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30,185 Article Results

A novel circulant matrix-based McEliece framework for secure digital communication

10.11591/ijaas.v15.i1.pp293-302
Ravikumar Inakoti , James Stephen Meka , Padala Venkata Gopala Durga Prasad Reddy
McEliece cryptosystem is old and well-explored post-quantum cryptography system that offers superior security against quantum attacks. Though the system holds great potential and superior security, the challenge associated with large key sizes has made system impractical for most applications. The first challenge against McEliece cryptosystem remains its large key sizes, which make system impractical, especially when implementing internet of things (IoT) and mobile communication applications. Overcoming challenges and retaining superior security still remains an issue to explore. This paper presents investigation into use of circulant matrices for McEliece encryption system to achieve a considerable reduction in key sizes and enhance fast encryption processes. The use of circulant matrices’ inherent properties boosts performance without focusing much on system’s security. In addition, the paper presents security evaluation process for modified communication system to determine and mitigate weaknesses that might arise, considering use of sophisticated encryption systems. Findings and results explore use of circulant matrices, which achieve great reductions in key sizes and improve efficiency of process. Security evaluation reports that proper scrambling techniques are efficient at mending the vulnerabilities associated with circulant matrix structures. A modified McEliece cryptosystem using circulant matrices offers superior data communication, balancing both strong security and efficient computational processes, making system ideal for use in recent communication systems.
Volume: 15
Issue: 1
Page: 293-302
Publish at: 2026-03-01

Analysis of railway accidents in Nigeria: a decade of insights

10.11591/ijaas.v15.i1.pp19-28
Aliyu Mani Umar , Mohd Khairul Afzan Mohd Lazi , Sitti Asmah Hassan , Hanini Ilyana Che Hashim , Yinggui Zhang , Nura Shehu Aliyu Yaro , Adam Ado Sabari , Surajo Abubakar Wada
This study provides insights into the patterns and dynamics of railway accidents in Nigeria over the past decade. Findings indicate that Nigeria's rail network experiences fewer but more severe accidents than the United States of America (USA) and United Kingdom (UK), with significantly higher fatalities and injuries per million train kilometers 92% and up to 95% more, respectively, in 2023. A top-down approach was employed to establish a risk tree, revealing six railway accident categories recorded over the last decade. The established risk tree could provide a framework for conducting the rail network's comprehensive safety risk assessment. Finally, a root cause analysis of railway intrusion accidents, the most occurring railway accident category in the Nigerian rail network, was conducted. Six immediate and eleven underlying causes (UC) of railway intrusion accidents were identified. About 62% of all intrusion accidents were caused by negligence of road users. Several actionable preventive measures (PM) have been proposed for each identified UC based on best practices in developed rail networks. Infrastructure upgrades and safety awareness campaigns have been identified as the potentially most effective PM for railway intrusion accidents in Nigeria.
Volume: 15
Issue: 1
Page: 19-28
Publish at: 2026-03-01

Adaptive sugarcane monitoring in Mojokerto using a hybrid powered IoT multi-sensor system and machine learning

10.11591/ijaas.v15.i1.pp384-395
Sekar Sari , Oktavia Citra Resmi Rachmawati , Tole Sutikno
This study develops a hybrid-powered IoT multi-sensor system integrated with machine learning for sugarcane monitoring in Mojokerto. Four sensors—soil moisture, pH, LM35 temperature, and LDR light—are connected to an Arduino UNO R4 WiFi microcontroller. A hybrid power supply (mains electricity and solar panels) and dual data storage (real-time transmission to Google Sheets and local SD backup) ensure resilience and reliability under field conditions. Sensor data are normalized and smoothed prior to analysis using K-Means clustering to map environmental states and a Random Forest classifier to predict crop health. Field validation demonstrates soil moisture as the most influential parameter, followed by temperature, pH, and light intensity. The Random Forest model achieved 93.01% accuracy, 93.88% precision, 99.02% recall, and a 96.38% F1-score on held-out data. By combining hybrid power, multi-sensor integration, dual storage, and machine learning, the system provides robust, data-informed monitoring that supports timely irrigation and management decisions in sugarcane cultivation.
Volume: 15
Issue: 1
Page: 384-395
Publish at: 2026-03-01

Integrating swarm intelligence with CMIP climate models for ecocritical environmental analysis

10.11591/ijaas.v15.i1.pp168-177
Pavithra R. , S. Mahadevan
This research establishes a cohesive swarm intelligence framework used for climate simulations derived from the coupled model intercomparison project phase 6 (CMIP6), obtained from the earth system grid federation (ESGF). The study examines essential environmental variables such as near-surface air temperature (tas), sea-level pressure (psl), precipitation (pr), surface shortwave radiation (rsds), and longwave radiation (rlds). The system specifically evaluates a global mean surface temperature rise of 1.72 °C, a psl range of 980-1,030 hPa, pr anomalies averaging ±1.3 mm/day, rsds values fluctuating between 140-280 W/m², and rlds values reaching a maximum of 350 W/m² for high-emission shared socioeconomic pathways (SSP)5-8.5 scenarios. The characteristics served as inputs for decentralized particle swarm architecture aimed at identifying ecological stress signs via geographic anomaly divergence, entropy deviation, and signal intensity thresholds. The model simulated swarm behavior across temporal CMIP grids, effectively capturing changes in climatic feedback and highlighting areas of ecological instability. The swarm framework dynamically analyzes pattern-based fluctuations in model output, facilitating ecocritical evaluation of environmental risk. This hybrid method integrates physically based climate data with adaptive artificial intelligence (AI) modeling, providing an ecologically contextual understanding of earth system changes and improving predictive insights for sustainability and policy formulation.
Volume: 15
Issue: 1
Page: 168-177
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

A comparative look at how emerging technologies evolve to managing otitis media

10.11591/ijra.v15i1.pp162-170
Divya Pandey , Monisha Awasthi , Dharmendra Kumar , Deepak Kumar Pant , Ankur Goel
Otitis media (OM) is an epidemic of middle ear infection in tens of millions of patients across the globe, most vulnerable of whom are children, with hearing loss and other negative consequences unless treated. Conventional diagnosis and treatment are marred by failure to diagnose, service shortage, and delayed diagnosis. This present paper is directed towards a comparative outlook of the newly emerging technologies, such as artificial intelligence (AI), machine learning, telemedicine, and wearable biosensors, that are revolutionizing the management of OM. We emphasize the way such devices enhance diagnostic accuracy, facilitate remote and real-time monitoring, and provide tailored treatment schemes. Our approach is more sophisticated compared to the currently available state-of-the-art methods reported in the literature based on real-time telemedicine systems, multimodal data fusion, and interpretable AI. Privacy issues of information, model generalizability issues, and technological adoption barriers are also discussed. The results also substantiate that adoption of these advanced devices can effectively reduce OM's burden globally and improve patient outcomes.
Volume: 15
Issue: 1
Page: 162-170
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

Real-time low-drift global optimization for dynamic scene LiDAR SLAM localization

10.11591/ijra.v15i1.pp1-20
Peiyan Yang , Jiuyang Yu , Pan Liu , Wenfeng Xia , Yaonan Dai
To address challenges like global drift, unstable matching, and high computational cost in light detection and ranging simultaneous localization and mapping (LiDAR SLAM) under complex conditions, this paper proposes an improved algorithm based on the LeGO-LOAM framework. A Newton-optimized normal distributions transform (NDT) is integrated to improve point cloud registration by constructing a negative log-likelihood objective and optimizing pose estimation. Using initial pose information from LeGO-LOAM accelerates convergence and enhances system robustness. This work addresses the problem of insufficient adaptability of existing algorithms in real scenarios. By deploying an independently designed four-wheel omnidirectional mobile robot platform, a hybrid LiDAR SLAM framework is used for precise positioning and map construction in complex campus environments, successfully reducing the positioning error to the centimeter level. Experiments on the KITTI dataset show a 43.51% reduction in maximum localization error and a 30.83% decrease in average error. Field tests in real-world campus environments with pedestrians, bicycles, and vehicles demonstrate strong reliability, adaptability, and resistance to interference. Horizontal error was reduced by about 58.26%, lowering the average error from 4.60 m to 1.92 m. Although computational load increases, it is offset by using high-performance LiDAR and processors. The enhanced accuracy and drift reduction significantly outperform traditional methods. At critical time points such as 50 seconds and 100 seconds, the system achieved high-precision pose estimation and accurate environmental reconstruction.
Volume: 15
Issue: 1
Page: 1-20
Publish at: 2026-03-01

Autonomous reconstruction of strip-shredded documents via self-supervised deep learning and global optimization

10.11591/ijra.v15i1.pp107-121
Yi-Chang Wu , Pei-Shan Chiang , Yao-Cheng Liu
Autonomous reconstruction of mechanically shredded documents is a labor-intensive challenge in forensic and archival workflows, particularly for scripts with complex structures such as Simplified Chinese. While traditional manual reassembly is tedious, existing digital tools typically rely on extensive human intervention. This paper presents an automated reassembly framework that integrates a lightweight convolutional feature extractor with global combinatorial optimization. By adapting the established SqueezeNet v1.1 backbone, we employ a task-specific self-supervised learning strategy trained on synthetically shredded samples, enabling the adapted model to capture local stroke continuity and edge-geometry cues without manual annotation. The framework infers pairwise relationships from calibrated edge-region inputs, organizing compatibility scores into an asymmetric traveling salesman problem (ATSP) formulation. The optimal fragment sequence is solved deterministically using the Concorde TSP solver, yielding a globally consistent reconstruction. Experimental results on physically shredded documents demonstrate reconstruction accuracies of 86.5% for Simplified Chinese and 94.8% for Western scripts. These results indicate that the proposed pipeline effectively generalizes from synthetic training data to real-world scenarios, providing a practical, high-throughput foundation for automated document recovery under computational constraints typical of robotic or embedded systems.
Volume: 15
Issue: 1
Page: 107-121
Publish at: 2026-03-01

System design for hydrogen gas detection with intelligent embedded communication and Internet of Things integration

10.11591/ijra.v15i1.pp222-233
Shyam Kumar Menon , Adesh Kumar , Surajit Mondal
The design and analysis of an embedded hydrogen gas detection system embody a complex engineering challenge that integrates sensor technology, embedded system design, and safety engineering. The fast advancement of microcontrollers, energy-efficient electronics, and sophisticated sensing algorithms is facilitating the creation of compact, efficient, and dependable hydrogen detection solutions. The research case article focuses on the hardware system design of Hydrogen gas detection. The hydrogen gas detection system includes an MQ8 sensor for gas sensing, a Raspberry Pi-4 as the main controller, Zigbee for wireless communication, a 16×2 liquid crystal display (LCD) for display, a light emitting diode (LED), and a buzzer for alerts, along with supporting circuitry for signal processing. The gas concentration is monitored and verified through the Thingspeak.com Internet of Things platform, which enables wireless data transmission. The designed system is verified based on environmental factors such as temperature and humidity for comprehensive analysis. The system response was analyzed and tested under different threshold conditions, including 300 ppm and 1000 ppm.
Volume: 15
Issue: 1
Page: 222-233
Publish at: 2026-03-01

Remote procedure call communication and control of autonomous mobile robot for indoor smart waste monitoring

10.11591/ijra.v15i1.pp89-98
Ashaari Yusof , Abdullah Man , Azmi Ibrahim , Mohamed Ashraf Husni Zai , Md. Jakir Hossen
The integration of autonomous mobile robots (AMRs) and Internet of Things (IoT) technology has revolutionized various industries, including smart waste management (SWM). In this paper, the implementation of a customized remote procedure call (RPC) methodology was successfully demonstrated. This methodology facilitated control and monitoring of AMRs for smart indoor waste management to collect and dispose waste, monitor bin threshold levels and report relevant parameters to a cloud-based platform. Key operational parameters from the AMR and the smart bins via assembled user smart dashboard ensures seamless user monitoring for indoor waste management. Our findings underscore the relevance of RPC in advancing smart waste management technologies, contributing to operational efficiency and sustainability.
Volume: 15
Issue: 1
Page: 89-98
Publish at: 2026-03-01

EdgeRetina: Hybrid multimedia architecture for diabetic retinopathy screening on low-cost mobiles

10.11591/ijra.v15i1.pp234-246
Guidoum Amina , Achour Soltana , Maamar Bougherara , Amara Rafik , Mhamed Tayeb
Diabetic retinopathy (DR) is a major cause of preventable blindness, particularly in areas with limited medical resources where access to ophthalmologists is critical. Existing automated solutions struggle to balance clinical performance, cost-effectiveness, and robustness in the face of fundus image variability—including lighting differences, artifacts, and uneven capture quality. To address this challenge, we propose EdgeRetina, an integrated solution for diabetic retinopathy screening on low-cost mobiles. Our approach combines lightweight preprocessing (128×128 resizing, intensity normalization, and targeted augmentations simulating real-world conditions) with a hybrid SqueezeNet-MobileViT architecture (1.4 million parameters), optimized by dynamic threshold calibration (median: 0.3), maximizing clinical utility. Clinically calibrated INT8 quantization reduces the model to 8.27 MB (-92%) without altering diagnostic performance (sensitivity of 90.7% for referable diabetic retinopathies), while preserving compatibility with floating point 32 (FP32)-based gradient-weighted class activation mapping (Grad-CAM) visualizations. Evaluated on the APTOS 2019 dataset, this solution achieves an AUC of 0.96 with a latency (inference time) of 15.43 ms, reducing CPU consumption by 43% compared to FP32. The dynamic threshold/INT8 coupling decreases false positives by 71.4%. This pipeline thus enables accurate, accessible, and early screening of diabetic retinopathy on low-cost mobile devices, combining operational efficiency and diagnostic reliability in constrained environments, which is crucial to prevent avoidable blindness.
Volume: 15
Issue: 1
Page: 234-246
Publish at: 2026-03-01

Cascading automata to improve efficiency of large language models agents with GraphRAG for error analysis

10.11591/ijra.v15i1.pp149-161
Hrishikesh K. Haritas , Vineet H. Sadarangani , Ganeshayya Ishwarayya Shidaganti , Darshan Bankapure , Rahul K. Vishal , Shreya Vijayasimha
Robotic process automation (RPA) has been deployed in a plethora of industries, including the banking and insurance sectors. However, the key challenge of handling unexpected situations manifests either as an inadequacy of programming (since all situations cannot possibly be foreseen) or incongruous inputs. In parallel, deep learning models, including large language models (LLMs) and visual language models (VLMs), have shown human-like cognitive capabilities in real-world tasks, germinating the field of agentic LLMs. However, their computational expense, slow inference times, and massive energy consumption impede large-scale usage. We propose a framework that combines the two approaches to enable expedient invocation of LLMs for handling exceptions and supervising RPA bots. It aims to minimize the need for human supervision by “meta” automation, while also reducing energy usage and processing time. The automation workflow is presented as a graph, and our pipeline uses the GraphRAG framework to analyze and fix errors. We demonstrate the potential of our pipeline through two real-world examples in the banking and insurance sectors, provide our GitHub repository for reproducibility, and conclude with future research directions.
Volume: 15
Issue: 1
Page: 149-161
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
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