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29,602 Article Results

Vibration control of semi-active suspension system using super-twisting sliding mode controller

10.11591/ijra.v15i1.pp171-180
Liuding Sun , Siti Azfanizam Ahmad , Jun Kit Ong , Suhadiyana Hanapi , Azizan As'arry
The development of suspension systems arises from the impact of vehicle vibrations caused by road irregularities on passengers. Among various suspension systems, semi-active suspension (SAS) is favored for its cost-effectiveness and power efficiency. Magnetorheological (MR) dampers are commonly used in SAS to enhance vibration control by adjusting the magnetic field. However, the traditional sliding mode control (SMC) method often causes chattering, which affects performance. This study proposes the application of a super-twisting sliding mode controller (STSMC) to improve vibration control in SAS and overcome the chattering problem. Simulations and experimental evaluations were conducted on a quarter-car test bench with different road excitations. The results show that the STSMC-based system outperforms the traditional controller in vibration suppression. Specifically, the suppression effect on the root mean square value of body acceleration on a sinusoidal road surface can reach up to 38.2%. Therefore, the STSMC controller demonstrates superior vibration control in SAS systems equipped with MR dampers, providing a valuable reference for future research on SAS vibration control.
Volume: 15
Issue: 1
Page: 171-180
Publish at: 2026-03-01

ISTD-LIOM: Direct LiDAR-inertial odometry and mapping with intensity-enhanced stable triangle descriptor

10.11591/ijra.v15i1.pp52-62
Lixiao Yang , Sheng Hua , Youbing Feng , Shangzong Yang , Jie Wang
To address the cumulative drift problem of light detection and ranging (LiDAR)-inertial odometry (LIO) in long-duration localization and mapping tasks, this paper proposes a LiDAR-inertial odometry and mapping system, intensity-enhanced stable triangle descriptor-LiDAR-inertial odometry and mapping (ISTD-LIOM), based on the intensity-enhanced stable triangle descriptor (ISTD). This system, built on the FAST-LIO2 front-end architecture, achieves global consistency localization through loop closure detection and global optimization. First, we design the ISTD descriptor by combining geometric descriptors of triangles (including vertex plane normal vectors and edge lengths) with local intensity distribution descriptors to form a compact, rotation-invariant feature representation. Next, an adaptive keyframe management mechanism is constructed, which filters keyframes based on inter-frame relative poses and generates a descriptor database. A hybrid retrieval strategy is then proposed, which combines descriptor similarity matching and spatial distance filtering, forming an efficient loop closure candidate recognition mechanism. After applying plane iterative closest point (ICP) refinement and geometric-intensity consistency validation, the loop closure constraints are integrated into a pose graph optimization framework, correcting odometry drift. Experiments on the KITTI dataset demonstrate that the ISTD-LIOM system significantly enhances map global consistency while maintaining real-time computational performance.
Volume: 15
Issue: 1
Page: 52-62
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

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

High impedance fault discrimination in microgrid power system using stacking ensemble approach

10.11591/ijape.v15.i1.pp98-109
Arangarajan Vinayagam , Raman Mohandas , Meyyappan Chindamani , Bhadravathi Gavirangapa Sujatha , Soumya Mishra , Arivoli Sundaramurthy
High impedance (HI) faults in microgrid (MG) power systems are non-linear, intermittent, and have low fault current magnitudes, making them challenging to detect by typical protective systems. Consequently, it is imperative to implement a sophisticated protection system that is dependent on the precision of fault detection. In this study, a stacking ensemble classifier (SEC) is proposed to discriminate HI fault from other transients within a photovoltaic (PV) generated MG power system. The MG model is simulated with the introduction of faults and transients. The features of data set from event signals are generated using the discrete wavelet transform (DWT) technique. The dataset is used to train the individual classifiers (Naïve Bayes (NB), decision tree J48 (DTJ), and K-nearest neighbors (KNN)) at initial and meta learner in the final stage of SEC. The SEC outperforms other classification methods with respect to accuracy of classification, rate of success in detecting HI fault, and performance measures. The outcomes of the classification study conducted under standard test conditions (STC) of solar PV and the noisy environment of event signals clearly demonstrate that the SEC is more dependable and performs better than the individual base classification approaches.
Volume: 15
Issue: 1
Page: 98-109
Publish at: 2026-03-01

A comparative analysis of PoS tagging tools for Hindi and Marathi

10.11591/ijict.v15i1.pp120-137
Pratik Narayanrao Kalamkar , Prasadu Peddi , Yogesh Kumar Sharma
Many tools exist for performing parts of speech (PoS) data tagging in Hindi and Marathi. Still, no standard benchmark or performance evaluation data exists for these tools to help researchers choose the best according to their needs. This paper presents a performance comparison of different PoS taggers and widely available trained models for these two languages. We used different granularity data sets to compare the performance and precision of these tools with the Stanford PoS tagger. Since the tag sets used by these PoS taggers differ, we propose a mapping between different PoS tagsets to address this inherent challenge in tagger comparison. We tested our proposed PoS tag mappings on newly created Hindi and Marathi movie scripts and subtitle datasets since movie scripts are different in how they are formatted and structured. We shall be surveying and comparing five parts of speech taggers viz. IMLT Hindi rules-based PoS tagger, LTRC IIIT Hindi PoS tagger, CDAC Hindi PoS tagger, LTRC Marathi PoS tagger, CDAC Marathi PoS tagger. It would also help us evaluate how the Bureau of Indian Standards’s (BIS) tag set of Indian languages compares to the Universal Dependency (UD) PoS tag set, as no studies have been conducted before to evaluate this aspect.
Volume: 15
Issue: 1
Page: 120-137
Publish at: 2026-03-01

Enhanced smart farming security with class-aware intrusion detection in fog environment

10.11591/ijict.v15i1.pp257-266
Selvaraj Palanisamy , Radhakrishnan Rajamani , Prabakaran Pramasivam , Mani Sumithra , Prabu Kaliyaperumal , Rajakumar Perumal
The adoption of the internet of things (IoT) in smart farming has enabled real-time data collection and analysis, leading to significant improvements in productivity and quality. However, incorporating diverse sensors across large-scale IoT systems creates notable security challenges, particularly in dynamic environments like Fog-to-Things architectures. Threat actors may exploit these weaknesses to disrupt communication systems and undermine their integrity. Tackling these issues necessitates an intrusion detection system (IDS) that achieves a balance between accuracy, resource optimization, compatibility, and affordability. This study introduces an innovative deep learning-driven IDS tailored for fog-assisted smart farming environments. The proposed system utilizes a class-aware autoencoder for detecting anomalies and performing initial binary classification, with a SoftMax layer subsequently employed for multi-class attack categorization. The model effectively identifies various threats, such as distributed denial of service (DDoS), ransomware, and password attacks, while enhancing security performance in environments with limited resources. By utilizing the Fog-to-Things architecture, the proposed IDS guarantees reliable and low-latency performance under extreme environmental conditions. Experimental results on the TON_IoT dataset reveal excellent performance, surpassing 98% accuracy in both binary and multi-class classification tasks. The proposed model outperforms conventional models (convolutional neural network (CNN), recurrent neural network (RNN), deep neural network (DNN), and gated recurrent unit (GRU)), highlighting its superior accuracy and effectiveness in securing smart farming networks.
Volume: 15
Issue: 1
Page: 257-266
Publish at: 2026-03-01

Efficiency of squirrel-cage induction motors with copper and aluminum rotors

10.11591/ijpeds.v17.i1.pp223-237
Ines Bula Bunjaku , Edin Bula
This study presents a method for estimating efficiency in three-phase squirrel-cage induction motors with copper and aluminum rotor cages. A detailed two-dimensional transient finite-element model of a 1.25 kW motor was created and analyzed under rated conditions (500 V, 50 Hz, 990 rpm, 75 °C) to determine torque, slip, losses, and efficiency. Finite-element results confirmed the copper rotor's advantage, with 11.0% higher efficiency (85.1% compared to 76.7%) and 37.5% lower rotor-cage losses (80 W compared to 128 W) compared to aluminum. For rapid efficiency prediction, both Mamdani-type fuzzy inference system (FIS) and adaptive neuro-fuzzy inference system (ANFIS) models were developed using simulation data. The fuzzy system showed a maximum deviation of 0.8% for the copper rotor, while the neuro-fuzzy approach achieved effective nonlinear mapping for both rotor types with R² = 0.872 against finite-element benchmarks. Sensitivity tests with ±0.3% slip and ±15 W loss variations maintained estimation errors below 2.5%. This combined simulation and intelligent system methodology enables practical efficiency evaluation and rotor material comparison for motor condition assessment and industrial energy management.
Volume: 17
Issue: 1
Page: 223-237
Publish at: 2026-03-01

Performance enhancement of photovoltaic systems using hybrid LSTM-CNN solar forecasting integrated with P&O MPPT

10.11591/ijpeds.v17.i1.pp696-708
Sara Fennane , Houda Kacimi , Hamza Mabchour , Fatehi ALtalqi , Adil Echchelh
The increasing penetration of photovoltaic (PV) systems in smart grids highlights the need for reliable solutions to mitigate the inherent intermittency of solar energy. Short-term variability in solar irradiance remains a critical challenge for stable grid operation and efficient PV energy management. This paper proposes an integrated forecasting-control framework that combines short-term global horizontal irradiance (GHI) prediction with a conventional P&O MPPT strategy to enhance PV system performance. A hybrid LSTM-CNN architecture is developed to forecast one-step-ahead GHI under the semi-arid climatic conditions of Dakhla, Morocco, a region characterized by high solar potential and pronounced irradiance fluctuations. The forecasting model is validated using measured irradiance data from the National Renewable Energy Laboratory (NREL) via the National Solar Radiation Database (NSRDB). Predicted irradiance is then used to improve PV power estimation and support predictive maximum power point tracking (MPPT) operation. Simulation results obtained in MATLAB/Simulink demonstrate that the proposed framework achieves accurate GHI forecasting, faster MPPT convergence, reduced steady-state oscillations, and improved PV power stability under rapidly changing irradiance. The proposed approach provides a practical and computationally efficient solution for enhancing the dynamic response and energy extraction efficiency of PV systems in smart grid applications.
Volume: 17
Issue: 1
Page: 696-708
Publish at: 2026-03-01

Artificial neural network-optimized bridgeless Landsman converter for enhanced power factor correction in electric vehicle applications

10.11591/ijape.v15.i1.pp238-247
Podila Purna Chandra Rao , Radhakrishnan Anandhakumar , T. Vijay Muni , L. Shanmukha Rao
Electric vehicles (EVs) are gaining popularity globally due to their energy-efficient battery storage systems, low carbon emissions, and eco-friendly operation. By transforming both the transportation and electrical sectors, EVs could create a synergistic relationship that reduces fossil fuel use and improves renewable energy integration. However, this convergence emphasizes the necessity for appropriate power factor correction (PFC) methods, especially in EV battery charging systems, to alleviate supply-end PQ concerns. Use of a bridgeless Landsman converter (BLC), noted for its efficiency and link voltage monitoring, is innovative in this research. A proportional-integral (PI) controller tuned by an artificial neural network (ANN) improves prediction and classification, especially response time. The ANN-based PI controller optimises system performance in real time using adaptive control. Using a hysteresis controller attached to a pulse width modulation (PWM) generator regulates the converter's steady-state switching frequency for accurate and consistent output. The proposed approach reduces harmonic distortions and improves operating efficiency. This comprehensive architecture improves power factor and addresses significant PQ concerns in EV charging infrastructure. Integrating improved control tactics and converter design shows that this approach may support electric car technology developments. MATLAB simulations show that power factor correction (PFC) charges EV batteries quickly and effectively. Findings suggest the technique could increase power quality, system efficiency, and EV uptake.
Volume: 15
Issue: 1
Page: 238-247
Publish at: 2026-03-01

Advances in dermatological imaging: enhancing skin melanoma classification for improved patient outcomes

10.11591/csit.v7i1.p111-120
Debadutta Sahoo , Soumya Mishra
The study presents an enhanced AlexNet-based deep learning system for binary classification of melanoma skin cancer as either benign or malignant using two paired dermatoscopic and clinical image datasets. The study evaluates the resilience of the models across different image sets with common preprocessing and specific data augmentation, using a melanoma dataset containing 10,000 images and a benign versus malignant dataset with 3,600 images. The AlexNet refinement exceeded several standard machine learning (ML) classifiers and other deep architectures on the two datasets with practical training times, gaining 97.12% and 96.21% in balanced accuracy. The training proceeded with SGD as optimiser and cross-entropy as loss on 256×256 images. Benchmarking against support vector machine (SVM), k-nearest neighbour (KNN), and other convolutional neural networks (CNNs) designs shows that the selected architecture and hyperparameters achieved the highest performance on cost-effective computation for the routine melanoma triage. The report highlights the need for external validation, incorporation into dermatological workflows, and explainability to improve trust, diminish dataset bias, and support the safe clinical deployment in practice.
Volume: 7
Issue: 1
Page: 111-120
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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