OPTIFORK

Ali Turabi; Anas Ismael

OPTIFORK

dc.contributor.author	Ali Turabi
dc.contributor.author	Anas Ismael
dc.date.accessioned	2026-09-15T08:12:29Z
dc.date.issued	2026-01-27
dc.description	--
dc.description.abstract	This project presents the design and implementation of OptiFork, an autonomous warehouse robotic system aimed at improving efficiency and organization in modern warehouse operations. The system addresses key challenges associated with manual material handling, such as slow item retrieval, high labor dependency, and unstructured transactions that may lead to errors in inventory management. OptiFork integrates embedded control systems with intelligent navigation to enable automated retrieval and delivery of items from storage shelves to designated delivery points. The system employs a dual-controller architecture, utilizing an Arduino Mega as the main motion and execution controller, and an ESP32 module for wireless communication and interaction with the warehouse management interface. This architecture ensures reliable real-time control while supporting flexible communication with external systems. The robotic platform is equipped with DC motors with gearboxes for mobility, stepper motors for precise lifting and positioning, and multiple sensors including IR sensors, ultrasonic sensors, and an MPU6050 inertial measurement unit. These components enable accurate navigation, obstacle detection, and orientation control within the warehouse environment. Unlike fixed X–Y–Z automated storage systems, OptiFork operates as a mobile robot, offering greater flexibility and reduced infrastructure cost. A key feature of the system is its structured, non-random transaction mechanism. Item requests are received through a computer-based interface managed by the warehouse supervisor, then processed and executed by the robot based on predefined shelf locations and item types. After completing each delivery, the system updates the inventory database to reflect item movement, ensuring accurate stock tracking. Experimental testing demonstrates that OptiFork achieves reliable autonomous navigation, accurate item retrieval, and efficient delivery performance. The project highlights how low-cost embedded systems and modular mechanical design can be combined to create a scalable and cost- effective warehouse automation solution, contributing to faster operations, reduced human intervention, and improved overall warehouse management.
dc.description.sponsorship	--
dc.description.statementofresponsibility	Warehouse operations represent a critical component of modern supply chain and logistics systems. However, many warehouses still rely heavily on manual material handling for retrieving and transporting items from storage shelves to packing or delivery points. This dependence on human labor leads to slower operation cycles, increased workload on staff, and a higher probability of errors such as picking the wrong item, delivering it to the wrong location, or failing to update inventory accurately. As warehouse sizes and order volumes increase, these limitations directly reduce efficiency and negatively impact service quality. Existing automation solutions, such as fixed Storage and Retrieval Systems (SRS) that operate on predefined X–Y–Z axes, can improve speed and accuracy, but they typically require expensive infrastructure and rigid shelf designs. Such systems often demand major installation costs, specialized maintenance, and limited flexibility when the warehouse layout changes or expands. As a result, many small and medium warehouses cannot afford these solutions, leaving them dependent on manual processes or partial automation that does not fully solve the problem. Inaddition,warehousetransactionscanbecomeunstructuredor“random”whenthereisno automated mechanism ensuring that every item request is handled through a controlled workflow. This can cause inconsistencies between real stock levels and the database, reduce traceability, and create delays in order fulfillment. Therefore, there is a strong need for a cost-effective and flexible autonomous system that can navigate inside the warehouse, retrieve specific items based on request information, deliver them to a designated point, and automatically update inventory records to ensure accurate, fast, and reliable warehouse operations.
dc.description.tableofcontents	The primary objective of the OptiFork project is to design and develop an autonomous and cost- effective warehouse robotic system that improves efficiency, accuracy, and organization in item handling and transportation. The system aims to overcome the limitations of manual warehouse operations and expensive fixed automation solutions by providing a flexible, mobile, and intelligent alternative. Primary Objectives:  Design and implement an autonomous warehouse robot capable of retrieving items from storage shelves and delivering them to designated delivery points without human intervention.  Automate the item handling process to reduce retrieval time and minimize manual labor inside the warehouse.  Ensure structured and non-random transactions by executing item requests based on predefined locations and item types.  Integrate embedded control systems with sensors and actuators to enable reliable navigation, positioning, and item lifting.  Establish wireless communication between the robot and a warehouse management interface to receive item requests and status updates. Secondary Objectives:  Enhance system flexibility by enabling the robot to operate in dynamic warehouse layouts without the need for fixed X–Y–Z infrastructure.  Improve inventory accuracy by automatically updating the database after each item retrieval and delivery operation.  Increase operational reliability by incorporating obstacle detection and orientation sensing to prevent collisions and navigation errors.  Design the system in a modular manner to allow future expansion, such as adding new sensors or supporting multiple robots.
dc.format.medium	Hardware
dc.identifier.citation	--
dc.identifier.other	12111965
dc.identifier.uri	https://hdl.handle.net/20.500.11888/21329
dc.language.iso	en
dc.publisher	Dr. Samer Mayaleh
dc.relation.ispartofseries	--; --
dc.subject.classification	Industry
dc.supervisor	Dr. Samer Mayaleh
dc.title	OPTIFORK
dc.title.alternative	--
dc.type	Graduation Project
person.telephone	+972568774470