Design and Development of Real-Time Monitoring & Controlling Infant Incubator with Tilt Stabilizer Using Raspberry Pi Remotely Controlled via PC and Smartphone to Reduce Tilt during Baby Transfer

: This research aims to Design and Development of Real-Time Monitoring & Controlling Infant Incubator with Tilt Stabilizer Using Raspberry Pi Remotely Controlled via PC and Smartphone to Reduce Tilt during Baby Transfer. An experimental approach was used, involving data collection, controller determination, hardware design, circuit schematics, software design, and user interface development. Raspberry Pi was selected as the controller due to its sufficient GPIO pins for reading sensors and operating actuators. The tilt stabilizer was created using NEMA 17 stepper motor and a self-designed flexible screw nut to ensure precise tilt adjustment. During testing, the system demonstrated reliable performance, verified through analysis of test data and sensor readings on the HDMI-connected screen, and remote accessibility via PC and smartphone using the internet. The incubator's temperature consistently maintained 37°C using PID control. On an inclined surface of 20°, the tilt stabilizer effectively maintained a stable 10° inclination during baby transfers.


INTRODUCTION
An infant incubator (Baby incubator) is a closed place, a place to put the baby in a controlled environment to warm the baby and keep the baby from germs under the observation of a nurse or doctor.(Permenkes, 2014).In transferring babies, the aspects that need to be considered are vibration and tilt when being moved (Laurence Blaxter, 2017).The maximum tilt angle is 5° during normal use and 10° during transfer (Kemenkes RI, 2014).
The Gyroscope sensor can be used to read the tilt and deep vibration values incubator.A Gyroscope sensor is a sensor that can detect rotational or rotational movements on the three x, y, and z axes.(Wisnu Jatmiko, 2021).A Gyroscope sensor can be applied to Raspberry Pi to give action to reduce tilt and vibration when the baby is moved.Raspberry Pi is a small mini-computer designed to run a variety of applications and computing projects.(Windu G. Raharjo, 2020), The number of sensors used in a measurement or analysis system can affect the level of precision or accuracy of measurement or analysis results of the intended object (Andika Primary, 2022).
In development, infant incubators can use IoT for access control and monitoring.Internet of Things is a concept where everyday objects or devices are connected and communicate with each other through the Internet network (Nurfajar Muslim, 2017).
Based on the existing problems, development is needed in the infant incubator so that it can reduce the death rate in infants caused by tilt and vibration that occurs during transfer, and can be monitored in real-time by other parameters so that the baby's condition is maintained.(Laurence Blaxter, 2017).

METHODS
This research was conducted to discuss how system control infant incubators equipped with a tilt stabilization system to reduce tilt and vibration when moving the baby as well as other supporting sensors that can be monitored and controlled remotely real-time.
The basic technology of an infant incubator with tilt stabilization to reduce vibration when moving the baby that can be monitored and controlled in real-time this can be realized using Raspberry Pi as a processor that controls input from sensors and output that can be controlled so that it can set the parameters needed so that infant incubator that have been made to work according to requirements.By integrating Raspberry Pi, this system can allow users to monitor and control infant incubators .This provides convenience and security in monitoring the baby's condition and making parameter adjustments as needed on an ongoing basis in realtime.In addition, this system can also provide notifications if changes or emergencies occur, so that medical personnel can immediately deal with them.

A. Planning Hardware
Planning hardware on design and development real-time monitoring and controlling infant incubator with tilt stabilizer to reduce tilt and vibration during baby transfer using Raspberry Pi based on IoT, is to maintain the condition of the slope of the base where the baby is placed on to keep the baby from tilting and vibration caused by moving the baby from one place to another as well monitoring all possible parameters observed and read by sensors that are able to read data on babies who are in the incubator, for more details can be seen in Figure 1.

Figure 1. Work Tool Schematic Diagram
From Figure 1.There are eight types of sensor inputs that provide parameter values to Raspberry Pi and also four types of output which are assembled to be tilted stabilizer, fan heater, and also humidifier.All the input and output devices are processed by Raspberry Pi so that they can work according to the function of the incubator.
Data processed by Raspberry Pi is displayed in accessible HTML form through the browser.For offline use accessed via the HDMI output on Raspberry Pi Displayable Through a monitor with HDMI to HDMI communication cable or mobile phone through HDMI to Type C communication cable.Some devices have input volts which are different namely 5VDC, 12VDC, and 24VDC while the source voltage used is 12VDC from the battery (battery).For Realize the working scheme of the tool is made of several additional voltage regulator components so that all components needed can work.For conversion voltage from 12VDC to 5VDC the XL4015 voltage step-down module is used with a maximum capacity of 5A, the module is used as input from Raspberry Pi and distributed to other components that require 3.3VDC to 5VDC input through GPIO available from Raspberry Pi, this is shown in Figure 2. To get a tilt stabilization system uses sensor gyroscope as a tilt sensor from the base where the baby is placed, as well as a stepper motor NEMA 17 as a mover with the aim of adjusting the slope so as not to exceed the regulated limit of 10 °, while the design is so tilt stabilizer can work is shown in Figure 3.  hardware from tilt stabilization is inserted into the incubator chamber with the shape and size as shown in Figure 5.

Figure 5. Incubator Room
The entire schematic network for inputs and outputs that have been connected to GPIO on Raspberry Pi can be seen in picture 5.

Figure 6. Network Schematic
Figure 5 describes the input and output connections of the components component which is used to GPIO on Raspberry Pi, where the components connected to the GPIO will be processed inside Raspberry Pi corresponding to its GPIO Pin.Suitability between the type of sensor and GPIO is very necessary because the 40 pins of the GPIO have their respective roles.

B. Planning Software
On planning software here consists of a program for the operation of Raspberry Pi as a processor of input and output that is used using the Python program language as the program language default from Raspberry Pi.For planning software other there is a program to operate Arduino as a stepper motor controller that communicates with each other Raspberry Pi serially and displays camera captures, set values, and parameters that can be set on the incubator interface program with Pygame is used for serving as a display function readily available in Python.

RESULT AND DISCUSSION A. Hardware Result and Discussion
The result of the design and development infant incubator with tilt stabilizer to reduce the tilt when transferring the baby using Raspberry The IoT-based Pi has a complete appearance as shown in Figures 7 and 8 as follows: At the bottom of the base supported by a tilt stabilizer of course there is a stepper motor as the driver of the base, at the top of the base there are input sensors that function to get the value of the state inside the incubator and the output is the fan heater, while for humidifier placed outside in order to prevent leakage that can damage other components.
Input and output connections on the infant incubator connected to the GPIO pins of Raspberry Pi can be seen in the schematic figure 9. Sensor reading testing is carried out by creating a Python program that is made to read the GPIO pins on the Raspberry Pi, a simple program to receive values received by the sensors used, as well as output testing, namely the heater, humidifier as well as tilt stabilizer.This reading is made with software Thony with Python programming language and is equipped with TKinter shown in Figure 9.For output testing, it is made again by taking one of the required values such as the room temperature value used as input from temperature control, humidity as input from humidity control, and gyro sensor as input from tilt stabilizer.
To get the test value temperature control was carried out for 60 minutes to get the time needed to reach the set value which is set at 37° Celsius, attesting down temperature control can reach a temperature of 37 degrees approximately 19.7 minutes ago it worked in PID at temperatures of 37.2 and 36.8, the test results can be seen from figure graph 11.

Figure 11. Temperature Control Incubator
For testing, a tilt stabilizer is carried out with an infant incubator as far as 20 meters through flat terrain then descend and return to the starting position by climbing with a slope of 20°.The data being compared is the level of slope that occurs at the time the infant incubator is taken on a trip, by comparing the value of when tilt stabilizer is activated and not activated, here is the comparison chart In readings every 100ms form and current graph values tilt stabilizer activated is 10.20° this is shown on the blue line, this shows a more gentle change in the slope value compared to not using it tilt stabilizer where the big and significant change in angle when incubator transferred has a maximum value tilt is 27.75°, the value is greater when the incubator is moved without tilt stabilizer compared to the angle of inclination of the terrain due to heat and vibration that occurs when the tool is moved.
Of all the tests carried out, I concluded that the input and output work properly and the data sent can be received properly by Raspberry Pi.

B. Software Results and Discussion
The software used is accessible through browsers like Google Chrome, Mozilla Firefox, Microsoft Edge browser, and others commonly used.The method is designed so that the data displayed can be accessed from anywhere.This aims to facilitate access to the infant incubator in implementing the system IoT (Internet of Things).The following is a flowchart programming an infant incubator that has been made.When there is a discrepancy between the values set by the medical staff and the values read by the sensors, an alarm will be triggered as a warning for the medical staff to address the issue promptly.The following image shows the display when the alarm is triggered.

Figure 2 .
Figure 2. Power Supply for Raspberry Pi 3B

Figure 4 .
Figure 4. Way of Work Flexible Lead Screw Nut

Figure 7 .
Figure 7.The infant Incubator closed

Figure 12 .
Figure 12.Comparison Between Not Using and Using Tilt stabilizer

Figure 13 .
Figure 13.Flowchart Programs Incubator with Python

Figure 15 .
Figure 15.Sign In Acces To Raspberry Pi with Real VNC

Figure 15 .
Figure 15.Program Interface for Incubator