INTERNATIONAL JOURNAL OF RESEARCH AND INNOVATION IN SOCIAL SCIENCE (IJRISS)  
ISSN No. 2454-6186 | DOI: 10.47772/IJRISS | Volume IX Issue XI November 2025  
Innovative Aquabot Design for Sustainable and Efficient Aquarium  
Care  
Noor irinah Omar1, Nur insyirah ismail2, Tee Zhu Zhao2, Aiman Elias1 and Nur adlin Abu Bakar3  
1Department of Mechanical Engineering Technology, Faculty of Mechanical Technology and  
Engineering, Universiti Teknikal Malaysia Melaka, 76100, Durian Tunggal, Melaka, Malaysia  
2Department of Manufacturing Engineering Technology, Faculty of Industrial and Manufacturing  
Technology and Engineering, Universiti Teknikal Malaysia Melaka, 76100, Durian Tunggal, Melaka,  
Malaysia  
3Department of Science of Technology Innovation, Nagaoka University of Technology, Japan  
DOI: https://dx.doi.org/10.47772/IJRISS.2025.91100308  
Received: 30 November 2025; Accepted: 05 December 2025; Published: 09 December 2025  
ABSTRACT  
Fishkeeping is one of the traditional hobbies that remains popular today, involving maintaining various species  
of fish and beautifying their habitat. This hobby not only provides personal enjoyment but also can attract  
sustenance, according to the specific beliefs of the Chinese community. Research shows that fishkeeping  
provides numerous benefits for human well-being, especially for enthusiasts. However, the significant time and  
effort required to maintain an aquarium, especially its cleanliness, can be challenging for busy individuals. To  
address this problem, research has been undertaken that focuses  
Keywords: Sustainability, aquabot, aquarium, development model  
INTRODUCTION  
Aquarium maintenance plays a vital role in sustaining healthy aquatic environments, whether in household  
aquaria, research facilities, or public exhibits. Stable water quality conditions—such as dissolved oxygen,  
temperature, pH, turbidity, and ammonia concentration—are essential for preventing stress, disease, and  
mortality among aquatic organisms. Traditionally, aquarium upkeep relies heavily on manual activities including  
scrubbing algae, vacuuming substrate, performing water changes, monitoring filtration, and measuring water  
chemistry. These labour-intensive practices not only demand significant time and expertise but also contribute  
to unnecessary water consumption and inconsistent maintenance schedules, which can compromise ecosystem  
stability. Recent technological advancements have enabled the integration of Internet of Things (IoT) systems  
and low-cost sensors into aquatic environments to facilitate real-time water quality monitoring (Nordin et al.,  
2024; Shinde et al., 2024). Such systems provide continuous measurement of key parameters, supporting early  
detection of fluctuations that may harm aquatic life. In aquaculture and aquarium-scale systems, IoT-based  
platforms have demonstrated strong potential for reducing manual intervention by applying automated data  
logging, wireless connectivity, and cloud-based analytics (Ahamed et al., 2025; Sapna & Aswathy, 2024). These  
technologies, combined with decision-support methods such as fuzzy-logic control, have been adopted to  
enhance water quality regulation and resource efficiency (Kuriakose et al., 2024).  
Parallel to developments in sensing and automation, robotic solutions for underwater maintenance have  
advanced rapidly, particularly in algae cleaning, sediment removal, and structural inspection. Smart cleaning  
robots and autonomous aquatic platforms have shown promise in biofouling control, energy-efficient mobility,  
and modular maintenance tasks (Rahman et al., 2023). However, most of these systems are designed for  
industrial aquaculture ponds or large marine environments rather than confined aquarium spaces. Research  
specifically addressing compact, multi-functional “aquabots” suitable for home or medium-scale aquaria remains  
limited. Sustainability considerations further emphasize the need for improved aquarium-maintenance  
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INTERNATIONAL JOURNAL OF RESEARCH AND INNOVATION IN SOCIAL SCIENCE (IJRISS)  
ISSN No. 2454-6186 | DOI: 10.47772/IJRISS | Volume IX Issue XI November 2025  
technologies. Excessive water changes, high electricity consumption, and over-use of chemical treatments  
contribute to environmental waste and long-term operational costs. Integrating an aquabot with IoT-enabled  
water-quality monitoring offers a promising solution by combining autonomous cleaning, scheduled operation,  
and data-driven maintenance decisions. Such systems can stabilize water conditions, reduce manual labour,  
optimize resource use, and promote long-term ecosystem health. Given these emerging opportunities, this study  
aims to develop and evaluate an improved aquabot design tailored for sustainable aquarium maintenance. The  
proposed system integrates low-energy propulsion, modular cleaning mechanisms, multi-parameter water-  
quality sensing, and real-time data connectivity. This paper presents the system design, operational workflow,  
and performance evaluation, providing a pathway for sustainable and automated aquarium management.  
METHODOLOGY  
Research design  
The research design serves as a structured framework that guides the development of the aquarium cleaning  
robot, ensuring a systematic and coherent research process. It encompasses key components that direct the  
project from initiation to completion. The process begins with the formulation of clear research objectives and  
questions, which set the overall direction and focus of the study. To visually represent the sequence of tasks,  
the process is typically illustrated using a flowchart, highlighting the logical progression from start to finish.  
Fig.1 below illustrates the flowchart outlining the preparation stages for developing the aquarium cleaning  
robot.  
Fig. 1 Process flow for development aquabot.  
Second design (design 2)  
The second design introduced a larger and more spacious compartment for the electrical components, allowing  
for proper installation and testing of all necessary systems. This revision aimed to address the limitations of the  
initial design while focusing on the core objective: developing a robot capable of submerging in water and  
efficiently cleaning waste from the bottom of an aquarium. Buoyancy was initially estimated to be adequate  
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INTERNATIONAL JOURNAL OF RESEARCH AND INNOVATION IN SOCIAL SCIENCE (IJRISS)  
ISSN No. 2454-6186 | DOI: 10.47772/IJRISS | Volume IX Issue XI November 2025  
based on general design principles. A detailed 3D model was created using CAD. software and prepared for  
prototyping. Figure 3.4 presents the second 2D design, while Figure 3.5 shows a screenshot of the 3D model.  
RESULTS AND DISCUSSION  
First design (design 1)  
The design concept for the aquarium cleaning robot emphasizes creating a durable, efficient, and user-friendly  
device. The initial design featured a compact structure; however, this led to difficulties in accommodating all  
the necessary electrical components. The allocated space for the electrical system was too limited, making it  
impossible to fit the required parts. As a result, the electrical system could not be properly integrated, preventing  
effective testing of the robot. Figures 3.2 and 3.3 illustrate the initial 2D and 3D design, respective  
Fig.2 Initial 2D design  
Fig.4 2nd 2D design  
Fig.3 1st design prototype  
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INTERNATIONAL JOURNAL OF RESEARCH AND INNOVATION IN SOCIAL SCIENCE (IJRISS)  
ISSN No. 2454-6186 | DOI: 10.47772/IJRISS | Volume IX Issue XI November 2025  
Fig.5 2nd design prototype  
Third design (design 3)  
The third design iteration added weight plates evenly spaced throughout the robot to solve the immersion  
problem noted in the second version. This change was made primarily to address the issue of high buoyancy and  
allow the robot to stay completely submerged, which was necessary for cleaning the aquarium's bottom. For the  
robot to remain balanced and be able to move efficiently underwater, the distribution of these weights was  
carefully thought out. Figure 3.5 show the third 2D design attached with a weight plate.  
Fig.6 3rd 2D design  
Fig.7 3rd prototype  
Fourth design (design 4)  
The fourth prototype maintained the original 3D design but introduced several modifications to achieve neutral  
buoyancy and enhance the robot’s ability to efficiently remove debris from the aquarium floor while staying  
afloat on the water’s surface. To provide buoyancy and ensure stability, polystyrene foam was attached to the  
underside of the robot's body. Additionally, a suction tube connected to a pump was integrated, enabling the  
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INTERNATIONAL JOURNAL OF RESEARCH AND INNOVATION IN SOCIAL SCIENCE (IJRISS)  
ISSN No. 2454-6186 | DOI: 10.47772/IJRISS | Volume IX Issue XI November 2025  
robot to effectively extract waste from the aquarium bottom without requiring full submersion. To enhance  
mobility, a compact propeller system was installed, allowing the robot to navigate smoothly through the water.  
This lightweight setup helped maintain balance and support during operation. Figure 3.13 shows the improved  
design featuring the propeller system and buoyancy enhancements.  
Fig.8 4th 2D design  
Fig.9 4th Prototype  
Fig.10 Aquabot in aquarium  
Budget Plan  
During the prototype making, there are some expenses made in preparing materials and the internal structure of  
the system. The price and cost used in making the prototype are listed as shown. Total expenses are around  
RM65.19 as recorded in Table 3.1.  
Table I Breakdown cost for aquaria robot development  
No  
1.  
Item  
Single price  
9.68  
Quantity  
Total amount  
9.68  
ESP 8266  
1
1
2
2.  
IR Infrared Obstacle Avoidance Sensor  
2.09  
2.09  
3.  
3V-6V  
130 Mini DC Motor  
2.80  
5.60  
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INTERNATIONAL JOURNAL OF RESEARCH AND INNOVATION IN SOCIAL SCIENCE (IJRISS)  
ISSN No. 2454-6186 | DOI: 10.47772/IJRISS | Volume IX Issue XI November 2025  
4.  
Motor Driver  
5.99  
3.50  
3.50  
2.8  
1
1
1
1
1
1
1
1
1
1
1
5.99  
3.50  
3.50  
2.80  
15.50  
1.90  
0.80  
1.00  
20.00  
2.50  
7.70  
65.19  
5.  
DC 12V wire/ 5V USB Water Pump  
Relay Module 5V  
Polystrene Foam  
2000mAh Rechargeable Battery 4.8V  
Aquarium Sponge Filter  
Metal Shaft  
6.  
7.  
8.  
15.50  
1.90  
0.80  
1.00  
20.0  
2.50  
7.70  
9.  
10.  
11.  
12.  
13.  
14.  
Tube  
PLA Filament (347g)  
Cardboard  
Switch  
Total (RM)  
CONCLUSION  
The final aquabot design demonstrated its ability to efficiently clean the bottom of aquariums using components  
such as the ESP8266 microcontroller, water pump, and suction tube. The robot’s functionality was supported by  
a compact and functional design that effectively addressed the primary challenge of debris removal. Moreover,  
the project adhered to sustainable development goals by utilizing PLA+ material and a rechargeable power  
source, minimizing its environmental impact. However, limitations, such as the inability to access hard-to-reach  
corners and a relatively simple aesthetic, suggest room for improvement. Addressing these areas can further  
enhance the aquabot’s performance, appeal, and user satisfaction.  
ACKNOWLEDGMENT  
This research was funded by a grant from a International research grant (Antarabangsa URMG/ AJMAN/ 2024/  
FTKM/ A00068). The author would like to thank the Universiti Teknikal Malaysia Melaka (UTeM) for all  
support.  
REFERENCES  
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2. Kuriakose, J., Thomas, A., & Varghese, S. (2024). Fuzzy logic-based environmental monitoring and  
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ISSN No. 2454-6186 | DOI: 10.47772/IJRISS | Volume IX Issue XI November 2025  
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