The goal of the manuscript is to design a relatively best control structure for the noise suppression of a drone’s camera gimbal action. The gimbal’s movement can be simplified as a rest-to-rest reorientation system that can achieve the boundary result of a dynamic system. Six different control architectures are proposed and evaluated based on their ability to control the trajectory of the dynamic-system position and speed, their running time, and quadratic cost. The robustness of the control architecture to uncertainties in inertia and sensor noise is also analyzed. Monte Carlo figures are used to assess the performance of the six control systems. The conditions for applying different architectures are identified through this analysis. The analysis and experimental tests reveal the most suitable control of the drone’s camera gimbal rotation.

In this paper, the problem of observer-based adaptive sliding mode control is discussed for nonlinear systems with sensor and actuator faults. The time-varying actuator degradation factor and external disturbance are considered in the system simultaneously. In this study, the original system is described as a new normal system by combining the state vector, sensor faults and external disturbance into a new state vector. For the augmented system, a new sliding mode observer is designed, where a discontinuous term is introduced such that the effects of sensor and actuator faults and external disturbance will be eliminated. In addition, based on a tricky design of the observer, the time-varying actuator degradation factor term is developed in the error system. On the basis of the state estimation, an integral-type adaptive fuzzy sliding mode controller is constructed to ensure the stability of the closed-loop system. Finally, the effectiveness of the proposed control methods can be illustrated with a numerical example.

Number of studies claim that tobacco control (TC) regulations are associated with reductions in smoking-related hospitalisation rates, however very few have estimated the impact of TC laws (TCL) at both countrywide and regional levels, and none of them - in relation to compliance with TC regulations. This study evaluates the effects of Russian TCL on hospital admission (HA) rates for pneumonia countrywide and in 10 Russian regions and the extent of these effects in connection with the compliance to TCL. Methods: HA rates for pneumonia during 2005–2019 were analysed to compare the periods before and after the adoption of TCL in 2013. An interrupted time series design and a Poisson regression model were used to estimate the immediate and long-term effects of TCL on pneumonia annual hospitalisation rates after the TCL adoption, compared with the pre-law period. The 10 Russian regions were compared using the TCL Implementation Scale (TCIS) developed on the basis of the results of Russian TC policy evaluation survey; Spearman’s rank correlation and linear regression models were employed. Results showed a 14.3% reduction in HA rates for pneumonia (RR 0.88; p=0.01) after the adoption of TCL in Russia with significant long-term effect after 2013 (RR 0.86; p=0.006). Regions with better enforcement of TCL exhibited greater reductions in pneumonia HA rates (rsp=−0.55; p=0.04); (=−4.21; p=0.02). Conclusions: TCL resulted in a sustained reduction in pneumonia hospitalisation rates, but these effects, varying by region, may depend on the scale of the TCL enforcement.

In some applications of microgrid and distributed generation, it is required to feed islanded or stand-alone loads with high-quality voltage to provide low total harmonic distortion (THD). To fulfil these demands, an LC filter is connected to the output terminals of power electronics converters. A cascaded voltage and current control loop with pulse-width modulation schemes are used to regulate the voltage and current in these systems. However, these strategies have some drawbacks, particularly when multiple-input multiple-output plants (MIMO) are controlled using single-input single-output (SISO) design methods. This methodology usually produces a sluggish transient response and cross-coupling between different control loops. In this paper, a model predictive control (MPC) strategy based on the concept of optimal switching sequences (OSS) is designed to control voltage and current in an LC filter connected to a three-level neutral-point clamped converter. The strategy solves two well-formulated optimisation problems to achieve control of the LC filter variables and the voltages of the DC-link capacitors. Hardware-in-the-Loop (HIL) results are obtained to validate the feasibility of the proposed strategy, using a PLECS-RT HIL platform and a DSP Microlab Box controller. In addition to the good dynamic performance of the proposed OSS-MPC, it is demonstrated by the HIL results that the control algorithm is capable of obtaining low total harmonic distortion (THD) in the output voltage for different conditions.

In today's human society, diesel generators (DGs) are highly applied into the human energy and electricity supply system due to its technical, operational and economic advantages. This paper proposes an intelligent nonlinear $H_2/H_{\infty}$ robust controller based on the chaos particle swarm gravity search optimization algorithm (CPSOGSA), which controls the speed and excitation of a DG. In this method, firstly, establish the nonlinear mathematical model of the DG and then design the nonlinear $H_2/H_{\infty}$ robust controller based on this. The direct feedback linearization and the $H_2/H_{\infty}$ robust control theory are combined and applied. Based on the design of the integrated controller for DG speed and excitation, the system's performance requirements are transformed into a standard robust $H_2/H_{\infty}$ control problem. The parameters of the proposed solution controller are optimized by using the proposed CPSOGSA. The introduction of CPSOGSA completes the design of an intelligent nonlinear $H_2/H_{\infty}$ robust controller for DG. The simulation is implemented in MATLAB/Simulink, and the results are compared with the PID control method. The obtained results prove that the proposed method can effectively improve the dynamic accuracy of the system and the ability to suppress disturbances and improve the stability of the system.

Physical rehabilitation aims to help people recover their mobility and strength after an injury or illness. One way to evaluate progress in rehabilitation is through isokinetic prototype tests that describe the dynamic characteristics of an isokinetic leg extension device for rehabilitation and control action. These tests use an isokinetic system to assess muscle strength and performance in a patient during isometric or isokinetic contraction. An experimental prototype allows the performance of the device to be evaluated in a controlled environment prior to use by the patient. In order to achieve physical recovery from musculoskeletal injuries in the lower limbs and achieve the reintegration of the affected subject into society as an independent and autonomous individual in their daily activities, a control model is presented that introduces a medical isokinetic rehabilitation protocol, where the element that allows carrying out such protocol consists of a magnetic particle brake whose control action is strongly influenced by the dynamics of the system when in contact with the end user, specifically the patient's legs in the stretch from the knee to the ankle. The results of these tests are valuable for health professionals seeking to measure their patient’s progress during the rehabilitation process and determine when it is safe and appropriate to advance in their treatment.

The coffee leaf miner (CLM) Leucoptera coffeella moth is a major threat to coffee production. Insect damage is related to the feeding behavior of the larvae on the leaf. During the immature life stages, the insect feeds in the mesophyll, triggering necrosis and causing loss of photosynthetic capacity, defoliation, and significant yield loss to coffee crops. Chemical control is mandatory to sustain the coffee production chain, though market requirements move towards conscious consumption, claiming for more sustainable methods. In this overview, we discuss aspects about the CLM concerning biology, history, geographical distribution, economic impacts, and the most relevant control strategies in progress. Insights to develop an integrate approach for a safer and eco-friendly control of the CLM are discussed, including bio-extracts, nanotechnology, pheromones, and tolerant cultivars.

Human African Trypanosomiasis (HAT) commonly known as sleeping sickness, is a neglected tropical vector borne disease caused by trypanosome protozoa. It is transmitted by bites of infected tsetse fly. In this paper we first present the vector-host model which describes the general transmission dynamics of HAT. In the tsetse fly population, the HAT is modelled by three compartments while in the human population, the HAT is modelled by four compartments. The next generation matrix approach is used to derive the basic reproduction number, R₀, and also it is proved that if R₀ ≤ 1 the disease free equilibrium is globally asymptotically stable, which means the disease dies out. The disease persist in the population if the value of R₀ > 1. Furthermore, the optimal control model is determined by using the Pontryagin’s maximum principle with control measures such as education, treatment and insecticides used to optimize the objective function. The model simulations confirm that the use of the three control measures are very efficient and effective to eliminate HAT in Africa.

Multiobjective optimization plays an increasingly important role in modern applications, where several criteria are often of equal importance. The task in multiobjective optimization and multiobjective optimal control is therefore to compute the set of optimal compromises (the Pareto set) between the conflicting objectives. The advances in algorithms and the increasing interest in Pareto optimal solutions have led to a wide range of new applications related to optimal and feedback control which results in new challenges such as expensive models or real-time applicability. Since the Pareto set generally consists of an infinite number of solutions, the computational effort can quickly become challenging which is particularly problematic when the objectives are costly to evaluate or when a solution has to be presented very quickly. This article gives an overview over recent developments in accelerating multiobjective optimal control for complex problems where either PDE constraints are present or where a feedback behavior has to be achieved. In the first case, surrogate models yield significant speed-ups. Besides classical meta-modeling techniques for multiobjective optimization, a promising alternative for control problems is to introduce a surrogate model for the system dynamics. In the case of real-time requirements, various promising model predictive control approaches have been proposed, using either fast online solvers or offline-online decomposition. We also briefly comment on dimension reduction in many-objective optimization problems as another technique for reducing the numerical effort.

To address the trajectory tracking issue for quadrotors working under the influence of external disturbances, a control scheme is designed for position and attitude trajectory tracking. Firstly, the quadrotor dynamic model is derived for control design. Secondly, adaptive integral backstepping control (AIBS) is employed in the position loop in which adaptive estimation is used to estimate the upper bounds of disturbances. Subsequently, a new adaptive backstepping fast nonsingular integral terminal sliding mode control (ABFNITSM) is proposed to follow desired Euler angles. The intro-duction of fast nonsingular terminal sliding mode and integral element is to realize fast convergence and accurate tracking. Dead zone technique is applied to minimize estimation errors. Besides, a saturation function is utilized to eliminate chattering phenomenon. Finally, simulation experiments are conducted under the Simulink environment. The proposed control is verified by comparing it with traditional integral terminal sliding mode control (ITSM) and integral backstepping control (IBS).

In this research article we solve the problem of synchronization and anti-synchronization of chaotic systems described by discrete and time-delayed variable fractional order differential equations. To guarantee the synchronization and anti-synchronization of these systems, we use the well-known PID control theory and the Lyapunov-Krasovskii stability theory for discrete systems of variable fractional order.We illustrate the results obtained through simulation with examples, in which it can be seen that our results are satisfactory, thus achieving synchronization and anti-synchronization of chaotic systems of variable fractional order with discrete time delay.

Tail-sitters aim to combine the advantages of fixed-wing and rotor-craft, but demand a robust and fast stabilization strategy to perform vertical maneuvers and transitions to and from aerodynamic flight. The research conducted in this work intends to assess the performance of nonlinear control strategies to stabilize the attitude of a X-Vert VTOL aircraft when hovering, comparing existing solutions to applications of Nonlinear Dynamics Inversion (NDI) and its incremental version, INDI. Such controllers are implemented and tuned in simulation in order to stabilize a model of the tail-sitter , complemented by estimation methods that allow to feed back the necessary variables. These estimators and controllers are then implemented in a microcontroller, validating them in a Hardware-in-the-Loop (HITL) scenario, with simple maneuvers in vertical flight. Lastly, the developed control solutions are used to stabilize the aircraft in experimental flight, being monitored by a motion capture system. The experimental results allow to validate the model of the X-Vert and compare the effectiveness of the different control solutions in stabilizing it, with the INDI presenting itself as a more robust control strategy, with better tracking capabilities and less actuator demands.

Gain-scheduled autopilots have emerged as a dominant strategy to achieve adaptive control of coupled, non-linear engineering complexities, owing to an ability to adapt to changing operational conditions and uncertainties. This study focuses on utilizing bilinear interpolation of gain-scheduled autopilots, emphasizing enhanced system performance and robustness. Through a comprehensive investigation and comparative analysis using three disparate cases, advantages over conventional methods are revealed. Strengths and weaknesses of both simple and specialized variants (such as linear, and real-time gain-scheduling) are introduced. Three missile guidance case–studies utilize simulation time and miss distance figures of merit. Potential to achieve precise control across various mission scenarios, while ensuring reduced computational complexity is revealed by nearly two–hundred percent improved missile miss distances with comparable distances traveled and slightly improved computational burden.

In many practical applications, it is more convenient to characterize the quality of production processes or service operations throughout the count of nonconformities. In the context of SPC, nonconformities are usually assumed to appear according to the binomial probability model. The conventional way for monitoring nonconformities involves Shewhart-type control procedures based on both constant and time-varying sample sizes. In this article, an EWMA scheme is proposed for monitoring the fraction of nonconforming items with time-varying sample sizes. The proposed control chart is referred to as the EWMAG-B and can be easily adapted to work with a constant sample size by fixing it at a needed value. By means of simulation, it was found out that the EWMAG-B chart outperforms the conventional p control chart in Phase II while detecting changes in the process level is wanted.

Autonomous navigation of spacecraft necessitates innovative technologies, methods, and algorithms, particularly when orbiting in proximity of other space objects. Optimization methods are useful for autonomous spacecraft navigation, guidance, and control, but their performance is hampered by noisy multi-sensor technologies and poorly modeled system equations, and real-time on-board utilization is generally computationally burdensome. Some proposed methods use noisy sensor data to learn the optimal guidance and control solutions real-time (online), where non-iterative instantiations are preferred to reduce computational burdens. This study aims to highlight efficacy and limitations of several common methods for optimizing guidance and control while proposing a few more, where all methods are applied to the full, nonlinear, coupled equations of motion including cross-products of motion from the transport theorem. Five disparate types of optimum guidance and control algorithms are presented and compared to a classical benchmark. Comparative analysis is based on tracking errors (both states and rates), fuel usage, and computational burden. Real-time optimalization with singular switching plus nonlinear transport theorem decoupling proves superior by matching open-loop solutions to the constrained optimization problem (in terms of state and rate errors and fuel usage), while robustness is validated in the utilization of mixed, noisy state and rate sensors and uniformly varying mass and mass moments of inertia. State tracking errors are reduced one-hundred ten percent. Rate tracking errors are reduced one-hundred thirteen percent. Control utilization (e.g., fuel) is reduced eighty four percent, while computational burden in reduced ten percent simultaneously.

Gaze tracking of high-speed moving targets is a novel application mode for low Earth orbit microsatellites. In this mode, small satellites are equipped with high-resolution narrow-field-of-view video cameras for stable gaze-tracking imaging of high-speed moving targets. This paper proposes a high-precision attitude adaptive integral sliding mode control method with a feedforward compensation disturbance observer to enhance the capability of a microsatellite attitude control system for gaze tracking of high-speed moving targets. Specifically, first, we present the attitude control system model for microsatellites and the calculation method for the desired attitude of target tracking based on image feedback. Then, an adaptive integral sliding mode attitude control algorithm with a feedforward compensation disturbance observer, which meets the requirements of high-precision tracking control, is designed. The developed algorithm utilizes the disturbance observer to observe the friction torque of the flywheel and compensates for it through feedforward control. It also employs the adaptive integral sliding mode control algorithm to reduce the impact of uncertain disturbances, decrease the steady-state error of the system, and enhance the attitude control precision. Simulation experiments demonstrated that the designed disturbance observer can successfully observe the frictional disturbance torque of the flywheel. The attitude Euler angle control precision for high-speed moving target tracking reached 0.009°, and the angular velocity control precision reached 0.005°/s, validating the effectiveness of the proposed approach.

This study presents a novel kinematic tracking model, designed for a networked exoskeleton system that is asynchronously taught by a remote therapist. On the server side, the therapist’s rehabilitation exercises are quantitatively assessed using a monocular passive vision system. The resultant analytical metrics are then transmitted asynchronously over the network to patients equipped with exoskeletons. On the client side, the exoskeleton utilizes these analytical metrics as reference paths for exercises, complemented by electromyography (EMG) feedback. This work introduces a calibration approach aimed at estimating angular positions by utilizing EMG observations. The calibration model establishes real-time correlations between polynomial reference positions. This calibration mechanism is integrated into simulations of both upper and lower limb exoskeletons. We further explore redundant kinematics, incorporating an EMG observer for linear, time-variant rehabilitation tracking control. Our methodology is validated using vision-based metric data and experimental EMG measurements for various exercises, including shoulder flexion, elbow flexion, and rowing-like movements. This work also includes computer simulations for tracking the control of rehabilitation exercises, demonstrating the adaptability of the system in reliably, robustly, and effectively following desired trajectories.

Modern electrical power systems integrate ancillary services to provide security and quality of service in real-time operation because of the intense variations in frequency caused by the massive development and uncertainty of solar-wind generation. Therefore, this ancillary services market focuses on power reserves for secondary and tertiary frequency control. Adjusting reserves and dispatching plants is a manual instruction executed by the system operator to maintain the frequency in the normal operating state (49.80≤f≤50.20 Hz). However, in the absence of an economic model for real-time power reserve reallocation in the ancillary services market, the reserve adjustments made by the system operator are not always optimal since they generate a displacement between the scheduled and actual marginal costs. Then, this work proposes a methodology for operating the ancillary services market in real-time through a dynamic and hourly mathematical model that integrates the variability of solar-wind generation, the demand monitoring curve, and the trajectory of the marginal cost. This model minimizes power reserve costs, which are governed by hourly price auctions, for candidate plants classified as supra/infra-marginal and can optimally reallocate power reserves for secondary and tertiary frequency control.

Green hydrogen is likely to play an important role in meeting the net zero targets of countries around the globe. Hence, producing green hydrogen cheaply and effectively is an important area of research. One potential option for green hydrogen production is to run electrolysers directly from offshore wind turbines, with no grid connection and hence no expensive cabling to shore. The removal of the grid presents an unusual integration challenge. The variable nature of wind turbines and farms results in a power output that can fluctuate more quickly than the electrolyser’s ability to respond without significantly stressing the electrolyser. Thus, the use of a battery, with the wind farm, becomes essential to even out some of the power variations that the electrolyser cannot deal with. In this work, a proof of concept of a wind farm control methodology designed to reduce variability in wind farm active power output is presented. Smoothing the power supplied by the wind farm to the battery reduces the size and number of battery charge cycles and helps to increase battery lifetime. Considering off-grid wind farms which exclusively power an electrolyser, this work quantifies the impact of the wind farm control method on battery lifetime for wind farms of 1, 4, 9 and 16 wind turbines. This is achieved using suitable wind farm, battery and electrolyser models. As an example, for the largest wind farm studied, consisting of 16 x 5 MW wind turbines, batteries with a lifetime of 15 years have approximately a 30 % reduction in required capacity (reduced from 14 MWh to 10 MWh) compared to operating without wind farm control. It is found that reducing the variability of the active power output of wind farms through the wind farm control methodology presented can have a significant impact on battery degradation and hence on battery lifetime. Hence, wind farm control can reduce the required battery capacity for a given lifetime or it can increase the lifetime of a given battery capacity. The work presented shows that wind farm control could play a critical role in reducing the levelised cost of green hydrogen produced from wind farms with no grid connection and paves the way for the design and testing of a full implementation of the wind farm control.

Cloud Computing is a promising and emerging technology that is rapidly being adopted by many IT companies due to a number of benefits that it provides, such as large storage space, low investment cost, virtualization, resource sharing, etc. Users are able to store a vast amount of data and information in the cloud and access it from anywhere, anytime on a pay-per-use basis. Since many users are able to share the data and the resources stored in the cloud, there arises a need to provide access to the data to only those users who are authorized to access it. This can be done through access control schemes which allow the authenticated and authorized users to access the data and deny access to unauthorized users. In this paper, a comprehensive review of all the existing access control schemes has been discussed along with analysis. Keywords: role-based access control, attribute-based access control, attribute-based encryption

This paper presents three types of sliding mode controllers for a magnetic levitation system. First, a proportional-integral sliding mode controller (PI-SMC) is designed using a new switching surface and a proportional plus power rate reaching law. The PI-SMC is more robust than a feedback linearization controller in the presence of mismatched uncertainties and outperforms the SMC schemes reported recently in the literature in terms of the convergence rate and settling time. Next, to reduce the chattering phenomenon in the PI-SMC, a state feedback-based discrete-time SMC algorithm is developed. However, the disturbance rejection ability is compromised to some extent. Furthermore, to improve the robustness without compromising the chattering reduction benefits of the discrete-time SMC, mismatched uncertainties like sensor noise and track input disturbance are incorporated in a robust discrete-time SMC design using multirate output feedback (MROF). With this technique, it is possible to realize the effect of a full-state feedback controller without incurring the complexity of a dynamic controller or an additional discrete-time observer. Also, the MROF-based discrete-time SMC strategy can stabilize the magnetic levitation system with excellent dynamic and steady-state performance with superior robustness in the presence of mismatched uncertainties. The stability of the closed-loop system under the proposed controllers is proved by using the Lyapunov stability theory. The simulation results and analytical comparisons demonstrate the effectiveness and robustness of the proposed control schemes.

This study presents a vibration control using actively tunable vibration absorbers (ATVA) to suppress vibration of a thin plate. The ATVA’s is made of a sandwich hollow structure embedded with the electrorheological fluid (ERF). ERF is considered to be one of the most important smart fluids and it is suitable to be embedded in a smart structure due to its controllable viscosity property. ERF’s apparent viscosity can be controlled in response to the electric field and the change is reversible in 10 microseconds. Therefore, the physical properties of the ERF-embedded smart structure, such as the stiffness and damping coefficients, can be changed in response to the applied electric field. A mathematical model is difficult to be obtained to describe the exact characteristics of the ERF embedded ATVA because of the nonlinearity of ERF’s viscosity. Therefore, a fuzzy modeling and experimental validations of ERF-based ATVA from stationary random vibrations of thin plates are presented in this study. Because Type-2 fuzzy sets generalize Type-1 fuzzy sets so that more modelling uncertainties can be handled, a semi-active vibration controller is proposed based on Type-2 fuzzy sets. To investigate the different performances by using different types of fuzzy controllers, the experimental measurements employing type-1 fuzzy and interval type-2 fuzzy controllers are implemented by the Compact RIO embedded system. The fuzzy modeling framework and solution methods presented in this work can be used for design, performance analysis, and optimization of ATVA from stationary random vibration of thin plates.

Background. The markerless motion capture system (MLS) is a new technology that uses deep learning to detect body segments from digital images. This study tested the agreement between the MLS and a force-plate based system (FPS, “gold standard”) to quantify stability control and motor performance (MP) during gait initiation (GI). Methods. Healthy adults (young and elderly) and patients with Parkinson’s disease (PD) performed GI series at spontaneous and maximal velocity on an FPS while being filmed by an MLS. Signals from both systems were used to compute the peak of forward center-of-mass velocity (indicator of MP) and the braking index (BI, indicator of stability control). Results. Descriptive statistics indicated that both systems detected between-groups differences and velocity effects similarly, while a Bland-Altman (BA) plot anal-ysis showed that BI and MP mean biases were virtually zero in all groups and conditions. Bayes factor 01 indicated strong (for BI) and moderate (for MP) evidence that both systems provided equivalent values. However, trial-by-trial analysis of BA plots revealed the possibility of differ-ences > 10% between the two systems. Conclusion. Although non-negligible differences do occur, MLS appears to be as efficient as FPS in detecting PD and velocity condition effects on BI and MP

Motor control, movement impairment and postural control recovery targeted in rehabilitation could be affected by pain. The main objective of this comprehensive review is to provide a synthesis of the effect of experimental and chronic pain on postural control throughout the available literature. After presenting the neurophysiological pathways of pain, we demonstrated that pain, preferentially localized at low back or in the leg induced postural control alteration. While proprioceptive and cortical excitability seems modified with pain, spinal modulation assessment might provide new understanding of the pain phenomenon related to postural control. Literature highlight that the motor control of trunk muscles in patient presenting with low back pain could be dichotomized in two populations, where the first one over-activate trunk muscles, the second one under-activate trunk muscles, and both generating increase of tissues loading. Taking account all this findings, will help clinician to provide adapted treatment for managing both pain and postural control.

TeamIndus’ Lunar Logistics vision includes multiple lunar missions over the coming years to meet requirements of science, commercial and efforts towards building readiness for crewed missions to Mars in the global exploration roadmap. TeamIndus is the only Indian team that participated in the Google Lunar X Prize. The challenge called for privately funded spaceflight teams to be the first to land a robotic spacecraft on the Moon, travel 500 meters, and transmit back high-definition video and images. The first mission is expected to have a net landed payload capacity of 50 kg. The prime objective is to demonstrate autonomous lunar landing, and operations for a Surface Exploration Rover - to collect data in the vicinity of the landing site. The rover is designed to execute the commands given by the operations manager autonomously. The rover software architecture relevant to the navigation and control is described in detail. The functional modes are defined to functionally distinguish the rover drive. Among the various operations performed by the rover are execution of simple drive steps through navigation and control algorithms. The kinematic model of the rover is studied in the hardware locomotion tests performed. The Kalman filter formulation to estimate the sensor bias and to get attitude estimate is discussed. The structural model and the frame definitions are described in a relevant section. A simple heading control algorithm is designed to control the heading direction of the rover according to the operations requirement. The path planning process and visual odometry processes are described. Finally the SIMULINK$^{\textregistered}$ model is tested on the prototype rover and the test experience results are discussed in the last section.

This paper addresses the input coupling problem for the shape memory alloy (SMA) actuated parallel platform with completely unknown nonlinear dynamics. The problem means that in a parallel platform with multiple SMA actuators acting together, the displacement of one of the actuators will simultaneously affect the remaining actuators to change. Due to the coupling problem and nonlinear characteristics of the SMA actuators, it is not easy to control the platform to achieve bi-directional swing with completely unknown nonlinear dynamics. Therefore, a model-free adaptive sliding mode control method is proposed to improve the control accuracy of the complex motion of the platform, avoiding the complex modeling process of the SMA actuated parallel platform. Based on the model-free adaptive control (MFAC) theory, a multiple input and multiple output (MIMO) dynamic linearized mathematical model of the parallel platform is established using the online input and output data of the system. Then, a sliding mode controller is designed based on the dynamic model. A rigorous theoretical analysis proves that the proposed model-free adaptive sliding mode controller is able to stably control the SMA actuated parallel platform, and its tracking error is uniformly ultimately bounded (UUB). Finally, experiments are conducted on the established SMA actuated parallel platform. The results show that the proposed model-free controller is feasible and effective, and can control the system well to achieve the complex motion of bi-directional swing.

We consider a constrained optimal control problem and an extension of it, in which the set of strict-sense trajectories is enlarged. Extension is a common procedure in optimal control, used to derive necessary and sufficient optimality conditions for the original problem from the extended one, which usually admits a minimizer and has a more regular structure. However, this procedure fails if the two problems have different infima. It is therefore relevant to identify such situations. Following on from earlier work by Warga but adopting perturbation techniques developed in non-smooth analysis, we investigate the relation between the occurrence of an infimum gap and abnormality of necessary conditions. For a notion of local minimizer based on control distance and an extension including the impulsive one, we prove that (i) a local extended minimizer which is not a local minimizer of the original problem and (ii) a local strict-sense minimizer which is not a local minimizer of the extended problem, both satisfy the extended maximum principle in abnormal form. The main novelty is result (ii), as until now it had only been shown that a strict-sense minimizer which is not an extended minimizer is abnormal for an `averaged version’ of the maximum principle.

In the last decade, robotic-mediated rehabilitation has emerged as a potential solution to improve repetitive task training. Each device in this field has a unique development history shaped by engineers’ expertise in specific programming languages or platforms. In this work we adopt an approach that tries to abstract from the final implementation with the aim to make control logic more shareable and understandable. The authors will present the outcomes of the application of a Rapid Control Prototyping strategy to an upper-limb robotic exoskeleton. A model-based design approach implemented on a real-time target machine is presented. This modern design approach was explored with several control strategies and was used to test the exoskeleton’s performances. The proposed method highlights how it is possible to develop the entire control architecture in a single programming environment.

The increased cultivation of high THC-containing Cannabis sativa L. (cannabis), particularly in greenhouses, has resulted in a greater incidence of diseases and molds that can negatively affect the growth and quality of the crop. Among them, the most important diseases are root rots (Fusarium and Pythium spp.), Botrytis bud rot (Botrytis cinerea), powdery mildew (Golovinomyces ambrosiae), cannabis stunt disease (caused by Hop latent viroid), and a range of microbes that reduce post-harvest quality. An integrated management approach to reduce the impact of these diseases/microbes requires combining different approaches that target the reproduction, spread and survival of the associated pathogens, many of which can occur on the same plant simultaneously. These approaches will be discussed in the context of developing an integrated plan to manage the important pathogens of greenhouse-grown cannabis at different stages of plant development. These stages include maintenance of stock plants, propagation through cuttings, vegetative growth of plants, and flowering. The cultivation of cannabis genotypes with tolerance or resistance to various pathogens is a very important approach, followed by the maintenance of pathogen-free stock plants. When combined with cultural approaches (sanitation, management of irrigation, and monitoring for diseases) and environmental approaches (greenhouse climate modification), a significant reduction in pathogen development and spread can be achieved. The use of preventive applications of microbial biological control agents and reduced risk biorational products can also reduce disease development at all stages of production in jurisdictions where they are registered for use. The combined use of promising strategies for integrated disease management on cannabis plants during greenhouse production will be reviewed. Future areas for research are identified.

Artificial intelligence (AI) has found extensive applications in the sustainability domain. The municipal solid waste incineration (MSWI) process can achieve waste-to-energy (WTE) goals through the assistance of automation and information technologies. In theory, AI can facilitate the intelligent operation of the MSWI process, simultaneously achieving low pollution emissions and high production efficiency. This study provides an overview of AI applications in the MSWI process. Addressing fundamental challenges, the optimal control of the MSWI process is categorized into four aspects: modeling, control, optimization, and maintenance. Subsequently, this study conducts a detailed analysis and discussion of AI applications in each of these technological domains. In conclusion, this paper outlines the future research directions and provides an outlook on the fundamental issues pertaining to AI applications in the optimal control of the MSWI process.

To mitigate the interference of waves on offshore operation vessels, heave compensation systems find widespread application. The performance of heave compensation systems significantly influences the efficiency and safety of maritime operations. This paper establishes a mathematical model for winch-based active heave compensation system. It introduces a three-loop active disturbance rejection control (ADRC) strategy encompassing piston position control, winch speed control, and load displacement control, enabling real-time estimation and compensation of system disturbances, thereby enhancing the performance of the heave compensation system. To assess the effectiveness of this control strategy, the study employs Matlab/Simulink and AME Sim to construct a co-simulation model and conducts a comparative analysis with traditional PID control systems. The research findings indicate that the three-loop ADRC position control strategy consistently delivers superior compensation performance across various operational scenarios.

A novel reinforcement learning deep deterministic policy gradient agent-based sliding mode control (DDPG-SMC) approach is proposed to suppress the chattering phenomenon in the attitude control for quadrotors, in the presence of external disturbances. First, the attitude dynamics model of the studied quadrotor is derived and the attitude control problem is described by formulas. Second, a sliding mode controller including its sliding mode surface and reaching law is selected for the nonlinear dynamic system, and the stability of the designed SMC system is supported by Lyapunov stability theorem. Third, a reinforcement learning (RL) agent based on deep deterministic policy gradient (DDPG) is trained to adjust the switching control gain adaptively. During the training process, the input signals of agent are the actual and desired attitude angles, and the output action is the time-varying control gain. Finally, the above trained agent is applied to the SMC as a parameter regulator, to implement the adaptive adjustment of the switching control gain related to reaching law, and the simulation results verify the robustness and effectiveness of the proposed DDPG-SMC method.

This paper proposes the application of force-projecting bilateral control to a master-follower teleoperation system with a pneumatic manipulator on the follower side, and evaluates its effectiveness. The proposed method directly projects the operating force on the master side to the driving force on the follower side, eliminating the need for both position control and external force detection on the follower side, thereby solving the problem of low rigidity and response delay of pneumatic manipulators and providing highly stable sensor-less force presentation against variable environments. In this study, dynamic response analyses of a 1-DOF master-follower system were performed by numerical simulation using a linear system model, followed by experimental verification by implementing an actual system with an external force estimator. The results showed that the proposed force-projecting bilateral control has significantly higher positioning rigidity and better force control stability than the conventional force-reflecting bilateral control. A theoretical consideration was also given using equivalent transformation of force transfer functions to provide evidence for the high stability.

With the development of artificial intelligence technology, manipulators, as an important part of the work of intelligent robots, can replace humans to perform various complex tasks. In recent years, there have been many studies on the remote control of manipulators using various control technologies. Starting from the manufacturing materials of flexible sensors used for manipulators, this paper introduces the base materials, sensing materials, and flexible electrode materials of flexible sensors, respectively, and summarizes the performance of flexible sensors made based on the characteristics of different materials. The basic principles of dipping and coating, lithography, inkjet printing, screen printing, 3D printing and so on are introduced from the perspective of flexible sensor manufacturing process. Some different functions of sensors achieved by different structural designs, such as: tensile cracking, microchannels, etc. are also introduced. Then, from the perspective of recognition accuracy of the manipulator, two kinds of control methods based on flexible sensor by data glove control and surface EMG control are classified and introduced, and the problems existing in three aspects of flexible sensor material preparation, manufacturing process and control series design are summarized. Finally, the possible future research directions in this field are suggested.

This paper presents an analysis of the sensitivity of controlling an autonomous surface object among a group of encountered objects to the inaccuracy of state control process data. For this purpose, a safe and optimal model of the control process was defined. An algorithm for determining the optimal and safe trajectory of an object, based on the multi-object game model, was developed; for comparative analysis, an algorithm for calculating only the optimal trajectory, not taking into account the maneuverability of other objects, was additionally developed. First, simulation-based studies of the algorithms enabled a comparative analysis of a number of different acceptable strategies for optimally shifting the trajectory of maneuvering objects from a single initial direction. Thereafter, the main goal of this paper was implemented: an analysis of the sensitivity characteristics of safe control, assessed with the risk of collision, both on the inaccuracy of navigation data and on the number of possible control strategies. Finally, final conclusions and a plan for further research on the subject of the paper were formulated.

Chaotic systems are systems whose results are sensitive to the initial conditions. Chaotic systems generally have nonlinearities that can be difficult to model. One example of a chaotic system with nonlinearities is the Lorenz system. The Lorenz system can be used to model weather, wind disturbances, and electronic circuit design, among other applications. In this manuscript, the Lorenz system is modeled and various control methods are applied in an effort to dictate the system’s state and rate trajectories. The combination of the linear feedback and nonlinear feedforward controllers can show over an 80% improvement in state trajectory errors when compared to the baseline run. However, the improved state trajectory performance comes at a cost of as much as 1800% error in the rate trajectories.

For a decade, the studies of dynamic control for unmanned aerial vehicles took a large interest, where drones as a useful technology in different areas were always suffering from several issues like instability-high energy consumption of batteries - inaccuracy of tracking targets. Different approaches are proposed for dealing with the non-linearity issues which present the most important features of this system. This paper describes our focus on the most common control strategies, known as model predictive control MPC, by developing a model based on the sensors embedded in our Tello quadrotor used for indoor purposes. The original controller of Tello quadrotor is supposed to be a slave, where the designed model predictive controller is created in MATLAB and imported to another embedded system, considered as a master; the objective of this model is to track the reference trajectory, almost keeping the stability of the system and ensure the low energy consumption. In the first part, a profound description of the modelling process of a dynamic model for drones is presented, explaining the design of MPC controller with both linear and non-linear strategies built in MATLAB. In the final part, simulation and results are discussed regarding its behaviour and performance, highlighting the MPC model's important role on drones' energy consumption profile.

Across the global construction industry, fatalities continue to occur from high-risk activities where the risk controls have been defined, however were unreliable. In the mining industry, Critical Control Risk Management has provided positive results in reducing major accidents, which raises the question, could the Critical Control approach reduce the fatality rate in the construction industry? This study analysed 10 years of serious and fatal incident investigation reports from four international construction companies to i) assess the reliability of their Critical Controls (CCs) and ii) assess the factors which affect the reliability of CCs. The results show the reliability of CCs, measured by implementation and effectiveness, averaged just 42%. Human performance factors including risk identification, decision-making and competency together with supervision, job planning, communication organisational factors were identified as affecting the reliability of CCs. The study used bow-tie diagrams with real event data to find the actual CC effectiveness. This gave actionable findings directly related to individual CCs enabling the participating organization to focus resources on improving specific verification processes. The results confirm the applicability of CCs for the Major Accident Event hazards analyzed and highlights further review is required of the factors which need to be considered when implementing a CC program. This paper details our methodology and results, to assist others apply CCs as a risk management tool.

The transition from a dormant to a germinating seed represents a crucial developmental switch in the life cycle of a plant. Subsequent transition from a germinating seed to an autotrophic organism also requires a robust and multi-layered control. Seed germination and seedling growth are multistep processes, involving both internal and external signals, which lead to a fine-tuning control network.

The paper presents the possibility of using KINECT v2 module to control an industrial robot by means of gestures and voice commands. It describes elements of creating software for off-line and on-line robot control. The application for KINECT module was developed in C# language in Visual Studio environment, while the industrial robot control program was developed in RAPID language in RobotStudio environment. The development of a two-threaded application in RAPID language allowed to separate two independent tasks for the IRB120 robot. The main task of the robot is performed in thread no. 1 (responsible for movement). Simultaneously working thread no. 2 ensures continuous communication with the KINECT system and provides information about the gesture and voice commands in real time without any interference in thread no. 1. The applied solution allows the robot to work in industrial conditions without negative impact of communication task on the time of robot’s work cycles. Thanks to the development of a digital twin of the real robot station, tests of proper application functioning in off-line mode (without using a real robot) were conducted. Obtained results were verified online (on the real test station). Tests of correctness of gesture recognition were carried out, the robot recognized all programmed gestures. Another test carried out was the recognition and execution of voice commands. A difference in the time of task completion between the actual and virtual station was noticed - the average difference was 0.67 s. The last test carried out was to examine the impact of interference on the recognition of voice commands. With a 10dB difference between the command and noise, the recognition of voice commands was equal to 91.43%. The developed computer programs have a modular structure, which enables easy adaptation to process requirements.

Object of this work is the design and the simulation of a hybrid UAV with VTOL capabilities that has been designed for landing on naval moving platforms. The work is focused on the innovative propulsion layout adopted on the UAV. Authors discuss how adopted low level control strategies can exploit the innovative features of the proposed system assuring a good rejection of transversal wind disturbances. Particular attention is dedicated to low level modelling and control of the system emphasizing how choices regarding low level actuation and control should improve performances and robustness of the system.

Electromagnetic actuation can support many fields of technology, such as robotics or biomedical applications. In this context, fully understanding the system behavior and proposing a low-cost package for feedback control is challenging. Modeling the electromagnetic force is particularly tricky because it is a nonlinear function of the actuated object’s position and coil’s current. Measuring in real time the position of the actuated object with the precision required for accurate motion control is also nontrivial. In this study, we propose a novel, cost-effective electromagnetic set-up to achieve position control via visual feedback. We actuate vertically and under different experimental conditions a 10 mm diameter steel ball hanging on a low-stiffness spring, demonstrating good tracking performance (the position error remains within ±0.5 mm with a negligible phase delay in the best scenarios). The experimental results confirm the feasibility of the proposed set-up, which is characterized by minimum complexity and realized with off-the-shelf and cost-effective components. For these reasons, such a contribution helps to understand and apply electromagnetic actuation even further.

: To improve the efficiency of rhizobial inoculation operations and address the current situation of rhizobial inoculation being labor-intensive, a spraying and control system for variable rate application (VRA) of liquid rhizobia was developed. The system can accurately regulate the spraying rate of liquid rhizobia according to the desired rate of rhizobia by incremental Proportional Integral Derivative (PID) closed-loop control algorithm, making it particularly suitable for precise spraying with small amounts. In the laboratory experiment of precise flow control, variation coefficient of spraying nozzle from 0.10 MP to 0.20 MP pressure were no more than 1.2%. A clear linear relationship was observed between the spraying rate and pressure. The maximum response time was 1.93 seconds, while the average response time was 1.62 seconds when controlling the spraying system for small amounts. Field trial was conducted in Heilongjiang Agricultural Xianghe Farm of China. Average seeds number and 100-seed weight of soybean plant with rhizobia inoculation treatment were better than control group, and average yield of spraying liquid rhizobia agent with full base fertilizer increased by 232.5 kg/hm2, representing a significant 7.4% improvement over the control group. The results of these trails clearly showed the positive effect of the spraying and control system for liquid rhizobial inoculation, which has superior to existing inoculation manners, and provides an important technical support for the widespread adoption of rhizobia technology.

The uncertainty in the secondary path of an Active Noise Control (ANC) headphone affects the waterbed effect and stability of the feedback system. This study focuses on the uncertainty of the secondary path when real users wear headphones, and proposes a new uncertainty constraint based on the measured results of the secondary path transfer function under different wearing conditions of dummy head and limited subjects. This constraint and a cascaded second-order infinite impulse response filter with fixed coefficients are used to formulate a control strategic function, which is optimized by the Improved Grey Wolf Optimizer (IGWO) algorithm to obtain the optimal controller with better noise reduction performance. The proposed method and simulation model are validated based on the experimental test results. The results demonstrate that the safety factor and waterbed suppressing factor contained in the proposed uncertainty constraint ensures more stable noise reduction and effective suppression of the waterbed effect for new subjects without a priori data.

This paper presents a cascade predictive control structure based on the field-oriented control (FOC) in the dq rotor reference frame for the synchronous reluctance machine (SynRM). The constant d-axis current control strategy was used and thus, the electromagnetic torque was directly controlled by the q-axis current. Because the model of the two axes currents from the inner loop is a coupled non-linear multivariable one, to non-interaction linear control the two currents, their decoupling was achieved through feedforward components. Following the decoupling, two independent monovariable linear systems resulted for the two currents dynamics that were controlled using model predictive control (MPC) algorithms, considering their ability to automatically handle the state bounds. The most important bounds for SynRM are the limits imposed on currents and voltages, which in the dq plane correspond to a circular limit. To avoid computational effort, linear limitations were adopted through polygonal approximations, resulting in rectangular regions in the dq plane. For the outer loop that controls the angular speed with a constrained MPC algorithm, as plant was considered the q-axis current closed loop dynamics and the torque linear equation. To evaluate the performances of the proposed cascade predictive control structure, a simulation study using MPC controllers versus PI ones was conducted.

A novel approach to the remote-control system for the compact multi-crystal energy-dispersive spectrometer for x-ray emission spectroscopy (XES) applications has been developed. This new approach is based on asynchronous communication between software components and on reactive design principles. In this paper, we identify the challenges we have faced, our solution to them as well as the implementation and future development prospects. The main motivation of this work was the development of a new holistic communication protocol that can be implemented to control various hardware components.

The purpose of this paper is to find the time optimal control to a target set for semilinear stochastic functional differential equations involving time delays or memories under general conditions on a target set and nonlinear terms even though the equations contain unbounded principal operators. Our research approach is construct a fundamental solution for corresponding linear systems and establish variations of constant formula of solutions for given stochastic equations. The existence result of time optimal controls for one point target set governed by the given semilinear stochastic equation is also established.

Abstract: The article proposes to consider the possibility of connecting the problems of engineering synthesis of frequency control systems for asynchronous electric drives with the basic provisions of the theory of identification of asynchronous electric motors based on the equations of a generalized AC electric machine.The article presents the results of experimental studies of load parrying processes in asynchronous electric drives with vector and scalar controls. These results indicate the absence of fundamental advantages as processes in a drive with vector control. This advantage should have manifested itself in a more efficient formation of the moment and fast transients. It is suggested that the reason for this is in too significant errors, assumptions and simplifications of the equations adopted in the derivation of vector control and which are its theoretical basis. A method is proposed for describing asynchronous electric motors by nonlinear transfer functions, which made it possible to formulate the principle of correction of electric drives and a method for assessing their efficiency.The article shows. that the correction based on the proposed nonlinear transfer functions of the induction motor is much more efficient than the traditional vector control, which was confirmed by detailed experiments and modeling. The results of the most important of which are given in the article. An assumption was made. that the advantage in efficiency is due to a more accurate identification of the dynamics of an asynchronous electric motor with a gear function instead of vector equations.

In this paper, modelling designing and simulation of a simple voltage amplidyne system is done using robust control theory. In order to increase the performance of the voltage amplidyne system with H ∞ optimal control synthesis and H ∞ optimal control synthesis via ∞-iteration controllers are used. The open loop response of the voltage amplidyne system shows that the system can amplify the input 7 times. Comparison of the voltage amplidyne system with H ∞ optimal control synthesis and H ∞ optimal control synthesis via ∞-iteration controllers to track a desired step input have been done. Finally, the comparative simulation results prove the effectiveness of the proposed voltage amplidyne system with H ∞ optimal control synthesis controller in improving the percentage overshoot and the settling time.

This paper studies the integrated design problems of control and guidance with parameter uncertainties, target disturbances, input constraints and actuator faults. Firstly, based on the integrated design idea of the missile guidance and control, the auxiliary variable is used to establish and transform it into a cascade system with input constraints, actuator faults and disturbances of unknown upper bounds. Secondly, the adaptive anti-saturation dynamic surface fault-tolerant controller is designed by using the back-stepping method, adaptive control, auxiliary system and tracking differentiator. By introducing the tracking differentiator and tangent barrier Lyapunov function, the computational explosion problem in the traditional back-stepping method is avoided and the angle of attack can be guaranteed in prospective range, respectively. Finally, the theoretical proof of the designed control strategy is given to ensure that the states of the closed-loop system are bounded. At the same time, the digital simulation of the maneuvering target of different maneuvering forms is carried out, which further illustrate the effectiveness and robustness of the designed control schemes.

Cloud-based CNC is an emerging paradigm of Industry 4.0 where computer numerical control (CNC) functionalities are moved to the cloud and provided to manufacturing machines as a service. Among many benefits, C-CNC allows manufacturing machines to leverage advanced control algorithms running on cloud computers to boost their performance at low cost, without need for major hardware upgrades. However, a fundamental challenge of C-CNC is how to guarantee safety and reliability of machine control given variable Internet quality of service, especially on public Internet networks. We propose a three-tier redundant architecture to address this challenge. We then prototype tier one of the architecture on a 3D printer successfully controlled via C-CNC over public Internet connections, and discuss follow-on research opportunities.

The control of stereo-, regio-, and chemo-selectivity in transition-metal-catalyzed coupling reactions is a key topic in organic synthesis. Several methods for controlling selectivity have been reported thus far. On the other hand, the reduction of the catalyst loading in the reaction is one of the most important issues in organic synthesis from the standpoint of green sustainable chemistry. As another advantage of reducing the catalyst loading, the expression of the reaction selectivity and the substituent effect caused by the reduction of the catalyst loading to the parts-par-million (ppm) level in various catalytic reactions is presented herein.

Nano-emulsions of essential oils (EO) and their chemical constituents are promising raw materials for the ecological control of Tribolium castaneum. Curcuma longa Linn is a plant known for the properties of its rhizome which is used in food, health and hygiene products. Its leaves are by-products with no commercial value, but with unexplored bioactive volatile constituents. This study aims to evaluate the repellency of nano-emulsions containing the EO from leaves of C. longa or its three main chemical constituents against T. castaneum. The representative mixture of EO extracted in four different months showed p-cymene (26.0%), 1,8-cineole (15.1%) and terpinolene (15.5%) as major compounds. Nano-emulsions of EO (HLB 16.7), terpinolene (HLB 15.0), 1,8-cineole (HLB15.0) and p-cymene (HLB 15.0) were repellent at concentrations of 11 μg/cm2 (EO, terpinolene and p-cymene) and 1.1 μg/cm2 (1,8-cineole). The EO nano-emulsion droplet size increased linearly over time, remaining below 300 nm for 35 days and below 600 nm for 80 days. The EO nano-emulsion proved to be a green alternative to synthetic pesticides, as it was safe against the bioindicator Chlorella vulgaris. Terpinolene, 1,8-cineol and p-cymene were able to inhibit the enzyme telomerase from T. castaneum in an in silico assay, which may explain the repellency of these samples. This study provides ideas for the utilization of EO from leaves of C. longa as raw material of new environmentally friendly plant-derived nanobiopesticides.

Primates have an unparalleled ability to produce a wide range of dexterous movements, each sensitive to context and robust to perturbation. Recent progress in understanding the neural basis of movement generation comes from two largely independent ideas, “Optimal Feedback Control” and “Neural Dynamical Systems”. The optimal control framework was largely inspired by research programs from the ‘80s showing that the brain doesn’t seem to plan a simple desired movement trajectory, but instead produces movements by transforming sensory information into motor output that satisfies an optimality criterion. The more recent idea that the motor cortex acts as a dynamical system came about only as it became possible to analyze large numbers of simultaneously recorded single neurons. These two framings of the motor system have been largely incommensurate, neither able to contribute much to the understanding of the other. In this review, we reconcile these two views into a single model we call “Dynamical Feedback Control”. We propose that the dynamics in the motor cortex emerge from a sensorimotor transformation that couples the motor cortex to sensory input from the periphery, and to contextual inputs from other cortical and subcortical areas. Dynamics in motor cortex can be thought to approximate gains of a feedback controller, and by moving the neural state to different regions of state space, the motor system can rapidly alternate between different controllers. The DFC framework presents a new lens to interpret neural dynamics, and to understand how ensembles of neurons generate flexible and responsive patterns of muscle activity.

A high-level control algorithm capable of generating position and torque references from surface electromyography signals (sEMG) has been designed. It is applied to a shape memory alloy (SMA) actuated exoskeleton used in active rehabilitation therapies for elbow joints. The sEMG signals are filtered and normalized according data collected online during the first seconds of~therapy sessions. The control algorithm uses the sEMG signals to promote active participation of patients during the therapy session. In order to generate the position reference pattern with good precision, the sEMG normalized signal is compared with a pressure sensor signal to detect the intention of each movement. The algorithm has been tested in simulations and with healthy people for control of an elbow exoskeleton in flexion–extension movements. The results indicate that sEMG signals from elbow muscles in combination with pressure sensors that measure arm–exoskeleton interaction can be used as inputs for the control algorithm, which adapts the reference for exoskeleton movements according a patient's intention.

Mozambique is endemic to aflatoxigenic Aspergillus but the country has to heavily rely on foreign research to deduct what is happening locally. There is some information produced by local scholars and institutions but it needs to be “tied” together. This review briefly synthetizes the country’s major findings in relation to the toxin’s etiology, epidemiology, detection and control, discussing and meta-analyzing them as far as they allow. The causes and foods affected are the same as in most tropical countries, the toxin is widespread and the level of exposure is high. Regarding the control, it is still marginal but some institutions have driven efforts in this direction. Learning from other countries is still the best approach to take, as the solutions are probably the same for most places.

This paper builds on previous work introducing the Secure Remote Update Protocol (SRUP)—a secure communications protocol for Command & Control applications in the Internet of Things, built on top of MQTT. This paper builds on the original protocol, and introduces a number of additional message types: adding additional capabilities to the protocol. We also discuss the difficulty of proving that a physical device has an identity corresponding with a logical device on the network, and propose a mechanism to overcome this within the protocol.

The need for industrial and commercial machinery to maintain high torque while accurately following a variable angular speed is increasing. To meet this demand, induction motors (IMs) are commonly used with variable speed drives (VSDs) that employ a field-oriented control (FOC) scheme. Over the last thirty years, IMs have been replacing independent connection direct current motors due to their cost-effectiveness, reduced maintenance needs, and increased efficiency. However, IMs and VSDs exhibit nonlinear behavior, uncertainties, and disturbances. This paper proposes a robust combined adaptive passivity-based control (CAPBC) for this class of nonlinear systems that applies to angular rotor speed and stator current regulation inside an FOC scheme for IMs´ VSDs. It uses general Lyapunov-based design energy functions and adaptive laws with σ-modification to assure robustness after combining control and monitoring variables. Lyapunov’s second method and Barbalat Lemma prove that the control and identification error tends to be zero over time. Moreover, comparative experimental results with standard Proportional Integer controller (PIC) and direct APBC, show the proposed CAPBC effectiveness and robustness under normal and changing conditions

The purpose of this study is to investigate the impact of the voltage drop of a three-phase voltage source inverter in driving brushless motors. This study also proposes an enhanced Field Oriented Control scheme that accounts for the inverter voltage drop enabling efficient drive at very low motor-speeds. Experimental results are provided to verify the theoretical study and the proposed control scheme.

Thermal fluctuations in two-dimensional (2D) isotropy systems at non zero finite temperatures can destroy the long-range (LR) magnetic order due to Mermin-Wanger theory. Interestingly, the magnetic anisotropy related to spin-orbit coupling (SOC) could stabilize magnetic order in 2D systems. Recently, 2D FexGeTe2 (3≤x≤7) with high curie temperature (TC), as a typical 2D van der Waals metallic ferromagnet, has not only made significant progress in synthetic methods and controlling ferromagnetism (FM), but also actively explored many device applications. In this Review, we introduce six experimental methods, ten ferromagnetic modulation strategies, and three spintronic devices of 2D FexGeTe2 materials. Overall, we have outlined the challenges and potential research directions in this field.

The paper aims to study the workflow of the detection center of stealthy attacks on industrial installations that generate increase in energy consumption while avoiding triggering fault detection and damaging the installation. Such long-lasting attacks on industrial facilities make production more expensive and less competitive. We present the concept of the remote detection system of cyberattacks directed at maliciously changing the controlled variable in an industrial process air conditioning system. The monitored signals are gathered at the PLC-controlled installation and sent to the remote detection system, where the discrepancies of signals are analyzed based on the Control Performance Assessment indices. The results of performed tests prove the legitimacy of the adopted approach.

Attitude control of a novel regional truss-braced wing aircraft with low stability characteristics is addressed in this paper using Reinforcement Learning (RL). In recent years, RL has been increasingly employed in challenging applications, particularly, autonomous flight control. However, a significant predicament confronting discrete RL algorithms is the dimension limitation of the state-action table and difficulties in defining the elements of the RL environment. To address these issues, in this paper, a detailed mathematical model of the mentioned aircraft is first developed to shape an RL environment. Subsequently, Q-learning, the most prevalent discrete RL algorithm will be implemented in both the Markov Decision Process (MDP), and Partially Observable Markov Decision Process (POMDP) frameworks to control the longitudinal mode of the air vehicle. In order to eliminate residual fluctuations that are a consequence of discrete action selection, and simultaneously track variable pitch angles, a Fuzzy Action Assignment (FAA) method is proposed to generate continuous control commands using the trained Q-table. Accordingly, it will be proved that by defining an accurate reward function, along with observing all crucial states (which is equivalent to satisfying the Markov Property), the performance of the introduced control system surpasses a well-tuned Proportional–Integral–Derivative (PID) controller.

This paper is an extension to previous work that introduced successful classical-control for indoor lighting system that simultaneously control LED system and roller curtain to achieve accurate light intensity for indoor lighting applications. In this paper, Multi Input Multi Output Fuzzy Logic Controller (MIMO FLC) is proposed to replace the classical-controller. Detailed method is provided to illustrate the steps to design the required MIMO FLC that has two fuzzy input, two fuzzy output and forty-five fuzzy rules with mamdani fuzzy engine. The proposed MIMO FLC is simulated in Matlab using Simulink tools. The results are illustrated, analyzed and compared with the classical-control. The response showed very close performance to the classical-controller. The maximum average error and the maximum error with respect to “Desired Lux” inside the room is -6% and -10% respectively.

To determine the adequacy of management practices in Social Health Organization (SHO) in face of compliance guidelines established by Brazilian organizations. This was qualitative research. Data were gathered through interviews and documentary analysis and were analyzed through the interpretation of significances and content analysis. The entity structures the compliance function based on three axes: a) normative - institutionalization of the integrity program, ethical conduct, internal controls and risk management; b) commercial - institutionalization of mechanisms aimed at transparency and accountability of the funds raised. However, the Covid-19 pandemic generated unforeseen contingencies such as accountability for funds from private donations; c) organizational - adherence by top management in maintaining a structure for inspection and control of the institution’s processes and behaviors in the market in which it operates. Based on the analysis of documents there is 76% adequacy of adherence of management practices to the compliance guidelines. It is concluded that organizations that depend on resources and understand that the subsidies they receive, whether government, whether public or private donations, will make the necessary efforts to ensure high levels of compliance, their choices and conduct preserve their image and the achievement of greater credibility and legitimacy.

In this paper, the power quality of interconnected microgrids is managed using a Model Predictive Control (MPC) methodology which manipulates the power converters of the microgrids in order to achieve the requirements. The control algorithm is developed for the microgrids working modes: grid-connected, islanded and interconnected. The results and simulations are also applied to the transition between the different working modes. In order to show the potential of the control algorithm, a comparison study is carried out with classical Proportional-Integral Pulse Width Modulation (PI-PWM) based controllers. The proposed control algorithm not only improves the transient response in comparison with classical methods but also shows an optimal behavior in all the working modes, minimizing the harmonics content in current and voltage even with the presence of non-balanced and non-harmonic-free three-phase voltage and current systems

In this manuscript, we present a high-fidelity physics-based truth model of a Single Machine Infinite Bus (SMIB) system. We also present reduced-order control-oriented nonlinear and linear models of a synchronous generator-turbine system connected to a power grid. The reduced-order control-oriented models are next used to design various control strategies such as: proportional-integral-derivative (PID), linear-quadratic regulator (LQR), pole placement-based state feedback, observer-based output feedback, loop transfer recovery (LTR)-based linear-quadratic-Gaussian (LQG), and nonlinear feedback-linearizing control for the SMIB system. The controllers developed are then validated on the high-fidelity physics-based truth model of the SMIB system. Finally, a comparison is made of the performance of the controllers at different operating points of the SMIB system.

Precise and fast position tracking is essential for the correct operation of many industrial robots and CNC machine tools. This subject is also important in the control of the mount of the astronomical telescope, especially for the tracking of artificial satellites. As system parameters can change, a control method that is robust to changes in parameters must be used. Such a method is the sliding control, which, however, ensures the robustness only after reaching the sliding surface. Therefore, a new method was proposed in the paper, which eliminates the phase of reaching the sliding surface. The method consists of using a reference trajectory generator and determining the generalized error in relation to this trajectory. The procedure for designing the control system is presented. Next, the proposed method was verified on the laboratory stand. The described control method provides a robust system operation and can be easily implemented in the control system.

HybridAC/DC microgrids(HMG) are emerging as an attracting method for integrating the AC/DC distributed energy resources(DERs) with the features of high-performance and low-cost. In the isolated hybrid AC/DC microgrid (IHMG), the key problem is how to balance the power variation and regulate the voltage and frequency. Various energy storage systems (ESS)and interlinking converter (IC) technologies are viable for this application. The present study proposes a novel unified power flow model to evaluate and compare the abilities of the ESS with different connection topologies and ICs with different control approaches to maintain the voltage and frequency stability of the IHMG. In order to investigate the performance of the proposed scheme, five operation modes of the IHMG are defined and explained. The classification is based on the connection topologies and control modes of the ESS/IC in the IHMG. Then, a set of generic PF equations are derived. Moreover, three binary matrices are applied in the construction of the unified power equations. These matrices are used for describing the running state of the IHMG. Finally, in order to verify the proposed scheme, it is applied to several case studies of the IHMG. The operation characteristics of multi-DC subgrids IHMG in different modes, particularly when an external disturbance occurs, are investigated.

A fluid power industry powering the agricultural machinery faces big challenges nowadays. An issue of energy saving has become important due to increasing fuel costs and more stringent emissions regulations impacting vehicle development. A recent study conducted by the U.S. Department of Energy shows that the efficiency of fluid power averages 21 percent. This offers a huge opportunity to improve the current state-of-the-art of fluid power machines, in particular to improve the energy consumption of current applications and create innovative solutions. To increase energy efficiency of fluid power systems reduction of throttling losses and potential energy recovery strategies are needed. Aim of this work is to present classification of current energy saving architectures and aid the development of new techniques for mobile fluid power machines.

This paper presents experimental identification and vibration suppression of a flexible manipulator with non-collocated piezoelectric actuators and strain sensors using optimal multi-poles placement control. To precisely identify the system model, a reduced order transfer function with relocated zeros is proposed, and a first-order inertia element is added to the model to compensate the non-collocation. Comparisons show the identified model match closely with the experimental results both in the time and frequency domains, and a fit of 97.2% is achieved. Based on the identified model, a full-state multi-poles placement controller is designed, and the optimal locations of the closed loop poles are determined. The feasibility of the proposed controller is validated by simulations. Moreover, the controller is tested for different locations of the closed loop poles, and an excellent performance of the optimal locations of the closed loop poles is shown. Finally, the effectiveness of the proposed controller is demonstrated by experiments. Results show that the vibrations of the expected modes are significantly diminished. Besides, vibrations of the higher modes are also slightly suppressed. Accordingly, multi-mode vibrations of the manipulator are well attenuated, and the tip displacement converges quickly with the proposed method.

Inspired by the reflective and deliberative control mechanisms used in cognitive architectures such as SOAR and Sigma, we propose an alternative decision mechanism driven by architectural appraisals allowing robots to overcome impasses. The presented work builds on and improves on our previous work on a generally applicable decision mechanism with roots in the Standard Model of the Mind and the Generalized Cognitive Hour-glass Model. The proposed decision mechanism provides automatic context-dependent switching between exploration-oriented, goal-oriented, and backtracking behavior, allowing a robot to overcome impasses. A simulation study of two applications utilizing the proposed decision mechanism is presented demonstrating the applicability of the proposed decision mechanism.

The main objective of this paper is to continue the development of activities of basic and applied research related to wind energy and to develop methods of optimal control to improve the performance and production of electrical energy from wind. A new control technique of Double fed induction generator for wind turbine is undertaken through a robust approach tagged nonlinear sliding mode control (SMC) with exponential reaching law control (ERL). The SMC with ERL proves to be capable of reducing the system chattering phenomenon as well as accelerating the approaching process. A nonlinear case numerical simulation test is employed to verify the superior performance of the ERL method over traditional power rate reaching strategy. Results obtained in Matlab/Simulink environment show that the SMC with ERL is more robust, prove excellent performance for the control unit by improving power quality and stability of wind turbine.

Aiming at the problems of high labor intensity and high cost of manual picking, high loss rate of mechanical picking seeds, low mechanization level and difficult to guarantee the quality of picking plates in the process of picking plates of edible sunflower. Based on the principle of manual plate taking, a plate taking control system for sunflower harvesting table was designed. Through the research and analysis of the principle of taking the plate of the edible sunflower harvesting table. According to the actual operation requirements, the overall scheme of the sunflower plate control system is determined, and the control strategy of imitating artificial low loss harvesting is designed. To reduce the grain loss in the process of taking the plate and improve the control accuracy of the system on the movement speed and displacement of the key components in the process of taking the plate, a trapezoidal acceleration and deceleration control algorithm is designed as the control algorithm of taking the plate. To verify the working performance of the plate control system, with the absolute error, relative error and total loss rate of the harvest as objectives. The bench and field verification experiments were both carried out. The bench experiment showed that the speed error of the plate parts was not more than 0.028 m/s. In the bench experiments of the device, the maximum positioning error was 1.25 mm, the average relative error is only 0.94 %, and the grain loss rate was not more than 2.26 %. It result showed that the system algorithm was reliable, the positioning accuracy was high, and the taking plate operation can be completed well. The field verification experiment showed that the forward speed of the unit was in the range of 0.4~0.8 m/s, and the total loss rate of harvest was less than 5 %. When the forward speed is 0.6 m/s, the minimum harvest loss rate is 2.32 %, and which indicated the control system meets the requirements of sunflower harvesting operation.

The purpose of this review is to elucidate the actual threat of the most prevalent mycotoxins in agricultural commodities and human/animal food/feed for appearance of foodborne ailments and diseases. The underestimated hazard of joint mycotoxin uptake of animals or humans is critically discussed with regards to synergistic or additive interaction between some target mycotoxins. The real toxicity of target mycotoxin combinations as it happens in practice is evaluated and possible lower limit values or control measures are suggested in such cases. Some critical points in adequate risk assessment, hygiene control and regulation of mycotoxns are discussed. The efficiency of current mycotoxin regulations and control measures is evaluated in regards to human/animal health hazard. The risk assessment in the case of multiple mycotoxin exposure of humans/animals via the food/feed or agricultural commodities is evaluated and some suggestions are proposed in such cases. Appropriate control measures and food safety issues throughout the food supply chain are proposed in order to prevent target foodborne diseases. Some preventive measures and possible veterinary hygiene control or risk assessment are proposed in some practical cases of foodborne diseases for preventing mycotoxin contamination of animal products designed for human consumption and to avoid possible public health issues.

Modern power systems are confronted with a spread concern on the frequency stability issue due to the widespread integration of randomly fluctuating renewable resources. To address the above concern, this work introduces a load frequency control (LFC) scheme based on a hydrogen based energy-storage unit and a parameter tuning strategy for fractional-order proportional-integral-derivative (FOPID) controller. Firstly, a two-area interconnected power system (IPS) model, including thermal, hydro, solar, wind, gas power generator, and hydrogen based energy-storage unit, is established. Then, a FOPID controller is designed for this IPS model, and an improved gradient-based optimizer (IGBO) is developed to adaptively regulate the parameters of the FOPID controllers. Finally, the effectiveness of the offered LFC scheme are tested through load disturbance and renewable energy fluctuations test scenarios, and provides comparison and robustness analysis among different schemes. The test results validated that the offered LFC scheme can effectively suppress the frequency fluctuations of IPS and has excellent robustness.

The human-centric approach is a leading trend for future production processes, and collaborative roboticists are key to its realization. This article addresses the challenge of designing a new cus-tom-made non-conventional machine or robot involving toolpath control (interpolated axes) with collaborative functionalities but by using “general-purpose standard" safety and motion control technologies. This is done on a non-conventional Cable-Driven Parallel Robot (CDPR). Safety is assured by safe commands to individual axes, known as Safe Motion Monitoring Functionalities, which limits the axes speed in the event of human intrusion. At the same time, the robot's Motion Controller applies an override to the toolpath speed to accommodate the robot's path speed to the axis’s limitations. The implementation of a new Pre-Warning Zone, prevent unnecessary stops due to the approach of the human operator. The article also details a real experiment that validates the effectiveness of the proposed strategy.

This paper presents designing an attitude motion control strategy for a half-car model using an anti-jerk predictive controller. Anti-jerk predictive controller based on active aerodynamics surfaces is employed to deal with the anticipated future road maneuvers and improve vehicle ride performance by canceling out external jerks acting on the vehicle body. The body jerks are produced during vehicle traversing on a double lane-change maneuver, acceleration, or braking. The control strategy helps the vehicle to achieve a realistic operation of the active aerodynamic surface to improve the vehicle’s ride performance, i.e., ride comfort and road holding during cornering, acceleration, or braking. The anti-jerk predictive controller is developed based on the predictive control strategy, which predicts future road inputs and uses them to compensate for the vehicle’s attitude motion. The simulation results show that the proposed control strategy effectively reduces the effects of vehicle body jerks transmitted to the passengers, improving ride comfort without degrading vehicle handling. The anti-jerk predictive controller successfully tracks the desired attitude position by canceling the external body jerks.

Modelling errors, robust stabilization/tracking problems under parameter and model uncertainties complicate the control of the flexible underactuated systems. Chattering-free sliding-mode based input-output control law realizes robustness against the structured and unstructured uncertainties in the system dynamics and avoids excitation of unmodeled dynamics. The main purpose is to propose a robust adaptive solution for stabilizing and tracking direct-drive (DD) flexible robot arms under parameter and model uncertainties, as well as external disturbances. A lightweight robot arm subject to external and internal dynamic effects was taken into consideration. The challenges are compensating actuator dynamics with the inverter switching effects and torque ripples, stabilizing the zero dynamics under parameter/model uncertainties and disturbances while precisely track the predefined reference position. The precise control of this kind of system demands an accurate system model and knowledge of all sources that excite unmodeled dynamics. For this purpose, equations of motion for a flexible robot arm were derived and formulated for the large motion via Lagrange’s method. The goals were determined to achieve high-speed, precise position control, and satisfied accuracy by compensating the unwanted torque ripple and friction that degrades performance through an adaptive robust control approach. The actuator dynamics and their effect on the torque output were investigated due to the transmitted torque to the load side. The high-performance goals, precision&robustness issues, and stability concerns were satisfied by using robust-adaptive input-output linearization-based control law combining chattering-free sliding mode control (SMC) while avoiding the excitation of unmodeled dynamics.

Pyrethroid resistance is widespread in malaria vectors. However, differential mortality in discriminating dose assays to different pyrethroids is often observed in wild populations. When this occurs, it is unclear if this differential mortality should be interpreted as an indication of differential levels of susceptibility within the pyrethroid class, and if so, if countries should consider selecting one specific pyrethroid for programmatic use over another. A review of evidence from molecular studies, resistance testing with laboratory colonies and wild populations, and mosquito behavioural assays was conducted to answer these questions. Evidence suggests that in areas where pyrethroid resistance exists, different results in insecticide susceptibility assays with specific pyrethroids currently in common use (deltamethrin, permethrin, α-cypermethrin and λ-cyhalothrin) are not necessarily indicative of an operationally relevant difference in potential performance. Consequently, it is not advisable to use rotation between these pyrethroids as an insecticide resistance management strategy. Less commonly used pyrethroids (bifenthrin and etofenprox) may have sufficiently different modes of action, though further work would be needed to examine how this may apply to insecticide resistance management.

The high dimensions and governing non linear dynamics in wind farm systems make the design of numerical optimal controllers computationally expensive. A possible pathway to circumvent this challenge lies in finding reduced order models which can accurately embed the existing non linearities. The work here presented applies the ideas motivated by non linear dynamical systems theory - the Koopman Operator - to an innovative algorithm in the context of wind farm systems - Input Output Dynamic Mode Decomposition - to improve on the ability to model the aerodynamic interaction between wind turbines in a wind farm and uncover insights into the existing dynamics. It is shown that a reduced order linear state space model can reproduce the downstream turbine generator power dynamics and reconstruct the upstream turbine wake. It is further shown that the fit can be improved by judiciously choosing the Koopman observables used in the IODMD algorithm without jeopardizing the models ability to rebuild the turbine wake. The extensions to the IODMD algorithm provide an important step towards the design of linear reduced order models which can accurately reproduce the dynamics in a wind farm.

The worldwide interconnected objects, called Internet of Things (IoTs), have been increasingly growing in the last several years. Different social media platforms and devices are continuously generating data about individuals and facilitate the technological and the social convergence of their Internet-based data and services with globalized users. These social and device-related IoTs create rooms for data breaches as such platforms provide ability to collect private and sensitive data. We assert that data breaches are fundamentally failures of access control - most users are too busy or technically ill-equipped to understand access control policy expressions and decisions. We argue that this is symptomatic of globalised societies structured by the conditions of algorithmic modernity; an era in which our data is increasingly interdependent on, and enmeshed with, ever more complex systems and processes that are vulnerable to attack. Ethically managing data breaches is now too complex for current access control systems, such as Role-Based Access Control (RBAC) and Context-Aware Access Control (CAAC). These systems do not provide an explicit mechanism to engage in decision making processes, about who should have access to what data and when, that are involved in data breaches. We argue that a policy ontology will contribute towards the development of Ethical CAAC better suited to attributing accountability for data breaches in the context of algorithmic modernity. We interrogate our proposed Ethical CAAC as a theoretical construct with implications for future policy ontology models and data breach countermeasures. An experimental study on the performance of the proposed framework is carried out with respect to a more generic CAAC framework.

Rabies persists as a longstanding issue in Zambia, despite being preventable. The current control measures, including dog vaccination, population control, and movement restriction, guided by ‘The Control of Dogs Act Chapter 247 of the Laws of Zambia’, have not yielded the desired impact in many areas of the country including Manyinga and Mwansabombwe districts. These two districts continue to report low dog vaccination rates, unrestricted dog movements, and escalating cases of animal and human rabies, along with dog bites. Aligned with global aspirations to achieve zero human rabies cases by 2030, this study scrutinizes the determinants and obstacles hampering the execution of rabies control initiatives in Manyinga and Mwansabombwe. Spanning approximately 11 months, this cross-sectional study gathered pre- and post-vaccination data from 301 households in Manyinga and 100 households in Mwansabombwe. Questionnaires probed knowledge, attitudes, and practices related to rabies prevention and control. A transect survey, key informant interviews, and assessment of rabies vaccination and dog bite records complemented the data collection. Findings revealed that 88% of respondents from both districts possessed knowledge about rabies, confirming affected species and transmission. Moreover, 76.8% in Manyinga and 88.6% in Mwansabombwe were acquainted with rabies prevention and control methods. Concerning dog owners, 89% were aware of rabies, 66% understood its prevention and control, and the majority identified bites as the primary mode of transmission. Vaccination coverage stood at 64% in Manyinga and 21% in Mwansabombwe. Notably, education and occupation exhibited a positive significant association with rabies knowledge. In terms of dog bite cases, Manyinga recorded 538 dog bite cases from 2017 to June 2022 while Mwansabombwe recorded 81 dog bite and 23 jackal bite cases from 2021 to June 2022. The study underscores critical knowledge gaps in rural areas and emphasizes the imperative for enhanced public education and awareness programs, improved rabies surveillance, free mass vaccination campaigns, and community engagement to augment vaccination coverage and knowledge about rabies.

There are many problems based on solving non-autonomous differential equations of the form x¨(t)+ω2(t)x(t)=0, where x(t) represents the coordinate of a material point and ω is the angular frequency. The inverse problem involves finding the bounded coefficient ω. Continuity of the function ω(t) is not required. The trajectory x(t) is unknown, but the initial and final values of the phase variables are given. The variation principle of minimum time for the entire dynamic process allows for the determination of the optimal solution {x(t),ω(t)}. Thus, the inverse problem is an optimal control problem. No simplifying assumptions were made.

Active flow control is a promising technology for reducing noise, emissions, and power consumption in various applications. To better understand the performance of synthetic jet actuators, a computational model that couples structural mechanics with electrostatics, pressure acoustics, and fluid dynamics has been needed. The model presented here has been validated against experimental data and then used to investigate the fluid behavior inside and outside the synthetic jet actuator cavity, impacts of thermoviscous losses on capturing the acoustic response of the actuator, and viability of different modeling methods of diaphragms in computational simulations. The results capture the feedback from the fluid onto the diaphragm and highlight the need for careful acoustic modeling.

The quality of cellular products used in biological research can directly impact the ability to ob-tain accurate results. Epstein-Barr virus (EBV) is a latent virus that spreads extensively world-wide, and cell lines used in experiments may carry EBV and pose an infection risk. The presence of EBV in a single cell line can contaminate other cell lines used in the same laboratory, affecting experimental results. We developed three EBV detection systems: (1) a polymerase chain reac-tion (PCR)-based detection system, (2) a recombinase polymerase amplification (RPA)-based de-tection system, and (3) a combined RPA-lateral flow assay (LFA) detection system. The mini-mum EBV detection limits were 1×103 copy numbers for the RPA-based and RPA-LFA systems and 1×104 copy numbers for the PCR-based system. Both the PCR and RPA detection systems were applied to 192 cell lines, and the results were consistent with those obtained by the EBV assay methods specified in the pharma-ceutical industry standards of the People's Republic of China. 10 EBV-positive cell lines were identified. The combined RPA-LFA system is simple to operate, allowing for rapid results visualization. This system can be implemented in laborato-ries and cell banks as part of a daily quality control strategy to ensure cell quality and experi-mental safety and may represent a potential new technique for the rapid detection of EBV in clinical samples.

Traditional aquaculture systems appear to be confronted with the high total ammonia nitrogen (TAN) produced during production, which can be harmful to aquatic life. As the demand for global fish production continues to increase, farmers should adopt Recirculating Aquaculture Systems (RAS) to improve production. The biofilter plays a vital role in ammonia removal. However, the drawback of the biofilter operation is needed an automatic and controlled system with a water quality monitoring system to guarantee optimal performance. RAS utilize a monitoring and control system to maintain the water quality and control the biofilm growth in the biofilter to reduce the ammonia. Therefore, this study focuses on developing a water quality monitoring and control system to achieve optimum biofilm performance. From 35 days of the experiment, the water quality was controlled at a level save for the aquatic environment, such as dissolved oxygen, pH, temperature, and TDS. Thus, the highest TAN removal efficiency is 50% when biofilm thickness reaches 119.88 µm.

Plant-based insecticides are considered among the most economical and eco-friendly chemicals for the protection of field plants and even stored grains. The sweet melon (Cucumis melo L.) insect pest causes more than 90% damage to most melon leaves, vines, and balls at its growth stage. The study looked at how effective the plant extract from Africa Basil and the synthetic insecticide Cymbush were at killing insects on sweet melon (Cucumis melo L.). The study explored four different concentrations (2.5, 50, 75, and 100%) and a synthetic insecticide, Cymbush, against insect pests of sweet melon and compared the effects of distilled water, which is used as a control in a Randomized Complete Block Design (RCBD). The toxicity percentage levels of the African basil extracts against field pests of sweet melon were 25, 50, 75, and 100%. Maximum plant protection of the crop was achieved by the synthetic insecticide Cymbush (3.0 pest point), followed by Africa basil extract B100 (3.3 pest point), whereas weak and minimum insect pest protection were observed in the control (5.53 pest point). In conclusion, these results indicate the utility of African basil plant extracts against field insect pests of sweet melon as potential botanicals to control field insect pests and mitigate the hazardous use of synthetic insecticides on humans, animals, and the environment

Proprioception is an essential part of human movement and body awareness. It is the body's perception of its own spatial understanding, which helps us to accurately move our limbs and maintain balance. Purpose: This study aims to provide a comprehensive overview of the current state of knowledge and analyse bibliometric data about proprioception in gymnastics and acrobatics. Methodology: This article consisted of two phases: 1) a bibliometric review (based Web of Science) and 2) a systematic review (Web of Science, PubMed, and Scopus) of literature. "Gymnast*", "propriocep*", were utilized as search terms to find and choose published data. From a total of 164 studies, 30 were included for data extraction (n participants= 1432 of different age, sports, physical activities, and physical condition. Heterogeneity of studies design and assessment make it difficult to interpret the outcomes and the effect of proprioceptive interventions and comparations between samples. Proprioception is difficult to define in gymnastics considering the evidence references and the physiological considerations. Also, assessment tools used do not necessary evaluate proprioception globally considering the senses involved in gymnastics. Gymnastics training enhances joint awareness and force sense, improving proprioception and reducing injury risk. Proprioceptive exercises should be incorporated into gymnastics programs to enhance stability and precision in movements.

Children's screen time may affect their growth and development. However, different aspects of children and their parents that affect children's screen time has not been investigated in the Japanese context. This study aimed to explore the relationship between relevant factors affecting children's screen time based on their sleep, difficulties, and parental control, among Japanese elementary and junior high school students. A cross-sectional survey was conducted among parents in Japan. Data on screen time duration, parent-child background, strengths and difficulties, sleep variables, and parental control types were collected from 225 households. Path analysis revealed that high Strengths and Difficulties Questionnaire (SDQ) scores (β = 0.167, p = 0.007), sleep duration (β = -0.282, p < 0.001), and parental control (β = -0.205, p < 0.001) were significantly related to children's screen time. Additionally, late parental bedtime negatively correlated with children's sleep duration (β = -0.326, p < 0.001). The findings suggest that children's difficulties, sleep duration, and parental control are associated with children's screen time. This study, together with previous research, provides comprehensive insights to design interventions to decrease screen time in children in the Japanese context.

The global agricultural sector is increasingly pressured to adopt sustainable practices and reduce its environmental impact. In this context, greenhouses play a crucial role in enabling year-round crop production, ensuring food security, and minimizing reliance on traditional open-field farming. However, the energy consumption associated with greenhouse operations poses a significant challenge to achieving sustainability goals. As a result, there is a growing emphasis on transitioning greenhouses towards near-zero energy consumption. Near-zero energy consumption in greenhouses refers to the ambitious objective of minimizing energy usage to the greatest extent possible while maintaining optimal growing conditions for crops. This goal encompasses reducing energy consumption for heating, cooling, lighting, and other operational needs, as well as exploring renewable energy sources to power greenhouse operations. This review article offers a comprehensive overview of greenhouse energy consumption, with the main goal of analyzing the present situation, identifying key challenges, exploring potential opportunities, and proposing future perspectives for decreasing energy usage in greenhouse environments. As the focus on sustainable agricultural practices grows, the need to reduce energy consumption in greenhouses becomes increasingly important. The review critically examines current technological models and strategies applied in smart greenhouse applications, as well as the monitoring of microclimatic conditions inside the greenhouse, encompassing factors such as temperature, humidity, CO2 levels, soil quality, and crop cultivation. Moreover, it aims to present existing literature that investigates the advancement of greenhouses toward achieving significant reductions in energy consumption.

In this paper is presented the design and syntheis of a dynamic output feedback neural network controller for a non-holonomic mobile robot. First the dynamic model of a non-holonomic mobile robot is presented, in which these constraints are considered for the mathematical derivation of a feasable representation for this kind of robot. Then two control strategies are provided based on kinematic control for this kind of robot. The first control strategy is based on driftless control, this means, that considering that the velocity vector of the mobile robot is orthogonal to its restriction a dynamic output feedback and neural network controller is designed in order that the control action would be zero only when the velocity of the mobile robot is zero. The Lyapunov stability theorem is implemented in order to find a suitable control law. Then another control strategy is designed for trajectory tracking purposes, which similar to the driftless controller, a kinematic control scheme is provided but suitable to implement in more sophisticated hardware. In both control strategy a dynamic control law is provided along with a feedforward neural network controller, so in this way, by the Lyapunov theory the stability and convergence to the origin of the mobile robot position coordinates is ensured. Finally, two numerical experiment are presented in order to validate the theoretical results synthetized in this research study. Discussions and conclusions are provided in order to analyze the results found in this research study.

The collector and brushless electronic commutation machines based on the working principle of the direct current machines have been widely used in industrial applications through the help of the developments in power electronics, microelectronics, permanent magnets, microprocessors&control, digital signal processing technologies, etc. Internal permanent magnet synchronous motors (IPMSMs) are used in increasing numbers due to their advantages such as high torque/current and torque/inertia, robust construction, high efficiency, reliability, etc. The problems brought by position sensors, especially in terms of application, performance, mass production, and cost, have made sensorless control a necessity in drive systems and applications.This paper presents a backstepping control method for speed sensorless IPMSM based on an extended Kalman filter (EKF). First, a comprehensive nonlinear dynamical model of the IPMSM in the direct and quadrature ( ) rotor frame is derived and its state-space representation is obtained. Then, the rotor speed and current tracking backstepping controllers are designed to achieve precise tracking and anti-disturbance performance. The designed controllers are embedded into the field-oriented control (FOC) scheme. The asymptotic stability condition for the backstepping controller is guaranteed through the Lyapunov stability theorem. Finally, An EKF is designed for estimating the immeasurable mechanical parameters of IPMSM and tracking the system states in a finite time with high steady-state precision. The effectiveness of the proposed methodology is proved by conducting simulations having various dynamic operating conditions such as sudden torque load change, command speed change, and parameter variation.

Pronematus ubiquitus (McGregor) is a small iolinid mite that is capable of establishing on tomato plants. Once established, this mite has been shown to control both tomato russet mite, Aculops lycopersici (Tryon) (Acari: Eriophyidae) and tomato powdery mildew (Oidium neolycopersici L. Kiss). In the present study, we explored the nutritional value of various food sources in the laboratory. First, we assessed the reproduction of two food sources that P. ubiquitus can encounter on a tomato crop: tomato pollen and powdery mildew. In a second laboratory experiment, we evaluated the nutritional value of two types of prey mites: the astigmatid Carpoglyphus lactis L. (Acari: Carpoglyphidae) and the tarsonemid Tarsonemus fusarii (Acari: Tarsonemidae). Powdery mildew and C. lactis did not contribute to the reproduction, whereas tomato pollen and T. fusarii did allow egg-laying. However, Typha angustifolia pollen was a superior food source in both experiments. In a greenhouse trial on individual caged tomato plants, we evaluated the impact of pollen supplementation frequency on establishment of P. ubiquitus. Here, a pollen addition frequency of every other week was required to allow populations of P. ubiquitus to establish.

This article presents a decentralized phase-shedding technique for multiphase converters. The usual central digital controller is replaced by identical local controllers forming a daisy-chain structure. Phase-shedding decisions are taken locally based on a local inductor current monitoring and threshold crossing management. This control strategy allows to implement as many phases as desired in a modular manner. In order to handle specific events such as load current inrush or a start-up sequence and to guarantee optimal transient responses, additional functions are included into each local controllers. The inter-cell communication protocol is described, along with necessary design considerations of threshold and timing values. Finally, functional simulations are carried out on a 5-leg 12V/1.2V 60W multiphase converter, which validate the proposed decentralized phase-shedding strategy for a microcontroller power supply implementation.

Salivarian trypanosomes are extracellular parasites affecting humans, livestock and game animals. Trypanosoma brucei rhodesiense and Trypanosoma brucei gambiense are human infective sub-species of T. brucei causing Human African Trypanosomosis (HAT - sleeping sickness). The related T. b. brucei parasite lacks the resistance to survive in human serum, and only inflicts animal infections. Animal Trypanosomosis (AT) is not restricted to Africa, but is present on all continents. T. congolense and T. vivax are the most widespread pathogenic trypanosomes in sub-Sahara Africa. Trough mechanical transmission, T. vivax has however been introduced into South America. T. evansi is a unique animal trypanosome that is found in vast territories around the world and can cause atypical Human Trypanosomosis (aHT). All salivarian trypanosomes are well adapted to survival inside the host’s immune system. This is not a hostile environment for these parasite, but this is the place where they thrive. Here we provide an overview of the latest insights into the host-parasite interaction and the unique survival strategies allowing trypanosomes to outsmart the immune system. In addition, we review new developments in treatment and diagnosis as well the issues that have hampered the development of field-applicable anti-trypanosome vaccines for the implementation of sustainable disease control.

Reliability assessment is an important component and tool used for process plants since the facility consists of many loops and instruments attached and operates based on each other availability, thus it requires a statistical method to visualize the reliability. The paper focuses on reliability assessment and prediction based on available statistical models such as normal, log-normal, exponential, and Weibull distribution. This paper also visualizes, which model fits best for assessment and prediction and also considers failure modes caused during a simulation mode process control operation. A simulation model is designed in this paper to observe the failure of the control valve causing stiction to visualize the failure modes and predict the best-fit model for reliability assessment.

A nuclear reactor leak is undesirable and unpredictable occurrence in the plant of nuclear energy generation. For this reason, an accurate equipment is needed to inspect and supervise reactors. There are two kind of reactors for research and industry reactors, both of them are needed to inspect. Concern to inspection, regularly check is needed to ensure reactor conditions are always safe to operate. For that reason, an application of advanced technology for detecting leaks is priority. In this research, we are using underwater robot to be implemented. Using the robot is able to detect periodically, continuously with accurate reports to the operator or reactor supervisor. Furthermore, Underwater Robot namely Robaru, with 4 propellers equipped at the robot, Robaru can move on 3 axes x, y and z and rotate. The use of cameras, as well as temperature measurements to obtain data when conducting inspections of the reactor. The survey method used is direct observation to detect leaks. The robot is at a certain distance by following a predetermined connection or path. The robot has successfully performed a good check with an accurate level of positioning accuracy.

Typhoid fever is a communicable disease transmitted by the bacteria Salmonella typhi, related to serotype paratyphi A, B and C. The disease is of a significant health concern in most developing countries especially Cameroon. Objectives: The study aimed at determining the prevalence and associated risk factors of typhoid fever in children ( 0-18 years) attending the “Deo Gratias” hospital in Douala. Method: A hospital base cross sectional study from August to September 2018 was carried out in patients’ age 0-18 years suffering from typhoid fever at the Deo gratias Catholic hospital. Widal slide agglutination test was the diagnostic test used. Positive tested patients were administered questionnaires to evaluate the level of knowledge, attitude and practice toward the disease, as well as their self-management abilities. Data obtained from respondents was analysed by descriptive statistics. One-way ANOVA and means comparison using Tukey’s test (α = 0.05) was performed to check whether the population of respondents differed significantly across risk factor practices. Results were finally presented on bar charts, tables and pie chart. Results: Typhoid fever was more prevalent in females (52.3%) than in males (47.7%), with a high proportion in the ages 5-9 years (38.6%). A significant difference was observed in population of respondents across risk factor practices. Conclusion: Water quality have a great impact on the burden of typhoid fever among children. The identification of risk factors associated to the disease is of great importance in the development of rational control strategies of the disease.

COVID-19 virus has become a global threat to the human population and society. The virus which originated from China in December, 2019 has swept across continents in the world. Cameroon has been one of the countries with a high infectious rate in the recent period having a majority of the infectious cases in the Littoral region. Lack of awareness play a major role in the rise of COVID-19 cases. This paper examined the perceptions of the existence and spread of the COVID-19 virus in Wouri Division, Littoral Region of Cameroon. The study involved a qualitative survey designed by online questionnaires which were forwarded to the inhabitants of Wouri Division through e-mails and ‘WhatsApp’. The survey included the perception of the origin and existence of the COVID-19 virus, its mode of disease transmission, preventive and control measures. A total of 573 respondents were obtained (317 females and 256 males). From the results, although a greater proportion of the respondents showed knowledge towards the COVID- 19 virus existence, transmission and prevention that could lead to a reduction in the spread of the disease, our findings suggested that there’s more need for public sensitisation of the virus especially its method of transmission, control and prevention.

South Africa is afflicted with the worst epidemic of HIV in the world a legacy of the system of oscillating migrant labour in the region and the consequent social disruption that was the legacy of Apartheid. The initial response from the national government was slow and ineffective but once the magnitude of the epidemic became apparent the government began to respond. The investment in HIV- and TB-related activities in 2013 was R22 Bn or (US$2.5; 2013 exchange rate) of which the South Africa government contributed 80% and the Presidents Emergency Plan for AIDS Relief (PEPFAR) 17%. South Africa now has the more people on anti-retroviral therapy than any other country and treatment is being started much sooner after infection. Much of the best biomedical, virological, immunological, mathematical and social science around the treatment and prevention of HIV and AIDS and the associated epidemic of TB has been done by South African’s and their international collaborators. If the efforts to control the epidemic are maintained South Africa is on track to meet the UNAIDS 90-90-90target by 2020 and to End AIDS by 2030 in spite of the magnitude of the problem. While individual, patient level data are increasingly available, especially in the Western Cape, much greater efforts need to be made to ensure that the information collected in this way is used to give feedback and support to clinic staff, to ensure that health clinics are providing the best possible service, and to individual patients and people living with HIV to ensure that they are receiving the best possible care and support. South Africa needs to make better use of the rich and detailed data that are being collected from individual clinics and their patients to identify problems or difficulties at the clinic level and to ensure that individual patients are retained on treatment, are virally suppressed and receive the best possible care and support.