The Integration of the Third Abu al-Wafa's Method for Developing an Autonomous Qibla Finder Mobile Robot

摘要

We present the integration of the third Abu al-Wafa al-Buzjani's (940–998 AD) method on Kitab al-Majisti in designing an autonomous qibla finder mobile robot based on Arduino, GPS, and a digital compass. In the beginning of the study, we found that the third method proposed by Abu al-Wafa is comparable to the modern method. Abu al-Wafa's method has been modified into an algorithm capable of calculating the qibla across the globe. To validate the method's accuracy, we compare the result with our previous implementation using three methods: al-Biruni, Ibn al-Haytham, and the modern method. The computation results for the qibla direction from the north pole of the earth at several locations using both methods (the Third Abu al-Wafa's method and the Modern method) as follows: Bandung is 295.146246°, Baghdad is 199.817563°, London is 118.990581°, and Sudan is 58.719484°. The computational results demonstrate that all methods yield comparable levels of accuracy, thereby affirming the importance of Abu al-Wafa's contributions and the continued relevance of his method in the present context. Then, the third Abu al-Wafa's method algorithm was successfully integrated to develop the qibla finder mobile robot that is capable of autonomously moving to find the qibla direction. Equipped by a buzzer as an indicator that will sound when the qibla finder mobile robot faces the qibla direction, and a LCD screen displays the qibla direction data in real-time. Overall, this research showcases the harmonious combination of historical Islamic scientific contributions with modern technological advancements.