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30,033 Article Results

Dynamic analysis of a human-transporting robot climbing stairs

10.11591/ijece.v16i2.pp638-650
Duong Tan Dat , Le Hong Ky , Tran Duc Thuan
Robots used for transporting people on stairs face several limitations regarding tipping and safety hazards. Changes in the robot's center of gravity during stair climbing can generate tipping moments, leading to instability, tipping, and increased danger to users. This paper presents the modeling and analysis results of a tracked robot for transporting people on stairs, equipped with an anti-tipping mechanism based on center of gravity balance, combined with a vibration-damping mechanism mounted at the rear of the robot to enhance stability during stair climbing. Based on Newton-Euler's formulas, robot dynamics equations are established to describe the motion and analyze the robot's stability characteristics. Simulation and experimental results investigating the changes in center of gravity, velocity, tipping moment, and balancing moment of the robot during uphill and downhill movement were performed using MATLAB Simulink software. Simulation results indicate that the robot's center of gravity is adjusted and stabilized throughout both uphill and downhill movements. Practical experiments conducted on a fabricated robot model, capable of carrying a 100 kg load and moving up and down stairs with a 35-degree incline, demonstrated the feasibility and effectiveness of the proposed mechanical design. The results showed good agreement in kinematic trends between experimental and simulated data during the stair climbing, stair-on, and stair-step transition phases. This agreement between experimental and simulation results proved the correctness of the robot system and the constructed dynamic model. The research results provide a basis for developing control algorithms for robots that efficiently transport people up and down stairs in buildings.
Volume: 16
Issue: 2
Page: 638-650
Publish at: 2026-04-01

Design and prototyping of the planar inverted-F antenna for V2X communications

10.11591/ijece.v16i2.pp842-849
Loubna Berrich , Adnane Addaim
In the context of intelligent transportation systems (ITS) development, vehicle-to-everything (V2X) communication plays a central role by enabling information exchange between vehicles (V2V), infrastructure (V2I), pedestrians (V2P), and the network (V2N). The effectiveness of these systems relies heavily on the performance of the antennas employed, which must meet strict requirements in terms of compactness, bandwidth, gain, and electromagnetic compatibility. One of the main challenges lies in designing antennas suitable for the embedded vehicular environment, where space is limited and the propagation conditions are complex. In this context, the present study aims to design, simulate, fabricate, and experimentally evaluate a planar inverted-F antenna (PIFA) dedicated to V2X communication in the 5.8 GHz band. The primary objective is to develop an antenna that is both compact and high-performing, tailored to the specific constraints of V2X applications. The adopted methodology involves a comprehensive parametric study, focusing on several key design parameters that influence the antenna’s performance, such as substrate selection, feeding point location, and the addition of a slot in the structure. These factors are analyzed to optimize the radiation characteristics, resonant frequency, and impedance matching of the antenna. The results demonstrate the feasibility of a PIFA antenna that offers an excellent trade-off between miniaturization and performance, making it well suited for V2X communication applications at 5.8 GHz.
Volume: 16
Issue: 2
Page: 842-849
Publish at: 2026-04-01

Cloud internet of things-based cyber-physical system for microalgae integrated-aquaculture recirculating system in Sarawak

10.11591/ijece.v16i2.pp1030-1038
Keh-Kim Kee , John Sie Yon Lau , Alan Huong Ting Yong
The escalating demand for high-quality protein has driven commercial aquaculture's growth, and microalgal biomass shows potential to support this sector and contribute to global food security. Digitalizing integrated microalgal-aquaculture systems can significantly enhance sustainable protein production. Enabling technologies like the internet of things (IoT) and cyber-physical systems (CPS) are crucial for creating resilient aquaculture systems that ensure profitability, ecosystem health, and climate adaptability. However, applying cloud IoT and CPS solutions in the microalgae industry, especially the integrated microalgae and prawn farms remain underexplored. This work aims to develop a smart system for real-time monitoring and analysis of integrated microalgae and prawn farms in Sarawak, supported by an intelligent decision-support system. Utilizing a hybrid cloud-fog architecture, the system ensures efficient data acquisition, storage, and analysis and provides real-time monitoring through various user interfaces. Deployed in the plant site for over three months, the proposed system has proven effective in enhancing process efficiency and functionality, offering valuable reference in sustainable aquaculture for future enhancements such as multi-sensor and multi-site deployment in other farming systems to promote holistic environment sustainability and digital transformation.
Volume: 16
Issue: 2
Page: 1030-1038
Publish at: 2026-04-01

Enhancing ride-hailing adoption: understanding factors influencing ride-hailing user attitudes and reuse intention

10.11591/ijece.v16i2.pp905-913
Mudjahidin Mudjahidin , Rafid Ikbar Athallah
Ride-hailing applications (RHA) have emerged as a revolutionary force in the transportation landscape, offering convenient and on-demand mobility solutions, thus gaining widespread popularity in the transportation sector. However, concerns arise as many RHA startups find it difficult to survive in Indonesia, and even big RHA startups are still at risk. RHA must preserve user reuse intent in order to ensure service continuation. Based on the innovation diffusion theory (IDT), the unified theory of acceptance and use of technology (UTAUT), and additional factors, this study examines 11 variables and their impact on consumer attitudes and reuse intention in a model of ride-hailing service adoption. An online survey was utilized to gather data from various demographic backgrounds, and managed to gather data from 240 respondents. Analysis was conducted using partial least squares structural equation modeling (PLS-SEM) to assess the correlations between the variables. The findings revealed that perceived usefulness, perceived ease of use, perceived risk, compatibility, and personal innovation significantly influenced consumer attitudes. Additionally, it was shown that the attitude variable and customer reuse intention were positively and significantly correlated. Based on this outcome, recommendations were made to RHA providers to improve user attitudes and intentions to reuse.
Volume: 16
Issue: 2
Page: 905-913
Publish at: 2026-04-01

Analysis of tuberculosis detection using deep learning technique and explainable artificial intelligence

10.11591/ijai.v15.i2.pp1623-1631
Shashikiran Srinivas , Kavita Avinash Patil , Kushalatha Monappa Rama , Sudha Venkateshlu , Jayanthi Muthuswamy , Srinivas Babu Narayanappa
Tuberculosis (TB) affects the health of many individuals and is still a prime worldwide health concern despite having so many advanced treatments, as it still lacks technical advancement in its treatment and diagnosis. Accuracy in identification and early detection is essential to reduce the spread and improve treatment outcomes. Traditional methods of diagnosis, such as sputum microscopy and culture, are labor-dependent and subject to human mistakes as it is done by lab technicians. Recent improvements in deep learning have demonstrated significant potential for enhancing and automating diagnostic accuracy. Our research proposes a deep learning based technique that detects TB from chest X-rays after image processing techniques like augmentation. After training on big data, our model pulls off an astonishing accuracy of 97.42% and a loss of 7.17%, outperforming traditional methods. The model uses convolutional neural network (CNN) as a base and transfer learning method, like DenseNet-121, and explainable artificial intelligence (XAI) technique, like Grad-CAM, to recognize TB related patterns effectively and with low false positives. This approach has the ability to revolutionize the diagnosis of TB and offer more dependable, scalable, and timely solutions to healthcare systems worldwide.
Volume: 15
Issue: 2
Page: 1623-1631
Publish at: 2026-04-01

Optimizing neural networks: a comparative study of activation functions in deep learning

10.11591/ijece.v16i2.pp945-963
Ahmed Mobarki , Abdullah Sheikh
Activation functions play a pivotal role in deep learning (DL) models, thus shaping their learning capabilities, convergence behavior, and generalization performance. However, the selection of activation functions without systematic evaluation in many applications has limited the model's performance. Inappropriate activation functions may cause gradients to shrink or blow-up during backpropagation, thereby affecting effective learning. To conquer this problem, this paper provides a novel comprehensive empirical investigation of nine activation functions, including traditional functions like rectified linear unit (ReLU), Sigmoid, Tanh, and ELU, and modern nonlinearities like Swish, Mish, GELU, and SMU. In the proposed methodology, these nine activation functions are evaluated within two prominent neural network architectures, namely convolutional neural networks (CNNs) and multi-layer perceptrons (MLPs), across benchmark datasets, namely CIFAR-10, CIFAR-100, and MNIST. The evaluation criteria include validation accuracy, loss, training time, and gradient stability. Experimental results proved that GELU activation function improved MLP accuracy to 98.03% and CNN accuracy to 93.82% while maintaining stable gradients and low loss values of 0.088 and 0.221, respectively. These findings provided practical guidelines for selecting activation functions suited to specific task complexities and model depths, contributing to the design of more efficient and accurate DL systems.
Volume: 16
Issue: 2
Page: 945-963
Publish at: 2026-04-01

Wearable and implantable antennas for healthcare applications: advancements, challenges, and future directions

10.11591/ijece.v16i2.pp827-841
Sameera P. , Priyadarshini K. Desai , Keerthi Kulkarni
The rise of personalized and remote healthcare solutions has accelerated the demand for reliable wireless communication systems integrated into medical devices. Among these, wearable and implantable antennas play a crucial role by enabling the seamless exchange of data between in-body or on-body sensors and external monitoring equipment. These antennas are key components in systems designed for continuous health monitoring, early diagnosis, and patient rehabilitation. Unlike conventional antennas, those used in medical applications must function efficiently in close contact with or inside the human body, often under challenging conditions such as body movement, varying tissue properties, and limited space. As a result, the design and development of these antennas require careful consideration of factors like flexibility, biocompatibility, low power operation, and electromagnetic safety. This study reviews recent publications from 2017 onwards on wearable and implantable antennas. The material type, operating frequency band, and operational environment are considered for the design of the wearable and implantable antenna. To minimize loss, the research employed a high-thickness substrate, gold, and graphene material for the radiating patch in most of the design. This review presents a detailed overview of recent advancements in wearable and implantable antennas tailored for healthcare applications, highlights current design challenges, and outlines future research opportunities in this rapidly evolving field.
Volume: 16
Issue: 2
Page: 827-841
Publish at: 2026-04-01

Data analytics and prediction of cardiovascular disease with machine learning models: a systematic literature review

10.11591/ijece.v16i2.pp914-923
Ravipa Sonthana , Sakchai Tangprasert , Yuenyong Nilsiam , Nalinpat Bhumpenpein , Siranee Nuchitprasitchai
Cardiovascular disease (CVD) remains one of the leading causes of death globally, underscoring the need for effective early risk prediction. This systematic literature review analyzes research published between 2013 and 2023 on the application of machine learning (ML) in CVD risk prediction. Key areas examined include feature selection, data preprocessing, algorithm choice, and model evaluation. Studies were selected from ACM Digital Library, IEEE Xplore, ScienceDirect, and Scopus based on predefined research questions. Common challenges include limited or low-quality datasets, inconsistent preprocessing methods, and the need for clinically interpretable models. Widely used algorithms include random forest (RF), support vector machine (SVM), decision tree (DT), logistic regression (LR), naïve Bayes (NB), k-nearest neighbor (K-NN), and extreme gradient boosting (XGBoost). The review highlights that robust preprocessing, optimal feature selection, and thorough model validation significantly improve predictive accuracy. It also emphasizes the importance of balancing performance with interpretability for clinical adoption. Finally, the study proposes a structured framework to guide future research and practical implementation, including the integration of genetic and behavioral data to support more personalized and effective cardiovascular care.
Volume: 16
Issue: 2
Page: 914-923
Publish at: 2026-04-01

An energy-optimized A* algorithm for path planning of autonomous underwater vehicles in dynamic flow fields

10.11591/ijece.v16i2.pp753-765
Do Khac Tiep , Nguyen Van Tien , Cao Duc Thanh
This paper presents the development and implementation of an energy-optimized A* algorithm for autonomous underwater vehicle (AUV) path planning in these complex environments. The core of the approach is the integration of a computationally efficient flow field model and a detailed AUV energy consumption model directly into the A* search heuristic. The energy model considers factors such as drag forces, relative velocity between the AUV and the flow, and AUV maneuvering. The A* cost function is modified to prioritize paths that minimize the predicted total energy expenditure, while simultaneously ensuring obstacle avoidance and path feasibility. The algorithm was implemented and validated using a simulated environment with varying flow conditions. Results demonstrate that the proposed energy-optimized A* algorithm achieves a significant reduction in energy consumption – up to 50% in tested scenarios – compared to a standard A* implementation, while successfully generating collision-free and dynamically feasible paths. This work contributes a practical and effective solution for energy-aware AUV navigation in dynamic underwater environments, enabling longer mission durations and improved operational efficiency.
Volume: 16
Issue: 2
Page: 753-765
Publish at: 2026-04-01

Architectural trade-offs: comparative analysis across K3s, serverless, and traditional server deployments

10.11591/ijece.v16i2.pp873-882
Prajwal P. , Naveen B. Teli , Nishal H. N. , Nimisha Dey , Pratiba Deenadhayalan , Ramakanth Kumar Pattar , Pavithra Hadagali , Skanda P. R.
In modern software architecture, combining serverless computing, microservices, and containers improves scalability, performance, observability, and resilience. However, choosing the right deployment strategy is crucial. Current individual deployment methods often limit productivity because of poor integration options. This study looks at three deployment approaches: Kubernetes cluster, AWS Lambda (serverless), and Traditional Java Server. We tested performance under different workloads using virtual machines and simulations. The results show that the K3s cluster provides high throughput and low latency because it manages resources directly. AWS Lambda’s pay-as-you-go model, along with its built-in cost optimization, works well for event-driven workloads. In contrast, Java Microservice is cost-effective but needs manual tuning to control latency and error rates. Bringing these scenarios together into a single service mesh architecture could help optimize costs, performance, and system resilience.
Volume: 16
Issue: 2
Page: 873-882
Publish at: 2026-04-01

An interpretable deep learning framework for early detection of depression using hybrid architectures

10.11591/ijece.v16i2.pp895-904
Chaithra Indavara Venkateshagowda , Roopashree Hejjajji Ranganathasharma , Yogeesh Ambalagere Chandrashekaraiah
Current techniques for detecting depression are labor-intensive and subjective, depending on clinical interviews or self-reports. There is a growing adoption of machine learning (ML) and natural language processing (NLP) to automatically identify depression in textual data. The lack of interpretability, which is essential for healthcare applications, is still a major obstacle, though. By combining convolution neural network (CNN) for feature extraction, bidirectional long short-term memory (BiLSTM) for capturing sequential dependencies, and transformer-based pre-trained language model (PTLM) for contextual understanding, this study offers an interpretable framework for early depression identification. Additionally, the system uses a novel interpretability method to guarantee transparent decision-making. The outcome of the proposed system is found to achieve 96.2% accuracy, 94.5% precision, 95.1% recall, and 94.8% F1-score, which is a significant improvement over current method. This framework acts as a useful tool for early mental health intervention.
Volume: 16
Issue: 2
Page: 895-904
Publish at: 2026-04-01

Intelligent systems, AI/ML, IoT, smart grids, robotics, healthcare, and emerging innovations

10.11591/ijece.v16i2.pp559-562
Tole Sutikno
This editorial discusses the latest trends and emerging ideas in electrical and computer engineering. It emphasises how intelligent systems, artificial intelligence and machine learning (AI/ML), the Internet of Things (IoT), smart grids, robotics, and healthcare technologies are transforming the field. The issue highlights the integration of data-driven intelligence, adaptive control, and real-time monitoring across various applications, including industrial automation, energy management, environmental monitoring, and personalised healthcare. Key themes encompass the development of AI/ML models for predictive analytics, IoT-enabled cyber-physical systems for autonomous decision-making, robotics for both human assistance and industrial operations, and smart grids aimed at achieving sustainable and resilient energy distribution. Furthermore, emerging innovations tackle challenges related to scalability, interpretability, energy efficiency, security, and the ethical deployment of intelligent technologies. By examining these interconnected domains, the editorial underscores the increasing interplay between computational intelligence, connected systems, and societal needs, while offering suggestions for future research directions and considering the potential impact of these technologies on global industries and human well-being.
Volume: 16
Issue: 2
Page: 559-562
Publish at: 2026-04-01

Identification of critical buses in the Sulbagsel electrical system network integrated with wind power plants

10.11591/ijece.v16i2.pp587-597
Andi Muhammad Ilyas , Agus Siswanto , Muhammad Natsir Rahman
The growing deployment of renewable energy has become increasingly important as conventional fossil-based generation faces sustainability and resource limitations. On Sulawesi Island, Indonesia, wind energy contributes to the regional grid through several wind power plants, whose fluctuating generation introduces operational concerns for system stability. This study investigates the stability performance of the Sulbagsel 78-bus network by pinpointing vulnerable buses and examining the effects of wind power variability. A hybrid stability index (HSI), which integrates multiple stability indicators, is applied to obtain a more robust assessment. The analysis shows that the entire system operates within a secure margin, with all index values remaining below the critical limit (<1). The most sensitive areas are located on the transmission paths connecting Bus 56 Sidera–Bus 57 Sidera 70 kV (0.02268), Bus 38 Bosowa–Bus 40 Pangkep (0.02220), and Bus 73 Powatu 150 kV–Bus 74 Powatu 70 kV (0.02187). In contrast, the Bus 24 Tanjung Bunga–Bus 25 Bontoala corridor demonstrates the strongest stability margin (0.00026). These results indicate that the variability of wind generation does not impose significant negative impacts on the overall stability of the Sulbagsel power system.
Volume: 16
Issue: 2
Page: 587-597
Publish at: 2026-04-01

Photovoltaic storage system enhancement-based supercapacitor control

10.11591/ijece.v16i2.pp629-637
Ahmed Mahmoud Soliman , Adel A. Elbaset , Ashraf Nasr Eldeen
This paper discusses the improvement of the storage system by getting a stable voltage, with a large inrush current for the battery. The battery system (BESS) is the most important component of a photovoltaic (PV) system. Its large size allows it to provide the desired high peak discharge currents and extend its lifespan. Our work focuses on control the integration of super capacitors (SC) with batteries in order to maximize the battery's power supply, reduce the ripples caused by light changes photovoltaic cells, improve the battery lifespan and supply the useful high peak power for a short periods of time for the big loads (like motors, trains, and big mechanisms,), Super capacitors (SCs) can do that since their internal architecture does not include chemical solutions, which will result in high power densities and higher charge and discharge currents, also lower energy densities. These lower energy densities will be compensated by a combination and integration with the battery, especially the lead-acid battery. Focusing on the lead acid due to drawbacks like short lifetime, low number of cycles. from that combination by switching the control circuit, it can increase the battery lifetime and remove the stress, especially in high current loads, reducing abnormal battery temperature, and ensuring a significant mass reduction of the energy storage system as all. Also, by supporting the SC with a buck boost converter control, keeping the voltage stable, preventing the PV voltage changing problems from the PV cell to any storage systems.
Volume: 16
Issue: 2
Page: 629-637
Publish at: 2026-04-01

The ethics of AI technology in academic work: assessing the line between assistance and plagiarism

10.11591/ijece.v16i2.pp924-944
Md. Owafeeuzzaman Patwary , Md. Reazul Islam , Abtahi Islam , Nur-e Sarjina Khan , Md. Abdullah Al–Jubair , Md. Jakir Hossen , M. F. Mridha
The integration of artificial intelligence (AI) into academia has transformed educational practices and enhanced personalized learning and problem-solving capabilities. However, this raises significant ethical concerns regarding the balance between legitimate assistance and plagiarism. This study investigated public perceptions of AI in academic settings, focusing on its impact on effectiveness, dependency, and ethical considerations of AI use. A survey of 498 respondents from various educational roles was conducted, and the data were analyzed using SPSS for descriptive statistics, chi-square tests, and regression analyses. The results identified a significant correlation between people’s educational roles and their interaction with AI tools (χ2(6) = 16.488, p = 0.036), reflecting the diverse patterns of interaction within the academic community. More frequent use of AI was linked to less dependency (β = −0.298, p < 0.001), contradicting the widespread belief of over-reliance on AI. Age and educational role had limited explanatory value in perception of AI dependency issues (R2 = 0.033). The findings indicate a strong correlation between AI usage frequency and dependency levels, with increased exposure to AI fostering a more critical approach rather than a dependent one. Concerns regarding the unethical use of AI, inaccuracies in AI-generated content, and the need for clear institutional policies were also highlighted. This study underscores the importance of responsible AI integration, advocating for ethical frameworks and educational interventions to ensure that AI enhances learning without compromising academic integrity.
Volume: 16
Issue: 2
Page: 924-944
Publish at: 2026-04-01
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