Automation, Volume 6, Issue 4 (December 2025) – 41 articles

This study presents a simulation-based framework for PID controller design in strongly nonlinear dynamical systems. The proposed approach avoids system linearization by directly minimizing a performance index using metaheuristic optimization. Three strategies—Particle Swarm Optimization (PSO), Grey Wolf Optimizer (GWO), and their hybrid combination (PSO-GWO)—were evaluated on benchmark systems including pendulum-like, Duffing-type, and nonlinear damping dynamics. The chaotic Duffing oscillator was used as a stringent test for robustness and adaptability. Results indicate that all methods successfully stabilize the systems, while the hybrid PSO-GWO achieves the fastest convergence and requires the fewest cost function evaluations, often less than 10% of standalone methods. Faster convergence may induce aggressive transients, which can be moderated by tuning the ISO (Integral of Squared Overshoot) weighting. Overall, swarm-based PID tuning proves effective and computationally efficient for nonlinear control, offering a robust trade-off between convergence speed, control performance, and algorithmic simplicity. Full article

Head posture assessment commonly involves measuring cranial angles, with photogrammetry favored for its simplicity over CT scans or goniometers. However, most photo-based measurements remain manual, making them time-consuming and inefficient. Existing automatic measuring approaches often requires specific markers and clean backgrounds, limiting their usability. We present AutoMCA, a robust automatic measurement system for cranial angles using accessible markers and tolerating typical indoor backgrounds. AutoMCA integrates MediaPipe Pose, a machine-learning solution, for head–neck segmentation and applies color thresholding and morphological operations for marker detection. Validation tests demonstrated Pearson correlation coefficients above 0.98 compared to manual Kinovea measurements for both the craniovertebral angle (CVA) and cranial rotation angle (CRA), confirming high accuracy. Further validation on individuals with neck disorders showed similarly strong correlations, supporting clinical applicability. Speed comparison tests revealed that AutoMCA significantly reduces measurement time compared to traditional photogrammetry. Robustness tests confirmed reliable performance across varied backgrounds and marker types. In conclusion, AutoMCA measures head posture efficiency and lowers the requirements for instruments and space, making the assessment more versatile and applicable. Full article

A single drone collects data, but a fleet builds a complete picture, and this is the primary objective of this study. To address this goal, a swarm-based drone system has been designed in which multiple drones follow one another to collect data from diverse perspectives. Such a strategy demonstrates strong potential for use in critical fields such as search and rescue operations. This study introduces the first unified framework that integrates autonomous formation control, real-time object detection, and multi-source data fusion within a single operational UAV-swarm system. A high-fidelity simulation environment was built using Unreal Engine with the AirSim plugin, featuring a lightweight QR code tracking algorithm for inter-drone coordination. The drones were employed to detect vehicles from various angles in real time. Two types of experiments were conducted: the first used a pretrained YOLO model, and the second used a custom-trained YOLOv8-nano model, which outperformed the baseline by achieving an average detection confidence of 90%. Finally, the results from multiple drones were fused using various techniques including temporal, probabilistic, and geometric fusion methods to produce more reliable and robust detection results. Full article

Infrared small target detection has become a research hotspot in recent years. Due to the small target size and low contrast with the background, it remains a highly challenging task. Existing infrared small target detection algorithms are generally implemented on 8-bit low dynamic range (LDR) images, whereas raw infrared sensing images typically possess a 14–16 bit high dynamic range (HDR). Conventional HDR image enhancement methods do not consider the subsequent detection task. As a result, the enhanced LDR images often suffer from overexposure, increased noise levels with higher contrast, and target distortion or loss. Consequently, discriminative features in HDR images that are beneficial for detection are not effectively exploited, which further increases the difficulty of small target detection. To extract target features under these conditions, existing detection algorithms usually rely on large parameter models, leading to an unsatisfactory trade-off between efficiency and accuracy. To address these issues, this paper proposes a novel infrared small target detection framework based on HDR image enhancement (HDR-IRSTD). Specifically, a multi-branch feature extraction and fusion mapping subnetwork (MFEF-Net) is designed to achieve the mapping from HDR to LDR. This subnetwork effectively enhances small targets and suppresses noise while preserving both detailed features and global information. Furthermore, considering the characteristics of infrared small targets, an asymmetric Vision Mamba U-Net with multi-level inputs (AVM-Unet) is developed, which captures contextual information effectively while maintaining linear computational complexity. During training, a bilevel optimization strategy is adopted to collaboratively optimize the two subnetworks, thereby yielding optimal parameters for both HDR infrared image enhancement and small target detection. Experimental results demonstrate that the proposed method achieves visually favorable enhancement and high-precision detection, with strong generalization ability and robustness. The performance and efficiency of the method exhibit a well-balanced trade-off. Full article

Accurately evaluating the intelligence of autonomous path planning remains challenging, primarily due to the interdependencies among evaluation metrics and the insufficient integration of subjective and objective weighting methods. This paper proposes Game-Theoretic Kendall’s Coefficient (GTKC) weighting framework for evaluating autonomous path planning intelligence. The framework specifies a safety–efficiency–comfort metric system with observable, reproducible, and quantifiable metrics. To account for intermetric dependence, subjective weights are elicited via an improved Analytic Network Process (ANP), while objective weights are derived using the CRITIC method to capture contrast intensity and intercriteria conflict. The credibility of the subjective and objective weights is evaluated using Kendall’s coefficient and the coefficient of variation, respectively. Subsequently, based on the principle that higher credibility should receive greater weight, a game-theoretic optimization model is employed to dynamically derive optimal combination coefficients. Experimental results on three case scenarios demonstrate that the GTKC framework significantly outperforms existing weighting approaches in terms of effectiveness (achieving a lowest Mean Absolute Error (MAE) of 0.15 and a perfect Spearman’s correlation coefficient ($\overline{\rho }=1.0$) with ground-truth rankings), stability (Mean Standard Deviation (MSD) = 0.023), and ranking consistency (Kendall’s coefficient W = 0.924). These findings validate GTKC as a theoretically grounded and practically robust mechanism that explicitly models metric interdependencies and integrates expert knowledge with empirical evidence, enabling reliable and reproducible evaluation of autonomous path planning intelligence. Full article

Current functional safety mechanisms mainly control the access points and perimeters of manufacturing cells without guaranteeing the integrity of their internal components or the absence of unauthorized humans or objects. In this work, we present a novel deep learning (DL)-based safety system that enhances the safety circuit designed according to functional safety principles, detecting, with great reliability, the presence of persons within the cell and, with high precision, anomalous elements of any kind. Our approach follows a two-stage DL methodology that combines contrastive learning with Bayesian clustering. First, a supervised contrastive scheme learns the characteristics of safe scenarios and distinguishes them from unsafe ones caused by workers remaining inside the cell. Next, a Bayesian mixture models the latent space of safe scenarios, quantifying deviations and enabling the detection of previously unseen anomalous objects without any specific fine-tuning. To further improve robustness, we introduce an ensemble-based hybrid latent-space methodology that maximizes performance regardless of the underlying encoders’ characteristics. The experiments are conducted on a real dataset captured in a belt-picking cell in production. The proposed system achieves 100% accuracy in distinguishing safe scenarios from those with the presence of workers, even in partially occluded cases, and an average area-under-the-curve of 0.9984 across seven types of anomalous objects commonly found in manufacturing environments. Finally, for interpretability analysis, we design a patch-based feature-ablation framework that demonstrates the model’s reliability under uncertainty and the absence of learning biases. The proposed technique enables the deployment of an innovative high-performance safety system that, to our knowledge, does not exist in the industry. Full article

In modern industrial automation, optimizing the performance of Programmable Logic Controller (PLC)-based PID controllers is critical for ensuring precise process control. This study presents a novel methodology for the dynamic tuning of built-in Proportional-Integral-Derivative (PID) controllers in PLCs using a hybrid algorithm that combines Particle Swarm Optimization (PSO) and Multiple-Adaptive Neuro-Fuzzy Inference System (MANFIS). Classical PID tuning methods, such as Ziegler–Nichols and Cohen–Coon, have traditionally been employed in industrial control systems. However, these methods often struggle to address the complexities of nonlinear, time-varying, or highly dynamic processes, resulting in suboptimal performance and limited adaptability. To overcome these challenges, the proposed PSO-MANFIS hybrid algorithm leverages the global search capabilities of PSO and the adaptive learning abilities of MANFIS to optimize PID parameters in real-time dynamically. Integrating MATLAB (R2021a) with industrial automation systems via an OPC (OLE for Process Control) server utilizes advanced optimization algorithms within MATLAB to obtain the best possible parameters for the industrial PID controller, enhancing control precision and optimizing production efficiency. This MATLAB-PLC interface facilitates seamless communication, enabling real-time monitoring, data analysis, and the implementation of sophisticated computational tools in industrial environments. Experimental results demonstrate superior performance, with reductions in rise time from 93.01 s to 70.98 s, settling time from 165.28 s to 128.84 s, and overshoot eliminated from 0.0012% to 0% of the controller response compared to conventional tuning. Furthermore, the proposed approach achieves a reduction in Root Mean Square Error (RMSE) by approximately 56% to 74% when compared with the baseline performance. By integrating MATLAB’s computational capabilities with PLC-based industrial automation, this study provides a practical and innovative solution for modern industries, offering enhanced adaptability, precision, and reliability in dynamic control applications, ultimately leading to optimized production outcomes. Full article

Examinations are typically used by educational institutions to assess students’ strengths and weaknesses. Unfortunately, exam malpractices like cheating and other forms of academic integrity violations continue to present a serious challenge to the evaluation framework because it seeks to provide a trustworthy assessment. Existing methods involving human invigilators have limitations, as they must be physically present in examination settings and cannot monitor all students who take an exam while successfully ensuring integrity. With the developments in artificial intelligence (AI) and computer vision, we now have novel possibilities to develop methods for detecting students who engage in cheating. This paper presents a practical, real-time detection system based on computer vision techniques for detecting cheating in examination halls. The system utilizes two primary methods: The first method is YOLOv8, a top-of-the-line object detection model, where the model is used to detect students in video footage in real time. After detecting the students, the second aspect of the detection process is to apply pose estimation to extract key points of the detected students. For the first time, this paper proposes to measure angles from the geometry of the key points of detected students by constructing two triangles using the distance from the tip of the nose to both eyes, and the distance from the tip of the nose to both ears; one triangle is sized from the distance to the eyes, and the other triangle contains the measurements to their ears. By continually calculating these angles, it is possible to derive each student’s facial pose. A dynamic threshold is calculated and updated for each frame to better represent the body position in real time. When the left or right angle pass that threshold, it is flagged as suspicious behavior indicating cheating. All detected cheating instances, including duration, timestamps, and captured images, are logged automatically in an Excel file stored on Google Drive. The proposed study presents a computationally cheap approach that does not utilize a GPU or additional computational aspects in any capacity. This implementation is affordable and has higher accuracy than all of those mentioned in prior studies. Analyzing data from exam halls indicated that the proposed system reached 96.18% accuracy and 96.2% precision. Full article

Air-to-ground visual target persistent tracking technology for swarm drones, as a crucial interdisciplinary research area integrating computer vision, autonomous systems, and swarm collaboration, has gained increasing prominence in anti-terrorism operations, disaster relief, and other emergency response applications. While recent advancements have predominantly concentrated on improving long-term visual tracking through image algorithmic optimizations, insufficient exploration has been conducted on developing system-level persistent tracking architectures, leading to a high target loss rate and limited tracking endurance in complex scenarios. This paper designs an asynchronous multi-task parallel architecture for drone-based long-term tracking in air-to-ground scenarios, and improves the persistent tracking capability from three levels. At the image algorithm level, a long-term tracking system is constructed by integrating existing object detection YOLOv10, multi-object tracking DeepSort, and single-object tracking ECO algorithms. By leveraging their complementary strengths, the system enhances the performance of the detection and multi-object tracking while mitigating model drift in single-object tracking. At the drone system level, ground target absolute localization and geolocation-based drone spiral tracking strategies are conducted to improve target reacquisition rates after tracking loss. At the swarm collaboration level, an autonomous task allocation algorithm and relay tracking handover protocol are proposed, further enhancing the long-term tracking capability of swarm drones while boosting their autonomy. Finally, a practical swarm drone system for persistent air-to-ground visual tracking is developed and validated through extensive flight experiments under diverse scenarios. Results demonstrate the feasibility and robustness of the proposed persistent tracking framework and its adaptability to wild real-world applications. Full article

Humanoid bipedal walking remains challenging due to unstable, high-dimensional dynamics and the labor-intensive, platform-specific tuning typically required to obtain workable gaits. We present a hybrid framework that couples a compact screw-theory kinematic model with a multi-objective genetic algorithm (GA) to tune humanoid gait parameters automatically. The method parameterizes the foot’s half-elliptical swing (horizontal and vertical speeds) and the torso pitch angle, and optimizes stride length while limiting lateral deviation through a single, weighted objective. Relying only on kinematic models—without explicit dynamic equations—the framework integrates inverse kinematics and Jacobian computation to evaluate candidate solutions efficiently. We validate the approach in simulation and on a 14-degrees-of-freedom (DoF) humanoid platform. This work contributes a compact modeling and optimization strategy that enables sim-to-real transfer, establishing a foundation for future extensions incorporating stability criteria, sensor feedback, and adaptive weighting. Full article

This paper describes a real-time system for recognizing voice commands for resource-constrained embedded devices, specifically a PIC microcontroller. While most existing speech ordering support solutions rely on high-performance processing platforms or cloud computation, the system described here performs fully embedded low-power processing locally on the device. Sound is captured through a low-cost MEMS microphone, segmented into short audio frames, and time domain features are extracted (i.e., Zero-Crossing Rate (ZCR) and Short-Time Energy (STE)). These features were chosen for low power and computational efficiency and the ability to be processed in real time on a microcontroller. For the purposes of this experimental system, a small vocabulary of four command words (i.e., “ON”, “OFF”, “LEFT”, and “RIGHT”) were used to simulate real sound-ordering interfaces. The main contribution is demonstrated in the clever combination of low-complex, lightweight signal-processing techniques with embedded neural network inference, completing a classification cycle in real time (under 50 ms). It was demonstrated that the classification accuracy was over 90% using confusion matrices and timing analysis of the classifier’s performance across vocabularies with varying levels of complexity. This method is very applicable to IoT and portable embedded applications, offering a low-latency classification alternative to more complex and resource intensive classification architectures. Full article

With the advent of the Industry 4.0 era, the manufacturing industry is implementing a range of novel technologies on the factory floor, leading to the generation of substantial quantities of production data. However, the development of analytics tools capable of processing these data and extracting valuable information for decision-making and production control lags behind. In addition, a noticeable amount of raw data collected from the factory floor is prone to errors, especially in small- and medium-sized manufacturing plants, and their processing often requires a laborious data cleaning process due to the limitations of the sensors and the noisy environment of the manufacturing facilities. This presents a challenge in utilizing factory floor production data effectively. This paper addresses the challenge by focusing on the parts flow data, which reflects the number of parts in each buffer as a function of time in a production system. In particular, we study the parts flow data in discrete-time serial production line models, assuming that the data are subject to random noise, and develop effective and robust algorithms that can effectively detect and correct errors in these data. To improve the computational efficiency for complex cases (longer lines, higher error rates, etc.), a decomposition-based approach is used to parallelize the computation procedure at implementation. Numerical experiments demonstrate that the proposed methods can enhance data quality by more than 40% and improve the accuracy of system performance metrics estimation by over 50% using corrected data. These improvements can facilitate more reliable process monitoring and production control in manufacturing environments. Full article

While YOLO’s efficiency and accuracy have made it a popular choice for object detection and tracking in real-world applications, models trained on smaller datasets often suffer from intermittent detection failures, where objects remain undetected across multiple consecutive frames, significantly degrading tracking performance in practical scenarios. To address this challenge, we propose PrED (Predictive Enhancement of Detection), a novel framework that enhances object detection and aids in tracking by integrating low-confidence detections with multiple similarity metrics—including Intersection over Union (IoU), spatial distance similarity, and template similarity, and predicts the locations of undetected objects based on a parameter called predictability index. By maintaining object continuity during missed detections, PrED ensures robust tracking performance even when the underlying detection model experiences failures. Extensive evaluations across multiple benchmark datasets demonstrate PrED’s superior performance, achieving over 11% higher DetA with at least 6.9% MOTA improvement in our test scenarios, 17% higher detection accuracy (DetA) and 12.3% higher Multiple Object Tracking Accuracy (MOTA) on the KITTI training dataset, 8% higher DetA and 2.6% higher MOTA on the MOT17 training dataset, compared to ByteTrack, establishing PrED as an effective solution for enhancing tracking robustness in scenarios with suboptimal detection performance. Full article

Traditional water–fertilizer control systems often suffer from poor precision and slow response, limiting precision agriculture development. This study developed an electrical conductivity (EC) control system for water–fertilizer integration using a fuzzy Proportional-Integral-Derivative (PID) controller optimized by particle swarm optimization (PSO) and integrated with IoT technology. MATLAB/Simulink simulations showed the proposed controller achieved the smallest overshoot (7.64–8.15%), with average settling time reduced by 62.48 s and 20.38 s compared to conventional PID and fuzzy PID controllers, respectively (p < 0.001). Field experiments on winter wheat demonstrated a mean absolute EC deviation of 0.01125 ms/cm, with root-mean-square error (RMSE) of 0.0217 ms/cm, indicating high precision under field conditions. The system also maintained soil moisture in the optimal range (19–25%) with high irrigation uniformity (Christiansen’s coefficient Cu = 97.6%). The system maintained soil moisture in the optimal range (19–25%) while supporting stable soil nutrient levels and crop growth parameters. This study provides a validated technical solution for precision EC control while establishing a foundation for future fully integrated water–fertilizer management systems. Full article

Dip coating is a widely used laboratory method for depositing thin films and functional coatings. However, commercial dip-coaters remain costly and often exceed the needs of teaching labs and early-stage research. This paper presents a simple, low-cost automated dip-coater capable of delivering repeatable rise–dwell–fall motion for benchtop applications. The system integrates a 3D-printed PLA structure, a stepper-lead-screw actuator, and a PC-hosted graphical user interface that learns and executes user-specified trajectories without additional hardware controls. A compact mathematical model generates triangular and trapezoidal profiles and maps them to step pulses via the steps-per-millimeter factor. The mechatronic design and sequential control are described, and the prototype is validated through simulations and experiments. Non-contact measurements demonstrate high repeatability, accurate dwell timing, and bounded accelerations with minor deviations at switching instants. The bill of materials is 50 USD (≈1–2% of entry-level commercial systems), underscoring stability, robustness, and accessibility for instructional and resource-constrained settings. These results indicate strong potential for routine laboratory use and a clear path to future enhancements. Full article

The purpose of this paper is to implement a path-following control system based on the kinematics of the Lizard-Inspired Single-Actuated robot (LISA). LISA is a new type of robot that mimics the quadrupedal walking morphology of lizards with a four-bar linkage mechanism and can realize both propulsion and turning with 1 degree-of-freedom. To achieve this purpose, this paper takes 3 approaches: kinematics formulation, control system design, and experimental verification. In the kinematics formulation, we formulate LISA’s turning angle, stride length, posture, propulsive direction, curvature, and position coordinate. In control system design, we design a control system that converges not only the distance error but also the posture error and control input. Conditional equations that can achieve these 3 control targets are formulated using forward kinematics and reference path functions. The experimental verifications were carried out to verify the effectiveness of the designed path-following control system using three types of paths: linear, circular, and combined linear and circular. As a result, it was confirmed that the Root Mean Square values for the control input, the distance error, and the attitude error were sufficiently small in steady state. Therefore, it was confirmed that the 3 control objectives had been achieved. Full article

Industrial robots offer flexibility and cost advantages in machining applications but suffer from limited structural stiffness and dynamic instability, leading to significant positional errors. This study presents a simulation-driven framework for automated toolpath compensation in robotic machining, integrating computer-aided design, manufacturing, and engineering environments. Finite Element Analysis is employed to predict stress, deformation, and reaction forces during machining. These predictions guide dynamic adjustments to key process parameters, such as feed rate and spindle speed, to optimize performance and accuracy. An automated optimization procedure streamlines this process, enhancing toolpath efficiency and safety. The framework is validated through a case study involving the machining of an aluminum support bracket using a KUKA KR3 robot. Simulation results demonstrate significant improvements in path accuracy, shorter machining time and enhanced surface quality. The enhanced toolpath achieves a 10–15% reduction in non-cutting movements, a 5–10% improvement in surface finish and a 15–25% decrease in machining time compared to the initial configuration. This approach eliminates the need for hardware modifications or real-time sensors, providing a flexible and modular solution for achieving high precision outcomes in robotic machining. The work presents an automated methodology for compensating multi-source errors, bridging the gap between virtual analysis and physical execution. Full article

This paper explores cost-effective solutions for automated guided vehicle (AGV) through the design and implementation of a low-cost, hoverboard-based line-following AGV tailored for textile manufacturing environments, specifically within sewing plants. The designed AGV leverages the capability of a commercial hoverboard as its mobility platform, significantly reducing development costs while maintaining effective operational performance. Utilizing affordable sensors such as infrared line detectors and ultrasonic sensors, the AGV autonomously navigates pre-defined pathways marked on the factory floor. Its primary function is transporting materials such as fabric bundles and partially or finished products between workstations, addressing common logistical challenges in dynamic and labor-intensive textile production settings. The system is designed for easy integration with both existing plant layouts and information and communication environment, requiring minimal infrastructural changes. Field testing demonstrated the AGV’s reliability, maneuverability, and responsiveness in real-world sewing plant conditions. The proposed solution underscores the potential of retrofitting existing consumer electronics for industrial automation, offering a scalable and economically viable alternative for small- to medium-sized textile enterprises seeking to enhance productivity and workflow efficiency. Full article

The application of wearable sensors coupled with diagnostic models presents one of the most recent advancements in automation applied to the medical field, allowing for faster and more reliable diagnosis of patients. Nonetheless, such applications pose a complex challenge for traditional intelligent automation (combining automation and artificial intelligence) methods due to high class imbalances, the small number of subjects, and the high dimensionality of the measured data streams. Furthermore, automatic diagnostic models must also be explainable, meaning that medical professionals can understand the reasoning behind a predicted diagnosis. This paper proposes an intelligent automation approach to the diagnosis of cerebral palsy patients using multiple kinetic and kinematic sensors that record gait pattern characteristics. The proposed artificial intelligence framework is a multi-view fuzzy rule-based ensemble architecture, in which the high dimensionality of the sensor data streams is handled by multiple fuzzy classifiers and the high class imbalance is handled by a cost-sensitive training algorithm for estimating a fuzzy rule-based stack model. The proposed methodology is first tested on benchmark datasets, where it is shown to outperform comparable benchmark methods. The ensemble architecture is then tested on the cerebral palsy dataset and shown to outperform comparable ensemble architectures, particularly on minority class predictive performance. Full article

Damaged road markings are widespread, and timely detection and repair of severely damaged areas is critical to the maintenance of transport infrastructure. This study proposes a method for detecting the degree of marking damage based on the top view perspective. The method improves the minimum outer rectangle detection algorithm through pavement data enhancement and multi-scale feature fusion detection head, and establishes mathematical models of different types of markings and their minimum outer rectangles to achieve accurate detection of the degree of marking damage. The experimental results show that the improved minimum bounding rectangle detection method achieves an mAP of 97.4%, which is 4.5% higher than that of the baseline model, and the minimum error in the detection of the degree of marking damage reaches 0.54%. The experimental data verified the simplicity and efficiency of the proposed method, providing important technical support for realizing large-scale road repair and maintenance in the future. Full article

The maritime industry is under increasing pressure to reduce greenhouse gas emissions, especially in countries such as Saudi Arabia that are actively working to transition to cleaner energy. In this paper, a new hybrid shipboard power system, which incorporates wind turbines, solar photovoltaic (PV) panels, proton-exchange membrane fuel cells (PEMFCs), and a battery energy storage system (BESS) together for propulsion and hotel load services, is proposed. A multi-loop Energy Management System (EMS) based on proportional–integral control (PI) is developed to coordinate the interconnections of the power sources in real time. In contrast to the widely reported model predictive or artificial intelligence optimization schemes, the PI-derived EMS achieves similar power stability and hydrogen utilization efficiency with significantly reduced computational overhead and full marine suitability. By taking advantage of the high solar irradiance and coastal wind resources in Saudi Arabia, the proposed configuration provides continuous near-zero-emission operation. Simulation results show that the PEMFC accounts for about 90% of the total energy demand, the BESS (±0.4 MW, 2 MWh) accounts for about 3%, and the stationary renewables account for about 7%, which reduces the demand for hydro-gas to about 160 kg. The DC-bus voltage is kept within ±5% of its nominal value of 750 V, and the battery state of charge (SOC) is kept within 20% to 80%. Sensitivity analyses show that by varying renewable input by ±20%, diesel consumption is ±5%. These results demonstrate the system’s ability to meet International Maritime Organization (IMO) emission targets by delivering stable near-zero-emission operation, while achieving high hydrogen efficiency and grid stability with minimal computational cost. Consequently, the proposed system presents a realistic, certifiable, and regionally optimized roadmap for next-generation hybrid PEMFC–battery–renewable marine power systems in Saudi Arabian coastal operations. Full article

Osmotic dehydration (OD) is an effective pre-treatment for fruit preservation, but conventional processes often lack precision due to manual control of critical variables. This work reports the design and validation of an automated OD system integrating a programmable logic controller (PLC), human–machine interface (HMI), and IoT-enabled sensors for real-time monitoring of syrup concentration and process temperature. Mango (Mangifera indica) cubes were treated under a 2³ factorial design with sucrose concentrations of 45 and 50 °Brix, immersion times of 120 and 180 min, and temperatures of 30 and 40 °C. Validation demonstrated that the IoT hydrometer achieved strong agreement with reference devices (R² = 0.985, RMSE = 0.36 °Brix), while the PLC-integrated tank sensor also demonstrate improved performance over existing calibrated thermometer (R² = 0.992, MAE = 0.20 °C). ANOVA indicated that concentration, temperature, and time significantly affected water loss and weight reduction (p < 0.01), with temperature being the dominant factor. Water loss ranged from 18.62% to 39.15% and weight reduction from 9.48% to 34.47%, while maximum solid gain reached 9.31% at 50 °Brix and 40 °C for 180 min, with stabilization consistent with case hardening. Drying kinetics were best described by the Page model (R² > 0.97). The findings highlight the effectiveness of the system for precise monitoring and optimization of OD processes. Full article

Advancements in robotics and computer vision are transforming how infrastructure is monitored and maintained. This paper presents a novel, fully automated pipeline for pavement condition assessment that integrates real-time image analysis with PCI (Pavement Condition Index) computation, which is specifically designed for deployment on mobile and robotic platforms. Unlike traditional methods that rely on costly equipment or manual input, the proposed system uses deep learning-based object detection and ensemble segmentation to identify and measure multiple types of road distress directly from 2D imagery, including surface weathering, a key precursor to pothole formation often overlooked in previous studies. Depth estimation is achieved using a monocular diffusion model, enabling volumetric assessment without specialized sensors. Validated on real-world footage captured by a smartphone, the pipeline demonstrated reliable performance across detection, measurement, and scoring stages. Its potential hardware-agnostic design and modular architecture position it as a practical solution for autonomous inspection by drones or ground robots in future smart infrastructure systems. Full article

This work presents a nonlinear aerodynamic model that describes the dynamics of a coaxial-rotor MAV. We have designed seven control laws based on linear and nonlinear controllers for path-following with a coaxial-rotor MAV in the presence of unknown disturbances, such as wind gusts. The linear controllers include Proportional–Derivative (PD) and Proportional–Integral–Derivative (PID). The nonlinear techniques encompass nested saturation, sliding mode control, second-order sliding mode, high-order sliding mode, and adaptive backstepping. The results are shown after multiple computer simulations. Full article

A networked system consists of a collection of interconnected autonomous agents that communicate and interact through a shared communication infrastructure. These agents collaborate to pursue common objectives or exhibit coordinated behaviors that would be difficult or impossible for a single agent to achieve alone. With widespread applications in domains such as robotics, smart grids, and communication networks, the coordination and control of networked systems have become a vital research focus—driven by the complexity of distributed interactions and decision-making processes. Graph-based reinforcement learning (GRL) has emerged as a powerful paradigm that combines reinforcement learning with graph signal processing and graph neural networks (GNNs) to develop policies that are relationally aware, scalable, and adaptable to diverse network topologies. This survey aims to advance research in this evolving area by providing a comprehensive overview of GRL in the context of networked coordination and control. It covers the fundamental principles of reinforcement learning and graph neural networks, examines state-of-the-art GRL models and algorithms, reviews training methodologies, discusses key challenges, and highlights real-world applications. By synthesizing theoretical foundations, empirical insights, and open research questions, this survey serves as a cohesive and structured resource for the study and advancement of GRL-enabled networked systems. Full article

The rapid growth of electric vehicles (EVs) and photovoltaic (PV) generation creates substantial power peaks that strain local electrical infrastructure. Coordinated bidirectional charging can mitigate these challenges while delivering benefits such as lower costs, improved PV utilization, and reduced emissions. This paper develops a framework for fleet charging that combines station assignment with a two-stage scheduling approach. A heuristic assignment method allocates EVs to uni- and bidirectional charging stations, ensuring efficient use of limited infrastructure. Building on these assignments, charging power is optimized in two stages: a Mixed-Integer Linear Program (MILP) generates day-ahead schedules from forecasts, while an intraday heuristic-based MILP adapts them to unplanned arrivals and forecast errors through lightweight re-optimization. A Python -based simulator is developed to evaluate the framework under stochastic PV, load, price, and EV conditions. Results show that the approach reduces costs and emissions compared to alternative methods, improves the utilization of bidirectional infrastructure, scales efficiently to large fleets, and remains robust under significant uncertainty, highlighting its potential for practical deployment. Full article

In today’s fast-paced world, secure and efficient access control is crucial for places like schools, gated communities, and corporate campuses. The system must overcome the issues of manual checking and record maintenance of traditional methods like RFID cards or license plate recognition. Our work introduces a budget-friendly, automated solution. A prototype was developed for a vehicle sticker recognition system to control and monitor gate access at NFC IET University as a case study. The automated system design will replace manual checking by detecting the car stickers issued to each vehicle by the university administration. An optimized lightweight YOLOv8 model is trained to identify three categories: IET stickers (authorized for access), non-IET stickers (unauthorized), and no sticker (denied access). A webcam connected to the Raspberry Pi 4 scans approaching vehicles. Authorized vehicles are allowed when the relevant class is detected, which signals a servo motor to open the gate. Otherwise, access to the gate is denied, and infrared (IR) sensors close the gates. A second set of IR sensors and a servo motor was also added to manage the exit side, preventing unauthorized tailgating. The system’s modular design makes it adaptable for different environments, and its use of affordable hardware and open-source tools keeps costs low, which is ideal for smaller institutions or communities. The prototype model is tested and trained on self-collected datasets comprising 506 images. Full article

This paper proposes an improved seamless fabric production line and its mathematical models before and after optimization to enhance production efficiency and material utilization in textile manufacturing. By adjusting the production process of the seamless fabric production line and formulating corresponding mathematical models for equipment selection and other related issues before and after the modifications, this study aims to increase the number of products produced per unit time and reduce the material consumption per unit product. Experimental results show that the optimized seamless fabric production line achieves a 0.98% to 71.70% increase in production output per unit time and reduces raw material consumption by 9.55% to 10.63%. Future research can further explore the impact of additional variables on production line efficiency to refine and optimize the workflow further. Full article

This paper presents a systematic approach for rapid assessment of the performance and robustness of linear control systems through geometric analysis in the complex plane. By combining indirect performance indices within a defined zone of desired performance in the complex s-plane, a connection is established with direct performance indices, forming a foundation for the synthesis of control algorithms that ensure root placement within this zone. Analytical relationships between the complex variables s and z are derived, thereby defining an equivalent zone of desired performance for discrete-time systems in the complex z-plane. Methods for verifying digital algorithms with respect to the desired performance zone in the z-plane are presented, along with a visual assessment of robustness through radii describing robust stability and robust performance, representing performance margins under parameter variations. Through parametric modeling of controlled processes and their projections in the complex s- and z-domains, the influence of the discretization method and sampling period, as forms of a priori uncertainty, is analyzed. This paper offers original derivations for MISO systems, facilitating the analysis, explanation, and understanding of the dynamic behavior of real-world controlled processes in both the continuous and discrete-time domains, and is aimed at integration into expert systems supporting control strategy selection. The practical applicability of the proposed methodology is related to discrete control systems in energy, electric drives, and industrial automation, where parametric uncertainty and choice of method and period of discretization significantly affect both robustness and control performance. Full article

This study compares the mapping accuracy of a non-RTK ultra-lightweight drone (DJI Mini2) with two survey-grade RTK-enabled drones (DJI Mavic3E and Phantom4) in three different sites. Flight parameters and weather conditions were the same on each site. The outputs were orthomosaics and digital surface models, whose accuracies were inspected by descriptive statistics and variance analysis tools. The data of the ultralight drone on the first site could not be processed due to strong wind, but its results for the second site (11 hectares) were comparable to those of survey-grade drones, i.e., the range and average of checkpoint errors for Mini2 were 0.17 m and 0.04 m, respectively, while those were 0.10 m and 0.02 m for Phantom4 and Mavic3E. In the third site (34 hectares), survey-grade drones produced accurate results with a checkpoint error range of 0.26 m, while that was 0.87 m for the ultralight drone, implying lower accuracy results. The results obtained suggest that ultralight drones under certain circumstances can produce reliable mapping products depending on weather conditions, the number and distribution of ground control points, and area size. Their biggest drawback is their vulnerability to wind, and in calm weather conditions, due to non-RTK error accumulation, their mapping accuracy degenerates as the area size increases. Full article