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29,602 Article Results

Development of autonomous quadcopter unmanned aerial vehicle using APM 2.8 flight controller

10.11591/ijra.v15i1.pp63-70
Mohd Yusuf Amran , Mohd Ariffanan Mohd Basri , Aminurrashid Noordin
This paper presents the development of a quadcopter unmanned aerial vehicle (UAV) using the APM 2.8 flight controller as the core of its navigation and control system. The project aims to design, assemble, and evaluate a stable and cost-effective quadcopter platform suitable for basic autonomous flight tasks such as waypoint navigation and altitude hold. The system incorporates essential components, including brushless DC motors, ESCs, a GPS module, a telemetry radio, and a power distribution system, integrated with the APM 2.8 running on the ArduPilot firmware. Waypoints are planned via Mission Planner software, with a flight control system embedded in the firmware. Real-world flight tests were conducted to evaluate the UAV’s performance in executing autonomously predefined survey grid and zigzag waypoints trajectories over open terrain. The root mean square error (RMSE) was calculated to assess the performance of waypoint tracking accuracy. The results show that the quadcopter UAV achieved an RMSE of 1.78 meters during zigzag waypoint tracking and 1.56 meters during survey grid, demonstrating reliable flight control performance offered by the APM 2.8 for basic autonomous mission tasks. This work highlights the feasibility of using APM 2.8 for cost-effective UAV development in research, education, and prototyping purposes.
Volume: 15
Issue: 1
Page: 63-70
Publish at: 2026-03-01

Multi-modal transformer and convolutional attention architectures for melanoma detection in dermoscopic images

10.11591/ijra.v15i1.pp136-148
Guidoum Amina , Maamar Bougherara , Amara Rafik
The deadliest type of skin cancer, melanoma, requires early and accurate detection for a successful course of treatment. Traditional diagnostic techniques, which rely on visual inspection and dermoscopy, are frequently arbitrary and prone to human error. Automated melanoma detection exemplifies the integration of multimedia, a truly interdisciplinary field that melds visual data processing, human-computer interaction, and digital technologies. This study presents a multi-modal architecture: a multi-modal transformer network (MMTN) and a convolutional attention mechanism multi-modal (CAMM) that combines clinical data and dermoscopy images to enhance melanoma detection. The models achieve higher performance compared to other approaches by utilizing the strengths of architecture based on transformers, an encoder for image processing, dense layers for clinical data also Spatial Attention for the second architecture proposed. We evaluate the models on the entire set of ISIC 2019 data, showing significant improvements in accuracy and AUC. The models achieve high accuracy and AUC using CPU in both architectures. Our findings highlight the potential of a multi-modal learning architecture to enhance clinical decision-making and diagnostic accuracy in dermatology. To our knowledge, this is the first implementation combining MobileNet, transformer encoder attention, and clinical data fusion for the ISIC 2019 dataset, providing a significant advancement in the automated categorization of skin malignancies.
Volume: 15
Issue: 1
Page: 136-148
Publish at: 2026-03-01

A study on motivated consumer innovativeness in robotic golf caddies

10.11591/ijra.v15i1.pp99-106
Jinsoo Hwang , Sujin Song , Sungbeen Park
The current study examined the antecedents and consequences of image in the field of robotic golf caddy. Data were collected from 393 golfers in Korea. The data analysis revealed that functionally, hedonically, and cognitively motivated consumer innovativeness are the key factors that affect image. It was also found that image helps in regard to enhancing desire, and then it positively affects intentions to use and WOM intention. Perceived price unfairness of caddy fees additionally moderated the relationship between functionally motivated consumer innovativeness and image. This study is significant from a theoretical perspective as it is the first to identify consumer motivations in the field of robotic golf caddies. From a practical standpoint, the findings offer important implications for the development of marketing strategies for robotic golf caddies, which are currently at the commercialization stage.
Volume: 15
Issue: 1
Page: 99-106
Publish at: 2026-03-01

Analytical formulation of relationship between ionization current and extracted ion beam current in a Penning ion source

10.11591/ijpeds.v17.i1.pp629-639
Silakhuddin Silakhuddin , Idrus Abdul Kudus , Bambang Murdaka Eka Jati , Dwi Satya Palupi , Taufik Taufik , Emy Mulyani , Heranudin Heranudin
A study on the performance of the Penning-type internal ion source of the DECY-13 cyclotron has been conducted to evaluate the relationship between cathode current and extracted ion beam current, as well as the stability of the extracted beam. The DECY-13 cyclotron, developed at the Research Center of Accelerator Technology, BRIN, is designed to produce 13 MeV protons for radioisotope production. In the experiment, the cathode current was varied between 200-400 mA, while the magnetic field and extraction voltage at 1.25 T and 3 kV, respectively. The results indicate a clear power-law dependence between cathode current (Ic) and extracted beam current (Iext), expressed as Iext=343.8 Ic^1.42 . This relationship suggests that ionization efficiency increases sharply with cathode current. Stability tests at 400 mA cathode current showed that the extracted beam current remained stable at ~70 μA over 45 minutes, with only minor fluctuations. These findings demonstrate that cathode current is an effective parameter for controlling extracted beam current. The results contribute to a better understanding of ion source behavior in cyclotron systems and provide a foundation for further optimization of Penning ion sources for radioisotope production.
Volume: 17
Issue: 1
Page: 629-639
Publish at: 2026-03-01

Sentiment aware interactive Chatbot AI using multi agent processing model

10.11591/ijra.v15i1.pp200-209
Vinod Kumar Shukla , Sumithra Alagarsamy , Vijaylakshmi Nagarajan , Gavaskar Shanmugam
Understanding user sentiment has become more important for organizations and consumers due to the rapid growth of social media platforms such as marketplaces, platforms for connecting brands and consumers, and public discussion platforms. Emotions that are based on aspects, nuanced within context, and multifaceted often require complex sentiment analysis algorithms to interpret properly. Furthermore, these systems do not provide real-time information to help companies make better decisions and enhance consumer satisfaction. To tackle these challenges, a novel Interactive Chatbot artificial intelligence (IChat-AI) approach has been proposed in this paper for sentiment-aware chatbot interaction. The word to vector (W2V), term frequency-inverse document frequency (TF-IDF), and bag of words (BoW) are utilized to effectively extract essential features. The deep Kronecker neural network (DKNN) is utilized to predict and classify the emotions into five classes, such as sad, happy, neutral, angry, and fearful. Python has been used to simulate the suggested model. The efficacy of the suggested system is examined employing parameters including recall, execution time, F1-score, complexity, precision, scalability, accuracy, and response time. The developed IChat-AI strategy performs better regarding accuracy than the existing methods, including RoBERTa, TLSA, and multimodal transformers fusion for desire, emotion, and SA (MMTF-DES) approaches, by 5.33%, 4.73%, and 14.39%.
Volume: 15
Issue: 1
Page: 200-209
Publish at: 2026-03-01

Design and drag force analysis of an autonomous underwater remotely operated vehicles for coral reef health assessment

10.11591/ijra.v15i1.pp181-189
Pandiyarajan Rajendran , Srinivasan Alavandar
This research presents the conception and building of an inexpensive remotely operated vehicle (ROV) system to ease the tasks of underwater inspection and environmental monitoring in areas where the global positioning system (GPS) signal is not available. A Raspberry Pi-based control unit, an inertial measurement unit (IMU), and depth sensors are merged in the system so that simple data acquisition and remote operation can be carried out. ROV hydrodynamic drag and stability for a state of ideal balance and maneuverability were assessed through tests based on preliminary simulations in Fusion 360 and empirical calculations. The ROV is confirmed to be behaving as expected in terms of stability, imaging capabilities, and responsiveness to operator control in the testing that was done in controlled water environments. This paper, the work, and the testing, in fact, present the initial design, but it is a significant step towards the consideration of the possible further embedding of autonomous features “simultaneous localization and mapping (SLAM)-based navigation, doppler velocity log (DVL), light detection and ranging (LiDAR) systems” for completely autonomous underwater guided missions.
Volume: 15
Issue: 1
Page: 181-189
Publish at: 2026-03-01

Modeling and control of a 3D under-actuated bipedal robot using partial feedback linearization

10.11591/ijra.v15i1.pp122-135
Ali Guessam , Foudil Abdessemed , Abdelmadjid Chehhat
This article presents a dynamic modeling and control framework for a 3D underactuated five-link bipedal robot with 14 degrees of freedom (DoF) and eight actuators. The robot exhibits highly nonlinear, strongly coupled, and hybrid dynamics, posing challenges for conventional control approaches. To address these issues and introduce our research contribution, a partial feedback linearization (PFL)-based tracking framework is proposed, which analytically decouples the system into actuated and unactuated subsystems, enabling efficient real-time control. Unlike hybrid zero dynamics (HZD) methods that enforce virtual constraints online and require offline gait optimization, or model predictive control (MPC) schemes that are online optimization based dependent and computationally demanding, the proposed PFL approach achieves computational simplicity and fast implementation through closed-form control laws. In contrast to zero-moment point (ZMP)-based controllers, PFL enables dynamic underactuated walking with PD feedback for accurate trajectory tracking and disturbance attenuation, though robustness to large uncertainties and disturbances may require additional mechanisms, such as adaptive control, sliding-mode, or fuzzy logic. Simulation results of the applied control method demonstrate the periodic nature and stability of generated walking gaits, which proves the effectiveness and reliability of the proposed control approach.
Volume: 15
Issue: 1
Page: 122-135
Publish at: 2026-03-01

Fuzzy adaptive sliding mode control with exponential reaching law for enhanced 4WD electric vehicle speed control

10.11591/ijpeds.v17.i1.pp107-122
Abdelhamid Bouregba , Abdeldjabar Hazzab , Aissa Benhammou , Samir Hadjeri
This paper discusses a novel fuzzy adaptive sliding mode control (FASMC) strategy for a four-wheel-drive (4WD) electric vehicle (EV), incorporating an exponential reaching law (ERL) and a fuzzy adaptive switching gain to enhance speed tracking. The classical SMC technique often suffers from the chattering problem, which can degrade the dynamic control performance of the electric vehicle. To address these challenges, the proposed hybrid controller employs an exponential reaching law to ensure fast convergence and reduced chattering, while a fuzzy logic-adaptation mechanism dynamically adjusts the switching gain to improve robustness against uncertainties and external disturbances. First, the mathematical model of the motor derived for achieving speed regulation using the classical SMC with an exponential reaching law based on indirect-field-oriented control (FOC). Then, the proposed control technique is designed to automatically adjust the ERL gain using a fuzzy logic controller to ensure precise vehicle speed control, optimizing the vehicle's dynamics under varying road conditions. This novel configuration enables the development of a 4WD EV control framework with an optimized controller, serving as the foundation for implementing our proposed study. The results validate the proposed method's superiority, delivering lower chattering, enhanced tracking precision, and greater robustness compared to traditional SMC while adhering to control standards. This control framework presents a viable advancement for 4WD EV motion management, supporting safer, more effective autonomous vehicle technologies.
Volume: 17
Issue: 1
Page: 107-122
Publish at: 2026-03-01

Development of a mathematical model for electric drive dynamics in belt conveyors: A Simulink-based analysis of transient behavior

10.11591/ijpeds.v17.i1.pp69-81
Khalaf Y. Alzyoud , Jawdat S. Alkasassbeh , Ayman Y. Al-Rawashdeh , Vlademer Е. Pavlov
This paper presents a detailed study of developing a mathematical model and experimental analysis of electric drive processes in belt conveyors. The proposed model simplifies the complex real mechanical system by substituting distributed parameters, such as the transported load's mass and the traction element's elasticity, with concentrated equivalents. A comprehensive investigation of key transient processes including stator currents speed, torque and resistance forces was performed using MATLAB's Simulink environment. The findings reveal significant differences in performance between the initial startup phase and operation under loaded conditions. To validate the model's accuracy, the authors employed numerical analyses utilizing regression metrics such as root mean square error (RMSE) and correlation coefficients. The results show that the proposed model significantly outperforms similar models in the literature with a notable RMSE of 12.5 A for stator current, reflecting an 18% improvement and 8.7 Nm for torque prediction, indicating a 15% enhancement. Furthermore, the model achieved a correlation coefficient of 0.98, confirming its high accuracy in experimental data fitting. By effectively capturing oscillatory phenomena during both unloaded and loaded startup conditions, this work establishes the model as a reliable representation of belt conveyor dynamics, setting a new benchmark in the field.
Volume: 17
Issue: 1
Page: 69-81
Publish at: 2026-03-01

Real-time control signal rectification and actuation mapping for robot joint control

10.11591/ijra.v15i1.pp43-51
Addie Irawan , Akhtar Razul Razali , Aliza Che Amran , Hamzah Ahmad
This paper presents the control signal rectification and actuation mapping (CSRAM) framework, developed to improve the reliability and precision of real-time robot joint control. The framework integrates three modules, namely the drive signal rectifier (DSR), the signal pole detector (SPD), and the rising/downstream detector (RDD), which ensure signal compatibility, dynamic mapping consistency, and directional stability during actuation. Unlike conventional control converters, CSRAM effectively compensates for nonlinearities, latency, and synchronization issues in closed-loop systems. Experimental validation using a hexapod-to-quadruped (Hexaquad) robot showed that the proposed method, when combined with an anti-windup PI controller, reduced steady-state error from 14% to below 1%, improved transient and settling times by 0.3 to 0.4 seconds, and decreased three-dimensional trajectory RMSE by 63.7%. These results confirm that CSRAM provides a low-complexity and computationally efficient preprocessing layer for improving real-time performance in multi-joint and legged robotic systems, with strong potential for adaptive and industrial robotic platforms.
Volume: 15
Issue: 1
Page: 43-51
Publish at: 2026-03-01

Car selection in games using multi-objective optimization by ratio analysis based on player achievement

10.11591/csit.v7i1.p30-45
Caesar Nafiansyah Putra , Fresy Nugroho , Mochamad Imamudin , Dwi Pebrianti , Jehad Abdelhamid Hammad , Tri Mukti Lestari , Dian Maharani , Alfina Nurrahman
The selection menu in some racing games usually uses a random system for vehicle selection. However, this random feature generally randomizes the selection of the index without considering factors that support the player's abilities. Therefore, this study aims to develop a racing game that can suggest vehicles that have been adjusted to the player's performance. Vehicle recommendations are made using the multi-objective optimization on the basis of ratio analysis (MOORA) method as its method. The MOORA calculation ranks vehicles based on criteria such as mileage, fuel efficiency, speed, agility, and others collected in previous games. The results of this study show the effectiveness of using the MOORA method in recommending vehicles that match the player's skills, thereby improving the overall player experience. In addition, the usability test produced a system usability scale (SUS) score of 82.4, so it is included in the very good category.
Volume: 7
Issue: 1
Page: 30-45
Publish at: 2026-03-01

Analysis of congestion management using generation rescheduling with augmented Mountain Gazelle optimizer

10.11591/ijict.v15i1.pp57-65
Chidambararaj Natarajan , Aravindhan Karunanithy , S. Jothika , R. P. Linda Joice
This study presents an original blockage of the executive’s approach utilizing age rescheduling with the augmented mountain gazelle optimizer (AMGO). Enlivened by the versatility of mountain gazelles, AMGO is applied to enhance age plans for a reasonable power framework situation. The strategy successfully mitigates clogs, taking into account functional imperatives, market elements, and vulnerabilities. Recreation results show AMGO’s heartiness, seriousness, and proficiency in contrast with existing strategies. Notwithstanding its heartiness in blockage the board, the AMGO presents a state-of-the-art versatile element, enlivened by the spryness of mountain gazelles, empowering constant changes in accordance with developing power framework conditions and contrasted and genetic algorithms and PSO. The review adds to propelling streamlining methods for clogging the executives, offering a promising device for improving power framework, unwavering quality and productivity.
Volume: 15
Issue: 1
Page: 57-65
Publish at: 2026-03-01

Enhancing intellectual property rights management through blockchain integration

10.11591/ijict.v15i1.pp111-119
Raghavan Sheeja , Sherwin Richard R. , Shreenidhi Kovai Sivabalan , Srinivas Madhavan
The generational improvement has significantly converted several industries, and the area of intellectual property rights (IPR) isn’t any exception. IPRs, being as important as they are, need to be securely managed in some way. Blockchain, with its decentralized and immutable nature, gives a promising answer for enhancing the management of intellectual property (IP). This paper explores the strategic integration of blockchain generation for the control of IPR. The proposed system consists of a complete system, from registration and validation to predictive evaluation and royalty distribution, all facilitated through clever contracts. The use of zero-knowledge proofs guarantees the safety and confidentiality of sensitive information. The paper discusses the advantages and future implications of implementing this type of device.
Volume: 15
Issue: 1
Page: 111-119
Publish at: 2026-03-01

Classification and regression tree model for diabetes prediction

10.11591/ijict.v15i1.pp207-216
Farah Najidah Noorizan , Nur Anida Jumadi , Li Mun Ng
Diabetes mellitus is characterized by excessive blood glucose that occurs when the pancreas malfunctions while producing insulin. High blood glucose levels can cause chronic damage to organs, particularly the eyes and kidneys. Diabetes prediction models traditionally use a variety of machine learning (ML) algorithms by combining data from the glucose levels, patient health parameters, and other biomarkers. Prior research on diabetes prediction using various algorithms, such as support vector machine (SVM) and decision tree (DT) models, demonstrates an accuracy rate of approximately 70%, which is relatively modest. Therefore, in this study, a classification and regression tree (CART) multiclassifier model has been proposed to improve the accuracy of diabetes prediction, which is based on three classes: non-diabetic, pre-diabetic, and diabetic. The study involved data preprocessing steps, hyperparameter tuning, and evaluation of performance metrics. The model achieved 97% accuracy while utilizing the value of 5 for the number of leaves per node, the value of 10 for the maximum number of splits, and deviance as the split criterion, which also resulted in a precision of 98%, recall of 97%, and F1-score of 98%, showing that the proposed multiclassifier model can accurately predict diabetes. In conclusion, the proposed CART model with the best hyperparameter setting can enable the highest accuracy in predicting diabetes classes.
Volume: 15
Issue: 1
Page: 207-216
Publish at: 2026-03-01

Reputation-enhanced two-way hybrid algorithm for detecting attacks in WSN

10.11591/ijict.v15i1.pp428-437
Divya Bharathi Selvaraj , Veni Sundaram
Wireless sensor networks (WSNs) are susceptible to a variety of attacks, such as data tampering attacks, blackhole attacks, and grayhole attacks, that can affect the reliability of communication. We proposed a reputationenhanced two-way hybrid algorithm (RCHA) that uses cryptographic hash functions and reputation-based trust management to detect and de-escalate attacks accurately. The RCHA algorithm implements two hash functions RACE integrity primitives’ evaluation message digest (RIPEMD) and secure hash algorithm (SHA-3), to initiate the integrity check for the entire packet sent across the network. Every node in the WSN tracks a reputation score for each neighbor the node is connected to, and this score is dynamically updated based on the behavior of each neighbor. If a neighboring node’s reputation drops below a threshold, the node is sent a maliciousness designation. At that time, the node will broadcast an alert message to its neighboring nodes and begin to reroute its data through one of its trusted neighbors to ensure the reliability of the communication. The simulation results reported that the RCHA algorithm improved the accuracy of the attack detection rate and the number of packets delivered compared to traditional attack detection methods. The RCHA algorithm was able to maintain low computational and energy overhead for the WSN, making it an attractive option for a resource-constrained application in a WSN. Given the trends towards more collaborative networks, the reputation mechanism in the RCHA algorithm improves the overall reliability and capabilities of the WSN, regardless of adversaries.
Volume: 15
Issue: 1
Page: 428-437
Publish at: 2026-03-01
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