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 >

Langyue Zhao^1,2, Yubin Yuan^3,*, Yiquan Wu^2,*

CMC-Computers, Materials & Continua, Vol.87, No.1, 2026, DOI:10.32604/cmc.2025.070563 - 10 February 2026

Abstract Regular detection of pavement cracks is essential for infrastructure maintenance. However, existing methods often ignore the challenges such as the continuous evolution of crack features between video frames and the difficulty of defect quantification. To this end, this paper proposes an integrated framework for pavement crack detection, segmentation, tracking and counting based on Transformer. Firstly, we design the VitSeg-Det network, which is an integrated detection and segmentation network that can accurately locate and segment tiny cracks in complex scenes. Second, the TransTra-Count system is developed to automatically count the number of defects by combining defect More >

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 >

Ahsan Habib Siam¹, Md. Ehsanul Haque¹, Fahmid Al Farid², Anindita Sutradhar³, Jia Uddin^4,*, Sarina Mansor^2,*

CMC-Computers, Materials & Continua, Vol.86, No.3, 2026, DOI:10.32604/cmc.2025.069718 - 12 January 2026

Abstract As healthcare systems increasingly embrace digitalization, effective management of electronic health records (EHRs) has emerged as a critical priority, particularly in inpatient settings where data sensitivity and real-time access are paramount. Traditional EHR systems face significant challenges, including unauthorized access, data breaches, and inefficiencies in tracking follow-up appointments, which heighten the risk of misdiagnosis and medication errors. To address these issues, this research proposes a hybrid blockchain-based solution for securely managing EHRs, specifically designed as a framework for tracking inpatient follow-ups. By integrating QR code-enabled data access with a blockchain architecture, this innovative approach enhances… More >

Yuqiang Wu^1,2, Zhao Ji¹, Guanqi You¹, Zihan Zhang¹, Chaoping Lu³, Huanliang Xu¹, Zhaoyu Zhai^1,*

CMC-Computers, Materials & Continua, Vol.86, No.2, pp. 1-22, 2026, DOI:10.32604/cmc.2025.070414 - 09 December 2025

Abstract Understanding fish movement trajectories in aquaculture is essential for practical applications, such as disease warning, feeding optimization, and breeding management. These trajectories reveal key information about the fish’s behavior, health, and environmental adaptability. However, when multi-object tracking (MOT) algorithms are applied to the high-density aquaculture environment, occlusion and overlapping among fish may result in missed detections, false detections, and identity switching problems, which limit the tracking accuracy. To address these issues, this paper proposes FishTracker, a MOT algorithm, by utilizing a Tracking-by-Detection framework. First, the neck part of the YOLOv8 model is enhanced by introducing… More >

Qin Hu, Hongshan Kong^*

CMC-Computers, Materials & Continua, Vol.86, No.1, pp. 1-31, 2026, DOI:10.32604/cmc.2025.069078 - 10 November 2025

Abstract To address the issues of frequent identity switches (IDs) and degraded identification accuracy in multi object tracking (MOT) under complex occlusion scenarios, this study proposes an occlusion-robust tracking framework based on face-pedestrian joint feature modeling. By constructing a joint tracking model centered on “intra-class independent tracking + cross-category dynamic binding”, designing a multi-modal matching metric with spatio-temporal and appearance constraints, and innovatively introducing a cross-category feature mutual verification mechanism and a dual matching strategy, this work effectively resolves performance degradation in traditional single-category tracking methods caused by short-term occlusion, cross-camera tracking, and crowded environments. Experiments… More >

Lijuan Zhang¹, Yu Zhou², Jiawei Tian^3,*, Fupei Guo⁴, Xiang Zhang⁴, Bo Yang^4,*

CMES-Computer Modeling in Engineering & Sciences, Vol.145, No.3, pp. 3949-3968, 2025, DOI:10.32604/cmes.2025.071869 - 23 December 2025

Abstract In endoscopic surgery, the limited field of view and the nonlinear deformation of organs caused by patient movement and respiration significantly complicate the modeling and accurate tracking of soft tissue surfaces from endoscopic image sequences. To address these challenges, we propose a novel Hybrid Triangular Matching (HTM) modeling framework for soft tissue feature tracking. Specifically, HTM constructs a geometric model of the detected blobs on the soft tissue surface by applying the Watershed algorithm for blob detection and integrating the Delaunay triangulation with a newly designed triangle search segmentation algorithm. By leveraging barycentric coordinate theory, More >

Ashna Abduljabbar Haji^*, Ranj S. Abdullah^*

Energy Engineering, Vol.122, No.12, pp. 5111-5127, 2025, DOI:10.32604/ee.2025.073367 - 27 November 2025

Abstract The hybrid photovoltaic solar-assisted heat pump are primarily used to generate electricity and provide thermal energy for heating applications. This study investigates the performance enhancement of a hybrid Photovoltaic Thermal Solar-Assisted Heat Pump (PV/T-SAHP) system integrated with a solar tracking mechanism. The system was simulated using TRNSYS to evaluate its monthly electrical output and coefficient of performance (COP) of the heat pump system over a year. The results showed a significant improvement in energy generation and efficiency compared to a conventional PV/T system without SAHP system. Overall, the solar tracking configuration of the PV/T-SAHP generated… More > Graphic Abstract

Hongrong Wang^1,2, Xinjian Li^3,4, Xingjing She¹, Wenjian Ma^1,*

CMES-Computer Modeling in Engineering & Sciences, Vol.145, No.2, pp. 2039-2055, 2025, DOI:10.32604/cmes.2025.072572 - 26 November 2025

Abstract In modern complex systems, real-time regression prediction plays a vital role in performance evaluation and risk warning. Nevertheless, existing methods still face challenges in maintaining stability and predictive accuracy under complex conditions. To address these limitations, this study proposes an online prediction approach that integrates event tracking sensitivity analysis with machine learning. Specifically, a real-time event tracking sensitivity analysis method is employed to capture and quantify the impact of key events on system outputs. On this basis, a mutual-information–based self-extraction mechanism is introduced to construct prior weights, which are then incorporated into a LightGBM prediction More >