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All Journal TELKOMNIKA (Telecommunication Computing Electronics and Control) Journal of Computing Theories and Applications
Hung T. Nguyen
Thai Nguyen University of Technology
Computer Science & IT Decision Sciences, Operations Research & Management

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A Novel Clustering Solution Based on Energy Threshold for Energy Efficiency Purposes in Wireless Sensor Networks Thang C. Vu; Binh D. Do; Mui D. Nguyen; Dung T. Nguyen; Tao V. Nguyen; Long Q. Dinh; Hung T. Nguyen; Minh T. Nguyen
Journal of Computing Theories and Applications Vol. 3 No. 1 (2025): JCTA 3(1) 2025
Publisher : Universitas Dian Nuswantoro

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.62411/jcta.13022

Abstract

In many wireless sensor network (WSN) applications, nodes are randomly deployed and self-organize into a wireless network to perform tasks. In practice, recharging the batteries of network nodes after deployment is often difficult. Network nodes often operate autonomously, so the main focus is on increasing the node lifetime. Data redundancy is another limitation that makes nodes inefficient. In most cases, densely deployed nodes in a monitoring area will have redundant data from neighboring nodes. Therefore, we propose a clustering technique to select the Cluster Head (CH) node in small-scale WSNs. Since transmission consumes more energy than data collection, this protocol enables reactive routing, where transmission occurs only when a certain threshold is reached. In addition, based on their heterogeneous energy levels, nodes can be grouped into three categories: Normal, Intermediate, and Advanced. Simulation results in MATLAB/Simulink show that, after approximately 3000 rounds, the proposed method successfully transmitted about 3.1 × 104 packets to the base station, compared to 2.3 × 104 packets for the Low Energy Adaptive Clustering Hierarchy (LEACH) protocol. In addition, the time when the last node died was approximately 3,500 rounds, whereas the LEACH protocol only maintained about 1,500 rounds. The results have shown the effectiveness of this technique in reducing the dead node rate and increasing packet transmission efficiency.
A study of constrained Bézier fitting curve with tangent continuity for quadruped walking robot gaits Hung T. Nguyen; Minh T. Nguyen; Mui D. Nguyen; Long Q. Dinh; Dung T. Nguyen
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 24, No 3: June 2026
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v24i3.27620

Abstract

Smooth and stable gait generation is critical for quadruped robots operating in unstructured environments. This paper introduces a constrained Bézier fitting framework. It enforces tangent continuity (?1 continuity) at the gait cycle junction. This continuity addresses the tangential discontinuities that commonly arise in unconstrained Bézier trajectories. The method formulates foot-trajectory design as a constrained least-squares problem solved via Lagrange multipliers, enabling the control points to simultaneously satisfy interpolation targets and matched-tangent conditions. The resulting curves retain the geometric flexibility of classical Bézier parametrizations while producing well-behaved velocity profiles suitable for legged locomotion. These trajectories are integrated into an impedance-controlled leg model and evaluated in the MuJoCo simulator. Simulation results indicate noticeable reductions in torque spikes and improvements in tracking accuracy when compared to unconstrained Bézier and spline baselines, with representative trials showing reductions on the order of 40% and tracking improvements of approximately 25%. The proposed approach combines mathematical rigor with practical applicability, providing an efficient and reliable solution for high-performance quadruped gait planning.
Co-Authors Binh D. Do Dung T. Nguyen Long Q. Dinh Minh T. Nguyen Mui D. Nguyen Tao V. Nguyen Thang C. Vu