density of gasoline, namely 0.710 gr/ml to 0.770 gr/ml. This pyrolysis process shows great potential for converting plastic waste into an environmentally friendly alternative energy source. Furthermore, the efficiency of this pyrolysis technology can be improved by adjusting the temperature and processing time, as well as by selecting a wider variety of plastic types. This technology has the potential to be applied more widely in plastic waste management within the community as a solution to reduce environmental pollution while generating renewable energy.

Anni Maria; Lirhan Lirhan; Selviana Vindirani Mamori; Desy Putri Sahara; Andi Nurhartina +1 more

Jurnal Riset Rumpun Ilmu Bahasa 2025 Pusat riset dan Inovasi Nasional

Research. Elementary School Teacher Education Study Program, STKIP PGRI Papua. The purpose of this study is to examine the Influence of Using Kahoot as an Interactive Learning Media to Increase the Learning Interest of Sixth-Grade Students in Civic Education at SD YPK Bethania Mariadei. This type of research is Experimental research. The population in this study consists of students at SD Bethania Mariadei, while the research sample is 21 students in the sixth grade. Data collection was conducted through questionnaires and documentation. The collected data was analyzed using descriptive statistics and inferential statistics techniques. Based on the hypothesis testing results, the calculated t-value is 2.926 with a significance of 0.009. The significance value shows 0.009 < 0.05, so H0 is rejected and H1 is accepted, which leads to the conclusion that there is a significant and positive effect of using Kahoot media as an interactive learning tool to increase the learning interest of sixth-grade students in Civics subjects at SD YPK Bethania Mariadei. The Kahoot Interactive Learning Media can be applied for Civics learning in elementary schools. Keywords: Kahoot, Learning Media, Learning Interest, Civics.  

Tatang Setya Budi; Tulus Subagyo

Jurnal Riset Rumpun Ilmu Teknik 2025 Pusat riset dan Inovasi Nasional

PT. Tirta Fresindo Jaya, specifically its Pasuruan plant as the producer of Pucuk Harum Tea beverage, requires a large supply of steam to support various production processes. This steam is used in the process of heating tea leaves, heating water through a heat exchanger, and heating chemicals and water in the cleaning in place (CIP) process. Steam pressure of 5 bar that is flowed to the process equipment will undergo condensation to produce condensate. To separate steam and condensate, steam traps are used, consisting of several types, namely mechanical, thermostatic, and thermodynamic. However, in operational practice, steam trap malfunctions often occur, either in the form of steam leaks that are wasted with condensate or failure to drain condensate from the system. This condition causes a decrease in the efficiency of the steam piping system and increases the workload of the boiler. As a result, fuel consumption and boiler feed water requirements become greater than ideal conditions. Therefore, this study aims to analyze the energy and operational losses caused by steam trap malfunctions, as well as evaluate their impact on boiler system performance and steam utilization efficiency at PT. Tirta Fresindo Jaya Pasuruan plant.      

Rahmadani Fitri Panjaitan

Uranus: Jurnal Ilmiah Teknik Elektro, Sains dan Informatika 2025 Asosiasi Riset Teknik Elektro dan Informatika Indonesia

The attendance recording system at PLN ULP Tanjungbalai still relies on manual, paper-based methods, resulting in delays in data recap, reduced efficiency, and a high potential for recording errors. This condition affects the accuracy of employee attendance information, which is essential for administrative activities and managerial decision-making. Based on these issues, this practical work aims to design and develop a web-based e-attendance application as a solution to enhance efficiency, processing speed, and the accuracy of attendance recapitulation. The system was developed using PHP as the programming language and MySQL as the database management system, following several stages including requirement analysis, system design using UML, and implementation of a web-based user interface. The application provides essential features such as user login, daily attendance recording, employee data management, attendance notes (permission, sickness, etc.), and automatic attendance report generation. The system is designed for two types of users—Admin and Employees—each with specific access rights. The implementation results indicate that the e-attendance application significantly improves the efficiency of attendance administration at PLN ULP Tanjungbalai. Data collection and recapitulation become faster, more structured, and less prone to errors, while also enabling administrators to monitor employee attendance in real time. Therefore, this web-based e-attendance application serves as an effective solution to support operational activities and enhance the quality of employee attendance management.

Kaslin Yulianty; Abidin, Dodo Zaenal; Devitra, Joni

Prosiding Seminar Nasional Ilmu Teknik 2025 Asosiasi Riset Ilmu Teknik Indonesia

Private vehicles are a frequently used mode of transportation because they are considered more practical. However, using private vehicles carries several risks, such as traffic accidents due to drivers losing focus on the road due to other activities, such as making calls on smartphones, drinking, or operating the radio. Approximately 90% of accidents are caused by human error. Convolutional Neural Network (CNN) is a type of neural network commonly used on image data. CNN is often used for image classification due to its high performance and accuracy. Therefore, this study aims to analyze the performance of CNN for the classification of distracted driving activities. The results show that the CNN model is able to effectively classify images of distracted driving activities, with an accuracy of approximately 99% across all datasets and across all input image size variations. Furthermore, the results of this study also show that differences in right-hand and left-hand drive datasets do not significantly affect model accuracy. Variations in input image size also do not significantly affect model accuracy, but do affect the training duration.

Wasalmi Wasalmi; La Ode Amir Ifan

Moral : Jurnal kajian Pendidikan Islam 2025 Asosiasi Riset Ilmu Pendidikan Agama dan Filsafat Indonesia

The Qur’an and Hadith, as the primary sources of Islamic teachings, provide a comprehensive value framework regarding the ideal character that should be possessed by both educators and learners. Educators are required to demonstrate sincerity, patience, justice, noble character, and to serve as role models (uswah hasanah) for their students. Education is a fundamental pillar in the formation of individual character and personality. This study aims to examine and analyze the concepts of attitudes and personality of educators and learners based on the Qur’an and Hadith. The method employed is a literature review using a qualitative approach through the analysis of relevant Qur’anic verses and Prophetic traditions. The results of the study indicate that learners are individuals who strive to develop their potential through the learning process within educational pathways, both formal and non-formal, at certain levels and types of education. Among the ethics of learners toward educators are sitting politely in front of the teacher, speaking respectfully, not interrupting the teacher while speaking, listening attentively to the teacher’s explanations, asking questions gently and respectfully when something is not understood, attending school regularly, avoiding truancy and lateness without valid reasons, entering the classroom promptly before the teacher arrives, and obeying the teacher’s advice.

Peri Peri; Monica Suryani; Devina Chandra

Jurnal Pengabdian Masyarakat Indonesia Sejahtera 2025 STAI YPIQ BAUBAU, SULAWESI TENGGARA

In general, school students buy snacks in the school canteen or street vendors (PKL) around the school. 2 The types of food sold are varied, ranging from healthy snacks to unhealthy snacks so that they can attract students to consume school snacks. Healthy snacks are foods that have sufficient and balanced nutrition and do not contain (contaminated) elements that can harm or damage health. This community service activity aims to educate healthy eating patterns to prevent food and drinks containing microbial contamination at Mariana Catholic High School, Medan. The method used is an educational approach through health counseling, interactive discussions, and demonstrations of hygienic practices, especially correct handwashing techniques and the importance of maintaining personal hygiene and the school environment. This activity was attended by 40 students as participants. The evaluation of the activity focused on one main indicator, namely student participation in hygienic behavior practices as a form of direct application of the material that has been given. The results of the activity showed that all participants (100%) followed the demonstrated hygienic practices, which indicates a very high level of participation and enthusiasm. These findings indicate that educational methods accompanied by hands-on practice are effective in increasing understanding and encouraging the adoption of clean and healthy living behaviors. Community service activities at Mariana Catholic High School in Medan have been shown to increase students' knowledge about the dangers of microbial contamination and the development of hygienic behaviors in daily life. Structured and ongoing education is an effective preventive measure to create a healthy and clean school environment.

Ambo Masse; Muhammad Natsir Mallawi; Indriati Amirullah; Syafaruddin Syafaruddin; Nurasia Natsir +7 more

Jurnal Pelayanan dan Pengabdian Masyarakat Indonesia (JPPMI) 2025 Sekolah Tinggi Ilmu Administrasi Yappi Makassar

This Community Service Program (PKM) was conducted with the primary objective of enhancing understanding, awareness, and skills among youth in Parangloe District in preventing drug abuse. Drug abuse has become one of the greatest threats to the development of young generations in Indonesia, including in Parangloe District, which has begun to show indicators of increasing risk. This activity focused on education-based prevention efforts and youth empowerment through a peer educator approach, whereby youth were trained to become agents capable of disseminating information and positive influence within their communities. The program was implemented through a series of socialization sessions, seminars, interactive discussions, and peer youth training. The materials provided covered understanding various types of drugs, causal factors of abuse, health impacts, social and legal consequences, and prevention strategies applicable at the family, school, and community levels. The results demonstrated increased participant knowledge, formation of Peer Youth Groups Concerned with Anti-Drug Efforts, and growing commitment to undertake sustainable prevention measures. This PKM activity had a significant impact on strengthening social resilience in Parangloe District and building an active role for youth as pioneers of the anti-drug movement.

Sudrajat, Muhammad Haris

International Journal of Entrepreneurship and Management 2025 Asosiasi Riset Ilmu Manajemen Kewirausahaan dan Bisnis Indonesia

Objective– This article aims to comprehensively examine the main types of food crop pests and their attack patterns through a systematic literature review approach. The research focuses on the dynamics of pest attacks, changes in ecological patterns due to climate change, and advances in modern identification technology that enable more accurate early detection. This study also highlights the significance of new paradigms of pest identification based on artificial intelligence (AI), genomics, and landscape mapping in supporting food security at the regional and national levels. Design/methodology/approach– This study used the Systematic Literature Review (SLR) method for scientific publications from 2015–2025 from reputable sources such as Scopus, Web of Science, PubMed, ScienceDirect, SpringerLink, Taylor & Francis, Wiley, AGRIS, and Google Scholar. Of the 326 articles identified in the initial stage, 30 articles in English and Indonesian were selected through a screening process based on strict inclusion–exclusion criteria. All articles were then analyzed using thematic coding techniques to produce an in-depth, evidence-based synthesis. Findings– The study produced four key findings: (1) there are five dominant pests in global food crops, namely Thrips tabaci, Spodoptera exigua/frugiperda, Helicoverpa armigera, Nilaparvata lugens and Sitophilus oryzae; (2) attack patterns are strongly influenced by temperature, humidity, pesticide resistance, and monoculture; (3) modern identification technology AI, drone imagery, multispectral sensors, and DNA Barcoding have increased detection accuracy to 94–98%; and (4) community-based early warning systems accelerate field response and reduce the risk of crop failure. Practical implications– These findings provide a scientific basis for local governments, agricultural extension workers, and farmers to gradually adopt pest identification technology and strengthen integrated monitoring systems at a regional scale. Authenticity/value– This article offers a new conceptual model of “Pest Identification Pyramid – Attack Pattern – Early Warning System” that integrates pest biology, digital technology, and community response to improve national food security.

Stefani Natalia Kaka Daha; Andreas Ariyanto Rangga; Katarina Yunita Riti

Venus: Jurnal Publikasi Rumpun Ilmu Teknik 2025 Asosiasi Riset Ilmu Teknik Indonesia

Gastric disease is a common health problem that can disrupt daily activities if not properly treated. To aid the initial diagnosis process, this study developed a web-based expert system capable of diagnosing various types of gastric disease based on the symptoms experienced by the user. This system uses the Dempster-Shafer method to address uncertainty in decision-making by combining a number of pieces of evidence in the form of symptoms to determine the level of confidence in a disease. The system was developed using the PHP programming language and a MySQL database and designed for easy browser access. Testing demonstrated that the system was able to provide fairly accurate diagnostic results that closely approximated the results of consultations with medical professionals. This system is expected to become an initial solution for the public in quickly and independently recognizing symptoms of gastric disease.  

Nunung Febriyaningsih; Noveri Aisyaroh

Journal of Health Sciences, Public Health and Pharmacy 2025 International Forum of Researchers and Lecturers

Syphilis is one of the reproductive health problems that remains a challenge in Indonesia, with a trend of increasing cases, while the level of adolescent knowledge about this disease is still low. Educational efforts are needed to improve adolescent understanding, one of which is through video media which is considered more interesting because it combines visual and audio elements. This study aims to evaluate the effectiveness of video as an educational medium in improving adolescent knowledge about syphilis at SMKS Al Hikmah 2 Sirampog, Brebes Regency. This type of research is a pre-experimental study with a one group pretest-posttest design. The study sample consisted of 47 students selected using a purposive sampling technique. The research instrument was a syphilis knowledge questionnaire administered before and after the educational video intervention. Data analysis used the Wilcoxon Signed Rank Test and N-Gain calculation. The study showed that Results Before the intervention, the level of knowledge of respondents was in the good category for 24 students (51.1%), sufficient for 11 students (25.5%), and poor for 12 students (23.4%). After being given the educational video intervention, there was a significant increase with all respondents (100%) being in the good category. The Wilcoxon Signed Rank Test showed a significant difference between pretest and posttest scores (p-value = 0.000). N-Gain analysis categorized the increase in knowledge as high. The study concluded that video media has proven effective as an educational tool in increasing adolescent knowledge about syphilis, making it a viable alternative learning medium in reproductive health programs.

David Radjak; Rustam Tohopi; Yakob Noho Nani

Kajian Administrasi Publik dan ilmu Komunikasi 2025 Asosiasi Peneliti Dan Pengajar Ilmu Sosial Indonesia

This study aims to determine and describe the transparency of service procedures, the ease of procedures, and the ease of obtaining information at the Kota Timur District Office in Gorontalo City. Using a qualitative, descriptive approach through observation, interviews, and documentation, the study results indicate that transparency of service procedures has been effectively implemented through the provision of clear, complete, and easily accessible information to the public. Information regarding service types, requirements, completion times, and fees is published through bulletin boards, brochures, social media, and direct explanations from officers, so that the public can understand the service process without confusion. In terms of ease of procedures, the service flow has been designed to be simple, concise, and user-friendly, ensuring ease of access for service applicants and even for vulnerable groups such as the elderly. Furthermore, the ease of access to information is also evident in the use of various communication channels, both in person and digitally. Information boards, leaflets, social media, and digital displays are actively used to disseminate information so that the public can understand procedures before visiting the office and better prepare documents. Overall, these three indicators demonstrate that the Kota Timur District Office is committed to implementing the principle of transparency in public services, although further innovation is needed to ensure information reaches a wider and more equitable public.

Hariri, Rif'an; Azhar Irvana Gangsar

Mikroba : Jurnal Ilmu Tanaman, Sains Dan Teknologi Pertanian 2025 Asosiasi Riset Ilmu Tanaman Dan Hewani Indonesia

Pepper is currently not only used to meet daily needs but also as an export commodity. Indonesian pepper exports generate foreign exchange for the country. Currently, international competition for pepper exports is increasingly fierce. An evaluation of the level of market competition and the structure of the pepper market at the international level is necessary. The methods used to analyze the level of competition concentration and market structure are the Concentration Ratio of Biggest Four (CR4) and the Herfindahl-Hirschman Index (HHI). The types of pepper discussed in this study are white pepper with HS code 090411 and black pepper with HS code 090412. The results obtained indicate that both black and white pepper tend to be in an oligopoly market structure with a relatively high level of competition. Such market conditions are a distinct advantage for Indonesia, as there are not too many competitors while buyers or enthusiasts are quite high. A striking difference occurs in the international black pepper trade. In the black pepper trade, Indonesia is not classified as a country with the largest market share.

Sri Yulianty Mozin; Siti Nurcahyati Abdussamad; Sabrina Meamogu

Presidensial : Jurnal Hukum, Administrasi Negara, dan Kebijakan Publik 2025 Asosiasi Peneliti dan Pengajar Ilmu Hukum Indonesia

This article examines the typology and classification of regional government apparatus in Indonesia by analyzing their structure and functions within local governance. The study draws on recent theoretical literature (2020–2025) and legal frameworks to map how different types of regional apparatus such as executive agencies (“dinas”), supporting agencies (“badan daerah”), secretariat, inspectorate, and territorial units are organized and classified. Using a normative-juridical and conceptual approach, the paper reviews relevant laws, regulations, and academic studies to identify patterns of structural typology and functional differentiation within local governments. The findings reveal that many local governments still apply structural-heavy models rather than functionally tailored organizations, leading to excessive bureaucracy and inefficiency. The analysis suggests that a clearer classification aligned with functional roles can improve governance effectiveness and administrative efficiency. The article concludes by recommending that local governments re-evaluate their organizational structures to better reflect the functional needs of governance, rather than merely replicate structural models.                                                               

Syamsul Bahri; Putri Naira; Farid Rizaldi; Yolanda Marchella; Fitra Aulia Simatupang

International Journal of Multilingual Education and Applied Linguistics 2025 Asosiasi Periset Bahasa Sastra Indonesia

Sarcasm is a literary device and one of the most expressive forms of figurative language, often used to convey humor, criticism, or emotional tension in both daily conversation and literature. This study explores the use of sarcasm in William Shakespeare‟s Much Ado About Nothing by applying Elizabeth Camp‟s (2011) typology, which classifies sarcasm into four types: propositional, lexical, illocutionary, and like-prefixed sarcasm. Using a qualitative descriptive method, the researchers collected all sarcastic utterances from the play, classified them according to Camp‟s framework, and analyzed their pragmatic functions in the dramatic context. The findings reveal a total of 50 sarcastic utterances, with propositional sarcasm being the most frequent (42%), followed by illocutionary sarcasm (28%), lexical sarcasm (24%), and like-prefixed sarcasm (6%). These results indicate that sarcasm serves as both a comedic and dramatic device, shaping character interactions, driving conflicts, and reinforcing Elizabethan cultural norms. Beatrice and Benedick‟s witty verbal duels exemplify how sarcasm fosters humor and intimacy, while Claudio‟s sarcasm highlights themes of honor and social tension. Overall, the study demonstrates that sarcasm in Shakespeare‟s play is not merely humorous banter but a sophisticated rhetorical strategy that enhances characterization, thematic depth, and audience engagement.

Reza Reyzaldy; Dian Ekawaty Ismail; Erman I. Rahim

International Journal of Law, Crime and Justice 2025 Asosiasi Penelitian dan Pengajar Ilmu Hukum Indonesia

The purpose of this study is to analyze the settlement of criminal cases on the liability of parents for negligence that results in minors becoming perpetrators of traffic accidents. This type of research is normative legal research with a statutory approach, a case approach and a conceptual approach. The analysis used in this study is a descriptive analysis. has not explicitly regulated the criminal liability of parents for accidents committed by children, although Civil Code Article 1367 has provided a basis for civil liability, and the new Criminal Code through Article 37 opens up opportunities for the application of the principle of vicarious liability. This study recommends the need to reconstruct the Indonesian criminal law regulation which explicitly establishes a model of parental criminal responsibility based on the principle of vicarious liability and the principle of Radbruch legal certainty, without overriding the principle of child protection in the SPPA Law.

Burhanudin Burhanudin

Mars: Jurnal Teknik Mesin, Industri, Elektro Dan Ilmu Komputer 2025 Asosiasi Riset Teknik Elektro dan Informatika Indonesia

A wall follower robot is a type of autonomous robot that is designed to move by following a wall at a certain distance. This research aims to design and build a Wall follower robot equipped with a Fuzzy-PID control system to improve navigation performance. The robot uses five HC-SR04 ultrasonic sensors to detect the distance to the wall and the surrounding obstacles. The data from the sensor is then processed by a Fuzzy-PID algorithm that combines the advantages of conventional PID control with fuzzy logic, resulting in a more adaptive response to environmental conditions. The test results showed that the robot with Fuzzy-PID control was able to maintain the stability of the distance to the wall more consistently compared to the pure PID control. In addition, the system exhibits better adaptability to complex environmental conditions, such as sharp turns, uneven wall surfaces, and the presence of resistance variations. The application of Fuzzy-PID control has been shown to improve the stability, response speed, and accuracy of the robot's navigation. These findings are expected to contribute to the development of robotic navigation systems for a wide range of practical applications, including automated cleaning robots, environmental exploration, and industrial systems that require reliable autonomous mobility.