Amethod for the certification of local and almost global stability of invariant sets of ordinary differential equations on torus is proposed. The method is based on using trigonometric polynomials as candidates of local Lyapunov functions or (global) Lyapunov densities (so-called dual Lyapunov functions) and converting the required local Lyapunov or dual Lyapunov conditions into semidefinite programming. We provide several examples with three and four oscillators to showcase the adaptability of our results, which can be used to certify partial or complete phase-locking/phase-cohesion and to validate the presence of an attracting/repelling set in various scenarios.

Stroke is a significant global health concern, ranking among the top causes of death and disability. Timely post-stroke recovery hinges on structured upper limb rehabilitation within the first 24–48 hours. Although virtual reality (VR) rehabilitation is promising, its accessibility is complex and cost-limited, especially in less developed regions. In this study, we developed and assessed nonimmersive VR rehabilitation games using the Kinect Xbox One and UNITY game engine, targeting upper limb movement sequences vital for post-stroke recovery. The developed games involved simple to progressively challenging movements, engaging the deltoid, biceps, and triceps muscles, and aligning with post-stroke rehabilitation criteria. We used peak-to-peak electromyography signal detection with a 20% threshold and three distinct feature extractions to represent muscle contractions during gameplay. Our cosine similarity analysis revealed the efficacy of games in meeting movement sequence criteria, benefiting mostly the shoulder motor and deltoid muscles (93% improvement) with more moderate improvements in the biceps (73%) and triceps (47%). Our results suggest that these games could contribute to upper limb stroke rehabilitation, particularly that of the deltoid muscle. This study highlights the potential of VR-based rehabilitation games in post-stroke upper limb recovery, emphasizing muscle engagement, target distances, and rehabilitation criteria in game design. Although healthy participants were involved here, future research involving post-stroke patients and the exploration of more immersive, multiplanar movements hold the potential for a more comprehensive rehabilitation experience. Our study contributes to advancing the common knowledge related to VR-based stroke rehabilitation, focusing on upper limb movement sequences with implications for therapeutic engagement and recovery.

This paper presents the analysis of four error models that can appear in the field of adaptive systems, where adaptive laws for parameter estimation are represented as fractional order differential equations whose order can switch between an order within the range (0,1) and 1. These switched adaptive laws have been proposed in the past few years to improve the balance between control energy and system performance, which is often a challenge when using traditional integer-order or fractional-order adaptive laws in adaptive identification and control. Boundedness of the solutions is proved for all cases, together with the convergence to zero of the estimation/tracking error. Additionally, sufficient conditions for parameter convergence are presented, showing that the excitation condition required for parameter convergence in the vector case is also sufficient for parameter estimation in the matrix case.

Glass cleaning is one of the major cleaning tasks in malls, offices, and modern households where the human workforce is still used for cleaning. Manual cleaning on façade glasses is a less safe, tedious, ineffective, and complex process. With the advancement of robot technology, it is possible to use robots for glass cleaning to facilitate mankind and improve cleaning efficiency. This work presents the development of a vacuum-type glass cleaning robot for façade cleaning and its performance analysis. The developed square-shaped robot is controlled by an Arduino Mega microcontroller, equipped with vacuuming and cleaning technology. An adhesion mechanism on the wheels makes the robot move forward and backward on the glass. The robot runs on a 24-volt DC with a power rating of 75 watts. There are ultrasonic sensors to detect obstacles and help the robot navigate. The robot uses a random-walk mechanism and works continuously for 90 minutes effectively. The performance of the robot has been analyzed in terms of coverage area, repeatability, and dust collection efficiency.

There are considerable benefits in applying Artificial Intelligence to automation in modern industries including Oil and Gas Industries. Oil and Gas Industries have many complex systems in their production and flow line. The failure of gas equipment will have serious consequences including financial and environmental issues. Condition monitoring of oil and gas equipment provides the condition of components, machines, systems, equipment, data hardware, and even software. The predictive maintenance and industry 4.0 applications have more advantages in petrochemical industries to make a safer economic environment and this paper addresses the Artificial Intelligence (AI) application of condition monitoring for Oil and Gas Industries. To understand the effectiveness of AI in condition monitoring for oil and gas industries, a case study related to the condition monitoring of drilling machine is conducted and applied Artificial Neural Network (ANN) algorithm to analyze and predict the potential failures. The novelty of this work is the proposal of an approach for tool wear monitoring in drilling using acoustic emission sensors for feature extraction and considering wavelet packet decomposition for further analysis. The extracted features from WPD are given as input for ANN to identify the healthiness of the drill bit and machine. This work aims to find the effectiveness of AI-based condition monitoring in enhancing effectiveness of monitoring and the safety of equipment in Oil and Gas Industries.

Observer-based control is the most commonly used method in the control of electro-hydraulic servo system (EHSS) with uncertainties, but it suffers from the drawback of low accuracy under the influence of large external load forces and disturbances. To address this problem, this paper proposes a novel compensation function observer-based backstepping sliding mode control (BSMC) approach to achieve high-accuracy tracking control. In particular, the model uncertainties, including nonlinearities, parameter perturbations and external disturbances are analyzed and treated together as a lumped disturbance. Then, a fourth-order compensation function observer (CFO) is constructed, which fully utilizes the system state information to accurately estimate the lumped disturbance. On this basis, the estimate of the lumped disturbance is incorporated into the design of an backstepping sliding mode controller, allowing the control system to compensate for the disturbance effect. The stability of the closed-loop control system under the CFO and BSMC is rigorously proven through the use of Lyapunov theory, which guarantees that all the tracking error signals converge exponentially to the origin. Comparative simulations are carried out to show the effectiveness and efficiency of the proposed approach, i.e., compared with PID and ESO-based BSMC methods, the tracking accuracy is improved by 99.93% and 99.76%, respectively.

Microscale swimmers have to face the dominance of viscous forces over inertial forces, the so-called low Reynolds number (hereafter Re) regime. The undulatory motion of an elastic tail is one of the few possible mechanisms for the self-propulsion of microswimmers in the particular conditions of low Re. Instead of using a complex arrangement of multiple actuators along the body of the swimmer, this work studies the propulsion of a swimming microrobot that is able to generate a non-reciprocal motion by moving a passive elastic tail with non-uniform properties using only a single actuator located at its head. A simulation model is developed in MATLAB to evaluate the effect of different mass and elasticity distributions in the tail on the microrobot propulsion. The results are used to observe the undulating motion of the tail and to optimize the design of the robotic microswimmers in terms of efficiency.

Robotic systems are crucial in modern manufacturing. Complex assembly tasks require the collaboration of multiple robots. Their orchestration is challenging due to tight tolerances and precision requirements. In this work we set up two Franka Panda robots performing a peg-in-hole insertion task. We structure the control system hierarchically, planning the robots’s trajectories feedback-based with a central policy trained with reinforcement learning. These trajectories are executed by a low-level impedance controller on each robot. To enhance training convergence, we use reverse curriculum learning incorporating domain randomization, varying initial configurations of the task. After training, we test the system in a simulation, studying the impact of curriculum parameters on emerging process characteristics like process time and variance. Finally, we transfer the trained model to a real-world setup, comparing results with simulation as well as classical path planning and control approaches.

The multi-stage, multi-level assembly job shop scheduling problem (MsMlAJSP) is commonly encountered in the manufacturing of complex customized products. Ensuring production efficiency while effectively improving energy utilization is a key focus in the industry. For the energy-efficient MsMlAJSP (EEMsMlAJSP), an improved imperialist competitive algorithm based on Q-learning (IICA-QL) is proposed to minimize the maximum completion time and total energy consumption. In IICA-QL, a decoding strategy with energy-efficient triggers based on problem characteristics is designed to ensure solution quality while effectively enhancing search efficiency. Additionally, an assimilation operation with operator parameter self-adaptation based on Q-learning is devised to overcome the challenge of balancing exploration and exploitation with fixed parameters, thus the convergence and diversity of the algorithmic search is enhanced. Finally, the effectiveness of the energy-efficient strategy decoding trigger mechanism and the operator parameter self-adaptation operation based on Q-learning is demonstrated through experimental results, and the effectiveness of IICA-QL for solving EEMsMlAJSP is verified by comparing with other algorithms.

Unmanned Aerial Vehicles (UAVs) have become increasingly important in various applications, including environmental monitoring, disaster response, and surveillance, due to their flexibility, efficiency, and ability to access hard-to-reach areas. Effective path planning for multiple UAVs exploring a target area is crucial for maximizing coverage and operational efficiency. This study presents a novel approach to optimizing collaborative navigation for UAVs using Multi-Agent Reinforcement Learning (MARL). To enhance the efficiency of this process, we introduce the Adaptive Dimensionality Reduction (ADR) framework, which includes Autoencoders (AEs) and Principal Component Analysis (PCA) for dimensionality reduction and feature extraction. The ADR framework significantly reduces computational complexity by simplifying high-dimensional state spaces while preserving crucial information. Additionally, we incorporate communication modules to facilitate inter-UAV coordination, further improving path planning efficiency. Our experimental results demonstrate that the proposed approach significantly enhances exploration performance and reduces computational complexity, showcasing the potential of combining MARL with ADR techniques for advanced UAV navigation in complex environments.

The advancement of autonomous driving technology is becoming increasingly vital in the modern technological landscape, promising notable enhancements in safety, efficiency, traffic management, and energy use. Despite these benefits, conventional deep reinforcement learning algorithms often struggle to navigate complex driving environments effectively. To tackle this challenge, we propose a novel network called DynamicNoise, designed to significantly boost algorithmic performance by introducing noise into the Deep Q-Network (DQN) and Double Deep Q-Network (DDQN). Drawing inspiration from the NoiseNet architecture, DynamicNoise uses stochastic perturbations to improve the exploration capabilities of these models, leading to more robust learning outcomes. Our experiments demonstrate a 57.25% improvement in navigation effectiveness within a 2D experimental setting. Moreover, by integrating noise into the action selection and fully connected layers of the Soft Actor-Critic (SAC) model in the more complex 3D CARLA simulation environment, our approach achieved an 18.9% performance gain, substantially surpassing traditional methods. These results confirm that the DynamicNoise network significantly enhances the performance of autonomous driving systems across various simulated environments, regardless of their dimensionality and complexity, by improving their exploration capabilities rather than just their efficiency.

In this paper, we investigated the formation isolation regulation issue regarding multiple autonomous underwater vehicles (AUVs) characterized by a "leader-follower" framework. Considering the cooperative-competitive relationship among the follower AUVs and the impact of unknown external disturbances, an extended state observer was designed based on backstepping to mitigate these disturbances, and an event-triggered control scheme was designed to realize the two-part consensus control within the multi-AUV system. Through rigorous theoretical analysis, it is shown that the system achieves asymptotic steadiness and is free from zeno behavior under the proposed event-triggered control scheme. Finally, numerical simulations confirm the efficiency of the regulation strategy in achieving formation separation within the multi-AUV, where the trajectory tracking errors of individual AUVs gather in a compact vicinity close to the source and the structure converges was achieved, with the absence of zeno behavior also demonstrated.

Real time condition monitoring and precision health assessment system is a mandatory need for effective maintenance program in industrial sector. Rapid advancement in the information technology and other engineering technologies have invited more proactive attention from research and development in industrial sectors and particularly in condition monitoring of machines and related Industrial processes. In this work, drill bit condition monitoring techniques have been developed based on wavelet analysis and artificial neural networks (ANN) for automatic drill bit fault detection and classification. An experimental work has been conducted to capture the vibration signals for analysis. In this experiment, the CNC drill machine is used with high carbon steel drill bit and mild steel material as work piece. The cutting condition parameters are kept constant and the wear level is varied from 0.2 to 0.6 mm. The Data Acquisition system (DAQ) with Lab VIEW software is used to capture the vibration signals for drill bit with different wear conditions using accelerometer. The captured vibrations data are analyzed using continuous wavelet transform (CWT) with Morlet wavelet and Daubechies wavelet as a prime function. In general, the CWT coefficient is used to generate the inputs features to ANN for automatic tool condition classification, with two outputs (0, 1) for healthy and (1, 0) for faulty. The outcome of ANN showed 98% of accuracy in the wear prediction and this results show the effectiveness of the combed WT and ANN for automatic classification of tool wear conditions with high success rate.

This paper addresses the challenges faced by icebreakers in polar environments, particularly the difficulty in sensing underwater ice formations when navigating through thick ice layers, which often results in suboptimal icebreaking effectiveness. To overcome these challenges, this paper introduces a novel underwater robot equipped with both sensing and ice-breaking capabilities. We propose a path planning method for icebreaking that leverages the synergistic capabilities of the Safe Particle Swarm Optimization and Genetic Algorithm (GA-SPSO). The GA-SPSO algorithm integrates the global search prowess of the particle swarm optimization with the local optimization strength of the genetic algorithm, enabling efficient and adaptive path planning in complex ice environments. The underwater unmanned vehicle (UUV)-assisted icebreaking approach developed here utilizes the UUV's flexibility and high-precision environmental sensing to provide real-time optimization suggestions for icebreaker navigation paths. Simulation results demonstrate that the GA-SPSO algorithm not only effectively circumvents hazardous areas but also significantly reduces the energy consumption and operational time of icebreakers, thereby enhancing the safety and stability of navigation. When compared to the conventional Safe Particle Swarm Optimization (SPSO), our approach shows marked improvements in path length, convergence speed, and obstacle avoidance capabilities, significantly enhancing the success and efficiency of polar navigation missions.

Currently, many health workers have died of being infected by dangerous infectious diseases. One solution is to prevent the spread of transmissions by minimizing contact between patients and staff or others using a mobile robot for delivering logistics services. We propose an approach by applies a navigation system using a position driver and obstacle avoidance using a fuzzy controller and particle swarm optimization for path planning in an unknown environment for a holonomic mobile robot. A Fuzzy Controller was used for obstacle avoidance so that the mobile robot could avoid obstacles using existing proximity sensors as the perception of the robot. In the path planning section, Particle Swarm Optimization is used to find intermediate points that must be reached by the mobile robot to reach their target. First, we performed simulation under the condition that the simulation resolution was similar to that of real conditions. It was found that the Trigonometric Function Adaptive PSO (TFAPSO) was better for finding the optimal solution based on the safest, shortest path, and lowest time. Finally, the holonomic mobile robot is tested directly in an unknown environment with the trajectory path generated by TFAPSO in real condition.

Visual servoing technology has been well developed and applied in many automated manufacturing tasks, especially in tools’ pose alignment. To access a full global view of tools, most applications adopt eye-to-hand configuration or eye-to-hand/eye-in-hand cooperation configura-tion in an automated manufacturing environment. All research papers mainly put efforts into developing control and observation architectures in various scenarios, but none of them has dis-cussed the importance of the camera’s location in eye-to-hand configuration. In a manufacturing environment, the quality of camera estimations may vary significantly from one observation loca-tion to another, as the combined effects of environmental conditions result in different noise levels of a single image shot at different locations. In this paper, we propose an algorithm for the camera’s moving policy so that it explores the camera workspace and searches for the optimal location where the images’ noise level is minimized. Also, this algorithm ensures the camera ends up at a subop-timal (if the optimal one is unreachable) location among the locations already searched, with limited energy available for moving the camera. An automated manufacturing application has been sim-ulated and the results show the success of this algorithm’s improvement of observation precision with limited energy.

Satellite clock bias (SCB) prediction is a crucial technology for satellite navigation systems, holding significant importance for Global Navigation Satellite System. This paper proposes a deep learning model for SCB prediction based on the fusion of the Beluga Whale Optimization (BWO), Convolutional Neural Network (CNN), Bidirectional Gated Recurrent Unit (BiGRU), and an attention mechanism. The CNN is utilized to extract the spatiotemporal characteristic information from the clock bias sequence, while the BiGRU fully extracts relevant features through forward and backward propagation. The introduction of an attention mechanism aims to preserve essential features within the clock bias sequence to enhance feature extraction by both CNN and BiGRU networks. Additionally, the BWO is employed to optimize parameter selection in order to improve model accuracy. Experimental verification demonstrates that for the BeiDou Navigation Satellite System's (BDS) hydrogen-maser atomic clocks, the predicted clock bias for 6 hours, 3 days, and 15 days are 0.078 ns, 0.475 ns, and 2.130 ns respectively - representing improvements of 31%, 45%, and 66% over CNN-BiGRU-Attention; 6%, 51%, and 56% over CNN-BiGRU; and 32%, 35%, and 73% over BiGRU, respectively.

This paper reveals some properties of the cumulative entropy of consecutive k-out-of-n:F system's lifetime. First, we introduce a method for calculating the cumulative entropy of their lifetime and explore its preservation properties using established stochastic orders. Ad- ditionally, we obtain useful bounds that can used in situations where the distribution function of the system's component lifetimes are complicated or systems have large components. To support practical applications, we present two nonparametric estimators for the cumulative entropy of these systems. The efficiency and performance of these estimators are illustrated with simulated datasets and further validated with real data sets.

In this paper, a distributed algorithm for reaching average consensus is proposed for multi-agent systems with tree communication graph, when the edge weight distribution is unbalanced. First, the problem is introduced as a key topic of core algorithms for several modern scenarios. Then, the relative solution is proposed as a finite-time algorithm, which can be included in any application as a preliminary setup routine, and it is well-suited to be integrated with other adaptive setup routines, thus making the proposed solution useful in several practical applications. A special focus is devoted to the integration of the proposed method with a recent Laplacian eigenvalue allocation algorithm, and the implementation of the overall approach in a wireless sensor network framework. Finally, a worked example is provided, showing the significance of this approach for reaching a more precise average consensus in uncertain scenarios.

With the significant annual increase in the market demand for biopesticides, the industrial production demand for predatory mites, which hold the largest market share among biopesticides, has also been rising.To achieve efficient and low energy consumption control of predatory mite breeding environmental parameters, accurate estimation of breeding environmental parameters is necessary. This paper collects and pre-processing hourly time-series data of temperature and humidity from industrial breeding environments. Time series prediction models such as SVR, LSTM, GRU, and LSTNet are applied to model and predict historical data of the breeding environment. Experiments validate that the LSTNet model is more suitable for such environmental modeling. To further improve prediction accuracy, the training data for the LSTNet model is enhanced using hierarchical clustering of time-series features. After augmentation, the root mean square error (RMSE) of temperature prediction decreased by 27.3%, and the RMSE of humidity prediction decreased by 32.8%, significantly improving the accuracy of multi-step predictions and providing substantial industrial application value.

Unmanned aerial vehicle UAV has become an important tool for emergency communication. When disaster happens, the roads in the disaster area always are seriously damaged, and theground infrastructure communication facilities are damaged. Under emergency conditions, UAV can go into key areas as communication nodes to provide communication services for users in the area.But it's difficult for UAV to cover the entire disaster area and the efficient rescue time will be delayed. Therefore, how to make the UAV accurately perceive the regional situation and deployed in the right position is worth studying. In this paper, a virtual simulation environment is established reasonably and deep reinforcement learning algorithm is used to train UAV agents. At the same time, a series of problems such as sparse reward and long training time are still not solved in the development of reinforcement learning algorithms,and the reward function is designed to improve training efficiency. First of all, we set a specific mountain emergency communication scenario, and combined with the specific application of the UAV to carry out virtual simulation, and build a virtual environment. Furthermore, an additional shaped reward function is designed to address the sparse reward problem. Through the improvement of deep Q-learning network DQN algorithm and the reward design based on potential function, the final evaluation index is improved, and the effectiveness of the algorithm is verified. The experimental results demonstrate our work can effectively shorten the training time and increase convergencerate.

In this study a novel approach of designing automatic control systems with the help of AI tools is proposed. Given plant dynamics, expected references, and expected disturbances, design of optimal neural-network based controller is done automatically. Several common reference types are studied including step, square, sine, sawtooth and trapezoid functions. Expected reference-disturbance pairs are used to train the system for finding optimal neural-network controller parameters. A separate test set is used to test the system for unexpected reference-disturbance pairs to show the generalization performance of the proposed system. Parameters of a real DC motor are used to test the proposed approach. Real DC motor’s parameters are estimated using particle swarm optimization (PSO) algorithm. Initially, a proportional-integral (PI) controller is designed using PSO algorithm for finding simple controller’s parameters optimally and automatically. Starting with neural-network equivalent of optimal PI controller, optimal neural-network controller is designed using PSO algorithm for training again. Simulations are conducted with estimated parameters for diverse set of training and test patterns. Results are compared with optimal PI controller’s performance and reported in the corresponding section. Encouraging results are obtained suggesting further research in the proposed direction.

This paper proposes an optimal path type classification scheme for the three-point Dubins problem. It allows to directly extract the shortest path type from a Dubins set, evaluating only the relative initial and final configurations with the via point position using a suitable partition of the Cartesian plane. Two alternative approaches are proposed to address the problem: an analytical approach and a heuristic one. The latter was revealed to be much faster from a computational point of view. The proposed classification logic makes the path planning for the three-point Dubins problem much more effective and suitable for real-time applications. Numerical examples are provided to show the efficiency of the proposed strategy.

The present contribution introduces the task dependent comfort zone as a base placement strategy for mobile manipulators using different manipulability measures. Four different manipulability measures depending on end-effector velocities, forces, stiffness, and accelerations are considered. By evaluating a discrete subspace of the manipulator workspace with these manipulability measures and by using image processing algorithms, a suitable goal position for the autonomous mobile manipulator was defined within the comfort zone. This always ensures a certain manipulator manipulablity value with a lower limit in respect to the maximum possible manipulability in the discrete subspace. Results are shown for three different mobile manipulators using the velocity dependent manipulability measure in a simulation.

Tunnel fires are generally detected using various sensors, including measuring temperature, CO concentration, and smoke concentration. To address the ambiguity and inconsistency in multi-sensor data, this paper proposes a tunnel fire detection method based on an improved Dempster-Shafer (DS) evidence theory for multi-sensor data fusion. To solve the problem of evidence conflict in DS theory, a two-level multi-sensor data fusion framework is adopted. The first level of fusion involves feature fusion of the same type of sensor data, removing ambiguous data to obtain characteristic data, and calculating the basic probability assignment (BPA) function through the feature interval. The second level fusion derives basic probability numbers from the BPA, calculates the degree of evidence conflict, normalizes to obtain the relative conflict degree, and optimizes the BPA using the trust coefficient. The classical DS evidence theory is then used to integrate and obtain the probability of tunnel fire occurrence. Different heat release rates, tunnel wind speeds, and fire locations are set, forming four fire scenarios. Sensor monitoring data under each simulation condition are extracted and fused using the improved DS evidence theory. The results show that the proposed improved DS evidence theory method detects the probability of fire occurrence in the four scenarios as 67.5%, 71.0%, 82.8%, and 83.5%, respectively, and identifies fire occurrence in approximately 2.4 seconds, an improvement of 64.7% to 70% over traditional methods. This demonstrates the feasibility and superiority of the proposed method, highlighting its significant importance in ensuring personnel safety.

The main purpose of this study was to create a prototype of an unmanned aerial system equipped with intelligent hardware and software technologies necessary for monitoring the health and growth of crops in orchards. Another important objective was to use low-cost sensors that accurately measure ultraviolet solar radiation. The device, which needs to be attached to the commercial DJI Mini 4 Pro drone, should be small in size, portable, and have very low energy consumption. For this purpose, the widely used Vishay VEML6075 digital optical sensor was selected and implemented in a prototype, alongside a Raspberry Pi Zero 2W minicomputer. To collect data from these sensors, a program written in Python was used, containing specific blocks for data acquisition from each sensor, to facilitate the monitoring of ultraviolet (UV) radiation, or battery current. By analyzing the data obtained from the sensors, several important conclusions are drawn that may provide valuable pathways for the further development of mobile or modular equipment. Furthermore, the results of the plant condition analysis with proposed models in the Geographic Information System (GIS) environment were also presented. The visualization of maps indicating variations in vegetation condition led to the identification of problem areas like hydric stress.

This study introduces a cascade nonlinear proportional integral retarded (CNPIR) controller for the first time in the literature, aiming to achieve real-time precise control of a double-tank liquid level system. It begins by outlining the characteristics of de-lay-based systems and detailing the dynamic behavior of the liquid-level system. The study evaluates the system's performance by developing and analyzing the mathe-matical models of both the feedforward proportional-integral (FF-PI) controller and the CNPIR controller. Two different control techniques were employed, with real-time tests conducted to assess the system's axis movement performance. The FF-PI controller was used as the initial control technique, while the CNPIR controller was introduced to enhance system performance during trajectory tracking. Experimental results demon-strated that the CNPIR method significantly improved trajectory tracking response, reduced overshoot, and achieved better steady-state error under external disturbances compared to the FF-PI controller. Thus, the experimental study, highlights the effec-tiveness of the proposed control design and its superiority over some existing classical methods.

Image processing is a computationally intensive task that can benefit significantly from parallel techniques. In this study, we evaluate the efficiency of image processing using parallel techniques compared to sequential techniques. We use Dask to parallelize the loading and processing of images and compare the execution times for various image processing techniques, including smoothing, edge detection, rotation, and thresholding. The results show that parallel processing significantly reduces execution time compared to sequential processing.

The severe climate changes due to global warming pushed the world to strive to reduce carbon emissions. This study aims to minimize the carbon emissions for a proposed smart energy hub. This paper prioritizes the minimization of carbon emissions, taking into consideration the minimization of operation running costs, and the maximization of profit. In this paper two optimization scenarios were studied, to compare the results. In the first scenario, the minimization of carbon emissions was achieved, in the second scenario, the minimization of running costs and maximization of profit from the hub assets were studied. The proposed model was designed in MATLAB. Then the results were verified by CPLEX and validated by RTDS. The multi-objective model was presented to obtain the optimal operation. The mitigation of data uncertainty was achieved by applying the Kalman filter. In this work, a novel method was proposed for the estimation of the quarter-hour resolution data from the hourly one via the Kalman filter rather than applying the classic polynomial interpolation methods.

This article focuses on the leader-following consensus of fuzzy fractional order singular perturbation multi-agent systems (FOSPMASs) with order in 0,2. By employing the T-S fuzzy modeling approach, a fuzzy FOSPMAS is constructed. Subsequently, a fuzzy observer-based controller is designed and the error system corresponding to each agent is derived. Through a series of equivalent transformations, the error system is decomposed into fuzzy singular fractional order systems (SFOSs). According to the admissibility of SFOSs, the consensus conditions of the fuzzy FOSPMAS are obtained based on linear matrix inequalities (LMIs) without equality constraint. Finally, the effectiveness of the criteria is verified through an RLC circuit model.

This study focuses on predicting PM2.5 levels at the University of Petroșani by employing advanced machine learning techniques to analyze a dataset that encapsulates a wide array of air pollutants and meteorological factors. Utilizing data from IoT sensors and established environmental monitoring stations, the research leverages Random Forest, Gradient Boosting Machines, and Support Vector Regression models to forecast air quality, emphasizing the complex interplay between various pollutants. The models demonstrate varying degrees of accuracy, with the Random Forest model achieving the highest predictive power, indicated by an R2 score of 0.82764. Our findings highlight the significant impact of specific pollutants such as NO, NO2, and CO on PM2.5 levels, suggesting targeted mitigation strategies could enhance local air quality. Additionally, the study explores the role of temporal dynamics in pollution trends, employing time-series analysis to further refine the predictive accuracy. This research contributes to the field of environmental science by providing a nuanced understanding of air quality fluctuations in a university setting and offering a replicable model for similar environments seeking to reduce airborne pollutants and protect public health.

The current design of reinforcement learning methods demands exhaustive computing. Algorithms such as Deep Q-Network achieved outstanding results in the development of the area. However, the need for thousands of parameters and training episodes is still a problem. Thus, this document proposes a comparative analysis of the Q-Learning algorithm (the inception to create Deep Q Learning) and our proposed method termed M-Learning. The comparison among algorithms using Markov decision processes with delayed reward as a general testbench framework. Firstly, a full description of the main problems related to implementing Q-Learning, mainly about its multiple parameters. Then, the foundations of our proposed heuristic with its formulation and the whole algorithm were reported in detail. Finally, the methodology chosen to compare both algorithms was to train the algorithms in the Frozen Lake environment. The experimental results and an analysis of the best solutions found that our proposed algorithm highlights the differences in the number of episodes necessary and their standard variations. The code will be available on a GitHub repository once the paper is published.

This study proposes and validates a novel combustion control system for Oil-Fired Boilers aimed at reducing air pollutant emissions through flame image prediction. The proposed system is easily applicable to existing ships. Traditional proportional combustion control systems supply fuel and air at fixed ratios according to the set steam load, without considering the emission of air pollutants. To address this, a stable and immediate control system is proposed, which adjusts the air supply to modify the combustion state. The combustion control system utilizes oxygen concentration predictions from flame images via SEF+SVM as control inputs, and applies Internal Model Control (IMC)-based Proportional-Integral (PI) control for real-time combustion control. Due to the complexity of modeling the image-based system, IMC parameter tuning through experimentation is essential for achieving effective control performance. Experiments conducted on a 3000 kg/h marine oil-fired boiler in actual operation optimized the controller parameters for stability and responsiveness, and validated their effectiveness. The results demonstrate the potential of the proposed system to improve combustion efficiency and reduce emissions of air pollutants. This study provides a feasible and effective solution for enhancing the environmental performance of marine oil-fired boilers. Given its ease of application to existing ships, it is expected to contribute to sustainable air pollution reduction across the maritime environment.

High-precision displacement sensing has been widely used across from both scientific researches and industrial applications. The recent interests in developing micro-opto-electro-mechanical systems (MOEMS) have given rise to an excellent platform for miniaturized displacement sensors. Advancement in this field during past years is now yielding integrated high-precision sensors which show great potential in applications ranging from photoacoustic spectroscopy to high-precision positioning and automation. In this review, we briefly summarize different techniques for high-precision displacement sensing based on MOEMS, and discuss the challenges for future improvement.

The goal is the optimal synthesis of the parameters of the control law for a nonlinear satellite attitude control system under constraints related to the saturation effect of reaction wheels. The maximum stability degree of the control system is considered as a criterion for the optimality of the parameters of the control law, and the absolute values of the control torques and angular velocities of the reaction wheels, achievable within the limits of the physical characteristics of the drives, are considered as constraints. The solution to the optimal synthesis problem is based on the transformation of the nonlinear control system model into a linear model, within the framework of the problem of global asymptotic stability of the control system is also guaranteed. The problem is decomposed into a subproblems of obtaining the optimal transient process shape in the control system and considering the constraints. A method of synthesizing the optimal transient process shape based on the criterion of maximum stability degree had been developed. An analytical method of determining the optimal values of the control law parameters, based on decomposing the normalized characteristic polynomial in the linear model into three identical factors had been proposed. A method with regards to the constraints of the control torque and angular speed of the reaction wheels, based on transitioning from relative to real time is developed. An algorithm for calculation of the transition scale from relative to real time, ensuring the fulfillment of all constraints in the optimal synthesis problem, is proposed. An example demonstrating the efficiency and simplicity of the proposed methods and algorithm for targeted selection of technical characteristics of the control system, considering the maximum absolute values of angular speeds and control torques of the reaction wheels, is provided.

This study focuses on the creation and implementation of a platform to improve personal financial management for scholarship students of the National Program of Scholarships and Educational Credit (Pronabec) in Peru. Using a mixed methodology that combines qualitative and quantitative techniques, the effectiveness and user satisfaction with the platform were evaluated. The results indicated that 50\% of users found the tool useful, 55\% considered it easy to use, 70\% reported a positive impact on their personal budget planning, and 85\% expressed high overall satisfaction. In addition to providing tools for financial recording and analysis, the platform promotes financial education among its users, significantly contributing to improving their financial management skills.

This paper is devoted to Petri net (PN) based models of Automated Manufacturing Systems (AMS) with resources in order to prevent deadlocks in them. The sustainability can be seen as the process of deadlock-freeness leading to correct and fluent production, because AMS with deadlocks work neither correctly nor fluently, need reconstruction and cause downtime in production. A class S3PR (Systems of Simple Sequential Processes with Resources) of such PN models is well known as to the deadlock prevention point of view. Here, Extended S3PR (ES3PR) will be explored as to modelling and deadlock prevention. While in case of S3PR Ordinary Petri Nets (OPN) were used for these aims, here, for ES3PR Generalized Petri Nets (GPN) are used. The reason for such a procedure is a possible presence of multiplex directed arcs in the structure of PN models of AMS. The significant alternation is that while in former case the elementary and dependent siphons were sufficient for the supervisor synthesis, here, in later case, the GPN and their siphons have to satisfy the max-cs property.

Virtual commerce has experienced significant growth in recent years, especially in emerging markets such as Peru. This boom has led to an increase in the number of online stores and with it a dispersion of prices which makes it difficult for consumers to make decisions. Comparing prices has become a crucial need to maximize savings and optimize online shopping. This platform uses web scraping techniques to collect price data of desktop products from various Peruvian online stores, presenting the information in a clear and accessible way for users. By centralizing and comparing prices, it not only facilitates purchasing decisions, but also promotes transparency and competitiveness in the market. For this according to the metrics used show 56% of success of the algorithm.

The present research project entitled "Development of a method for predicting the optimal maturity level of avocado using machine learning" aims to establish an accurate and efficient approach to assess the maturity of avocados using machine learning methodologies. This research specifically focuses on identifying the relevant physical and chemical characteristics of avocados, creating a dataset containing categorized images of maturity levels, and creating machine learning models capable of accurately predicting fruit maturity. The studies reveal that the application of machine learning, in particular convolutional neural networks and multisensor models, has the potential to transform the prediction of avocado maturity and thus improve product quality and customer satisfaction. The findings indicate that the proposed techniques achieve an accuracy rate of over 90%, demonstrating their viability for integration into mobile applications that can benefit growers and suppliers in their decision-making processes.

This paper focuses on distributed generation (DG) controller of a PV based Micro Grid. An independent DG controller (IDGC) is designed for PV applications to improve maximum power point tracking (MPPT) in Micro Grid (MG). Extreme learning machine (ELM) based MPPT method exactly estimate the reference input of converter control. They are voltage and current at MPP. Feedback controls employ linear PI schemes or nonlinear, intricate techniques. Here the converter controller, IDGC is improved by measuring directly converter outputs like duty cycle. PWM index in a single DG PV-based MG. It introduces a fast learning Extreme Learning Machine (ELM) using Moore-Penrose pseudo-inverse and an online-sequential ridge re method for robust CR estimation. The approach ensures the stability of the microgrid during PV uncertainties. Internal DG control approach (IDGC) improves the strength of the Micro Grid during, three-phase faults at load bus, partial shading, irradiance change, islanding operation and load change. The model is designed and simulated in MATLAB/SIMULINK platform and some of the results are validated in hardware in simulation (HIL) platform.

This article provides a detailed analysis of non-invasive techniques for prediction and diagnosis of faults in internal combustion engines, focusing on the application of the Proknow-C and Methodi Ordinatio systematic review methods. Initially, the relevance of these techniques in promoting energy sustainability and mitigating greenhouse gas emissions is discussed, aligning with the Sustainable Development Goals (SDGs) of Agenda 2030 and the Paris Agreement. The systematic review conducted in the subsequent sections offers a comprehensive mapping of the state-of-the-art, highlighting the effectiveness of combining these methods in categorizing and systematizing relevant scientific literature. The results reveal significant advancements in the use of artificial intelligence (AI) and digital signal processors (DSP) to enhance fault diagnosis, as well as underscore the crucial role of non-invasive techniques in minimizing interference in monitored systems. Finally, concluding remarks point towards future research directions, emphasizing the need to develop digital twins for internal combustion engines and identify gaps for further improvements in fault diagnosis and prediction techniques.

This paper represents the first investigation into the consensus problem of linear time-varying multi-agent systems utilizing an event-triggered communication scheme. First, a general event-triggered consensus control scheme is proposed for a general category of linear time-varying multi-agent systems. Under some suitable assumptions, it is demonstrated that all agents’ states will converge exponentially, with Zeno behaviour being ruled out. Second, the consensus problem in a network of linear time-varying multi-agent systems with a spanning tree is investigated using the proposed control strategy. It demonstrates that the consensus issue for the specified system can be reformulated as a stabilization problem for an error system through a time-varying linear transformation. Then, the event-triggered consensus problem is just a special instance of the general event-triggered consensus problem mentioned above. Finally, to illustrate the efficacy of the event-triggered method proposed in this study, simulation results are shown.

This research aims to apply Artificial Intelligence (AI) methods, specifically Artificial Immune Systems (AIS), to design an optimal control strategy for a multivariable control plant. Two specific industrial control approaches are investigated: I-PD (Integral-Proportional Derivative) and PI-D (Proportional-Integral Derivative) control. The motivation for using these variations of PID controllers is that they are functionally implemented in modern industrial controllers, where they provide precise process control. The research results in a novel solution to the control synthesis problem for the industrial system. In particular, the research deals with the synthesis of I-P control for a two-loop system in the technological process of a distillation column. This synthesis is carried out using the AIS algorithm, which is the first application of this technique in this specific context. Methodological approaches are proposed to improve the performance of industrial multivariable control systems by effectively using optimization algorithms and establishing modified quality criteria. The numerical performance index ISE justifies the effectiveness of the AIS-based controllers in comparison with conventional PID controllers (ISE₁ = 1.865, ISE₂ = 1.56). The problem of synthesis of the multi-input multi-output (MIMO) control system is solved, considering the interconnections due to the decoupling procedure.

The paper explores the features of numerical simulation to analyze the dynamic behavior of drives controlled by pulse-width modulators. Modern motor control systems widely use pulse width modulation. Effective numerical modeling of such systems has specific features because the models employed are continuous-event and have hybrid behavior due to the presence of nonlinear links with discontinuities of the first kind. Therefore, it is essential to have special integration methods with variable steps, which should be factored in when developing the model. The paper shows how these problems are solved when modeling an electric drive with a DC motor in the SimInTech software.

Energy harvesting is an emerging topic recently. This harvested energy is used to operate wireless sensors for different industrial monitoring and automation. To maximize the harvested energy in spinning systems, the harvester should vibrate at resonance for different spinning frequencies which can be achieved by active fitting. In this research, a novel methodology was developed by actively customizing the length of vibrating element beam to manipulate its natural frequency according to the spinning frequency. Different models were investigated numerically and experimentally to verify the proposed methodology. COMSOL Multiphysics software V5.1 was used to develop the numerical model, then and tip deformation and voltage difference results were benchmarked. The numerical model was verified experimentally by attaching a piezoelectric MIDE PPA 1021 which its vibrating length was varied by changing the supporting length from 0 mm to 12 mm to a spinning object having variable frequency from 0-200 Hz. It is found that the MIDE PPA 1021 beam vibrated at its resonance throughout the specified spinning frequencies. The proposed harvester can be applied in battery-free sensors being used in automotives, wind-mills blades, and rotating machinery.

This research introduces an Intelligent Robotic Arm with Adaptive Collision Avoidance, employing real-time current fluctuation analysis for human-proximity detection. Precision and versatility in motors and actuators are given top priority in the robotic arm setup. Motor power lines are continually monitored by integrated high-precision current sensors, and a real-time data processing system separates natural fluctuations from those caused by outside influences. When a human comes into contact with the surface of the robotic arm, the system excels at detecting their closeness by identifying unique patternsin the variations of current. This sets off an adaptive collision avoidance system, which quickly flips the main power supply’s kill switch to bring the vehicle to an emergency stop. A crucial component is adaptability, as the system dynamically modifies sensitivity in response to environmental condi- tions. Comparative studies show that this approach performs better than conventional static sensing techniques. Experiments under control confirm the great precision, accuracy, and low false positive rate. The use of a failsafe technique improves system integrity by preventing false alarms and enabling recovery after an emergency

Online food delivery services are rapidly growing in popularity, making customer satisfaction critical for company success in a competitive market. Accurate delivery time predictions are key to ensuring high customer satisfaction. While various methods for travel time estimation exist, effective data analysis and processing are often overlooked. This paper addresses this gap by leveraging spatial data analysis and preprocessing techniques to enhance the data quality used in Bayesian models for predicting food delivery times. We utilized the OSRM API to generate routes that accurately reflect real-world conditions. Next, we visualized these routes using various techniques to identify and examine suspicious results. Our analysis of route distribution identified two groups of outliers, leading us to establish an appropriate boundary for maximum route distance to be used in future Bayesian modelling. The spatial analysis revealed that these outliers were primarily deliveries to the outskirts or beyond the city limits. By refining the data quality through these methods, we aim to improve the accuracy of delivery time predictions, ultimately enhancing customer satisfaction.

The e-commerce sector is in a constant state of growth and evolution, particularly within its subdomain of online food delivery. As such, ensuring customer satisfaction is critical for companies working in this field. One way to achieve this is by providing accurate delivery time estimation. While companies can track couriers via GPS, they often lack real-time data on traffic and road conditions, complicating delivery time predictions. To address this, a range of statistical and machine learning techniques are being employed, including neural networks and specialized expert systems, with different degree of success. One issue with neural networks and machine learning models is their heavy dependence on vast, high quality data. To mitigate this issue we propose two Bayesian generalized linear models to predict time of the delivery. Utilizing a linear combination of predictor variables, we generate practical range of outputs with Hamiltonian Monte Carlo sampling method. These models offer a balance of generality and adaptability, allowing for tuning with expert knowledge. They were compared with PSIS-LOO and WAIC criteria. Results show that both models accurately estimated delivery times from the dataset, while maintaining numerical stability. Model with more predictor variables proved to be more accurate.

In a motor-controlled hydraulic cylinder (MCC), the two chambers of the cylinder are directly connected to single or multiple fixed-displacement hydraulic pumps driven by electric servo motors. In contrast to a valve-controlled cylinder, an MCC does not have valve throttling, resulting in an improved system energy efficiency. Among various MCC topologies, the two-motor-two-pump (2M2P) MCC distinguishes itself through several notable advantages, including precise cylinder pressure control and eliminating mode switch oscillations. Nevertheless, there are remaining challenges in fully realizing its operations across four quadrants and establishing an effective load-holding function within these operations. This study bridges this gap by implementing a 2M2P MCC prototype on a laboratory knuckle boom crane, enabling operation across all four quadrants. Experimental results indicate that position tracking errors remain within ±2.5 mm across three cases. Furthermore, smooth intersection of cylinder bore side and rod side pressures is observed during transitions between quadrants. In conclusion, the proposed 2M2P MCC demonstrates seamless operation throughout all quadrants, with the load-holding function smoothly activating and deactivating in all four quadrants.

A single-track magnetic code tape based absolute position sensor system is demonstrated. Unlike traditional dual-track systems, our method simplifies manufacturing and avoids crosstalk between tracks, offering higher tolerance to alignment errors. The sensing system employs an array of magnetic field sensing elements that recognize the bit sequence encoded on the tape. This approach allows for accurate position determination even when the number of sensing elements is fewer than the number of bits covered, and without the need for specific spacing between sensing elements and bit length. We demonstrate the system's ability to learn and adapt to various magnetic code patterns, including those that are irregular or have been altered. Our method can identify and localize the sensed magnetic field pattern directly within a self-learned magnetic field map, providing robust performance in diverse conditions. This self-adaptive capability enhances operational safety and reliability, as the system can continue functioning even when the magnetic tape is misaligned or has undergone changes.

As modern systems are becoming more complex their control strategy cannot longer relay only on measurement information that usually comes from probes but also from mathematical models. Those systems models can lead to unbearable computation times due to their own complexity, turning the control process non-viable, which leads to the implementation of surrogate models that enable to achieve estimates within acceptable time to take decisions. A control trained with Deep Reinforcement Learning algorithm, using a Physics-Informed Neural Network to obtain the temperature map on the following time step, replaces the need of running Direct Numerical Simulations. On this work we considered an 1D heat conduction problem, which temperature distribution feeds a control system to activate a heat source aiming to obtain a constant, previously defined, temperature value. With this approach, control training becomes much faster without the need of performing numerical simulations or laboratory measurements, as well the control is taken based on Neural Network enabling its implementation on simple processors to edge computing.

Input reconstruction problem is usually encountered in the areas such as virtual sensing, image restoration, sensor linearization, and communications. The input reconstruction problem can be seen as an inverse problem. Given a nominal system, two types of approaches are commonly used for solving the inverse problem. The first one is to directly invert the nominal system, and the second one is to derive an inversion of the nominal system in an indirect way. However, for the first type of approaches, system inversion cannot be directly conducted under some conditions such as there exist nonminimum-phase zeros in the nominal system, while for the second type of approaches, simultaneously guaranteeing stability and causality of the obtained inversion is still not solved well. In order to avoid the drawbacks existing in the two types of approaches, an alternative approach is proposed for input reconstruction. In this approach, the input signal is first modeled as the output of a state-space model, afterwards two Kalman filters for the model resulted by combining the input signal model and the nominal system model are implemented alternatively such that the input signal can be sequentially reconstructed in an infinite horizon. The proposed input reconstruction approach is applied in two examples, and simulation results can illustrate the effectiveness of the proposed approach.

Robot manipulators are robotic systems that are frequently used in automation systems and able to provide increased speed, precision and efficiency in the industrial applications. Due to their nonlinear and complex nature, it is crucial to optimize the robot manipulator systems in terms of trajectory control. In this study, positioning analysis based on artificial neural networks (ANN) were performed for robot manipulator systems used in the textile industry and the optimal ANN model for the high-accuracy positioning was improved. The inverse kinematic analysis of a 6 degree of freedom (DOF) industrial denim robot manipulator were carried out via 4 different learning algorithms of Delta-Bar-Delta (DBD), Online Back Propagation (OBP), Quick Back Propagation (QBP) and Random Back Propagation (RBP) for proposed neural network predictor. From the results obtained, it was observed that QBP based 3-10-6 type ANN structure produced the optimal results in terms of estimation and modelling of trajectory control. In addition, 3-5-6 type ANN structure was also improved and its Root Mean Square Error (RMSE) and statistical R2 performances were compared to that of 3-10-6 ANN structure. Consequently, it can be concluded that the proposed neural predictors can successfully be employed in real-time industrial applications for robot manipulator trajectory analysis.

In the paper the new, fractional order, state space model of a heat transfer in a one- 1 dimensional metallic rod is addressed. The fractional orders of derivative along space and time 2 are not exactly known and they are described by intervals. The proposed model is the interval 3 expanding of the state space fractional model of the one dimensional heat transfer. It is expected to 4 better describe the reality because interval order of each real process is hard to estimate. Elementary 5 properties of the proposed model are analysed. Theoretical results are experimentally validated using 6 data from real experimental laboratory system.

In this paper, an extendable fuzzy robust speed controller suitable for induction motor drive system was proposed. Firstly, the two-degrees-of-freedom (2DOF) robust control technology with feedforward control and disturbance elimination method was adopted. Upon parameter variation and load disturbance, the motor drive system could utilize a robust controller to generate compensation signals and reduce the impact on controlling performance of the motor drive system. The magnitude of the compensation signal was adjusted via the weighting factor. However, should a fixed weighting factor be adopted, system instability might be generated easily when time delay and saturation of control force occur. Based on the above, the smart method of extendable fuzzy theory (EFT) was adopted in this paper to adjust adequate weighting factors, where the controlling performance of the induction motor drive system could be improved accordingly. The method divided the speed difference between motor speed command and actual speed of the induction motor, and the variation rate for such speed difference into 20 regional categories. The correlation degree between the speed difference of actual feedback, variation rate for speed difference and each regional category was then calculated, where more suitable weighting factor was selected. Therefore, the proposed extendable fuzzy robust 2DOF controller with variable weighting factor designed will allow better performance for response in speed tracking and load regulation. Lastly, the simulation software Matlab/Simulink was applied to simulate the utilization of the controlling method proposed for the induction motor drive system. For both the response in speed tracking and load regulation, the simulation results proved that the extendable fuzzy robust speed controller proposed provided better controlling performance than the conventional robust controller.

The inverse system identification toolbox named INVSID 1.0 for MATLAB, which is used to identify the inversion of single-input single-output systems, is developed. The complete process of developing the toolbox is demonstrated. Afterwards, a numerical example is illustrated to describe how the toolbox can be used to solve inverse identification problems. Simulation results demonstrate the effectiveness of the toolbox.

This paper presents the design of a robust speed controller for brushless DC motors (BLDCM) under field-oriented control (FOC). The proposed robust controller integrates extension theory (ET) and sliding mode theory (SMT) to achieve robustness. First, the speed difference between the speed command and the actual speed of the BLDCM, along with the rate of change of the speed difference, are divided into 20 interval categories. Then, the feedback speed difference and the rate of change of the speed difference are calculated for their extension correlation with each of the 20 interval categories. The interval category with the highest correlation is used to determine the appropriate control gain for the sliding mode speed controller. This gain adjustment tunes the parameters of the sliding surface in the SMT, thereby suppressing the overshoot of the motor speed. Because the sliding surface reaching law of the sliding mode controller (SMC) adopts the exponential approach law, the system's speed response can quickly follow the speed command in any state and exhibit excellent load regulation response. The simplicity of this robust control method, which requires minimal training data, facilitates easy implementation. Finally, the speed control of the BLDCM is simulated using Matlab/Simulink software, and the results are compared with those of the SMC using the constant speed approach law. The simulation results demonstrate that the proposed robust controller exhibits superior speed command tracking and load regulation response compared to the traditional SMC.

The installation of electric vehicle supply equipment (EVSE) increases demand and peak loads, potentially straining existing energy distribution infrastructure. Dispersed and inadequately planned placement of charging points (CPs) can disrupt the electrical grid, surpass contracted demand thresholds, and require infrastructure upgrades, thereby incurring unfeasible costs for Distribution System Operators (DSOs). In this context, it is necessary to recognize the role of business models in enabling effective electrification of the transportation sector. In response to these challenges, this paper introduces a novel e-mobility hub management strategy, tailored for implementation in the Brazilian context. The proposed strategy revolves around a microgrid configuration encompassing dispatchable and photovoltaic generation, a battery energy storage system (BESS), EVSE infrastructure, and local loads. Moreover, this centralized controller facilitates the implementation of dynamic pricing and demand-response mechanisms, integral to business models seeking to integrate EVSE into the distribution grid. To validate the efficacy of the proposed solution, hardware-in-the-loop (HIL) simulations of the microgrid system are conducted. These simulations, incorporating the centralized controller, serve as a tool for assessing system performance and viability before on-site equipment deployment. Finally, this paper concludes with the insights gleaned from test analysis and its discussion through a selection of the most expressive scenarios, including islanded and connected operation modes.

In order to make full use of the complementarity of existing navigation systems to improve the navigation and positioning accuracy, this paper investigates the visual/INS integrated navigation system based on the factor graph optimization (FGO) algorithm. In the traditional visual/INS integrated navigation system, there is often the problem of image blurring due to the rapid change of light and shadow captured by the vision sensor and the attitude change of the carrier, which leads to the decrease of the positioning accuracy of the combined navigation system. Therefore, this paper firstly introduces Retinex algorithm and BID algorithm to carry out the design of image de-blurring method; then implements the visual/INS integrated navigation algorithm based on the factor graph optimization method; finally, the experimental scheme is designed, comparative experiments are carried out, and the researched method is verified by using the public dataset. The experimental results show that the combined navigation algorithm realized in this paper has high accuracy, and its positioning accuracy is improved by 40% compared with visual positioning.

In recent years, the AHRS has become an important research area. In order to improve the orientation measurement accuracy of AHRS, this paper first expounds the algorithm principle of the AHRS. Then, aiming at the problem of poor stability of the traditional gradient descent method under high dynamics or large magnetic field interference, a gain-scheduled anti-interference AHRS orientation algorithm is designed. By using the switching architecture designed with this algorithm for gain scheduling, it can ensure stable performance while being subjected to apparent acceleration and ferromagnetic interference. Finally, experimental verification is conducted, and the experimental results show that: in the presence of interference, the roll angle error is 0.0350°, the pitch angle error is 0.0277°, and the yaw angle error is 0.9611°, thereby verifying the strong anti-interference performance of the gain-scheduled AHRS orientation algorithm proposed in this paper.

This article presents an innovative approach to the design of a safe adaptive backstepping control system. Tailored specifically for underactuated marine robots, the system utilizes simple sensors for enhanced practicality and efficiency. Given their operation in diverse oceanic environments fraught with various sources of uncertainties, ensuring the system's safe and robust behavior holds paramount importance in the control literature. To address this concern, this paper introduces a control strategy designed to ensure robustness at both the kinematic and dynamic levels. By emphasizing the compensation for the system uncertainties, the design integrates a straightforward fuzzy system structure. To further ensure the system's safety, a funnel surface is defined, followed by the design of a suitable nonlinear sliding surface as a function of the funnel and tracking error. Specifically leveraging the Lyapunov function, the study formally establishes the Semi-globally Practically Finite-time Stability of the closed-loop system, validated through simulations conducted on underactuated marine robots.

This work investigates the stability conditions for linear systems with time-varying delays via augmented Lyapunov-Krasovskii functional(LKF). Two types of augmented LKFs with cross terms in integral are suggested to improve the stability conditions for interval time-varying linear systems. Through this work, the compositions of the LKFs are considered to enhance the feasible region of stability criterion for linear systems. Mathematical tools such as Wirtinger-based integral inequality(WBII), zero equalities, reciprocally convex approach, and Finsler’s lemma are utilized to solve the problem of stability criteria. Two sufficient conditions are derived to guarantee the asymptotic stability of the systems using linear matrix inequality(LMI). First, asymptotic stability criteria are induced by constructing the new augmented LKFs in Theorem 1. And then simplified LKFs in Corollary 1 are proposed to show the effectiveness of Theorem 1. Second, asymmetric LKFs are shown to reduce the conservatism and the number of decision variables in Theorem 2. Finally, the advantages of the proposed criteria are verified by comparing maximum delay bounds in two examples. Two numerical examples show that the proposed Theorem 1 and 2 obtained less conservative results than existing outcomes. Also, Example 2 shows that the asymmetric LKF methods of Theorem 2 can provide larger delay bounds and fewer decision variables than Theorem 1’s in some specific systems.

Measuring sound pressure is a complex and tedious task in industrial environments. Classical methods can be costly, inaccurate, and potentially dangerous for workers. Integrating robotics and computer vision into acoustic measurement processes offers an innovative solution to these problems. This paper uses a Doosan Robotic Vision System to investigate an innovative automatic acoustic sound pressure measurement solution. The Doosan robot, equipped with a scanning camera and microphone, captures acoustic data and produces a map of the machine’s acoustic radiation using computer vision algorithms. The measurement technique is accurate, efficient, and safe for workers. It can also be used for continuous monitoring of the industrial acoustic environment. The developed measurement method offers a promising way to automate acoustic measurement, which can be performed faster and with better accuracy to help industries improve their product sound quality and reduce noise levels. The method was compared to analytical predictions. A 3D acoustic mapping was conducted to visualize the spatial distribution of sound sources within the environment. The experimental results show a good correlation with the theory.

Starting from the fact that one of the global control strategies of the Permanent Magnet Synchronous Motor (PMSM), namely the Direct Torque Control (DTC) type control strategy, is characterised by the fact that the inner flux and torque control loop usually uses hysteresis ON-OFF type controllers and the oscillations introduced by them have to be cancelled out by the outer speed loop controller (which is usually a PI speed controller and whose performance is good around the global operating points and for relatively small variations of the external parameters and disturbances caused in particular by the load torque variation), while retaining the advantages of the DTC strategy, this paper presents the improvement of the performance of the PMSM sensorless control system using Proportional Integrator (PI), PI Equilibrium Optimizer Algorithm (EOA), Fractional Order (FO) PI, Tilt Integral Derivative (TID) and FO Lead-Lag for constant flux, and Sliding Mode Control (SMC) and FOSMC for variable flux. The performance indicators of the control system are the usual ones: response time, settling time, overshoot, steady-state error and speed ripple, plus another one given by the fractal dimension (FD) of the PMSM rotor speed signal, and the hypothesis that the FD of the controlled signal is higher when the control system provides better performance is verified. The paper also presents the basic equations of the PMSM, based on which the synthesis of integer and fractional controllers, the synthesis of an observer for estimating the PMSM rotor speed, electromagnetic torque and stator flux are presented. The comparison of the performance of the proposed control systems and the demonstration of the parametric robustness are performed by numerical simulations in Matlab/Simulink using Simscape Electrical and Fractional Order Modelling and Control (FOMCON). Real-time control based on an embedded system using a TMS320F28379D controller demonstrates the good performance of the PMSM sensorless control system based on the DTC strategy in a complete hardware-in-the-loop (HIL) implementation.

Mechanical ventilation is a life-saving treatment for critically ill patients who are struggling to breathe independently due to injury or disease. Globally, large numbers of Individuals have always required mechanical ventilation per year. The Covid-19 pandemic elevated the significance of the mechanical ventilation which have played a significant role in sustaining Covid 19 infected critically ill patients who could not breathe on their own. The pandemic drew the attention of the world to the shortage of ventilators globally.This research work presents the formulation of a detailed Port Hamiltonian model of a mechanical ventilator integrated to the human respiratory system. The interconnection and coupling conditions for the various subsystem within the mechanical ventilator and the coupling between the mechanical ventilator and the human respiratory system is also presented.A structure preservation discretization is provided along side numerical simulations and results. The obtained results are found to be comparable to results presented in literature.The future work will include the design of suitable controllers for system.

Soft robotic manipulators consisting of serially-stacked segments combine actuation and structure in an integrated design. This design can be miniaturised while providing suitable actuation for applications such as minimally invasive surgery and for inspections in confined environments. The control of these robots, however, remains challenging, due to the difficulty in accurately modelling the robots, in coping with their redundancies, and in solving their full inverse kinematics. In this work, we explore a hybrid approach to control serial soft robotic manipulators that combines machine learning (ML) to estimate the inverse kinematics with a closed-loop control to compensate the remaining errors. For the ML part, we compare various approaches, including both kernel-based learning and more general neural networks. We validate the selected ML model experimentally. For the closed-loop control part, we first explore Jacobian formulations using both synthetic models and numerical approximations from experimental data. We then implement integral control actions using both these Jacobians, and evaluate them experimentally. In an experimental validation, we demonstrate that the hybrid control approach achieves setpoint regulation in a robot with 6 inputs and 4 outputs.

Abstract. This paper proposes a Second Order Terminal Sliding Mode (2TSM) approach to the trajectory tracking of Differential Drive Mobile Robot (DDMR). Within this cascaded control scheme, the 2TSM dynamic controller, at the inner most loop, tracks the robot’s velocity quantities; while a kinematic controller, at the outer most loop, regulates the robot’s positions. In this manner, chattering is greatly attenuated and finite time convergence is guaranteed by the second order TSM manifold which involves higher order derivatives of the state variables, resulting in inherently robust as well as fast and better tracking precision. The simulation results demonstrate the merit of the proposed control methods.

In modern warfare, the diversified tasks can sometimes be challenging to fulfill with a single projectile, necessitating the incorporation of cooperation constraints in trajectory planning. Limited by the stringent requirements of the launch platform and lower costs, the maneuverability and ability to adjust the flight time range of projectiles are weak. Therefore, the rationality of performance indicators and flight time coordination strategies is especially critical. To fully exploit the control capabilities of projectiles, a battlefield area segmentation method is proposed, differentiated performance indicators and a cooperative trajectory planning model that considers the entire range of projectiles are established. Considering the limitations of existing flight time coordination strategies in applications, targeted improvements have been made in different cooperation scenarios, and a bi-level adaptive cooperation strategy(BACS) with both optimality and flexibility is proposed. To rapidly determine feasible conditions, a simple and universal method for obtaining the capability ranges of cooperation is introduced. The multi-phase optimal control problems are transformed into nonlinear programming problems using the Radau pseudo-spectral method, and simulation results show that the proposed methods are capable of handling trajectory planning tasks in different cooperation scenarios. The improved strategies effectively enhance the planning success rate under relatively harsh conditions and BACS demonstrates good compatibility with the problems studied.

Goal-conditioned reinforcement learning (RL) holds promise for addressing intricate control challenges by enabling agents to learn and execute desired skills through separate decision modules. However, the irregular occurrence of required skills poses a significant challenge to effective learning. In this paper, we demonstrate the detrimental effects of this imbalanced skill(sub-goal) distribution and propose a novel training approach, Classified Experience Replay (CER), designed to mitigate this challenge. We demonstrate that adapting our method to conventional RL methods significantly enhances the performance of the RL agent. Considering the challenges inherent in tasks such as driving, characterized by biased occurrences of required sub-goals, our study demonstrates the improvement in trained outcomes facilitated by the proposed method. In addition, we introduce a specialized framework tailored for self-driving tasks on highways, integrating Model Predictive Control (MPC) into our RL trajectory optimization training paradigm. Our approach, utilizing CER with the suggested framework, yields remarkable advancements in trajectory optimization for RL agents operating in highway environments.

This work presents a Fault-Tolerant Model Predictive Control (FTMPC) algorithm applied to a simulation model for sewer networks. The control system will aim to prevent contaminated water from escaping the network, especially during periods of heavy rainfall, that can cause combined sewer overflows (CSO), while maintaining the flow of water towards the wastewater treatment plant (WWTP) as close as possible to its nominal value. The main purpose of the work is to preserve the operation of the predictive controller as much as possible, in accordance with its operational objectives, when there may be anomalies affecting the elements of the control system, mainly sensors and actuators. Comparing the results obtained considering various types of faults, with situations of normal controlled operation and with the behavior of the sewer network when no control is applied, will allow some conclusions to be drawn at the end.

The Internet of Medical Things (IoMT) represents a specialized domain within the Internet of Things, focusing on medical devices that require regulatory approval to ensure patient safety. Trusted composition of IoMT systems aims to ensure high assurance of the entire composed system, despite potential variability in the assurance levels of individual components. Achieving this trustworthiness in IoMT systems, especially when using less-assured, commercial, off-the-shelf networks like Ethernet and WiFi, presents a significant challenge. To address this challenge, this paper advocates a systematic approach that leverages the Architecture Analysis & Design Language (AADL) along with Behavior Language for Embedded Systems with Software (BLESS) specification and behavior. This approach aims to provide high assurance on critical components through formal verification, while using less-assured components in a manner that maintains overall system determinism and reliability. A clinical case study involving an automated opioid infusion monitoring IoMT system is presented to illustrate the application of the proposed approach. Through this case study, the effectiveness of the systemic approach in achieving trusted composition of heterogeneous medical devices over less-assured networks is demonstrated.

Hybrid power plants have recently emerged as reliable and flexible electricity generation stations by combining multiple renewable energy sources, energy storage systems (ESS), and fossil-based output. However, the effective operation of the hybrid power plants to ensure continuous energy dispatch under challenging conditions is a complex task. This paper proposes a dispatch engine (DE) based on mixed-integer linear programming (MILP) for the planning and management of hybrid power plants. To maintain the committed electricity output, the dispatch engine will provide schedules for operation over extended time periods as well as monitor and reschedule the operation in real-time. Through precise prediction of the PV and wind power output, the proposed approach guarantees optimum scheduling. The precise prediction of the PV and wind power are achieved by employing a predictor of Feed-Forward Neural Network (FFNN) type. With such a dispatch engine, the operational cost of the hybrid power plants, and the use of diesel generators (DGs) are both minimized. A case study is carried out to assess the proposed dispatch engine feasibility. A real-time measurement data pertaining to load, wind, and PV power outputs is obtained from different locations in the Sultanate of Oman. The real-time data is utilized to predict the future output power from PV and the Wind farm over 24 hours. The predicted powers are then used in combination with a PV-Wind-DG-ESS-Grid hybrid plant to evaluate the performance of the proposed dispatch engine. The proposed approach is implemented and simulated using MATLAB. The results of the simulation reveal the proposed Feed-Forward Neural Network’s (FFNN) powerful forecasting abilities. In addition, the results demonstrate that adopting the proposed DE can minimize the use of DG units and reduce plant running expenses.

Integrated energy systems (IES) seek to minimize power generating costs in future power grids through the dynamic coupling of different energy technologies. To accommodate fluctuations in load demand due to the penetration of renewable energy sources, flexible operation capabilities must be fully exploited, i.e., even power plants that are traditionally considered as base-load units need to be operated according to unconventional paradigms. Thermomechanical loads induced by frequent power adjustments can accelerate the wear and tear of components. If a unit is flexibly operated without respecting limits on materials and components, the risk of failures of expensive components will eventually increase, nullifying the additional profits ensured by flexible operation. In addition to the limits on power variations (explicit constraints), the solution of the unit dispatch problem needs to meet the limits on temperature, pressure and flow rate variations (implicit constraints). The FARM (Feasible Actuator Range Modifier) module was developed to enable existing optimization algorithms to identify solutions to the unit dispatch problem that are both economically favorable and technologically sustainable. Thanks to the iterative dispatcher-validator scheme, FARM permits addressing all the imposed constraints without excessively increasing the computational costs. In this work, the algorithms constituting the module are described, and the performance was assessed by solving the unit dispatch problem for an IES composed of three units, i.e., Balance of Plant, Gas Turbine, High-Temperature Steam Electrolysis. Finally, FARM module provides dedicated tools for visualizing the response of the process variables of interest during operation transients and a tool aiding the operator at making decisions. These techniques might represent the first step towards the deployment of an Ecological Interface Design (EID) for IES units.

The improvement of energy efficiency of hydraulic systems remains to be an essential challenge for the industry, and the demand for more sustainable solutions is increasing. A main focus in this endeavor is the ability to eliminate or strongly reduce the use of throttle control valves which have been the preferred control element in industrial hydraulic systems for decades. Components have been subject to continuous evolution, and current industrial grade hydraulic pumps and motors are both efficient and reliable. Even though few percentages of energy efficiency can still be achieved, the main achievements in terms of efficiency is associated with novel system designs rather than further development of components. An area subject to increasing attention is the field of variable-speed displacement control, allowing to avoid the main control valve throttle losses. Systems using this technology are, however, mainly developed as standalone drive systems, necessitating maximum force, speed and power installed in each axis, with limited hydraulic power distribution capability as compared to valve controlled systems. An emerging field addressing this challenge is so-called electro-hydraulic variable-speed drive networks which allow to completely eliminate the use of control valves and enables power sharing both electrically and hydraulically, potentially reducing the necessary installed power in many cases. The idea of such a technology was first proposed in 2022, and so far developments reported in literature have mainly been of theoretical nature. This article presents the first ever experimental results for a dual cylinder electro-hydraulic variable-speed drive network prototype. The prototype has been developed for an industrial application, but has initially been implemented in a laboratory testbench. Extensive data acquisition has been conducted while subject to the associated industrial motion cycle, under different load conditions. The data is further used in combination with models to predict the total efficiency of the drive network prototype under higher loads than what could be achieved in the laboratory, suggesting a total efficiency from the electric supply to the cylinder pistons of 68 %. Re-configuring the prototype to a known standalone drive system structure implies comparable efficiencies. Finally, the drive network is theoretically compared to a valve drive solution, generally suggesting the prototype drive network to provide efficiency improvements of at least 40 % in comparison.

Due to constraints in launch platform and cost, the maneuverability of gliding-guided projectiles is limited, necessitating a rational design of their trajectory schemes. To reduce the sensitivity of trajectory schemes to uncertainties while ensuring compatibility between flight schemes and guidance control systems, and fully exploiting the control capability of the projectile, a closed-loop robust trajectory planning method is proposed. Models of major uncertain factors and states deviation at the control-start point are established. Based on the NIPCE method, the stochastic dynamic model is transformed into a high-dimensional deterministic model with PCE coefficients as state variables, and the uncertainty propagation law is obtained. A PID algorithm is employed to design a tracking guidance law based on position error feedback, and open-loop and closed-loop robust trajectory planning models are established accordingly. The optimal control problem is solved by transforming it into a nonlinear programming problem using the direct shooting method. Simulation results indicate that the NIPCE method can significantly improve the computational efficiency of uncertainty propagation while ensuring accuracy. Open-loop robust planning can effectively mitigate the sensitivity of gliding trajectories to uncertainties but cannot completely eliminate terminal dispersion. Closed-loop robust planning effectively improves control effort consumption on the basis of open-loop planning.

Incremental control strategies provide undeniable advantages for controlling Uncrewed Aerial Vehicles (UAVs) due to their reduced model dependency and accurate tracking capacities. This is of particular relevance for hybrid UAVs, specially for tail-sitters, which perform complex manoeuvres when transitioning to and from aerodynamic flight. This paper summarizes the research undertaken in the application of the Incremental Nonlinear Dynamics Inversion (INDI) and Incremental Backstepping (IBKS) to a small tail-sitter UAV. After the application of these control strategies in a simulated scenario, the implementation in a Micro-Controller Unit was validated in a Hardware-in-the-Loop scenario. Following such validation, indoor experimental trials were undertaken in order to evaluate the capacity of these controllers to stabilize and control the real aircraft. The stabilization in the flight trials was successfully implemented and allow to conclude that both INDI and IBKS are control strategies suited to control a tail-sitter in vertical flight, providing accurate tracking capabilities under smooth actuation. Furthermore, it was found that the IBKS is significantly more computationally demanding than the INDI, although having a global proof of stability that is of interest in aircraft control.

This paper presents an observer-based dynamic output feedback controller design procedure using Linear Matrix Inequality (LMI) optimization for second-order systems with uncertainty and persistent perturbation in the states. Using linear-quadratic criteria, cost functions are minimized in a two-stage procedure to compute optimal state feedback gains, and observer gains are coupled into a dynamic output feedback optimal controller. The LMI set used in the two stages is matrix inversion-free, a key issue for polytope formulation when uncertainty is present. The approach is tested in a mobile inverted pendulum robotic platform, and the effectiveness is verified in this underactuated and undesensed case.

This article deals with the denoising of signals from sensors (current and voltage) in a photovoltaic conversion chain using wavelet theory. The idea is to reduce the noise as much as possible without distorting or losing the original signal information. To see the reliability of this proposed method, a comparative study between our proposed method (WDD) and the classic low-pass filter method was presented. The contribution in this work is the improvement of the DC-DC boost converter via the use of wavelet theory, however, that’s why we set two objectives: the first is to obtain reliable control of the DC-DC boost converter via the proposed WDD and the second to increase the overall system efficiency. The experimental results show a very great improvement in the quality of the signals of the proposed method compared to the classic method of filtering by low-pass filter.

This paper aims to demonstrate how the detection of communities for epidemiological networks can be used to reduce the dimensionality of optimal control problems. A range of planted partition stochastic blockmodels are generated, where the underlying communities in the model vary in detectability. A high-performance computing workflow is then used to simulate and estimate reduced model dynamics for the networks, which in turn is used to find optimal control solutions.

This paper presents an approach to improve the robustness of tip-tilt controllers for fast-steering mirror (FSM)-based laser beam steering (LBS) systems in the presence of dynamic disturbances such as external shocks. To this end, we propose the addition of a disturbance observer (DOB)-based anti-shock controller in parallel to the original linear servo control loop to improve its control performance in the presence of external shocks. To increase the tip-tilt control performance against external shocks, the DOB-based control method, which is an improved control method for eliminating nonperiodic disturbances, is implemented in the original tip-tilt control system. Results indicate that the control error of the DOB-based anti-shock controller decreased, resulting in an efficient improvement in its disturbance-rejection performance.

Degradation is an inevitable companion in the operation of solid oxide fuel cell (SOFC) systems since it directly deteriorates the reliability of the system’s operation and the system’s durability. Both are seen as barriers that limit the extensive commercial use of SOFC systems. Therefore diagnosis and prognosis are valuable tools that can contribute to raising the reliability of the system operation, efficient health management, increased durability and implementation of predictive maintenance techniques. Remaining useful life (RUL) prediction has been extensively studied in many areas like batteries and proton-exchange membrane fuel cell (PEM) systems, and a range of different approaches has been proposed. On the other hand, results available in the domain of SOFC systems are still relatively limited. Moreover, methods relying on detailed process models and models of degradation turned out to have limited applicability for in-field applications. Therefore, in this paper, we propose an effective, data-driven approach to predicting RUL where the trend of the health index is modelled by an adaptive linear model, which is updated at all times during the system operation. This allows for a closed-form solution of the probability distribution of the RUL, which is the main novelty of this paper. Such a solution requires no computational load and is as such very convenient for the application in ordinary low-cost control systems. The performance of the approach is demonstrated first on the simulated case studies and then on the data obtained from a long-term experiment on a laboratory SOFC system. From the tests conducted so far it turns out that, the quality of the RUL prediction is usually rather low at the beginning of the system operation, but then gradually improves while the system is approaching the end-of-life (EOL), making it a viable tool for prognosis.

Enclosed public spaces are the hotspots for airborne disease transmission. To measure and maintain indoor air quality in terms of airborne transmission, an open source, low cost and distributed array of Particulate Matter Sensors has been developed and named as Dynamic Aerosol Transport for Indoor Ventilation or DATIV system. This system can use multiple Particulate Matter Sensors (PMS) simultaneously and can be remotely controlled using a Raspberry Pie based operating system. The data acquisition system can be easily operated using the GUI within any common browser installed on a remote device such as a PC or Smartphone with corresponding IP address. The software architecture and validation measurements are presented together with possible future developments.

In this paper we present the exploration of indoor positioning technologies for UAVs, and navigation techniques for path planning and obstacle avoidance. The objective is to perform warehouse inventory tasks using a drone to search for barcodes or markers to identify the objects. For the indoor positioning techniques, we employ Visual-Inertial Odometry (VIO), Ultra-Wideband (UWB), AprilTag fiducial markers, and Simultaneous Localization and Mapping (SLAM). These algorithms encompass global positioning, local positioning, and pre-mapping positioning, comparing the merits and drawbacks of various techniques and trajectories. In UAV navigation, we combine SLAM-based RTAB-Map indoor mapping and navigation path planning of the ROS for indoor environments. This system enables precise drone positioning indoors and utilizes global and local path planners to generate flight paths that avoid dynamic, static, unknown, and known obstacles, demonstrating high practicality and feasibility. To achieve the warehouse inventory inspection, a reinforcement learning approach is proposed to recognize the markers by adjusting the UAV's viewpoint. We address several main problems in inventory management, including efficiently planning paths while ensuring a certain level of detection rate. Two reinforcement learning techniques, AC (Actor-Critic) and PPO (Proximal Policy Optimization), are implemented based on AprilTag identification. Testing is performed in both simulated and real-world environments, and the effectiveness of the proposed method is validated.Code is available at https://github.com/kellen080/Navigation and https://github.com/kellen080/Indoor\_Positioning.

This study presents an effective control algorithm to improve the robustness of fast steering mirror (FSM)-based laser beam steering systems against dynamic disturbances such as repetitive disturbances resulting from operating conditions. A stable control system must be able to maintain the required high-precision control even when dynamic disturbances affect the FSM system. In this study, an improved control method is proposed using an internal model principle (IMP)-based nonlinear controller with a disturbance observer (DOB) for the FSM system. This IMP-based controller with DOB can attenuate the residual control error signal under dynamic disturbance conditions.

Grating (moiré) interferometry is one of the well-known methods for full-field in-plane displacement and strain measurement. There are many design solutions for grating interferometers, including systems with a microinterferometric waveguide head. This article proposes a modification to the conventional waveguide interferometer head, enabling the implementation of a polarization fringe phase shift for automatic fringe pattern analysis. The article presents both the theoretical consideration of the proposed solution and its experimental verification, along with the concept of the in-plane displacement/strain sensor using the described head.

Vertical Indoor Farming (VIF) with hydroponics offers a promising perspective for sustainable food production. Intelligent control of VIF system components plays a key role in reducing operating costs and increasing crop yields. Modern machine vision (MV) systems use Deep Learning (DL) in combination with camera systems for various tasks in agriculture, such as disease and nutrient deficiency detection, and flower and fruit identification and classification for pollination and harvesting. This study presents the applicability of MV technology with DL modelling to detect the growth stages of chilli plants using YOLOv8 networks. The influence of different bird’s eye and side view datasets and different YOLOv8 architectures was analysed. To generate the image data for training and testing the YOLO models, chilli plants were grown in a hydroponic environment and imaged throughout their life cycle using four camera systems. The growth stages were divided into growing, flowering and fruiting classes. All trained YOLOv8 models showed reliable identification of growth stages with high accuracy. The results indicate that models trained with data from both views show better generalisation. YOLO’s middle architecture achieved the best performance.

This study aimed to learn disturbance information to effectively control multiple small unmanned surface vehicles (USVs) for marine research purposes at sea. The learned disturbance information was used to investigate the control of multiple USV swarms based on the leading–following formation technique. Numerous studies have already been conducted on swarm control using drones in the air; however, there has been a paucity of studies on swarm control in the sea. Contrary to swarm control in aviation, the fluid density of the sea is high, and the environment is constantly changing; thus, a robot system would be significantly affected by disturbances. This ultimately influences the maintenance of swarm formations and the accomplishment of missions [1,2]. Therefore, it is difficult to control numerous moving objects while maintaining a formation at sea by using the existing aerial drone swarm control technology. To solve this problem, we learned a long short-term memory (LSTM) model with time-series marine environmental data to predict maritime disturbances. Thereafter, the model was applied to a mission-based position control algorithm of each USV constituting the swarm to design a marine unmanned floating vessel swarm control system that can be applied to various marine environments. Specifically, to effectively control numerous small USVs for marine research purposes, ocean currents are learned using the LSTM algorithm, and the predicted ocean currents are used to generate a swarm USV control system for USV formations. In this study, a control system model of several small USVs equipped with two rear thrusters and a front lateral thruster was designed. The LSTM algorithm was learned using the previous ocean current data, and the velocity of the following ocean currents was predicted. The predictions were then used as a system disturbance to determine the thrust of the controller. To measure ocean currents in the sea when each USV moves, the velocity, azimuth, and position (latitude, longitude) data from the GPS mounted on the USV were used to measure the velocity and direction of the hull's movement. Further, the flow rate was measured using a flow rate sensor on a small USV. The USV movement and position were controlled using an artificial neural network-PID (ANN-PID) controller. This study entailed a comparative analysis of the designed USV model results and those generated by the simulator, including the behavior control rule of the USV swarm and the path of the actual USV swarm at sea. It was verified that the effectiveness of the USV mathematical model and behavior control rules. By comparing the movement path of the swarm USV with and without the disturbance learning algorithm and ANN-PID control algorithm applied to the designed simulator, the position error and maintenance performance of the swarm formation were analyzed, and the application results were compared.

The results shown in this paper extend our research group's previous work, which presents the theoretically achievable hydrogen engine-out NOx (H2-NOx) Pareto front of a hydrogen hybrid electric vehicle (H2-HEV). While the Pareto front is calculated offline, which requires significant computing power and time, this work presents an online-capable algorithm to tackle the energy management of a H2-HEV with explicit consideration of the H2-NOx trade-off. Through the inclusion of realistic predictive data on the upcoming driving mission, a model predictive control algorithm (MPC) is utilized to effectively tackle the conflicting goal of achieving low hydrogen consumption while simultaneously minimizing the NOx. In a case study it is shown that the MPC is able to satisfy user-defined NOx limits over the course of various driving missions. Moreover, a comparison to the optimal Pareto front highlights the MPC's ability to achieve close-to-optimal fuel-performance for any desired cumulated NOx target on four realistic routes for passenger cars.

: This paper presents a comparison between direct integer orders or classical model reference adaptive control (IO-DMRAC) versus its fractional orders counterpart (FO-DMRAC) applied to the F-16 aircraft longitudinal model pitch rate control. A substantial improvement is achieved when using fractional order adaptive control, since, in addition to performance indices, such as Integral Square-Error criterion (ISE) and Integral Square-Input criterion (ISU) being lower, the oscillations of the system output (pitch rate) in the transient period, are eliminated. Moreover, it is the first attempt in literature of adaptive control that a FO-DMRAC is applied to the pitch rate control of an aircraft. A F-16 short-period model, whose relative degree is equal to 1 (n^*=1) is analyzed by mean of simulations with good results. A FO-DMRAC is designed, for a specific operating flight conditions and compared with its IO-DMRAC counterpart. Furthermore, the boundedness of all signals, including the internal ones ω(t) are assured.

To make wind power more competitive, it is necessary to reduce turbine downtime and reduce costs associated with wind turbine Operation and Maintenance (O&M). Incorporating machine learning in developing condition-based predictive maintenance methodologies for wind turbines can enhance their efficiency and reliability. This paper presents a monitoring method that utilizes Base Density for the Support Vector Machine (BDSVM) and the evolutionary Fourier spectra of vibrations. This method allows smart monitoring of the function evolution of the turbine. A complex optimal function (FO) for 5-degree order has been developed that will be the boundary function of the BDSVM to timely determine the magnitude, frequency, and place of the failure occurring in wind turbine drive.

Microgrids (MGs) have evolved as critical components of modern energy distribution networks, providing increased dependability, efficiency, and sustainability. Effective control strategies are essential for optimising MG operation and maintaining stability in the face of changing environmental and load conditions. Traditional rule-based control systems are extensively used due to their interpretability and simplicity. However, these strategies frequently lack the flexibility for complex and changing system dynamics. This paper provides a novel method called hybrid intelligent control for adaptive MG that integrates basic rule-based-control and deep learning techniques, including gated recurrent units (GRU), basic recurrent neural network (RNN) and long short-term memory (LSTM). The main target of this hybrid approach is to improve MG management performance by combining the strengths of basic rule-based systems and deep learning techniques. These deep learning techniques readily enhance and adapt control decisions based on historical data and domain-specific rules, leading to increasing system efficiency, stability, and resilience in adaptive MG. Our results show that the proposed method optimises MG operation, especially under demanding conditions such as variable renewable energy supply and unanticipated load fluctuations. This study investigates special RNN architectures and hyper-parameter optimization techniques with the aim of predicting power consumption and generation within the adaptive MG system. Our promising results show the highest-performing models indicating high accuracy and efficiency in power prediction. The finest-performing model accomplishes an R2 value close to 1, representing a strong correlation between predicted and actual power values.

This paper presents two control design strategies for voltage regulation in a single inductor dual output (SIDO) DC-DC Buck converter system. Based on a nominal multiple input multiple output (MIMO) plant model and performance requirements, both an LQR and a decoupled PI control laws are designed to control the power converter system, under parametric uncertainties such as voltage source variation, CPL power variation, and load resistance variation. Therefore, the SIDO converter can cascade operating, which may cause the undesired effects of voltage oscillation and reduce the system's stability margin. The control performance was assessed under both uncertainties resistive loading and power variation of a constant power load (CPL). A SIDO DC-DC Buck converter board has been developed for experimental tests. The experimental results show that the LQR strategy, compared to the PI strategy, presented a robust performance in the presence of parametric uncertainties in the resistive loads being, however, sensitive to uncertainties due to the presence of CPL loads.

The Robotics Vision Lab of Northwest Nazarene University has developed Orchard Robot (OrBot), which was designed for harvesting fruits. OrBot is composed of a machine vision system to locate fruits on the tree, a robotic manipulator to approach the target fruit, and a gripper to remove the target fruit. Field trials conducted at commercial orchards for apples and peaches during the harvesting season of 2021 yielded a harvesting success rate of about 85% and had an average harvesting cycle time of 12 seconds. Building upon this success, the goal of this study is to evaluate the performance of OrBot during nighttime harvesting. The idea is to have OrBot harvest at night, and then human pickers continue the harvesting operation during the day. This human and robot collaboration will leverage the labor shortage issue with a relatively slower robot working at night. The specific objectives are to determine the artificial lighting parameters suitable for nighttime harvesting and to evaluate the harvesting viability of OrBot during the night. LED lighting was selected as the source for artificial illumination with a color temperature of 5600 K and 10% intensity. This combination resulted with the lowest noise in the images. OrBot was tested in a commercial orchard using twenty Pink Lady apple trees. Results showed an increased success rate during the night, with OrBot gaining 94%. compared to 88% during the daytime operations.

: In the realm of data management, data preservation stands as a critical undertaking aimed at preserving and upholding the integrity of data. Regardless of whether it concerns personal or enterprise data, the detrimental effects of malicious alterations implemented by attackers cannot be overlooked. Particularly in conventional industrial control environments, the prevalent practice involves the transmission of data from sensors to databases for storage purposes. However, it is essential to recognize that this process exposes the data to various vulnerabilities. Thus, to ensure the long-term security and reliability of the data, it becomes imperative to implement robust data preservation strategies within these industrial control systems. However, the reliance of these databases on physical hard disks introduces inherent vulnerabilities, including the potential for data loss due to disk damage or targeted malicious attacks. Consequently, it becomes imperative to prioritize the implementation of robust data preservation measures. These measures are crucial in mitigating the risk of disruptions and protecting critical data from compromise. By establishing effective data backup systems, employing advanced security protocols, and implementing proactive monitoring mechanisms, organizations can bolster their data preservation capabilities and safeguard against potential threats to data integrity and availability. As a result, many enterprises opt to store their data with third-party providers to ensure data integrity. However, this approach carries inherent risks. If the third-party service experiences an attack or if the data is tampered with, it becomes challenging to verify the integrity of the data. To address these concerns and ensure data preservation within the context of the Internet of Things (IoT), a growing number of individuals are integrating IoT with Distributed Ledger Technology (DLT). By leveraging DLT, the integrity of data can be ensured, reducing reliance on centralized third-party storage and enhancing security in the IoT ecosystem. In this article, IOTA is the DLT, which employs Directed Acyclic Graph (DAG) to store transaction information. Compared to Ethereum or other blockchain technologies, IOTA offers notable advantages in terms of transaction verification speed, making it highly suitable for real-time IoT environments. However, the conventional transmission path from sensors to IOTA nodes entails a complex route, involving multiple hardware devices before reaching the intended destination. This complexity poses challenges in ensuring data integrity during transmission and introduces vulnerabilities such as man-in-the-middle attacks or SQL injection attacks. To address these issues, we propose a method to streamline the transmission path between sensors and IOTA, specifically tailored for industrial fields with numerous IoT devices. Our approach involves preprocessing the data stored on the server using our method before uploading, ensuring data confidentiality, and leveraging IOTA to guarantee data integrity. To achieve the shortest path between IoT and DLT nodes, it becomes necessary to establish IOTA nodes on lower-level devices, such as Raspberry Pi or IoT controllers. By simplifying the transmission path, we can reduce the potential for tampering and enhance overall data security. Implementing our proposed method enables the assurance of data confidentiality and integrity during both transmission and storage on the server, strengthening the trustworthiness of the IoT, and IOTA integration.

A PLS-based quality prediction method is proposed for batch processes using two-dimensional extended windows. To realize the adoption of information in the direction of sampling time and batch, a new definition region of support (ROS), k-i-back-extended region of support (KIBROS), is proposed to establish the extended window, which including the data of the previous sampling times in the same batch, the data of the same sampling time in the historical batches, the data of the previous sampling times in the historical batches and the data of the later sampling times in the historical batches. According to these regions of support, extended windows are established, and different models are proposed based on the extended windows for batch processes quality prediction. Further, using a typical batch process as an example, the injection molding process, the proposed quality prediction method is experimentally verified, proving that the proposed methods have higher prediction accuracy than the traditional method and the prediction stability is also improved.

This study addresses the prediction of recurring failures in water supply networks, a complex and costly task, but essential for the effective maintenance of these vital infrastructures. Using historical failure data provided by Companhia de Água e Esgotos da Paraíba (CAGEPA), the research focuses on predicting the time until the next failure at specific points in the network. The authors divided the failures into two categories: Occurrences of New Faults (ONF) and Recurrences of Faults (RF). To make the predictions, they used predictive models based on Machine Learning, more specifically on MLP (Multi Layer Perceptron) neural networks. The study revealed that, by analyzing data from past failures and considering factors such as altitude, number of failures on the same street and days between failures, it is possible to achieve an accuracy greater than 80% in predicting failures within a 90-day interval. This demonstrates the feasibility of using fault history to predict future water supply outages with significant accuracy. These forecasts allow water utilities to plan and optimize their maintenance, minimizing inconvenience and losses. The article contributes to the field of water infrastructure management by suggesting that the data-driven approach can be applied in other cities or in networks of different types, such as energy or communication networks. The conclusions highlight the importance of data collection and analysis in preventing failures and optimizing water utilities’ resources.

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

Solid-state fermentation (SSF) is the bioprocess where microorganisms are cultivated in the absence of free water under control conditions. Lactic acid can be produced by fermenting grape stalks with Rhizopus oryzae in SSF. During the microorganism growth, the temperature and water content of the solid bed fluctuate, leading to areas of either dry or excessive moisture in the solid substrate. Therefore, it's crucial to control the supply of water to the matrix. In this work, we obtain lactic acid through SSF of grape stalks using Rhizopus oryzae NCIM 1299. The SSF was conducted at a fixed temperature of 35 °C, with three constant relative humidity levels: 50, 65, and 80 %RH. Mathematical models, including the Logistic and First Order Plus Dead Time models for fungal biomass growth and the Luedeking and Piret with Delay Time model for lactic acid production, were adjusted to kinetic curves. Growth kinetic parameters (Xmax, μmax, Tp, T0, Yp/x and td) were determined for all conditions. These kinetic parameters were then correlated with relative humidity using a second-degree polynomial relationship. We observed a decrease in Xmax with increasing %RH, while the value of Yp/x increased at higher %RH. Finally, the optimal variable relative humidity profile was obtained by applying the Dynamic Optimization Technique, resulting in a 15.30% increase in lactic acid production.

With much more challenging scenarios encountered in engineering, traditional quadrotors couldn’t accomplish all desired missions perfectly. Task-driven based reconfigurable quadrotors have more latent capacity in environment with dense obstacles and narrow corridors. The translational reconfigurable quadrotors and rotational reconfigurable quadrotors are proposed in this presentation, assumptions, mathematical models and related motion control laws are given subsequently, in order to cope with hazard missions, model reference adaptive control laws are proposed, sufficient numerical simulations demonstrate the validity of the proposed control laws.

Pairs of potential and flow variables have long been established for interfacing object-oriented component models of physical systems. Recently, however, the use of triplets has been discovered for the purpose of robust modeling. New and powerful Modelica libraries have been developed such as the DLR ThermoFluid Stream library or the introduction of the Dialectic Mechanics library. Their use of triplets is entangled with a special modeling approach that uses Linear Implicit Equilibrium Dynamics. In this paper, we study the basic motivation of this approach, its benefits and drawbacks before we finally demonstrate how it beneficially impacts the generation of corresponding simulation code.