International Journal of Reconfigurable and Embedded Systems (IJRES)
Vol. 13, No. 3, November 2024, pp. 735~747
ISSN: 2089-4864, DOI: 10.11591/ijres.v13.i3.pp735-747 735
Portable neonatus incubator based on global positioning system
Nur Sultan Salahuddin1, Sri Poernomo Sari2, Aqilla Rahman Musyaffa3
1
Department of Computer Systems, Faculty of Computer Science and Information Technology, Gunadarma University, Jakarta,
Indonesia
2
Department of Mechanical, Faculty of Industrial Technology, Gunadarma University, Jakarta, Indonesia
3
Multimedia and Robotics Laboratory, Department of Computer Systems, Faculty of Computer Science and Information Technology,
Gunadarma University, Jakarta, Indonesia
Article Info ABSTRACT
Article history: The role of baby incubator is crucial in assisting premature babies to adjust
to their new surroundings. However, the current baby incubator causes
Received Dec 29, 2023 challenges when used for emergency first aid. The challenge is often because
Revised Jun 6, 2024 of its cumbersome size, which makes transportation to referral hospitals
Accepted Jul 3, 2024 difficult. To address this issue, portable neonate incubator based on the
global positioning system (GPS) was developed. The results of
implementation testing showed that the incubator system effectively
Keywords: monitored longitude and latitude coordinates, as well as the temperature and
humidity of the incubator room, and the body temperature of neonates.
Application Weighing approximately 5.8 kg, this incubator was versatile, compatible
Neonate with both AC and DC voltage power sources, and came equipped with a
Portable neonate incubator carrying bag for easy transportation by midwives or medical personnel.
Position coordinates Consequently, this development marked an innovative advancement in
Sensor neonate incubator medical equipment, facilitating the swift tracking of the
neonate incubator's coordinate position in case of unexpected events on the
way to the hospital.
This is an open access article under the CC BY-SA license.
Corresponding Author:
Nur Sultan Salahuddin
Department of Computer Systems, Faculty of Computer Science and Information Technology
Gunadarma University
Jalan Margonda Raya 100, Pondok Cina, Depok 16424, Indonesia
Email: [email protected]
1. INTRODUCTION
According to the World Health Organization (WHO), approximately 15 million births worldwide each
year are premature, with over one million resulting in immediate mortality [1]. Indonesia is ranked fifth globally
in the prevalence of premature births. Generally, premature babies face various complications due to an
underdeveloped immune system, impacting their entire growth and development [2]. Neonates, also known as
premature or critical newborns, are babies born with a gestational age of less than 37 weeks and often have a
low birth weight, defined as less than 2,500 grams. The immature state of baby’s organs prevents proper
functioning, particularly in those born between 24-27 weeks, who face low survival odds without intensive care
[3], [4]. The baby incubator is a crucial medical device designed to maintain a constant temperature in the
incubator room. Furthermore, it serves as a crucial tool for the treatment of critical neonates, providing
controlled warmth and humidity [5]–[8]. However, standard baby incubators prove less efficient in emergencies
due to their cumbersome size, necessitating the development of easily transportable incubators.
Transport incubators, specifically designed for neonatal care, enable the safe transfer of critical or
premature babies between hospitals with adequate neonatal intensive care units [9]. Studies have shown no
Journal homepage: http://ijres.iaescore.com
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significant difference between the use of Kangaroo mother care (KMC) transport and traditional transport
incubators, which is the current standard of care [10]. To address the risk of losing transportation incubators
during transfers, the implementation of a tracking system becomes important.
The study aimed to design portable neonate incubator equipped with a global positioning system
(GPS) sensor. Furthermore, the sensor will continuously track the coordinates of the incubator throughout its
journey to the hospital. This innovative approach enables medical personnel to monitor the incubator's
position in real-time via smartphone, thereby preventing potential loss or fatalities during the referral process.
2. LITERATURE REVIEW
This study is a continuation of prior exploration comprising the development of a foldable portable
neonate incubator with the capacity for temperature and humidity detection, maintaining a range of 34 °C to
37 °C and 60% to 80% humidity [11]. A corresponding alert system for premature baby incubators via short
message service (SMS) has also been devised [12]. This system facilitates the transmission of temperature
and humidity information from the incubator to a smartphone through global system for mobile
communication (GSM). An additional aspect of this study relates to the wireless premature baby monitoring
system [13]. This system describes incubator temperature and humidity on a personal computer, providing
information on the baby's heartbeat status. Moreover, an internet-based application monitors the temperature
and humidity of the baby incubator [14]. Several studies on neonate incubators have investigated monitoring
systems. For example, a Wi-Fi-based system has been designed to monitor incubator temperature, humidity,
and the baby's skin temperature, while data is transmitted to a host computer in the nurse's room [15].
Simultaneously, GSM technology is used in incubator systems for continuous monitoring and data
transmission via Bluetooth, although these systems are constrained to line-of-sight communication and are
unsuitable for long-distance use [16].
To enhance neonatal care, the study introduces a closed-loop control system, regulating temperature,
relative humidity, and light intensity in a neonatal incubator. This system, equipped with light-emitting
diodes (LEDs) to prevent jaundice, integrates an alarm system and GSM technology for parental alerts [17].
In the measurement of body temperature and heart rate, the incubator system uses LM35 precision centigrade
temperature sensors and pulse sensors connected to an Arduino Uno controller board. It should be
acknowledged that wireless data transmission is facilitated through the Arduino Wi-Fi module [18].
Furthermore, a cost-effective embedded device for real-time tracking of newborns in incubators has been
designed, featuring an liquid crystal display (LCD) display and message alerts to phones [19]. Another
system, monitoring temperature and humidity via a WI-FI network, uses a DHT22 temperature sensor and
the values obtained were shown on a Nextion thin-film-transistor (TFT) screen [20]. Incorporating
microcontroller systems, temperature sensors, weight sensors, heart rate sensors, and GSM modules, the
study proposes a comprehensive monitoring system for portable incubators, enabling the detection and
notification of the condition of premature babies [21]. This system incorporates features such as detecting
baby's temperature, heart rate, weight, and voice in the incubator [22]. Regarding transportation incubators,
an automatic temperature control system is established at a constant 37 °C under all conditions, minimizing
the risk of neonatal hypothermia [23].
3. METHOD
This section describes the design of a GPS-based portable neonatal incubator system. The system
architecture explains the supporting components of the incubator system including sensor systems, cloud
database systems, and Android application systems. Hardware design describes the design of the incubator
and lays out the components of the incubator system. The software design explains the creation of an
application for incubator monitoring and the data flow system design explains the data processing process in
the incubator monitoring application.
3.1. Systems architecture
The portable neonate incubator comprised the incubator, a sensor system, a cloud database system, and
an Android application system. The sensor system integrated temperature sensors, incubator room humidity
sensors, neonate body temperature sensors, and GPS sensors. The cloud database system stored values such as
temperature, humidity, neonate body temperature, and position coordinates. The Android application retrieved
these values from ThingSpeak and showed the output on a smartphone [15], as seen in Figure 1.
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Figure 1. The system architecture of GPS-based portable neonate incubator
3.2. Hardware design
The portable neonate incubator was designed to measure 50×25×25 cm3, which was made of acrylic
material and divided into two parts. The lower part was used for electronic components and the upper part
was used for neonates. Holes were made on the right and left side of the for the air circulation, as shown in
Figure 2.
Figure 2. Design of portable neonate incubator
Portable neonatus incubator based on global positioning system (Nur Sultan Salahuddin)
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To ensure uniform circulation of air temperature and humidity inside the incubator, SolidWork
software [24] was used to simulate the air flow process. The aim of this simulation is to obtain the position of
the air holes and the position of the fan and Peltier so as to produce optimal air circulation in the incubator.
Air circulation is needed to maintain the air conditions in the incubator so that the health of the neonate is
maintained, as shown in Figure 3.
Figure 3. Simulation results of SolidWorks software
The sensor system used a DHT21 sensor to measure temperature and humidity in the portable
neonate incubator room [25], with a measurement range of 34 °C to 37 °C for temperature and 60% to 80%
for relative humidity. For neonate body temperature measurement, a DS18B22 temperature sensor was used
[26], [27]. Fans circulated hot/cold air from the Peltier into the incubator room through a ducting system with
inlet and outlet fans [28]. The NEO-M8M GPS sensor calculated the geographical location received from
GPS satellites [29]. A Peltier cooling system [30] regulated the incubator chamber's temperature. The heating
system used heat generated by a 25-watt, 12-DC lamp for easy spare part availability. An LCD module 2004
[31] showed coordinate values, incubator room temperature and humidity, and neonate body temperature.
Component placement was shown in Figure 4.
Figure 4. Positions and component blocks of the portable neonatal incubator
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3.3. Software design
The GPS-based portable neonatal incubator monitoring application, developed with MIT App
Inventor, an open-source platform using a block-based programming language [32]. The application structure
consists of a condition monitoring, location monitoring and exit. The condition monitoring there are displays:
Celsius indicator, Fahrenheit indicator, humidity indicator, incubator heat index indicator and body
temperature. The location monitor there are options: map display, latitude, longitude and distance display,
map display control, current position tracker and incubator position tracker, as shown in Figure 5
Figure 5. Structure diagram of portable neonate incubator monitoring application
When the application ran, the screen was divided into two sections, one for monitoring the position
coordinates of the neonate incubator and another for monitoring the temperature, and humidity of the neonate
incubator room, and the body temperature of the neonate. In the position coordinate monitoring section, a
map showed the latest position of the portable neonate incubator, including latitude, longitude, and distance.
The control section featured two text boxes for tracking the current position and tracking the incubator's
position. The temperature monitoring section included a frame indicating the temperature, humidity, and
neonate body temperature. Figure 6 showed the designed view of the portable neonate incubator system
condition monitoring application.
Figure 6. Design view of portable neonate incubator monitoring application
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3.4. System data flow design
This monitoring application used the ThingSpeak IoT platform as a cloud database service to store
sensor data from the system, accessible through the Android application. ThingSpeak was a web service
designed for collecting, storing, and showing data, particularly focusing on input from sensor devices [33],
[34]. Using App Inventor and ThingSpeak cloud service, the data flow diagram of the monitoring application
was designed, as shown in Figure 7.
Figure 7. Data flow diagram of the monitoring application
From the ESP32 entity, incubator room condition values from the DHT21 humidity-temperature
sensor, neonate body temperature condition from the DS18B20 sensor, and incubator position coordinates
from the Neo-M8N GPS sensor were uploaded to ThingSpeak in JavaScript Object Notation (JSON) format
using the Write API Key of the destination channel. This was done with the HTTP Post method over the
internet network and stored in the graphical interface. From the user entity, the coordinates of the incubator
location could be tracked based on the response of the latitude and longitude values requested by the
application in JSON format using the Read API Key from the intended ThingSpeak channel. Subsequently, a
button press on the application allowed users to view the incubator's location. For the user's location, latitude
and longitude coordinate values were based on the location sensor on the smartphone, and a button press
allowed users to see their location. The user could monitor the incubator room condition and the neonate's
body temperature in the monitoring application, as shown in Figure 7.
4. RESULTS AND DISCUSSION
The design results of the GPS-based portable neonate incubator were shown in Figure 8. This GPS-
based portable neonate incubator could operate using DC or AC power sources (Figures 8(a) and (b)). The
AC source is used when the incubator is in the treatment room. The DC source is used when being taken to a
referral hospital or as a backup during emergencies without available AC source.
(a) (b)
Figure 8. Prototype of GPS-based portable neonate incubator with (a) DC power source and (b) AC power
source
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4.1. GPS-based portable neonate incubator testing
Tests were conducted to observe the functionality of the NEO-M8M GPS sensor, DHT21 sensor,
DS18B20 sensor, and monitoring application. Testing was carried out at two locations, including the initial
position (Campus D) to the neonate incubator and from the neonate incubator to the destination position
(Campus F6) within a 4.9 km distance, using the maps.google.com website service [35]. Testing incorporated
setting five points for the neonate incubator to pass, and then five consecutive coordinates sent by the neonate
incubator were recorded, as shown in Figure 9.
Figure 9. Testing five points that the GPS-based portable neonate incubator will pass through
Additional tests were conducted to determine the response parameters, including coordinate values
of the neonate incubator's position, temperature and humidity of the neonate incubator room, and neonate
temperature. These values were then uploaded to ThingSpeak while being shown in the monitoring
application. In Figure 10, the GPS-based portable neonate incubator, to be transported by motorcycle from
campus D to campus F6, was placed into a specially made bag.
Figure 10. Testing the GPS based portable neonate incubator from campus location D to campus location F6
4.1.1. Monitoring application testing
Testing incorporated the connection between the portable neonate incubator and the application
program, which indicated the travel point value of the portable neonate incubator, the temperature value,
room humidity, and the neonate temperature value. Subsequently, the ESP32 was initialized, and then the
NEO-M8N GPS sensor searched for a satellite signal to connect and obtain a position coordinate fix. When
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the satellite signal connection was unsuccessful due to disruptions in the NEO-M8N GPS sensor antenna line
or the baud rate value being out of sync, the system followed a specific protocol. After the position
coordinates were set, the GPS sensor retrieved the latitude and longitude values, marked by the LED
indicator lighting up, as shown in Figure 11, before forwarding the outcome to the position coordinate
sending function.
Figure 11. Testing GPS sensors receiving satellite signals
The monitoring application read the last value of the coordinates of the incubator position, the
temperature and humidity value of the incubator room, and the neonate's body temperature value stored in the
ThingSpeak cloud database. This occurred if the Neo-M8N GPS sensor had not connected to the satellite, and
it read the latest value when the connection had been established. Display test of monitoring application are
illustrated in Figure 12. In Figure 12(a), the view of the monitoring application after reading the coordinate
value of the incubator position, the temperature and humidity value of the incubator room, and the body
temperature value of the neonate was presented. In Figure 12(b), the conditions of the neonate incubator
room included green signaled stability, indicating that the room temperature was between 34 °C-37 °C, blue
denoting cooling for temperatures above 37 °C, and red signifying heating for temperatures below 34 °C.
(a) (b)
Figure 12. Display test of monitoring application (a) coordinate value of incubator position and
(b) temperature and humidity value of incubator room, body temperature value of neonate
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4.1.2. GPS NEO-M8M sensor accuracy testing
GPS sensor testing was conducted by comparing the reference smartphone GPS sensor value with
the NEO-M8N GPS sensor value, as shown in Figure 13. In Figure 13(a) is the result of detection from the
NEO-M8N GPS sensor on the coordinates of the portable neonatal incubator position displayed via the
application while Figure 13(b) is the result of detection from the smartphone on the coordinates of the
position of the person carrying the incubator. This test aimed to determine the accuracy of the NEO-M8N
GPS sensor in reading specified points. In this test, five samples from different locations of the path were
taken, as shown in Figure 9.
(a) (b)
Figure 13. Results of latitude and longitude position coordinate readings of the portable neonate incubator
(a) monitoring application and (b) smartphone
Tables 1 and 2 showed a difference in distance between the NEO-M8M GPS sensor point and the
smartphone GPS sensor by 5-12 meters. This disparity arose because the longitude and latitude points
generated on Google Maps came from smartphone GPS sensors equipped with additional Wi-Fi scanning and
Bluetooth scanning capabilities to enhance the accuracy of detecting coordinate points. However, the NEO-
M8N GPS sensor could only detect signals from satellites, making it susceptible to GPS Bounce and
hindering the reception of satellite signals properly.
Table 1. Testing the accuracy of the NEO-M8M GPS sensor with a reference smartphone GPS at the starting
position (Campus D) towards the neonatal incubator
GPS sensor Smartphone GPS
Location Error% Error% Distance
Latitude Longitude Latitude Longitude
Latitude Longitude difference (m)
1 -6.36878 106.83382 -6.36871 106.83385 0.00110 0.00003 7.9
2 -6.35647 106.83197 -6.35639 106.83186 0.00126 0.00010 8.6
3 -6.35507 106.84822 -6.35383 106.83842 0.01952 0.00917 5.4
4 -6.35512 106.84840 -6.35514 106.84822 0.00031 0.00017 5.7
5 -6.34593 106.85357 -6.34627 106.85335 0.00536 0.00021 9.4
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Table 2. Testing the accuracy of the NEO-M8M GPS sensor with a reference smartphone GPS at the
destination position of the neonate incubator (Campus F6)
GPS sensor Smartphone GPS
Location Error% Error% Distance
Latitude Longitude Latitude Longitude
Latitude Longitude difference (m)
1 -6.36880 106.83380 -6.36871 106.83385 0.00141 0.00005 9.0
2 -6.35646 106.83195 -6.35639 106.83186 0.00110 0.00008 12.0
3 -6.35485 106.84166 -6.35383 106.83842 0.01605 0.00303 4.5
4 -6.35519 106.84878 -6.35514 106.84822 0.00079 0.00052 5.7
5 -6.34593 106.85357 -6.34627 106.85335 0.00536 0.00021 5.2
4.1.3. DHT21 sensor accuracy testing
Tests were also conducted to compare temperature and humidity results read by the DHT21 sensor
with a digital thermometer, as shown in Figure 14. According to Table 3, the temperature data error value
was 6.64% with a digital thermometer. This implied that the accuracy of the DHT21 temperature sensor was
93.36%. Table 4, the error value of each humidity data was 5.75% with a digital thermometer. This suggested
that the accuracy of the DHT21 humidity sensor was 94.25%.
Figure 14. Temperature and humidity values of DHT21 sensor and digital thermometer in neonate incubator
room
Table 3. Testing the accuracy of the DHT21 sensor with reference digital thermometer
Point Calibrated digital thermometer (°C) DHT21 temperature (°C) Error (%)
1 31.60 35.20 11.39
2 33.30 36.50 9.61
3 34.20 36.70 7.31
4 36.80 38.30 4.08
5 36.60 36.30 0.82
Average % error 6.64
Table 4. Testing the accuracy of the DHT21 (humidity) sensor with reference digital thermometer
No Calibrated digital thermometer (%) DHT21 Humidity {%) Error (%)
1 65.00 59.30 8.77
2 58.00 54.70 5.69
3 57.00 54.70 4.04
4 52.00 50.40 3.08
5 50.00 53.60 7.20
Average % error 5.75
4.1.4. Neonate body temperature sensor testing
The test aimed to assess the application's precision in detecting the body temperature of neonates
while inside the incubator. This evaluation consisted of a one-week-old neonate placed in an incubator,
without the portable incubator being transported, as shown in Figure 15. Figure 15(a) is a one-week-old
neonate placed in an incubator, on the body of this neonate a DS18B20 sensor is attached to measure its body
temperature, without moving the portable incubator and Figure 15(b) is the result of reading the body
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temperature value of the neonate in the portable neonatal incubator which can be seen on the application and
LCD. Table 5 is a table of test results and calculations of the accuracy of the DS18B20 sensor in reading
neonate body temperature. The results of the analysis by comparing with the results of the HTC-2
Hygrometer showed that the accuracy level of the DS18B20 temperature sensor readings had a value of
91.79%.
(a) (b)
Figure 15. Testing the DS18B20 sensor in the neonate incubator room (a) a one-week-old newborn baby and
(b) the temperature value on the heating application and the LCD of the portable neonate incubator
Table 5. Testing the accuracy of the DS18B20 sensor with reference HTC-2 Hygrometer
No Calibrated HTC-2 Hygrometer (°C) DS18B20 temperature (°C) Error (%)
1 24.9 26.4 5.68
2 27.4 29.8 8.05
3 28.8 31.5 8.57
4 29.8 32.8 8.87
5 30.3 33.2 8.74
6 30.8 33.6 8.33
7 31.1 33.9 8.26
8 31.3 34.2 8.48
9 31.5 34.5 8.70
10 31.7 34.6 8.38
Average % error 8.21
5. CONCLUSION
In conclusion, the implementation of the GPS-based portable neonate incubator system yielded
several key findings. The monitoring application on the smartphone could consistently track the position
coordinates, distance, and time of the portable neonate incubator's journey. Additionally, it could monitor the
temperature and humidity of the incubator room, as well as the body temperature of the neonate. Specifically,
the NEO-M8M GPS sensor showed a distance error ranging from 5 to 12 meters. The DHT21 sensor showed
a 93.36% accuracy in measuring the temperature and humidity of the neonate incubator room, while the
DS18B20 sensor attained a temperature accuracy of 91.79% in measuring the neonate's body temperature.
This GPS-based portable neonate incubator, weighing approximately 5.8 kg, was versatile, operating on
either AC or DC power sources. Furthermore, it represented an innovative advancement in neonate incubator
health equipment, effectively preventing neonatal deaths during transportation to the hospital and expediting
the tracking of the portable neonate incubator's coordinate position in the event of theft.
For future development, a calibration test at the Health Facility Safety Center (BPFK) was
conducted to ensure its feasibility, enhancing the safety and security of neonates in the incubator. This system
could be used in Independent Midwife Practices or Puskesmas in Indonesia that lack neonate incubator
facilities or during emergencies. To enhance the accuracy of distance readings from the Neo-M8N GPS
sensor, a sampling process was implemented in order to obtain the average of each reading.
ACKNOWLEDGEMENTS
The author would like to thank the Directorate of Research, Technology and Community Service,
Ministry of Education, Culture, Research and Technology of the Republic of Indonesia [Grant number
179/ES/PG.02.00/PL/2023] and Gunadarma University [Grant Number 10A.8/ LP/UG/VI/2023].
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BIOGRAPHIES OF AUTHORS
Nur Sultan Salahuddin received the master degree in the field of optoelectronics
and laser applications from the University of Indonesia, Indonesia, in 2000. He received the
Ph.D. degree in the field of informatics, image, and electronic form the Universite de
Bourgogne, Dijon, France, in 2007. Currently, he is an associate professor at Gunadarma
University. His interests are in embedded system, system control design and their application.
He can be contacted at email: [email protected].
Sri Poernomo Sari received the master degree in the field of mechanical
engineering from the University of Indonesia, Indonesia, in 2003. She received the Ph.D.
degree in the field of mechanic and energetic from the Universite de Bourgogne, Dijon,
France, in 2009. Currently, she is an associate professor at Gunadarma University. Her
interests are in fluid dynamic, heat transfer, aeroacoustics and vibration, mechatronics and
their application. She can be contacted at email: [email protected].
Aqilla Rahman Musyaffa received bachelor degree in the field of computer
systems from the Gunadarma University, Indonesia, in 2022. His interests are in embedded
system, robotics, system control design, internet of things and their application. He can be
contacted at email:
[email protected].
Portable neonatus incubator based on global positioning system (Nur Sultan Salahuddin)
