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 >

Lishu Qin^*, Yu Gao, Xinyuan Lu

CMC-Computers, Materials & Continua, Vol.87, No.1, 2026, DOI:10.32604/cmc.2025.074739 - 10 February 2026

Abstract With the rapid development of intelligent navigation technology, efficient and safe path planning for mobile robots has become a core requirement. To address the challenges of complex dynamic environments, this paper proposes an intelligent path planning framework based on grid map modeling. First, an improved Safe and Smooth A* (SSA*) algorithm is employed for global path planning. By incorporating obstacle expansion and corner-point optimization, the proposed SSA* enhances the safety and smoothness of the planned path. Then, a Partitioned Dynamic Window Approach (PDWA) is integrated for local planning, which is triggered when dynamic or sudden… More >

Shu-Yin Chiang^*, Shin-En Huang

CMC-Computers, Materials & Continua, Vol.87, No.1, 2026, DOI:10.32604/cmc.2025.074528 - 10 February 2026

Abstract This paper presents an intelligent patrol and security robot integrating 2D LiDAR and RGB-D vision sensors to achieve semantic simultaneous localization and mapping (SLAM), real-time object recognition, and dynamic obstacle avoidance. The system employs the YOLOv7 deep-learning framework for semantic detection and SLAM for localization and mapping, fusing geometric and visual data to build a high-fidelity 2D semantic map. This map enables the robot to identify and project object information for improved situational awareness. Experimental results show that object recognition reached 95.4% mAP@0.5. Semantic completeness increased from 68.7% (single view) to 94.1% (multi-view) with an More >

Maha Abdelhaq¹, Ahmad Sami Al-Shamayleh², Adnan Akhunzada^3,*, Nikola Ivković⁴, Toobah Hasan⁵

CMC-Computers, Materials & Continua, Vol.87, No.1, 2026, DOI:10.32604/cmc.2025.073577 - 10 February 2026

Abstract The rapid expansion of the Internet of Things (IoT) and Edge Artificial Intelligence (AI) has redefined automation and connectivity across modern networks. However, the heterogeneity and limited resources of IoT devices expose them to increasingly sophisticated and persistent malware attacks. These adaptive and stealthy threats can evade conventional detection, establish remote control, propagate across devices, exfiltrate sensitive data, and compromise network integrity. This study presents a Software-Defined Internet of Things (SD-IoT) control-plane-based, AI-driven framework that integrates Gated Recurrent Units (GRU) and Long Short-Term Memory (LSTM) networks for efficient detection of evolving multi-vector, malware-driven botnet attacks.… More >

Lu Rong^1,#, Manyu Xu^2,3,#, Wenbo Zhu^2,*, Zhihao Yang^2,3, Chao Dong^1,4,5, Yunzhi Zhang^2,3, Kai Wang^1,2, Bing Zheng^1,4,5

CMC-Computers, Materials & Continua, Vol.87, No.1, 2026, DOI:10.32604/cmc.2025.073442 - 10 February 2026

Abstract Deep learning has become integral to robotics, particularly in tasks such as robotic grasping, where objects often exhibit diverse shapes, textures, and physical properties. In robotic grasping tasks, due to the diverse characteristics of the targets, frequent adjustments to the network architecture and parameters are required to avoid a decrease in model accuracy, which presents a significant challenge for non-experts. Neural Architecture Search (NAS) provides a compelling method through the automated generation of network architectures, enabling the discovery of models that achieve high accuracy through efficient search algorithms. Compared to manually designed networks, NAS methods… More >

Aman Aman Ullah^1,2,#, Yanfeng Wu^1,#, Shaheryar Najam³, Nouf Abdullah Almujally⁴, Ahmad Jalal^5,6,*, Hui Liu^1,7,8,*

CMC-Computers, Materials & Continua, Vol.87, No.1, 2026, DOI:10.32604/cmc.2025.072508 - 10 February 2026

Abstract Human object detection and recognition is essential for elderly monitoring and assisted living however, models relying solely on pose or scene context often struggle in cluttered or visually ambiguous settings. To address this, we present SCENET-3D, a transformer-driven multimodal framework that unifies human-centric skeleton features with scene-object semantics for intelligent robotic vision through a three-stage pipeline. In the first stage, scene analysis, rich geometric and texture descriptors are extracted from RGB frames, including surface-normal histograms, angles between neighboring normals, Zernike moments, directional standard deviation, and Gabor-filter responses. In the second stage, scene-object analysis, non-human objects… More >

Hui Chen¹, Mohammed A. H. Ali^1,*, Bushroa Abd Razak¹, Zhenya Wang², Yusoff Nukman¹, Shikai Zhang¹, Zhiwei Huang¹, Ligang Yao³, Mohammad Alkhedher⁴

CMC-Computers, Materials & Continua, Vol.87, No.1, 2026, DOI:10.32604/cmc.2026.065539 - 10 February 2026

Abstract Most existing path planning approaches rely on discrete expansions or localized heuristics that can lead to extended re-planning, inefficient detours, and limited adaptability to complex obstacle distributions. These issues are particularly pronounced when navigating cluttered or large-scale environments that demand both global coverage and smooth trajectory generation. To address these challenges, this paper proposes a Wave Water Simulator (WWS) algorithm, leveraging a physically motivated wave equation to achieve inherently smooth, globally consistent path planning. In WWS, wavefront expansions naturally identify safe corridors while seamlessly avoiding local minima, and selective corridor focusing reduces computational overhead in More >

Fankun Meng^1,2,3, Yuyang Liu^1,2,*, Xiaohua Liu⁴, Chenlong Duan^1,2, Yuhui Zhou^1,2,3

FDMP-Fluid Dynamics & Materials Processing, Vol.22, No.1, 2026, DOI:10.32604/fdmp.2026.075865 - 06 February 2026

Abstract Carbonate gas reservoirs are often characterized by strong heterogeneity, complex inter-well connectivity, extensive edge or bottom water, and unbalanced production, challenges that are also common in many heterogeneous gas reservoirs with intricate storage and flow behavior. To address these issues within a unified, data-driven framework, this study develops a multi-block material balance model that accounts for inter-block flow and aquifer influx, and is applicable to a wide range of reservoir types. The model incorporates inter-well and well-group conductive connectivity together with pseudo–steady-state aquifer support. The governing equations are solved using a Newton–Raphson scheme, while particle More > Graphic Abstract

Guangyu Xu^1,2, Yuxin Liu¹, Bo Yang¹, Siyu Lu^3,*, Chao Liu⁴, Junmin Lyu⁵, Wenfeng Zheng^1,*

CMES-Computer Modeling in Engineering & Sciences, Vol.146, No.1, 2026, DOI:10.32604/cmes.2025.074938 - 29 January 2026

Abstract Soft-tissue motion introduces significant challenges in robotic teleoperation, especially in medical scenarios where precise target tracking is critical. Latency across sensing, computation, and actuation chains leads to degraded tracking performance, particularly around high-acceleration segments and trajectory inflection points. This study investigates machine learning-based predictive compensation for latency mitigation in soft-tissue tracking. Three models—autoregressive (AR), long short-term memory (LSTM), and temporal convolutional network (TCN)—were implemented and evaluated on both synthetic and real datasets. By aligning the prediction horizon with the end-to-end system delay, we demonstrate that prediction-based compensation significantly reduces tracking errors. Among the models, TCN More >

Huda Talib Najm^1,2, Ahmed Sabah Al-Araji³, Nur Syazreen Ahmad^1,*

CMES-Computer Modeling in Engineering & Sciences, Vol.146, No.1, 2026, DOI:10.32604/cmes.2025.071837 - 29 January 2026

Abstract Mobile service robots (MSRs) in hospital environments require precise and robust trajectory tracking to ensure reliable operation under dynamic conditions, including model uncertainties and external disturbances. This study presents a cognitive control strategy that integrates a Numerical Feedforward Inverse Dynamic Controller (NFIDC) with a Feedback Radial Basis Function Neural Network (FRBFNN). The robot’s mechanical structure was designed in SolidWorks 2022 SP2.0 and validated under operational loads using finite element analysis in ANSYS 2022 R1. The NFIDC-FRBFNN framework merges proactive inverse dynamic compensation with adaptive neural learning to achieve smooth torque responses and accurate motion control.… More >