Chapter 2: Literature Review

2.1 Introduction
Despite a recent surge in industrial development in Zimbabwe, the uptake and adoption of
robotics and automation has been gradual. This however can be attributed to socio-economic
challenges, poor infrastructure and lack of investment in scientific research and development.
Excessive power cuts and load-shedding are also another challenge that stifles innovation and
technological advancement. According to Mareya, et al (2024) automation and robotics boost
productivity, competitiveness and economic development. The survival of Zimbabwean
industries depends on embracing and adapting to smart technologies.
This literature review examines current research and technological developments regarding
autonomous robots for warehouse environmental monitoring from a Zimbabwean perspective. It
addresses critical aspects of developing an autonomous temperature/humidity monitoring robot
such as navigation capabilities, cloud-based alerts, sensor and microcontroller selection. The
research aims to identify optimal design approaches for developing an effective and efficient
environmental monitoring system.

2.2 Existing Technologies

i. Traditional Monitoring Systems
These entail widespread use of wall mounted hygrometers for measuring humidity and
thermometers for measuring temperature. Conventional monitoring systems are primarily
manual. Warehouse employees periodically log temperature and humidity measurements
manually. Despite its simplicity, limited spatial coverage diminishes its efficacy. The
human element in recording environmental parameters makes traditional monitoring
inconsistent and error-prone.
ii. Digital Monitoring Systems
These are wall-mounted and have limited spatial coverage. The system constitutes
thermistors, data loggers and sensors to record temperature and humidity and generate a
digital output. There is a higher level of accuracy compared to traditional approaches.
 iii. Mobile Robotic Monitoring Systems

This approach utilizes autonomous robots and provides spatial coverage. Due to
financial, technological and infrastructural constraints, implementation is focused on
developed countries whilst there is lower adoption in Zimbabwe and other African
nations. Mobile platforms if adopted are introduced through multinational corporations
and not local, indigenous companies. This exposes an alarming trend that technology
transfer and innovation flows from external forces rather than local research efforts.

2.3 Theoretical Background

The presence of inadequate environmental monitoring systems or their lack thereof in warehouse
settings threatens optimal and efficient storage/preservation of goods. According to a study
conducted by Nyamadzawo, et al (2020) a majority of warehouses in local industries rely on
static, manual environmental monitoring systems. Because of their limited spatial coverage these
systems are inadequate for monitoring and maintaining optimal storage conditions. Manual
monitoring is not only inconsistent but it is susceptible to human error which affects the quality
of environmental data and subsequent decisions that use the data as a form of input. Warehouses
are dynamic, obstacle-rich environments and an autonomous environmental monitoring robot
equipped with obstacle-avoidance capabilities can navigate spaces whist simultaneously
capturing environmental data. Robots must be equipped with obstacle-avoidance and
autonomous navigation capabilities to successfully navigate indoor spaces. Robotic
environmental monitoring has been widely adopted in marine, terrestrial and atmospheric
environments monitoring a range of parameters such as temperature, humidity, soil and air
quality. By utilizing ultrasonic sensors in warehouse settings, the proposed system can address
challenges related to navigation and mapping in dynamic environments. In a study comparing
SLAM, pathfinding and Rapidly-exploring Random Tree(RRT) navigation algorithms, Zhang et
al. (2023) found that SLAM outperformed vision-based algorithms in warehouse layouts.
According to research a combination of A* pathfinding and SLAM resulted in precise mapping
and route planning. Using SLAM robots are capable of mapping unfamiliar terrain whilst
simultaneously monitoring their location in those dynamic surroundings. Autonomous navigation
abilities rely heavily on simultaneous localization and mapping techniques, path-planning and
obstacle avoidance algorithms. Sharma, et al (2024) analyses different navigation techniques,
including localization and mapping that improve effectiveness of mobile monitoring platforms in
indoor environments. The proposed system leverages the benefits of autonomous navigation and
real-time environmental monitoring to continuously capture temperature and humidity data
which enables proactive environmental monitoring. Findings from research by Chirisa, et al
(2020) reveal temperature and humidity records in current manual implementations are
inconsistent and riddled with errors. Implementation of an autonomous temperature/humidity
monitoring robot guarantees accurate, timestamped readings are recorded for auditing and
traceability.
There are significant research gaps in relation to adaptation of robotic monitoring platforms to
solve challenges specific to the Zimbabwean constraints and requirements. Existing smart
technologies are imported which means they were developed and tested in conditions unique to
their place of origin. The Zimbabwean climate is highly variable, experiencing fluctuations in
temperature and humidity throughout the wet and dry seasons, whereas development and testing
of imported smart monitoring systems may have taken place in temperate climates with moderate
conditions. The proposed system presents an opportunity to offer a solution tailor-made to the
Zimbabwean climate. Chikodzi & Nyoni (2021) conducted research that looked into the current
state of local warehouse storage methods and identified issues and shortcomings in the areas of
infrastructure, cost and technical expertise. Imported robotic solutions are custom-made for
developed and well-equipped countries which do not face the same financial and technical
limitations as Zimbabwe. A local technology is necessary to address constraints in terms of
intermittent power-supply, knowledge gaps and lack of technical competence as well as cost. In
order to adapt and operate reliably in high dust and high humidity conditions predominant in
Zimbabwe, a locally developed technology is required. Design and implementation of an
autonomous environmental monitoring robot provides an opportunity for additional research in
this field with emphasis on meeting unique monitoring requirements.

Studies have proven human capital training is a major factor in adoption of technological trends
and investment in that area will go a long way in boosting economic growth. The common
enemy of automation and robotics adoption in industries are knowledge gaps that exist because
of continued use of conventional monitoring systems and lack of exposure to newer
technologies. Warehouse employees lack competence when it comes to implementation and
configuration of robots in warehouse environments. It is important for personnel to have an
appreciation of the capabilities and effectiveness of robotics in environmental monitoring. The
proposed system uses Arduino cloud to configure threshold-based triggers and automated alerts
and this is done using no-code/low-code techniques and a simplified dashboard which makes the
system user-friendly. Traditional monitoring systems have no IoT and data-driven platforms to
analyze environmental trends. The autonomous temperature/humidity monitoring robot provides
integration with IoT platforms facilitating real-time data transmission and analysis to inform
decision-making. Email, SMS and push notifications can also be enabled as well as customizable
visualization dashboards for real-time monitoring. Integration with ESP8266 provides seamless
deployment. Use of Arduino Cloud for purposes of configuring threshold-based triggers and
email alerts show cases a low-code and user-friendly approach to remote monitoring. This
bridges the knowledge gap in accessible cloud-based configuration and alert systems for non-
technical users, without compromising on functionality or responsiveness. Sensor thresholds and
automated email alerts are configured via triggers and webhooks. The project demonstrates use
of the Arduino no-code/low-code platform for real-time environmental alerts for user-friendly
deployment and configuration. According to Zhou & Sibanda (2022), despite an increase in
global adoption of warehouse robotics, Zimbabwe’s industrial sector has not incorporated mobile
robotic platforms due in part to limited research and development (R&D) and a skills gap.
Adoption of robotics in warehouse environments will increase the need for trained professionals
currently lacking in the field. Businesses will be compelled to invest more in applied robotics
and research and development to harness the full benefits of robotics and automated
environmental monitoring. There is a notable disconnect between STEM application in relation
to academic robotics solutions solving real-world issues in production environments. This project
presents a practical solution to environmental challenges in warehouses with limited climate
control capabilities.
Research by Mhlanga (2019) and Shava (2023) demonstrates how the fourth industrial revolution
(4IR) has led to the introduction of disruptive technologies globally. Robotics is a disruptive and
transformative technology. According to analysis, the high initial cost of implementation of smart
technologies prevents widespread acceptance even is the Zimbabwean government realizes the
importance of innovation to economic growth and technological advancement. Due to lack of
locally developed smart warehouse technologies, companies often resort to importing expensive
systems and this makes smart technology inaccessible to Zimbabwean businesses. As a result it
is difficult for Small to Medium Enterprises (SMEs) to implement efficient and scalable logistics
and storage solutions. According to Mhlanga the high cost and import reliance has limited
adoption of modern smart monitoring systems locally. In his book the Fourth Industrial
Revolution in Africa, Mhlanga examines the numerous benefits a locally manufactured,
inexpensive environmental monitoring system could offer local businesses especially SMEs. An
autonomous environmental robot provides a cost-effective solution using inexpensive, locally
sourced parts. In the article Robotics and Automation in African Industrial Sectors, Zhou &
Sibanda (2022) explore the existing state of robotics and automation throughout numerous
African industrial sectors. According to the research industries such as manufacturing, mining
and agriculture can be more competitive and productive thanks to robotics. Automation can lead
to more consistent product quality and operational efficiency however the high cost of acquiring
and maintaining robotic systems is a significant barrier for many businesses. The proposed
system incorporates low-cost temperature/humidity sensors for mobile robot platforms. It
demonstrates how inexpensive sensors such as the DHT11 perform in dynamic environments
striking a balance between affordability, accuracy and precision. Patel, et al (2023) conducted
extensive comparative testing on several temperature and humidity sensors in warehouse
conditions. Findings indicated that the DHT11/22 and SHT85 sensors provided optimal
measurements for mobile robotic platforms. DHT22 sensors showed ±0.5ºC temperature
accuracy and approximately ±2-5% humidity accuracy in a response time of 2 seconds. SHT85
sensors achieved a superior ±0.1ºC temperature accuracy and a ±2% humidity accuracy in 1
second but at a significantly higher cost. SHT85 sensors offer superior technical specifications
and reliability but DHT11/22 sensors offer an ideal balance between cost, accuracy and response
time for most warehouse monitoring implementations. Integration with embedded systems is
straightforward due to standard digital interfaces and compatibility with Arduino libraries. Li, T
& Wang, J (2018) discuss the working principles of temperature and humidity sensors as well as
their industrial applications. The microcontroller plays crucial role in the robot’s ability to collect
and transmit data. The system incorporates use of the ESP8266 microcontroller to enable
wireless communication and edge computing. ESP8266 microcontroller’s suitability is measured
in terms of cost-effectiveness and functionality. Due to its dual-core architecture which enables
simultaneous processing, real-time data acquisition and wireless transmission. Integrated Wi-Fi
and BLE capabilities support flexible communication strategies. The ESP8266 has advanced
power management features that extend battery life. The ESP8266 is a lower-cost alternative that
provides sufficient performance for simpler systems. Studies acknowledge that the rate of
technological adoption in Zimbabwe is slower due to the scarcity of resources to access smart
technologies. Implementation of the proposed system, an autonomous monitoring robot
addresses this challenge and provides a cost-effective solution which bridges the affordability
gap.

Energy constraints represent a significant challenge for technological implementation and

advancement in Zimbabwe. The deployment of smart technologies is hampered by inadequate
power supply brought on by climate change. According to the ZERA outlook report (2022-2023),
perennial droughts threaten power generation at hydro-power facilities such as the Kariba Power
Station. Land acquisition has also had a negative impact on renewable energy sources and power
generation projects often compete for resources with mining and agricultural initiatives. When
the Zimbabwean government rolled out the NDS1 (National Development Strategy) sustainable
development goals they planned to increase power generation from 2317MW to 3467MW by
2025 but unfortunately those targets have not been met. Industries are affected by excessive load-
shedding. Existing and imported robotic systems designed for developed countries prioritize
functionality over energy efficiency which isn’t ideal in situations with intermittent and
unreliable power supply. Such devices have limited operational duration between charging
cycles. A low-power, energy-efficient autonomous monitoring robot eliminates the need for a
continuous on-grid power supply. It is battery powered and does not require an on-grid power
source to continuously monitor warehouse environments. Mazarura & Nleya (2022) suggest that
mobile robot designs can be optimized to include solar charging capabilities and use sustainable
renewable energy sources. In areas with unreliable grid electricity this feature has the possibility
of significantly improving operational viability. Transmission of real-time temperature and
humidity data is therefore uninterrupted and reliable.
2.3 Contribution of the Study
The project demonstrates the design and implementation of an autonomous temperature/humidity
monitoring robot which addresses several research gaps identified in existing literature. Through
integration of obstacle-avoidance, environmental monitoring, wireless communication and
automated alerts the proposed system contributes in the following ways:
i. Autonomous navigation in dynamic warehouse environments. Basic pathfinding,
mapping and obstacle-avoidance is incorporated for warehouse environments. Practical
demonstration of context-aware navigation is provided, addressing gaps in autonomous
deployment in dynamic indoor environments that are obstacle-rich.
ii. It offers a unique solution to local problems and warehousing practices.
iii. Integration of inexpensive sensors. The project evaluates use of cost-effective sensors
such as DHT11/22 and SHT35. It analyses trade-offs between accuracy, affordability and
response time. This contributes towards bridging the gap in sensor selection for
environmental monitoring in academic research and small-scale industry where project
budgets are constrained.
iv. Microcontroller selection for wireless data transmission. The proposed system
implements the ESP8266 for wireless transmission and sensor interfacing. It
demonstrates real-time data acquisition and transmission on low-power platforms
addressing the gap in microcontroller evaluation for IoT systems.
v. Automated alerts and threshold-based monitoring. This is facilitated via Arduino cloud. A
no-cod/low-code, user-friendly approach is used to configure threshold-based triggers for
temperature/humidity. This provides accessible configuration for non-technical users
without compromising on functionality or responsiveness.

Conclusion
The literature review has examined and explored the development and application of
autonomous temperature/humidity monitoring robots in warehouse environments. The project
aims to develop a cost-effective, autonomous temperature/humidity monitoring in dynamic
environments that also offers real-time transmission of data and presentation on a cloud
dashboard. By addressing limitations in power efficiency, cost, sensor accuracy and adaptive
navigation the proposed system intends to contribute to practical and efficient implementation in
various deployments including warehouses, healthcare facilities, smart homes and buildings. The
development of locally tailored technological solutions presents opportunities beyond immediate
operational improvements, potentially promoting indigenous innovation and self-sufficiency.