Nien-Tsu Hu^1,*, Hsiang-Tung Kao¹, Chin-Sheng Chen¹, Shih-Hao Chang²

CMC-Computers, Materials & Continua, Vol.87, No.1, 2026, DOI:10.32604/cmc.2025.074993 - 10 February 2026

Abstract Trajectory tracking for nonlinear robotic systems remains a fundamental yet challenging problem in control engineering, particularly when both precision and efficiency must be ensured. Conventional control methods are often effective for stabilization but may not directly optimize long-term performance. To address this limitation, this study develops an integrated framework that combines optimal control principles with reinforcement learning for a single-link robotic manipulator. The proposed scheme adopts an actor–critic structure, where the critic network approximates the value function associated with the Hamilton–Jacobi–Bellman equation, and the actor network generates near-optimal control signals in real time. This dual… More >

Noura Mohammed Alaskar¹, Muzammil Hussain², Saif Jasim Almheiri¹, Atta-ur-Rahman³, Adnan Khan^4,5,6, Khan M. Adnan^7,*

CMC-Computers, Materials & Continua, Vol.87, No.1, 2026, DOI:10.32604/cmc.2025.074041 - 10 February 2026

Abstract The increasing number of interconnected devices and the incorporation of smart technology into contemporary healthcare systems have significantly raised the attack surface of cyber threats. The early detection of threats is both necessary and complex, yet these interconnected healthcare settings generate enormous amounts of heterogeneous data. Traditional Intrusion Detection Systems (IDS), which are generally centralized and machine learning-based, often fail to address the rapidly changing nature of cyberattacks and are challenged by ethical concerns related to patient data privacy. Moreover, traditional AI-driven IDS usually face challenges in handling large-scale, heterogeneous healthcare data while ensuring data… More >

Shao-Qiang Ye^*, Azlan Mohd Zain, Yusliza Yusoff

CMC-Computers, Materials & Continua, Vol.87, No.1, 2026, DOI:10.32604/cmc.2025.073411 - 10 February 2026

Abstract Engineering optimization problems are often characterized by high dimensionality, constraints, and complex, multimodal landscapes. Traditional deterministic methods frequently struggle under such conditions, prompting increased interest in swarm intelligence algorithms. Among these, the Cuckoo Search (CS) algorithm stands out for its promising global search capabilities. However, it often suffers from premature convergence when tackling complex problems. To address this limitation, this paper proposes a Grouped Dynamic Adaptive CS (GDACS) algorithm. The enhancements incorporated into GDACS can be summarized into two key aspects. Firstly, a chaotic map is employed to generate initial solutions, leveraging the inherent randomness… More >

Chih-Chieh Chang^*, Khairul Izyan Bin Anuar, Yu-Hwa Liu

CMC-Computers, Materials & Continua, Vol.87, No.1, 2026, DOI:10.32604/cmc.2025.073177 - 10 February 2026

Abstract Small datasets are often challenging due to their limited sample size. This research introduces a novel solution to these problems: average linkage virtual sample generation (ALVSG). ALVSG leverages the underlying data structure to create virtual samples, which can be used to augment the original dataset. The ALVSG process consists of two steps. First, an average-linkage clustering technique is applied to the dataset to create a dendrogram. The dendrogram represents the hierarchical structure of the dataset, with each merging operation regarded as a linkage. Next, the linkages are combined into an average-based dataset, which serves as… More >

Cosmin Dumitru, Emanuel Pantelimon, Alexandru Guzu, Georgian Nicolae^*

CMC-Computers, Materials & Continua, Vol.87, No.1, 2026, DOI:10.32604/cmc.2025.072749 - 10 February 2026

Abstract Unmanned aerial vehicles (UAVs), especially quadcopters, have become indispensable in numerous industrial and scientific applications due to their flexibility, low cost, and capability to operate in dynamic environments. This paper presents a complete design and implementation of a compact autonomous quadcopter capable of trajectory tracking, object detection, precision landing, and real-time telemetry via long-range communication protocols. The system integrates an onboard flight controller running real-time sensor fusion algorithms, a vision-based detection system on a companion single-board computer, and a telemetry unit using Long Range (LoRa) communication. Extensive flight tests were conducted to validate the system’s More >

Sangeeta Mittal¹, Chetna Gupta¹, Varun Gupta^2,3,*

CMC-Computers, Materials & Continua, Vol.87, No.1, 2026, DOI:10.32604/cmc.2025.071599 - 10 February 2026

Abstract This survey presents a comprehensive examination of sensor fusion research spanning four decades, tracing the methodological evolution, application domains, and alignment with classical hierarchical models. Building on this long-term trajectory, the foundational approaches such as probabilistic inference, early neural networks, rule-based methods, and feature-level fusion established the principles of uncertainty handling and multi-sensor integration in the 1990s. The fusion methods of 2000s marked the consolidation of these ideas through advanced Kalman and particle filtering, Bayesian–Dempster–Shafer hybrids, distributed consensus algorithms, and machine learning ensembles for more robust and domain-specific implementations. From 2011 to 2020, the widespread… More >

Mohammed Al-Mahbashi^1,2,*, Ali Ahmed³, Abdolraheem Khader^4,*, Shakeel Ahmad³, Mohamed A. Damos⁵, Ahmed Abdu⁶

CMES-Computer Modeling in Engineering & Sciences, Vol.146, No.1, 2026, DOI:10.32604/cmes.2025.075909 - 29 January 2026

Abstract Reliable detection of traffic signs and lights (TSLs) at long range and under varying illumination is essential for improving the perception and safety of autonomous driving systems (ADS). Traditional object detection models often exhibit significant performance degradation in real-world environments characterized by high dynamic range and complex lighting conditions. To overcome these limitations, this research presents FED-YOLOv10s, an improved and lightweight object detection framework based on You Only look Once v10 (YOLOv10). The proposed model integrates a C2f-Faster block derived from FasterNet to reduce parameters and floating-point operations, an Efficient Multiscale Attention (EMA) mechanism to More >

Naveed Ahmad¹, Muhammad Kaleem², Mourad Elloumi³, Muhammad Azhar Mushtaq², Ahlem Fatnassi⁴, Mohd Fazil⁵, Anas Bilal^6,*, Abdulbasit A. Darem^7,4

CMES-Computer Modeling in Engineering & Sciences, Vol.146, No.1, 2026, DOI:10.32604/cmes.2025.074902 - 29 January 2026

Abstract Network-on-Chip (NoC) systems are progressively deployed in connecting massively parallel megacore systems in the new computing architecture. As a result, application mapping has become an important aspect of performance and scalability, as current trends require the distribution of computation across network nodes/points. In this paper, we survey a large number of mapping and scheduling techniques designed for NoC architectures. This time, we concentrated on 3D systems. We take a systematic literature review approach to analyze existing methods across static, dynamic, hybrid, and machine-learning-based approaches, alongside preliminary AI-based dynamic models in recent works. We classify them… More >

Maddina Dinesh Kumar^1,#, S. U. Mamatha², Khalid Masood³, Nehad Ali Shah^4,#, Se-Jin Yook^1,*

CMES-Computer Modeling in Engineering & Sciences, Vol.146, No.1, 2026, DOI:10.32604/cmes.2025.074680 - 29 January 2026

Abstract Fluid dynamic research on rectangular and trapezoidal fins is aimed at increasing heat transfer by means of large surfaces. The trapezoidal cavity form is compared with its thermal and flow performance, and it is revealed that trapezoidal fins tend to be more efficient, particularly when material optimization is critical. Motivated by the increasing need for sustainable energy management, this work analyses the thermal performance of inclined trapezoidal and rectangular porous fins utilising a unique hybrid nanofluid. The effectiveness of nanoparticles in a working fluid is primarily determined by their thermophysical properties; hence, optimising these properties… More >

Farhad Soleimanian Gharehchopogh^*, Keyvan Fattahi Rishakan

CMES-Computer Modeling in Engineering & Sciences, Vol.146, No.1, 2026, DOI:10.32604/cmes.2025.073808 - 29 January 2026

Abstract Optimization algorithms are crucial for solving NP-hard problems in engineering and computational sciences. Metaheuristic algorithms, in particular, have proven highly effective in complex optimization scenarios characterized by high dimensionality and intricate variable relationships. The Mountain Gazelle Optimizer (MGO) is notably effective but struggles to balance local search refinement and global space exploration, often leading to premature convergence and entrapment in local optima. This paper presents the Improved MGO (IMGO), which integrates three synergistic enhancements: dynamic chaos mapping using piecewise chaotic sequences to boost exploration diversity; Opposition-Based Learning (OBL) with adaptive, diversity-driven activation to speed up… More >