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30,376 Article Results

Design and implementation of QUADRESCUE: A ROS-based quadruped robot for disaster response support

10.11591/ijra.v14i3.pp387-398
Sanjay Deshmukh , Ojas Chanakya , Om Gabani , Kashish Patni , Asmita Deshmukh
Search and rescue (SAR) operations in hazardous environments demand robotic systems capable of traversing complex terrains while ensuring responder safety. Traditional wheeled platforms often fail in debris-laden areas, and fully autonomous quadrupeds remain financially out of reach for many rescue agencies. This paper presents the design and development of QUADRESCUE, a modular operator-assisted quadruped robot built to bridge the gap between affordability and capability in disaster response. QUADRESCUE delivers core SAR functionalities including remote visual inspection, real-time terrain mapping via an RGB-D camera, payload transport, and GPS-based survivor localization. Built with a robust three degrees of freedom (3DoF) per leg design, the robot uses inverse kinematics algorithms to precisely control twelve servo motors for stable locomotion across uneven terrain. The system integrates the robot operating system (ROS) for seamless operation, real-time joystick control for easy navigation, an IMU for orientation sensing, and a GPS module with 3-meter accuracy. Field evaluations demonstrate 80–94% success rates on challenging surfaces, substantially outperforming wheeled counterparts 19% to 39% with a 200-meter control range and 45 minutes of runtime. QUADRESCUE offers a lightweight, cost-effective, and repairable solution that combines practical usability with advanced performance, making it well-suited for real-world deployment in emergency rescue situations.
Volume: 14
Issue: 3
Page: 387-398
Publish at: 2025-12-01

A method integral sliding mode control to minimize chattering in sliding mode control of robot manipulator

10.11591/ijra.v14i3.pp345-355
Mai Hoang Nguyen , Truc Thi Kim Nguyen
This paper presents an improved sliding mode control (SMC) strategy for robotic manipulators by introducing a novel exponential integral-based adaptive gain law, referred to as integral sliding mode control (ISMC). The proposed approach dynamically adjusts the switching gain KKK in real-time, based on the accumulated system error, thereby effectively reducing chattering while preserving system robustness. Unlike many existing methods, the ISMC strategy eliminates the need for state observers or complex estimation techniques, simplifying implementation. Theoretical analysis is provided using Lyapunov stability theory, ensuring global convergence. Simulation results on 2-DOF and 3-DOF robotic arms demonstrate superior tracking accuracy and smoother control signals compared to conventional SMC approaches. This work contributes a lightweight yet effective SMC enhancement with practical benefits for real-world robotic applications.
Volume: 14
Issue: 3
Page: 345-355
Publish at: 2025-12-01

Enhancing cross-site scripting attack detection by using FastText as word embeddings and long-short term memory

10.11591/ijai.v14.i6.pp4923-4932
Muhammad Alkhairi Mashuri , Nico Surantha
Cross-site scripting (XSS) is one of the dangerous cyber-attacks and the number of attacks continues to increase. This study takes a new approach to detect attacks by utilizing FastText as word embedding, and long-short term memory (LSTM), which aims to improve the performance of deep learning. This method is proposed to capture the broader meaning and context of the data used, leading to better feature extraction and model performance. This study not only improves the detection of XSS attacks, but also highlights the potential for better text processing techniques. The results obtained showing this method achieves higher results than other methods, with an accuracy of 99.89%.
Volume: 14
Issue: 6
Page: 4923-4932
Publish at: 2025-12-01

Humanoid robot balance control system during backward walking using linear quadratic regulator

10.11591/ijra.v14i3.pp320-330
Muhammad Arsyi , Andi Dharmawan , Bakhtiar Alldino Ardi Sumbodo , Muhammad Auzan , Jazi Eko Istiyanto , Oskar Natan
Humanoid robots are designed to replicate human activities, including tasks in hazardous environments. However, maintaining balance during backward walking remains a significant challenge due to center of mass (CoM) shifts beyond the support polygon and limited knee joint motion. This study proposes a control strategy that integrates a linear quadratic regulator (LQR) with optimized walking patterns to enhance dynamic stability. The approach combines LQR-based control with CoM trajectory planning to ensure safe and stable backward walking. The methodology includes inverse kinematics for generating walking patterns and the use of Inertial Measurement Unit (IMU) sensors to estimate the CoM trajectory. LQR parameters were tuned through simulation to improve responsiveness to disturbances. Evaluation metrics focused on CoM deviation, rise time, settling time, and overshoot. Experimental results demonstrate that the proposed LQR system effectively maintains the CoM within 5% of the support polygon boundary. The system achieved rise times under one second and settling times below two seconds, while minimizing pitch and roll overshoots. Compared to proportional control, the proposed method significantly improves stability and reduces the risk of falling. This research advances control strategies for humanoid robots, contributing to improved mobility and operational safety. Moreover, it supports Sustainable Development Goal (SDG) 9 by promoting innovation in intelligent robotic systems that can assist in complex or high-risk environments.
Volume: 14
Issue: 3
Page: 320-330
Publish at: 2025-12-01

Analysis and implementation of computation offloading in fog architecture

10.11591/ijra.v14i3.pp479-492
Prince Gupta , Rajeev Sharma , Sachi Gupta , Adesh Kumar
The fast expansion of connected devices has led to an unparalleled increase in data across sectors like industrial automation, social media, environmental monitoring, and life sciences. The processing of this data presents difficulties owing to its magnitude, temporal urgency, and security stipulations. Computation offloading has arisen as a viable alternative, allowing resource-constrained devices to assign demanding work to more robust platforms, thus improving responsiveness and efficiency. This paper examines decision-making strategies for computing offloading by assessing various algorithms, including a deep neural network with deep reinforcement learning (DNN-DRL), coordinate descent (baseline), AdaBoost, and K-nearest neighbor (KNN). The performance evaluation centers on three primary metrics: system accuracy, training duration, and latency. The computation offloading mitigates these issues by transferring intricate workloads from resource-limited devices to more proficient platforms, thus enhancing efficiency and responsiveness. The evaluation examines accuracy, training duration, and latency as key parameters. The results indicate that KNN attains maximum accuracy and minimal latency, AdaBoost provides a robust balance despite increased training costs, and the baseline underperforms in both efficiency and responsiveness. These findings underscore the trade-offs between computational expense, precision, and real-time application, providing insights for forthcoming IoT and edge-computing systems.
Volume: 14
Issue: 3
Page: 479-492
Publish at: 2025-12-01

A review on long short-term memory combination development

10.11591/ijai.v14.i6.pp4427-4441
Ahmad Riyadi , Nur Rokhman , Lukman Heryawan
Long short-term memory (LSTM) has continued to develop since it was proposed in 1997. LSTM has optimized solutions to various problems. The LSTM cell, architecture, and memory model have been reviewed. A review of LSTM implementation has been carried out in various problem domains. There are combinations of LSTM with other methods to optimize solutions. However, there is no review on the development of LSTM combination (LC). This research reviews the development of the LC model on nine research questions, namely: development framework, data, preprocessing, learning process, tasks, optimization and evaluation, domain problems, trends, and challenges. The results show that the LC model is increasingly widespread in solving problems. The LC model has completed 26 types of tasks. Prediction, detection, forecasting, classification, and recognition are the most frequently performed tasks. LC model development trends show that LSTM is increasingly collaborative with other methods on a wider scope. The challenges identified include research areas, data, model developments, the area of implementation, performance, and efficiency.
Volume: 14
Issue: 6
Page: 4427-4441
Publish at: 2025-12-01

FIND-ROUTE: Fourier series integrated deep learning model for energy efficient routing in Internet of Things-wireless sensor network

10.11591/ijra.v14i3.pp468-478
Shobanbabu Ramaswamy Jaganathan , Sathya Rajendran , Karthikeyan Ramamoorthy
The Internet of Things (IoT) relies on wireless sensor networks (WSNs) to transmit data across a wide range of applications. However, the commonly encountered primary challenges in IoT-enabled WSNs are high energy consumption during data transmission, which insists energy optimized routing to prolong the network lifetime. To address these challenges, a novel Fourier series integrated deep learning-based routing (FIND-ROUTE) framework has been proposed for energy-aware communication among IoT nodes in WSN. Initially, a hybrid clustering approach forms an adaptive cluster for efficient data aggregation with reduced energy consumption. After clustering, stable cluster heads (CHs) are elected by a Fourier series-based metaheuristic optimization algorithm for balancing the energy usage with extended network lifetime. Finally, an Intelligent neural network dynamically selects the optimal path and transmits the data efficiently with reduced latency for reliable communication in IoT-WSN. The FIND-ROUTE framework is simulated by using MATLAB, and it is validated by using the WSN-DS dataset. The proposed FIND-ROUTE framework is evaluated based on several parameters, including energy consumption, packet delivery ratio (PDR), network lifetime (NL), time complexity, throughput, number of alive nodes, packet loss ratio (PLR), and space complexity. In comparison, the proposed FIND-ROUTE framework achieves a PDR of 90%, whereas MLBDARP, LQEER, and NBSHO-DRNN achieve 70%, 60%, and 67% respectively.
Volume: 14
Issue: 3
Page: 468-478
Publish at: 2025-12-01

Optimal battery sizing using modified spider monkey optimization in grid connected microgrids

10.11591/ijra.v14i3.pp356-365
Meraj Fatima , Manne Rama Subbamma
Microgrids (MGs) must have optimally sized storage and renewable energy sources to operate efficiently, economically, and reliably. MG may benefit from optimization techniques in their scheduling and sizing since they have a variety of energy sources with varying availability conditions and necessary costs. In this research, a novel modified spider monkey-based energy management system (MSM-EMS) has been proposed by increasing the photovoltaic (PV) or battery energy storage system (BESS) module capacity while minimizing grid connectivity dependency. The fundamental idea behind the proposed approach is greater dependability at the lowest feasible cost. By taking into account the BESS utilization factor and PV forced outage rates in a MG, the method becomes more realistic. Despite the absence of renewable energy sources and the grid, the proposed strategy provided critical loads according to schedule while maintaining reserve margins. Experimental findings demonstrate that the modified spider monkey optimization (MSMO)-based algorithm can determine the best BESS size and PV depending on cost. In comparison to particle swarm optimization (PSO) of $2756.1 and ABC of $2912.65, the ideal cost for EMS-MSMO is $2215.77 which is relatively low compared to the existing technique. As a result, the suggested MSMO algorithm and innovative energy management system has been optimized along with PV and battery dimensions.
Volume: 14
Issue: 3
Page: 356-365
Publish at: 2025-12-01

Forecasting business exceptions in robotic process automation with machine learning

10.11591/ijra.v14i3.pp450-458
Igor Saez , Sara Segura , Mónica Gago
Business exceptions interrupt robotic process automation (RPA) workflows and oblige costly human intervention. This paper explores the application of machine learning (ML) time series forecasting techniques to predict business exceptions in RPA. Using RPA robot logs from a financial service company, we employ ARIMA, SARIMAX, and Prophet statistical models, comparing their performance with ML models such as XGBoost and LightGBM. Furthermore, we explore hybrid approaches that combine the strengths of statistical models with ML techniques, specifically integrating Prophet with XGBoost and LightGBM. Our findings reveal that a hybrid LightGBM model substantially outperforms traditional methods, achieving a 40% reduction in the weighted absolute percentage error (WAPE) when compared to the top-performing statistical model. These results suggest the potential of ML forecasting in optimizing RPA operations through the analysis of log-generated data.
Volume: 14
Issue: 3
Page: 450-458
Publish at: 2025-12-01

AI-driven creativity in software development using services information

10.11591/ijai.v14.i6.pp4474-4483
Faisal Fahmi , Feng-Jian Wang , Hema Subramaniam
In competitive markets, organizations that do not innovate risk becoming outdated. At it is core, innovation depends on creativity, with creative outcomes typically characterized by novelty, usefulness, and surprisingness. In software development, creative solutions are often generated through brainstorming sessions. However, brainstorming is constrained by the knowledge of the participant and facilitator. In this paper, we present an artificial intelligence (AI)-based method to generate creative solutions in software by leveraging service information. The presented method includes two phases, where the first phase involves constructing creativity resources through text clustering (TF-IDF, K-medoid) and capability extraction (dependency parsing), and the second phase employs semantic similarity along with structured creativity techniques (exploration, transformation, and combination) to generate creative solutions in software. Besides, experimental results showed that the AI-based method achieved comparable creativity scores to traditional brainstorming with more limited time, demonstrating fast and strong performance in generating novel and useful solutions, although participants perceived some results as less surprising due to overlap with brainstorming outcomes.
Volume: 14
Issue: 6
Page: 4474-4483
Publish at: 2025-12-01

Edge-aware distilled segmentation with pseudo-label refinement for autonomous driving perception

10.11591/ijra.v14i3.pp376-386
Novelio Putra Indarto , Oskar Natan , Andi Dharmawan
Achieving precise semantic segmentation is essential for enabling real-time perception in autonomous systems, yet leading approaches typically require substantial annotated data and powerful hardware, restricting their use on devices with limited resources. This work introduces an efficient segmentation framework that integrates pseudo-label refinement, knowledge distillation, and entropy-based confidence filtering to train compact student networks suitable for edge deployment. High-quality pseudo-labels are first produced by a robust teacher network, then further improved using a dense conditional random field to boost spatial consistency. An entropy-based selection mechanism removes unreliable predictions, ensuring that only the most trustworthy labels guide the student model's training. The use of knowledge distillation effectively transfers detailed semantic understanding from the teacher to the student, enhancing accuracy without added computational overhead. Experimental results with multiple EfficientNet backbones reveal that this pipeline improves segmentation accuracy and output clarity, while also supporting real-time or near real-time inference on CPUs with limited processing power. Extensive ablation and qualitative studies further confirm the method's robustness and flexibility for real-world edge applications.
Volume: 14
Issue: 3
Page: 376-386
Publish at: 2025-12-01

Enhancing waste management through municipal solid waste classification: a convolutional neural network approach

10.11591/ijai.v14.i6.pp4775-4786
Md. Tarequzzaman , Mojahidul Alom Akash , Zakir Hossain Nayon , Md. Sabbir Reza , Shajjadul Haque
The escalation of population, economic expansion, and industrialization has resulted in an increase in waste production. This has made waste management more challenging and has resulted in environmental deterioration, negatively impacting the quality of life. Recycling, reducing, and reusing are viable methods to eradicate the escalating waste issue, requiring the appropriate classification of municipal solid waste. This study focuses on comparing six advanced waste classification systems that employ a pre-trained convolutional neural network (CNN) designed to recognize twelve distinct categories of municipal waste. It has been determined that DarkNet53 is the most effective classifier among these six models. To assess the effectiveness of each waste classifier, the confusion matrix, precision, recall, F1 score, the area under the receiver operating characteristic curve, and the loss function are examined. It has been found that DarkNet53 has an F1 score of 98.7% and validation accuracy of 99%, respectively. The suggested approach will be useful in promoting garbage recovery and reuse in the direction of a circular and sustainable economy.
Volume: 14
Issue: 6
Page: 4775-4786
Publish at: 2025-12-01

Effect on saturated and unsaturated fatty acids on various vegetable oils on droplet combustion characteristic

10.11591/ijape.v14.i4.pp980-987
Dony Perdana , Muhamad Nur Rohman , Mochamad Choifin
Vegetable oils have composed of triglycerides, which one consist of 3 fatty acids combined with glycerol. Each saturated and unsaturated fatty acid has a different effect on burning characteristics. This study aimed to investigated effect of fatty acids at ceiba pentandra and jatropha oils on the flame behavior of the droplet combustion process. The combustion characteristic was observed by an ignited droplet at the junction using a thermocouple and a high-speed camera (120 fps). Results showed that a higher saturated fatty acid content resulted in long-life and steady flames. This is because more oleic and linoleic acid carbon atoms leave the droplet area and react with air. Jatropha oil produces a higher temperature of 780 °C than ceiba pentandra oil. Temperature of a vegetable oils flame is influenced by number of carbon chains, double bond, and heating value. Ceiba pentandra oil has a higher burning rate of 0.185 mm/s than jatropha oil at 0.155 mm/s. The chain content of polyunsaturated fatty acids has significant effect on rate of combustion, which is due to the weak van der Waals dispersion forces, such that heat absorption is more active and energetic. The highest flame height for ceiba pentandra oil is 55.03 mm compared to for jatropha oil it is 46.82 mm. Long-chain unsaturated double bonds and glycerol cause micro-explosions. This micro-explosion caused the shape of the flame to split and expand so that evaporation occurred faster, thus increasing the size of the flame.
Volume: 14
Issue: 4
Page: 980-987
Publish at: 2025-12-01

Greywater treatment system based on fuzzy logic control

10.11591/ijai.v14.i6.pp4643-4651
I Putu Eka Widya Pratama , Muhammad Rasyid Ridha , Anis Mahmuda Chafsah , Akhmad Ibnu Hija , Siti Nur Azella Zaine
Greywater from households and public facilities represents a major source of untreated wastewater, carrying high microbial loads and variable chemical composition that threaten environmental and public health. Conventional treatment systems often lack adaptive control mechanisms capable of handling the dynamic fluctuations of greywater quality. This study presents the design and validation of an intelligent greywater treatment system that integrates real–time sensing with a Sugeno fuzzy logic controller to regulate pump and solenoid valve operation. The system continuously monitors pH, total dissolved solids (TDS), dissolved oxygen (DO), and ammonia (NH3), and dynamically adjusts treatment cycles based on sensor feedback. Experimental deployment demonstrated significant improvements in effluent quality, with pH reduced from 9.04 to 8.08, TDS from 611.04 ppm to 393.96 ppm, and NH₃ from 0.52 ppm to 0.19 ppm, while DO increase from 2.52 mg/L to 6.07 mg/L. These results confirm that fuzzy logic–based control enhances system responsiveness and ensures effluent compliance under variable influent conditions. The proposed framework provides a scalable, cost-effective solution for decentralized wastewater management, advancing the development of intelligent treatment technologies for sustainable urban water systems.
Volume: 14
Issue: 6
Page: 4643-4651
Publish at: 2025-12-01

Computer vision syndrome prevention: detection of expression and eye distance with monitor screens

10.11591/ijai.v14.i6.pp4533-4540
Aufaclav Zatu Kusuma Frisky , Elang Arkanaufa Azrien , Raden Sumiharto , Sri Hartati
Computer vision syndrome (CVS) is a vision-related complaint caused by computer usage. CVS can be analyzed through facial expressions detected by a camera. Expression detection is categorized into two groups: safe and dangerous. The safe category comprises happy, neutral, disgusted, sad, angry, and surprised, while the dangerous category includes sad and fearful emotions. This division is based on the similarity of CVS symptoms to facial emotion characteristics. Additionally, an additional feature is implemented to detect the distance between the screen and the user's eyes using the FaceMeshModule to prevent the user's eyes from getting too close to the screen. Both detections will provide warning notifications when a dangerous category expression is detected ≥70% every minute, and when the distance between the screen and the eyes is ≤40 cm. Notifications in this program use the Tkinter library as a graphical user interface (GUI) message box. In this research, facial expressions are detected using the CascadeClassifier for face detection and the extreme inception (Xception) as the facial expression classifier. The results of expression detection achieved an accuracy of 94%, an F1-score of 94%, precision of 95%, and recall of 94%.
Volume: 14
Issue: 6
Page: 4533-4540
Publish at: 2025-12-01
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