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

Remotely Piloted Aircraft Systems (RPAS) are increasingly becoming relevant actors flying through the airspace and will assume much more importance in the future perspective. In order to allow their safe integration with manned conventional traffic in non-segregated airspaces, in accordance with the overall Air Traffic Management (ATM) paradigm, specific enabling technologies are needed. As well known, among the enabling technologies identified as crucial for RPAS integration into the overall ATM system, the Detect and Avoid (DAA) technology is fundamental. In the meantime, to support extended surveillance, the universal introduction on-board of aircraft of cooperative Automatic Dependent Surveillance – Broadcast (ADS-B) is increasingly implemented, having the potential to allow coverage of the whole airspace also in remote areas not usually covered by conventional radar surveillance. In this paper, the experimental results are presented and discussed that have been obtained through the real-time validation, with hardware and human in the loop (RTS-HIL) simulations, of an automatic ADS-B based Separation Assurance and Collision Avoidance System aimed to support RPAS automatic operations as well as remote pilot decision making. In the paper, after an introductory outline of the Concept of Operations (ConOps) of the system and of its architectural organization, while also providing basic information about the main system functionalities, the description is reported of the tests that have been carried out and the obtained results are described and discussed, in order to emphasize the performances and limitations of the proposed system. In particular, not only the quantitative performances obtained are reported and commented but also the feedbacks received by the pilots in order to improve the system are described, for instance in terms of preferred typology of conflict resolution manoeuver elaborated by the system.

This article conducts a literature review of current and future challenges in the use of artificial intelligence (AI) in cyber physical systems. The literature review is focused on identifying a conceptual framework for increasing resilience with AI through automation supporting both, a technical and human level. The methodology applied resembled a literature review and taxonomic analysis of complex internet of things (IoT) interconnected and coupled cyber physical systems. There is an increased attention on propositions on models, infrastructures and frameworks of IoT in both academic and technical papers. These reports and publications frequently represent a juxtaposition of other related systems and technologies (e.g. Industrial Internet of Things, Cyber Physical Systems, Industry 4.0 etc.). We review academic and industry papers published between 2010 and 2020. The results determine a new hierarchical cascading conceptual framework for analysing the evolution of AI decision-making in cyber physical systems. We argue that such evolution is inevitable and autonomous because of the increased integration of connected devices (IoT) in cyber physical systems. To support this argument, taxonomic methodol- ogy is adapted and applied for transparency and justifications of concepts selection decisions through building summary maps that are applied for designing the hierarchical cascading conceptual framework.

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

Roundabouts need capacity and safety improvements compatible with manual-driven, not only with autonomous vehicles. The signaling and control of roundabouts must evolve and incorporate current technologies. For that, we approach roundabouts as synchronous switches of vehicles. This paper describes Synchronous Roundabouts with Rotating Priorities, a roundabout control system based on vehicle platoons arriving at the roundabout at speed identical to the roundabout and within the time slot assigned to their entry, avoiding conflicts and stops, thus increasing roundabout capacity and safety. Signaling is visual for human drivers and also wireless for connected and autonomous vehicles. We evaluate analytically and with simulations roundabouts of different radius for several values of the average distance between vehicles. Average delays are 28,7 % lower, with negligible dispersion. The capacity improvements depend on design parameters: in our set is moderate for small roundabouts but goes up to 70-100 % for short distances and medium and large roundabouts.

As a result of extensive research in the field of mobile robots (rovers) and swarms, a number of algorithms exist to assist them for executing a mission in the three levels of software architecture: strategic (interaction loop level), tactic (planning) and operational (sensing, control and actuation). They allow them to achieve their goals while adapting to their environment through a multitude of methods designed for each situation. For this reason, a literature review of the latest research conducted in previous years is required to identify new research trends in human-swarm interaction applied to help humans in hazardous environment such as militarized zone. In this paper, we will present some interesting algorithms for interactive and autonomous mobile robots acting in swarms in an open and crowded environment. A discussion will focus on comparing different algorithms and their advantages and disadvantages.

In this paper, using the discrete time model, we consider the average age of all files for a cached-files-updating system where a server generates N files and transmits them to a local cache. In order that the cached files are fresh, in each time slot the server updates files with certain probabilities. The age of one file or its age of information (AoI) is defined as the time the file stays in cache since it was last time sent to cache. Assume that each file in cache has corresponding request popularity. In this paper, we obtain the distribution function of the popularity-weighted average age over all files, which gives a complete description of this average age. For the random age of single file, both the mean and its distribution have been derived before by establishing a simple Markov chain. Using the same idea, we show that an N dimensional stochastic process can be constituted to characterize the changes of N file ages simultaneously. By solving the steady-state of the resulting process, we obtain the explicit expression of stationary probability for an arbitrary state-vector. Then, the distribution function of the popularity-weighted average age can be derived by mergering a proper set of stationary probabilities. For the possible applications, the distribution function can be utilized to calculate the probability that the average age violates certain statistical guarantee.

Precision agriculture is a technology used by farmers to help food sustainability amidst growing population. One of the tools of precision agriculture is yield monitoring, which helps a farmer manage his production. Yield monitoring is usually done during harvest, however it could also be done early in the growing season. Early prediction of yield, specifically for fruit trees, aids the farmer in the marketing of their product and assists in managing production logistics such as labor requirement and storage needs. In this study, a machine vision system is developed to estimate fruit yield early in the season. The machine vision system uses a color camera to capture images of fruit trees during the full bloom period. An image segmentation algorithm based on an artificial neural network was developed to recognize and count the blossoms on the tree. The artificial neural network segmentation algorithm uses color information and position as input. The resulting correlation between the blossom count and the actual number of fruits on the tree shows the potential of this method to be used for early prediction of fruit yield.

The process model is very essential for the model based control design. The model of the process can be identified using system identification algorithm. The system identification is done through the open loop and closed loop approaches. In this work, the lab scale conical tank setup configured as a non square MIMO system. The conical tank system is identified through the both appraoches, the effectiveness and need of the both approaces are discussed. Based on the open loop identified model the controller designed and the controller implemented in the real time the to record the process data. From this data the closed loop identification are conducted uisng N4SID algorithm. The controller seetings are obtained using the smith predcitor based IMC based PI controller for the obtained model. The proposed identification algorithm and controller tuning show the better reults over the conventional method. Moreover, this method is applicable for all the non square MIMO system.

In this paper a full state feedback control of a double inverted pendulum on a cart (DIPC) are designed and compared. Modeling is based on Euler-Lagrange equations derived by specifying a Lagrangian, difference between kinetic and potential energy of the DIPC system. A full state feedback control with H infinity and H 2 is addressed. Two approaches are tested: open loop impulse response and a double inverted pendulum on a cart with full state feedback H infinity and H 2 controllers. Simulations reveal superior performance of the double inverted pendulum on a cart with full state feedback H infinity controller.

Today, transit control systems go beyond simple controllers located at the intersections of our streets, involving large companies in the field, which with the implementation and use of sophisticated equipment encompass endless new and advanced technologies that manage to give control to the massive automotive park, thus ensuring fluidity and road safety. Many of these systems are used in the big world capitals, which is why the model used in Santiago, Chile is a system applied and brought directly by the SIEMENS Company of England (specifically the system used in the City of London). It is capable of transmitting the different control signals in a similar and digital way from the different interconnected devices in and out of the road infrastructure.

In the manufacturing industry, orders are typically scheduled and delivered through batches, and the probability of machine failure under high-load operation is high. On this basis, we focus on a single machine batch scheduling problem with a maintenance interval (SMBSP-MI). The studied problem is expressed by three-field representation as 1|B,MI|\sum{F_j+\mu}m, and the optimization objective is to minimize total flow time and delivery costs. Firstly, 1|B,MI|\sum{F_j+\mu}m is proved to be NP-hard by Turing reduction. Secondly, shortest processing time (SPT) order is shown the optimal scheduling of SMBSP-MI, and a dynamic programming algorithm based on SPT (DPA-SPT) with the time complexity of O(n^3T_1) is proposed. A small-scale example is designed to verify the feasibility of DPA-SPT. Finally, DPA-SPT is approximated to a fully-polynomial dynamic programming approximation algorithm based on SPT (FDPAA-SPT) by intervals partitioning technique. The proposed FDPAA-SPT runs in O(\frac{n^5}{\varepsilon^2})\ time with the approximation (1+\varepsilon).

In this paper, a 3 DOF gyrscope position control have been designed and controlled using optimal control theory. An input torque has been given to the first axis and the angular position of the second axis have been analyzed while the third axis are kept free from rotation. The system mathematical model is controllable and observable. Linear Quadratic Integral (LQI) and Linear Quadratic State Feedback Regulator (LQRY) controllers have been used to improve the performance of the system. Comparison of the system with the proposed controllers for tracking a desired step and random angular position have been done using Matlab/Simulink Toolbox and a promising results has been analyzed.

In this paper, the design of a low cost portable ventilator with performance analysis have been done to solve the scarcity of respiratory ventilators for COVID-19 patients. The materials used to build the system are: DC motor, rotating disc and pneumatic piston. The system input is the patient heart beat and the output is volume of air to the patient lung with adjusted breathing rate. This ventilator adjusts the breathing rate to the patient depending on his heart beat rate. The performance analysis of this system have been done using Proportional Integral Derivative (PID) and Full State Feedback H2 controllers. Comparison of the system with the proposed controllers have been done using a step change and a random change of the patient heart beat and a promising result have been analyzed successfully.

The asymmetry in the dynamics of an electro-pneumatic actuating device consisting of an electro-pneumatic transducer and a single-action pneumatic actuator was unexpectedly found experimentally. This asymmetry manifests in response to large step excitations. The dynamic asymmetry effect is understood as a change in the shape of the response of an actuator depending on the direction of the actuators stem movement. The questions appears: How to explain this effect? Does this phenomenon reflect thermodynamic air processes? Is it connected with air-to-mechanical energy conversion? Together, six working hypotheses explaining this effect were formulated. The asymmetry was studied in detail using analytical and simulation modeling, as well as experimental research. In this respect, a nonlinear analytical model was developed, tuned, and later solved using simulations. The simulation model was verified based on the experiment data. In addition, the problem of the efficiency in the energy conversion of a single-action actuator was discussed and, in result, the maximum theoretical energy efficiency was determined. Subsequently, all six working hypotheses were verified. Finally, the hypothesis explaining asymmetry as an effect of the different thermodynamic air processes in both actuator’s stem travel directions was confirmed.

In this paper, a metal cutting machine position control have been designed and simulated using Matlab/Simulink Toolbox successfully. The open loop response of the system analysis shows that the system needs performance improvement. Static output feedback and full state feedback H₂ controllers have been used to increase the performance of the system. Comparison of the metal cutting machine position using static output feedback and full state feedback H₂ controllers have been done to track a set point position using step and sine wave input signals and a promising results have been analyzed.

In this paper, a horizontally moving suspended mass pendulum base is designed and controlled using robust control theory. H infinity optimal loop shaping with first and second order desired loop shaping function controllers are used to improve the performance of the system using Matlab/Simulink Toolbox. Comparison of the H infinity optimal loop shaping with first and second order desired loop shaping function controllers for the proposed system have been done to track the desired angular position of the pendulum using step and sine wave input signals and a promising result has been obtained succesfully.

A vehicle boom barrier gate system is one of the recently developed technologies operating at the entrances to the restricted areas. This paper aims to design and control of vehicle’s boom barrier gate system using robust augmentation technique. H 2 optimal and H infinity synthesis controllers are used to improve the performance of the system. The open loop response analysis of the vehicle boom barrier gate system shows that the input of the system need to be improved. Comparison of the vehicle boom barrier gate system with H2 optimal and H infinity synthesis controllers have been done to track a set point desired angular position using a step and operational open and close input signals and a promising results have been observed.

In the manufacturing industry, orders are typically scheduled and delivered through batches, and the probability of machine failure under high-load operation is high. On this basis, we focus on a single machine batch scheduling problem with a maintenance interval (SMBSP-MI). The studied problem is expressed by three-field representation as 1|B,MI|\sum{F_j+\mu}m, and the optimization objective is to minimize total flow time and delivery costs. Firstly, 1|B,MI|\sum{F_j+\mu}m is proved to be NP-hard by Turing reduction. Secondly, shortest processing time (SPT) order is shown the optimal scheduling of SMBSP-MI, and a dynamic programming algorithm based on SPT (DPA-SPT) with the time complexity of O(n^3T_1) is proposed. A small-scale example is designed to verify the feasibility of DPA-SPT. Finally, DPA-SPT is approximated to a fully-polynomial dynamic programming approximation algorithm based on SPT (FDPAA-SPT) by intervals partitioning technique. The proposed FDPAA-SPT runs in O(\frac{n^5}{\varepsilon^2})\ time with the approximation (1+\varepsilon).

This work presents the development and implementation of a distributed navigation system based on computer vision. The autonomous system consists of a wheeled mobile robot with an integrated colour camera. The robot navigates through a laboratory scenario where the track and several traffic signals must be detected and recognized by using the images acquired with its on-board camera. The images are sent to a computer server that processes them and calculates the corresponding speeds of the robot using a cascade of trained classifiers. These speeds are sent back to the robot, which acts to carry out the corresponding manoeuvre. The classifier cascade should be trained before experimentation with two sets of positive and negative images. The number of images in these sets should be considered to limit the training stage time and avoid overtraining the system.

The PACS (Picture Archiving and Communication System) market is heterogenous with dozens of PACS providers having deployed installations in healthcare facilities. The DICOM query and retrieve interfaces provided by PACS have multiple variations, related to the implemented SOP (Service Object Pair) Class UID (Unique Identifier), transfer syntaxes, extended negotiations, matching attributes and matching types. These variations make any integration of a new DICOM consumer with a PACS complex and time consuming. As there is no collective information describing the various PACS query and retrieve capabilities, application developers and healthcare facilities lack a method to evaluate the PACS capabilities and classify its functionalities. GE designed a method to evaluate the PACS capabilities in terms of query retrieve functionalities. Our aim is to analyze several PACS in test and production environments, using our method to provide the DICOM object consumers a macroscopic knowledge of query/retrieve capabilities of PACS functionalities and its different variations. Our evaluation can also be used by PACS and VNA (Vendor Neutral Archive) developers to evaluate their query/retrieve capabilities, for quality improvement purpose.

Only now, four decades after passive houses were designed in the US and built in Canada, the authors are able to discuss the next generation of new and retrofitted buildings in the same way. This paper presents a universal system for different types of buildings and climates that includes construction experience and is reinforcing multi-disciplinary synergies. A next generation of technology uses adaptable indoor climate, integrates HVAC and building structure; applies field monitoring of energy and indoor environment and develops a performance model that is based on artificial neutral network. This approach, includes: 1. The self-learning ANN as a part of the building management system, 2. This management system guides energy optimization in a post-construction stage 3. A two-stage construction process for new and retrofits. The first stage prescribes investment level and optimizes performance; opposite in the second stage. This paper highlights that some elements of the proposed methodology have already been applied in the practice. It also underlines that this integrated multi-disciplinary system can be applied with a different combination of technological elements.

In this study, a monoethanolamine aerosol growth model was developed to investigate the aerosol growth factor. Interactions among the internal conditions in an absorber were considered in this aerosol model. Additionally, an experiment was conducted to measure aerosol particle size, for collecting in-house validation data. Sucrose was used as the aerosol nuclei instead of sulfuric acid to prevent the corrosion of equipment used in the experiment. Experimental results showed that the outlet aerosol sizes increased to the same size regardless of the sucrose concentrations. The aerosol growth model was validated using the in-house experimental data. The aerosol growth model efficiently predicted the aerosol size. For investigating aerosol growth effects, particle number concentration was determined to be the primary factor affecting aerosol growth and amine emissions. When the particle number concentration increased, the aerosol size decreased, whereas the MEA emission increased.

In this study, a motion control problem for the vessels towed by tugboats or towing ships on the sea is considered. The towed vessels including barge ships are need to have assistance of tugboats. Combining two vessels, some work purposes in the sea or harbor area can be completed. In this study, the authors give newly developed mathematical model and control system strategy. Especially, the system model fully presenting the physical characteristics of two vessels are derived. For controlling the system effectively, it is considered that the towed vessel has no power propulsion system but the rudder is activated to improve the maneuverability. Considering the strong nonlinearities included in the vessel dynamics, the modelled system is presented by nonlinear system without linearization of nonlinear parameters. Thus, the control system for the towed vessel is designed based on the nonlinear control scheme. Exactly, the back-stepping control method is applied to its motion control. Also, the PID control method is applied for comparing with the proposed control strategy.

In this paper, a capacitor microphone system is presented to improve the conversion of mechanical energy to electrical energy using a nonlinear auto regressive moving average-L2 (NARMA-L2) and model predictive control (MPC) controllers for the analysis of the open loop and closed loop system. The open loop system response shows that the output voltage signal need to be improved. The comparison of the closed loop system with the proposed controllers have been analyzed and a promising result have been obtained using Matlab/Simulink.

This paper presents the application of optimal control problem in modeling of stirred tank heater temperature control. The analysis of the open loop system shows that the system is not efficient without a controller. Linear Quadratic Gaussian (LQG) and Linear Quadratic Integral (LQI) controllers are used to increase the performance of the system. Comparison of the closed loop system with the proposed controllers have been done with Matlab/Simulink Toolbox and a promising results have been analyzed.

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

This paper mainly analyzes the design and control of the rotational inverted pendulum, and presents a state space expression. Since the system is highly unstable a feedback control system is used. Augmentations with weighting functions based mixed sensetivity and H2 optimal control methods are used to make the system stable for uprise position. The rotational inverted pendulum have been simulated and compared with the proposed controllers and a promising results have been analyzed sussesfuly.

In this paper, modelling designing and simulation of a Ward Leonard layout system is done using robust control theory. In order to increase the performance of the Ward Leonard layout system with H infinity optimal control synthesis and H infinity optimal control synthesis via gamma-iteration controllers are used. The open loop response of the Ward Leonard layout system shows that the system needs to be improved. Comparison of the Ward Leonard layout system with H∞ optimal control synthesis and H infinity optimal control synthesis via gamma-iteration controllers to track a desired step speed input have been done. Finally, the comparative simulation results prove the effectiveness of the proposed Ward Leonard layout system with H infinity optimal control synthesis controller in improving the percentage overshoot and the settling time.

In this paper, modelling design and analysis of a triple inverted pendulum have been done using Matlab/Script toolbox. Since a triple inverted pendulum is highly nonlinear, strongly unstable without using feedback control system. In this paper an optimal control method means a linear quadratic regulator and pole placement controllers are used to stabilize the triple inverted pendulum upside. The impulse response simulation of the open loop system shows us that the pendulum is unstable. The comparison of the closed loop impulse response simulation of the pendulum with LQR and pole placement controllers results that both controllers have stabilized the system but the pendulum with LQR controllers have a high overshoot with long settling time than the pendulum with pole placement controller. Finally the comparison results prove that the pendulum with pole placement controller improve the stability of the system.

In this paper, the design and analysis of coupled tank water level control system is done using robust control theory. The main aim of this work is to improve level controlling mechanisms in industries and household areas. In this paper, H ∞ and μ –synthesis controllers are designed to improve the level control system. The coupled tank water level control system is designed using the proposed controller’s comparison and tested for tracking a reference level signals (step, sine wave and random) and simulation results have been analyzed successfully. Finally the comparative simulation results prove the effectiveness of the proposed coupled tank water level control system with H ∞ controller for improving the tracking mechanism performance of the system.

Vehicle windshield wiper system increases the driving safety by contributing a clear shot viewing to the driver. In this paper, modelling, designing and simulation of a vehicle windshield wiper system with robust control theory is done successfully. H∞ loop shaping and robust pole placement controllers are used to improve the wiping speed by tracking a reference speed signals. The reference speed signals used in this paper are step and sine wave signals. Comparison of the H∞ loop shaping and robust pole placement controllers based on the two reference signals is done and convincing results have been obtained. Finally the comparative results prove the effectiveness of the proposed H∞ Loop Shaping controller to improve the wiping mechanism for the given two reference signals.

In this paper, an electromechanical mass lifter system is designed, analyzed and compare using optimal and robust control theories. LQR and μ -synthesis controllers are used to improve the lift displacement by comparison method for tracking the desired step and sinusoidal wave signals input. Finally, the comparison simulation result prove the effectiveness of the electromechanical mass lifter system with μ -synthesis controller for improving the rise time, percentage overshoot, settling time and peak value of tracking the desired step displacement signal and improving the peak value for tracking the desired sinusoidal displacement signal with a good performance.

In this paper, the design and control of a hydraulic system based tire changer machine have been analyzed and simulated using Matlab/Simulink Toolbox successfully. The machine have a displacement input which is a leg pedal displacement in order to push the piston of the pump to fed the motor with a pressured hydraulic fluid to rotate the tire with an angular speed to mount and dismount it. Augmentation based H_∞ and H₂ optimal synthesis controllers have been used to improve the performance of the machine. Comparison of the proposed controllers for tracking a reference input speed have been done using two reference inputs (step and random) signals. Finally the comparative simulation results proved the effectiveness of the proposed tire changer with H synthesis controller in improving the settling time and percentage overshoot.

This paper presents control algorithms enabling autonomous heterogeneous trucks to drive in platoons. Heterogeneous trucks imply that the hardware information (e.g., truck length, break, accelerator, or engine) of a truck may be distinct from that of another truck. We define a platoon as a collection of trucks where a manually driven truck (leader truck) is followed by several automatically controlled following trucks. The proposed approach is to make every autonomous truck keep following the leader's trajectory while maintaining a designated distance from its predecessor truck. As far as we know, this paper is unique in developing both lateral maneuver and speed control considering a platoon of heterogeneous trucks. The efficiency of the proposed approach is verified using simulations.

In order to realize the tram's low-floor structure, most of the trams that have been recently introduced adopt an independently rotating wheelset. In the case of trains driving in two regions with different gauges, an independently rotating wheelset may be applied to utilize the variable track technology. Since the independent rotation type wheelset has no rotational restraint of the left and right wheels, the difference in rotational speed between the outer and inner wheels occurs naturally during curved driving, and it is applied to railroad vehicles traveling in steep curve sections because it smoothly drives curved driving. However, the longitudinal creep force and the lateral restoring force are weakened as the left and right rotational constraints disappear. Lack of transverse direction restoring force weakens stability while causing continuous flange contact driving or zigzag phenomenon against disturbance. Under the conditions of driving in a steep curve, these railway vehicles generate excessive wear, noise, and lateral pressure, as well as deterioration of ride comfort and derailment. In order to overcome these drawbacks, a method has been proposed in which the torque of a motor mounted on each wheel is individually controlled to generate lateral restoring force or to improve driving performance through lateral displacement control using a yaw moment. In this paper, development using HILs was performed to check the performance and stability of the individual motor torque control technology before verifying by applying the individual motor torque control to the actual vehicle. HILs were constructed by combining a real-time dynamic analysis model of a railway vehicle with a drive motor to which real individual motor control was applied. Under the conditions of driving the test track where the actual test vehicle was tested, the analysis of the driving characteristics and the control characteristics of the disturbance was performed to confirm the proposed individual motor torque control performance.

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

We have presented a controllable and human-readable polynomial neural network (CR-PNN) that is the first human-readable neural network. One can imagine its influence on system identification. Subsequently, we developed a relation spectrum in a medical application, which is likely to stand alongside the Fourier spectrum. However, the system analysis methodology is incomplete in contrast to signal processing methodology. Here, we presented the system filters for the first time. In this paper, we used the simulation system to verify the availability of the system analysis methodology. The system analysis methodology showed great properties in system identification and filter. The contribution of this paper is the system analysis methodology: transform method (CR-PNN), relation spectrum, and system filter design.

The hybrid bond graph has been studied in depth for scalar bond graphs, but how does this translate to the multi-bond graph? Here, the controlled junction – used to model structural switching such as contact – is extended to the multi-bond case. This is a simple process, assuming that all bonds switch simultaneously (which makes physical sense). A controlled 0-junction is applied to multi-bond graph of a car, which can lose contact with the ground in cornering. Dynamic causality features, but this can be accommodated using an equational submodel in 20-Sim (in a manner similar to that used with scalar bond graphs). The junction is proposed for subsequent work to develop a validated multi-body dynamics car model in cornering.

This paper introduces a closed-loop control strategy for maintaining consistency of liquid temperature in commercial Drop on Demand (DoD) inkjet printing. No additional sensors or additional actuators are installed in the printhead while achieving the consistency in liquid temperature. To this end, this paper presents a novel in situ sensing-actuation policy at every individual liquid-nozzle, where the jetting mechanism has three distinct roles. It is used for jetting liquid droplet onto the print media based on the print-job. It is used as a soft sensor to estimate the real-time liquid temperature of the jetting nozzle. While not jetting liquid, it is used as a heating actuator to minimize the gradient of liquid temperature among nozzles. The soft sensing based in situ controller is implemented in an experimentally validated digital twin that models the thermo-fluidic processes of the printhead. The digital twin is scalable and flexible to incorporate an arbitrary number of liquid-nozzles, making the control strategy applicable for future designs of the printhead.

Battery/Supercapacitor(SC) current tracking control is a key issue for hybrid energy storage system (HESS) in electric vehicles. An innovative passivity-based L2-gain adaptive control (PBL2AC) based on port-controlled Hamiltonian model with dissipativity (PCHD) for reference current tracking and bus voltage stability in HESS is presented. The developed PCHD model has considered both parameter variations and external disturbances. By using L2-gain disturbance attenuation, the PBL2AC ensures robust reference current tracking and stable bus voltage. Moreover, adaptive mechanism is adopted to estimate the electrical parameters. To validate the proposed control scheme for HESS, simulations and experiments were done and compared with traditional PID and sliding mode control under several typical driving cycles, and results show that the effectiveness of the proposed controller can be confirmed.

The steering performance according to the steering angle control was tested by using the active steering bogie developed to reduce excessive wheels and rail wear and noise generated when the railway vehicle run in a curved section. As a result of the test of increasing the steering angle in accordance with the target steering angle in the 300m radius of curvature, the bogie is gradually aligned in the radial steering position, and when the control is carried out to 100% of the target steering angle, the bogie angles of the front and rear bogies appeared almost the same. As the steering angle increased, wheel lateral force and derailment coefficient also decreased. Therefore, the validity of the radial steering position control method applied in this paper was confirmed experimentally. This test results will be used for future research on active steering bogie commercialization.

In this study, a motion control problem for the vessels towed by tugboats or towing ships on the sea is considered. The towed vessels including barge ships are need to have assistance of tugboats. Combining two vessels, some work purposes in the sea or harbor area can be completed. In this study, the authors give newly developed mathematical model and control system strategy. Especially, the system model fully presenting the physical characteristics of two vessels are derived. For controlling the system effectively, it is considered that the towed vessel has no power propulsion system but the rudder is activated to improve the maneuverability. Considering the strong nonlinearities included in the vessel dynamics, the modelled system is presented by nonlinear system without linearization of nonlinear parameters. Thus, the control system for the towed vessel is designed based on the nonlinear control scheme. Exactly, the back-stepping control method is applied to its motion control. Also, the PID control method is applied for comparing with the proposed control strategy.

This paper introduces a closed-loop control strategy for maintaining consistency of ink temperature in commercial Drop on Demand (DoD) inkjet printing. No additional sensors or additional actuators are installed in the printhead while achieving the consistency in ink temperature. To this end, this paper presents a novel in situ sensing-actuation policy at every individual ink-nozzle, where the jetting mechanism has three distinct roles. It is used for jetting liquid droplet onto the print media based on the print-job. It is used as a softsensor to estimate the real-time liquid temperature of the jetting nozzle. While not jetting liquid, it is used as a heating actuator to minimize the gradient of liquid temperature among jetting nozzles. The soft-sensing based in situ controller is implemented in an experimentally validated digital twin that models the thermo-fluidic processes of the printhead. The digital twin is scalable and flexible to incorporate an arbitrary number of inknozzles, making the control strategy applicable for future designs of the printhead.

This paper presents a novel micro-segmented genetic algorithm (μsGA) to identify the best solution for the locomotion of a quadruped robot designed on a rectangular ABS plastic platform. We compare our algorithm with three similar algorithms found in the specialized literature: a standard genetic algorithm (GA), a micro-genetic algorithm (μGA), and a micro artificial immune system (μAIS). The quadruped robot prototype guarantees the same conditions for each test. The platform was developed using 3D printing for the structure and can accommodate the mechanisms, sensors, servomechanisms as actuators. It also has an internal battery and a multicore embedded system (mES) to process and control the robot locomotion. This research proposes a μsGA that segments the individual into specific bytes. μGA techniques are applied to each segment to reduce the processing time; the same benefits as the GA are obtained, while the use of a computer and the high computational resources characteristic of the GA are avoided. This is the reason why some research in robot locomotion is limited to simulation. The results show that the performance of μsGA is better than the three other algorithms (GA, μGA and AIS). The processing time was reduced using a mES architecture that enables parallel processing, meaning that the requirements for resources and memory were reduced. This research solves the problem of continuous locomotion of a quadruped robot, and gives a feasible solution with real performance parameters using a μsGA bio-micro algorithm and a mES architecture.

Conventional method for monitoring the IgG levels suffered from some apparent problems such as long assay time, multistep processing, and high overall cost. An effective and suitable optical platform for label-free biosensing has been investigated by the implementation of antibody/antigen immunoassays. Thus, the ultrasensitive detection of IgG levels can be achieved by exploiting the dispersion turning point (DTP) existed in the tapered two-mode fibers (TTMFs) due to the sensitivity will reach ±∞ on either side of the DTP. Tracking the resonant wavelength shift it was found that the fabricated TTMF device exhibited limits of detection (LOD) down up to concentrations of 10 fg/mL of IgG in PBS solution. Such immunosensors based on the DTP have great significance on trace detection of IgG due to simple detection scheme, quick response time, and miniaturation.

The field of Cooperative Intelligent Transport Systems and more specifically Pedestrians to Vehicles could be characterized as quite challenging, since there is a broad research area to be studied, with direct positive results to society. Pedestrians to Vehicles is a type of Cooperative Intelligent Transport System, within the group of Early Warning Collision/Safety System. In this article, we examine the research and applications carried out so far within the field of Pedestrians to Vehicles Cooperative Transport Systems by leveraging the information coming from Vulnerable Road Users’, smartphones. Moreover, an extensive literature review has been carried out in the fields of Vulnerable Road Users Outdoor Localisation via smartphones and Vulnerable Road Users Next Step/Movement Prediction, which are closely related to Pedestrian to Vehicle applications and research. We identify gaps that exist in these fields that could be improved/extended/enhanced or newly developed, while we address future research objectives and methodologies that could support the improvement/development of those identified gaps.

Systems Engineering is an ubiquitous discipline of Engineering overlapping industrial, chemical, mechanical, manufacturing, control, software, electrical, and civil engineering. It provides tools for dealing with the complexity and dynamics related to the optimisation of physical, natural, and virtual systems management. This paper presents a review of how multi-agent systems and complex networks theory are brought together to address Systems Engineering and management problems. The review also encompasses current and future research directions both for theoretical fundamentals and applications in Industry. This is made by considering trends such as mesoscale, multiscale, and multilayer networks; along with the state-of-art analysis on network dynamics and intelligent networks. Critical and smart infrastructure, manufacturing processes, and supply chain networks are instances of research topics for which this literature review is highly relevant.

Battery electric vehicles provide an opportunity to balance supply and demand in future power systems with high shares of fluctuating renewable energy. Compared to other storage systems such as pumped-storage hydroelectricity, electric vehicle energy demand is highly dependent on charging and connection choices of vehicle users. We present a model framework of a utility-based stock and flow model, a utility-based microsimulation of charging decisions, and an energy system model including respective interfaces to assess how the representation of battery electric vehicle charging affects energy system optimization results. We then apply the framework to a scenario study for controlled charging of nine million electric vehicles in Germany in 2030. Assuming a respective fleet power demand of 27 TWh, we analyze the difference between power-system-based and vehicle user-based charging decisions in two respective scenarios. Our results show that taking into account vehicle users’ charging and connection decisions significantly decreases the load shifting potential of controlled charging. The analysis of marginal values of equations and variables of the optimization problem yields valuable insights on the importance of specific constraints and optimization variables. In particular, state-of-charge assumptions and representing fast charging drive curtailment of renewable energy feed-in and required gas power plant flexibility. A detailed representation of fleet charge connection is less important. Peak load can be significantly reduced by 5% and 3% in both scenarios, respectively. Shifted load is very robust across sensitivity analyses while other model results such as curtailment are more sensitive to factors such as underlying data years. Analyzing the importance of increased BEV fleet battery availability for power systems with different weather and electricity demand characteristics should be further scrutinized.

The field of Cooperative Intelligent Transport Systems and more specifically Pedestrians to Vehicles (P2V) could be characterized as quite challenging, since there is broad research area to be studied, with direct positive results to society.P2V is a type of Cooperative Intelligent Transport System, within the group of Early Warning Collision/Safety System. In this article, we examine the research and applications carried out so far within the field of Pedestrians to Vehicles Cooperative Transport Systems by leveraging the information coming from VRU’s smartphones. Moreover, extensive literature review has been carried out in the fields of VRUs Outdoor Localisation via smartphones and VRUs Next Step/Movement Prediction, that are closely related to P2V applications and research. We identify gaps that exist in these fields that could be improved/extended/enhanced or newly developed, while we address the future research objectives and methodologies that could support the improvement/development of those gaps. We also propose a P2V security framework that combines prediction and communication capabilities in order to avoid accidents between pedestrians and vehicles.

This paper develops the mathematical modeling and deflection control of a textile-reinforced composite integrated with shape memory actuators. The model of the system is derived using identification method and unstructured uncertainty approach. Based on this model and robust stability analysis a robust proportional-integral controller is designed for controlling the deflection of the composite. The performance of the proposed controller is compared with a classical one through experimental analysis.

Directional Modulation (DM) technique, as an emerging promising approach to secure wireless communications, has been attracting increasing attention for its unique characteristic in the past decade. The baseband signal is synthesized at the antenna level for maintaining the standard constellation format along the prescribed direction(s) while simultaneously distorting the signal constellations in other undesired directions. In this paper, we present a novel DM signal synthesis method based on phased array using a hybrid genetic algorithm (GA) and particle swarm optimization (PSO) algorithm, which takes advantages of both GA and PSO algorithm. Then, the bit error rate of the proposed method is analyzed and simulated. Simulation results are presented to verify that the proposed DM signal have a narrower information beam-width. Therefore, it can offer a better physical layer security (PLS) performance compared with the conventional directional modulation signal.

Permanent magnet synchronous motor (PMSM) AC servo system shows the characteristics of uncertainty, time-varying and non-linearity, which makes it difficult for traditional PID control to achieve ideal control effect. Fuzzy control has strong adaptability to the problems of parameter variation, non-linearity and model inaccuracy of the controlled object. Vector control strategy is used to study its control principle and the realization of SVPWM. Because the motor object has certain fractional order characteristics, the fuzzy parameter self-tuning PIλ control is chosen as the position regulator of servo motor. It combines the accuracy of fractional order PI control and the adaptability of fuzzy control. A simulation model of PMSM three-closed-loop system is built in MATLAB/Simulink environment. The results show that the control method is effective and can satisfy the trajectory tracking of servo control.

Objects recognition is a necessary task in smart city environments. This recognition can be used in processes such as the reconstruction of the environment map or the intelligent navigation of vehicles. This paper proposes an architecture that integrates heterogeneous distributed information to recognize objects in intelligent environments. The architecture is based on the IoT / Industry 4.0 model to interconnect the devices, called Smart Resources. Smart Resources can process local sensor data and send information to other devices. These other devices can be located in the same operating range, the Edge, in the same intranet, the Fog, or on the Internet, the Cloud. Smart Resources must have an intelligent layer in order to be able to process the information. A system with two Smart Resources equipped with different image sensors has been implemented to validate the architecture. Experiments show that the integration of information increases the certainty in the recognition of objects between 2\% and 4\%. Consequently, in the field of intelligent environments, it seems appropriate to provide the devices with intelligence, but also capabilities to collaborate closely with other devices.

Directional protective relaying based on amplitude comparison of traveling wave on continuous co-phase auto-transformer(AT) power transmission system was proposed. Phase-model transformation is used for decoupling transient fault signals and get aerial mode component. The forward and backward traveling wave are obtained by calculating aerial mode component, then the intrinsic mode function(IMF) components can be obtained through Variational Mode Decomposition(VMD), the module maxima are obtained through calculating the IMF components. The fault direction is determined by the ratio of fault components. If two faults relays at the ends of electric traction networks detect a fault to be in the forward direction, the fault occurred in the internal area, the protection would operate properly. The simulation tests indicate that the protection scheme is feasible, and the proposed protection method can discriminate internal faults from external faults under various fault types, and its performances are immune to fault initial angle, ground resistance, etc.

This paper presents a novel adaptive fault-tolerant neural-based control design for wind turbines with unknown dynamic and unknown wind speed. By utilizing the barrier Lyapunov function in the analysis of the Lyapunov direct method, the constrained behavior of the system is provided in which the rotor speed, its variation and generated power remain in the desired bounds. In addition, input saturation is also considered in terms of smooth pitch actuator bounding. Furthermore, by utilizing a Nussbaum-type function in designing the control algorithm, the unpredictable wind speed variation is captured without requiring accurate wind speed measurement, observation or estimation. Moreover, with the proposed adaptive analytic algorithms, together with the use of radial basis function neural networks, a robust adaptive and fault-tolerant control scheme is developed without the need for precise information about the wind turbine model nor the pitch actuator faults. Additionally, the computational cost of the resultant control law is reduced by utilizing a dynamic surface control technique. The effectiveness of the developed design is verified using theoretical analysis tools and illustrated by numerical simulations on a high-fidelity wind turbine benchmark model with different fault scenarios. Comparison of the achieved results to the ones that can be obtained via an available industrial controller shows the advantages of the proposed scheme.

Cloud robotics is becoming an alternative to support advanced services of robots with low computing power as network technology advances. Recently, fog robotics has gained attention since the approach has merit relieving latency and security issues over the conventional cloud robotics. In this paper, a Function-as-a-Service based Fog Robotic (FaaS-FR) for cognitive robots is proposed. The model distributes the cognitive functions according to the computational power, latency and security with a public robot cloud and fog robot server. During the experiment with a Raspberry Pi as an edge, the proposed FaaS-FR model shows efficient and practical performance in the proper distribution of the computational work of the cognitive system.

A variety of techniques have been utilized in metal additive manufacturing (AM) for melt pool size management, including modeling and feed-forward approaches. In a few cases, closed-loop control has been demonstrated. In this research, closed-loop melt pool size control for large-scale, laser-wire based Directed Energy Deposition is demonstrated with a novel modification: site-specific changes to the controller set-point were commanded at trigger points, the locations of which were generated by the projection of a secondary geometry onto the primary 3D-printed component geometry. The present work shows that, through this technique, it is possible to print a specific geometry that occurs beyond the actual toolpath of the print head. This is denoted as an extra-toolpath geometry and is fundamentally different from other methods of generating component features in metal AM. A proof-of-principle experiment is presented in which a complex oak leaf geometry was embossed on an otherwise ordinary double-bead wall made from Ti-6Al-4V. The process is introduced and characterized primarily from a controls perspective with reports on the performance of the control system, the melt pool size response, and the resulting geometry. The implications of this capability, which extend beyond localized control of bead geometry to the potential mitigations of defects and functional grading of component properties, are discussed.

In addition to provide an extremely clean environment for primary loop of high-temperature gas-cooled reactor (HTR), the primary helium circulator (PHC) using electromagnetic levitation technology also provides an effective means for vibration control. Besides synchronous vibration produced by mass imbalance and sensor runout, double-frequency vibration produced by unbalanced magnetic pull (UMP) is serious in PHC engineering prototype (PHC-EP). In this paper, we firstly analyzed the mechanism of UMP and the multi-frequency vibration characteristics in combination with the PHC-EP. Then we put forward a distributed iterative learning control (ILC) algorithm and a parallel control scheme to suppress the periodic vibrations. Finally, we verified the methods by carrying out experimental researches on the active magnetic bearing (AMB) bench of PHC-EP. The results show that the methods put forward in this paper have significant control effect on the double-frequency vibration generated by UMP of the PHC-EP, and provide theoretical and practical references for the PHC safe operation in HTR.

With the development of computer science and software engineering, software becomes more and more complex. Traditional software reliability assurance techniques including software testing and evaluation can't ensure software reliable execution after being deployed. Software failure prediction techniques based on failure indicators can predict software failures according to abnormal indicator values. The latter can be collected using runtime monitoring techniques. An essential part of this method is finding proper indicators which have strong correlation with software failures. We propose a novel type of indicators in this work named software runtime entropy, which takes both software module execution time and call times into consideration. Three common open source software, grep, flex and gzip are used as study cases for finding the relationships between the indicators and software failures. Firstly, a series of fault injection experiments are conducted on those three software respectively. The decision tree algorithm is used to train those data to build the correlation models between software runtime entropy and software failures. Several common measures in machine learning domains such as accuracy, recall rates, and F-measure are used to evaluate the models. The decision tree models can be used as failure mechanisms to assist the failure prediction work. One can examine the value of runtime entropy and make a warning report when it ranges from the normal interval to abnormal one.

In recent times, with the increase of Artificial Neural Network (ANN), deep learning has brought a dramatic twist in the field of machine learning by making it more Artificial Intelligence (AI). Deep learning is used remarkably used in vast ranges of fields because of its diverse range of applications such as surveillance, health, medicine, sports, robotics, drones etc. In deep learning, Convolutional Neural Network (CNN) is at the center of spectacular advances that mixes Artificial Neural Network (ANN) and up to date deep learning strategies. It has been used broadly in pattern recognition, sentence classification, speech recognition, face recognition, text categorization, document analysis, scene, and handwritten digit recognition. The goal of this paper is to observe the variation of accuracies of CNN to classify handwritten digits using various numbers of hidden layer and epochs and to make the comparison between the accuracies. For this performance evaluation of CNN, we performed our experiment using Modified National Institute of Standards and Technology (MNIST) dataset. Further, the network is trained using stochastic gradient descent and the backpropagation algorithm.

The purpose of this paper is to provide a structural review of the progress made on detection and localization of leaks in pipelines by using approaches based on the Kalman filter. This is, to the best of our knowledge, the first review on the t opic. In particular, it is the first to try to draw the attention of the leak detection community to the important contributions that use the Kalman filter as the core of a computational pipeline monitoring system. Without being exhaustive, we try to gather the results from different research groups and present them in a unified fashion. For this reason, we propose a classification of the current approaches based on the Kalman filter. For each of the existing approaches within this classification, the basic concepts, fundamental results, and relations with the other approaches are discussed in detail. The review starts from a short summary of basic concepts about state observers. Then, a brief history of the use of the Kalman filter for diagnosing leaks is described by mentioning the most outstanding approaches. At last, we briefly discuss some emerging research problems, such as the leak detection in pipelines transporting heavy oils, and we discuss the main challenges and some open problems.

Modeling brain dynamics to better understand and control complex behaviors underlying various cognitive brain functions are of interests to engineers, mathematicians, and physicists from the last several decades. With a motivation of developing computationally efficient models of brain dynamics to use in designing control-theoretic neurostimulation strategies, we have developed a novel data-driven approach in a long short-term memory (LSTM) neural network architecture to predict the temporal dynamics of complex systems over an extended long time-horizon in future. In contrast to recent LSTM-based dynamical modeling approaches that make use of multi-layer perceptrons or linear combination layers as output layers, our architecture uses a single fully connected output layer and reversed-order sequence-to-sequence mapping to improve short time-horizon prediction accuracy and to make multi-timestep predictions of dynamical behaviors. We demonstrate the efficacy of our approach in reconstructing the regular spiking to bursting dynamics exhibited by an experimentally-validated 9-dimensional Hodgkin-Huxley model of hippocampal CA1 pyramidal neurons. Through simulations, we show that our LSTM neural network can predict the multi-time scale temporal dynamics underlying various spiking patterns with reasonable accuracy. Moreover, our results show that the predictions improve with increasing predictive time-horizon in the multi-timestep deep LSTM neural network.

The study concentrates on researching possibilities of using computer image analysis and neural modeling in order to assess selected quality discriminants of spray-dried chokeberry powder. The aim of the paper is quality identification of chokeberry powders on account of their highest dying power, the highest bioactivity as well as technologically satisfying looseness of powder. The article presents neural models with vision technique backed up by devices such as digital camera as well as electron microscope. Reduction in size of input variables with PCA has influence on improving the processes of learning data sets, thus increasing effectiveness of identifying chokeberry fruit powders included in digital pictures, which is shown in the results of the conducted research. The effectiveness of image recognition are presented by classifying abilities as well as low Root Mean Square Error (RMSE), for which the best results are achieved with typology of network type Multi-Layer Perceptron (MLP). The selected networks type MLP are characterized by the highest degree of classification at 0.99 and RMSE at 0.11 at most at the same time.

Modeling brain dynamics to better understand and control complex behaviors underlying various cognitive brain functions are of interests to engineers, mathematicians, and physicists from the last several decades. With a motivation of developing computationally efficient models of brain dynamics to use in designing control-theoretic neurostimulation strategies, we have developed a novel data-driven approach in a long short-term memory (LSTM) neural network architecture to predict the temporal dynamics of complex systems over an extended long time-horizon in future. In contrast to recent LSTM-based dynamical modeling approaches that make use of multi-layer perceptrons or linear combination layers as output layers, our architecture uses a single fully connected output layer and reversed-order sequence-to-sequence mapping to improve short time-horizon prediction accuracy and to make multi-timestep predictions of dynamical behaviors. We demonstrate the efficacy of our approach in reconstructing the regular spiking to bursting dynamics exhibited by an experimentally-validated 9-dimensional Hodgkin-Huxley model of hippocampal CA1 pyramidal neurons. Through simulations, we show that our LSTM neural network can predict the multi-time scale temporal dynamics underlying various spiking patterns with reasonable accuracy. Moreover, our results show that the predictions improve with increasing predictive time-horizon in the multi-timestep deep LSTM neural network.

Roaming complexity in terrains and unexpected environments poses significant difficulties in robotic exploration of an area. In a broader sense, robots have to face two common tasks during exploration namely walking on the drylands and swimming through the water. This research aims to design and develop an amphibious robot, which incorporates webbed duck feet design to walk on different terrains, swim in water and tackle obstructions on its way. The designed robot is compact and easy-to-use and also has the abilities to work autonomously. Such a mechanism is implemented by designing a novel robotic webbed foot consisting of two hinged plates. Due to the design, the webbed feet are able to open and close with the help of water pressure. The Klann linkage has been used to convert rotational motion to walking and swimming as an animal’s gait. Because of its amphibian nature, the designed robot can be used for exploring the tight caves, closed spaces and moving on uneven challenging terrains such as sand, mud or water. The presented model and design of the amphibious robot has been inspired by the working principle of duck feet. The propulsion generated through this feet system has been observed to be better and more controlled then the initial design and prototype of designed duck feet robot reported in [1]. The direction of movement can be managed, and the speed can be controlled using a larger contact area with water. Since duck is able to roam on both land and water, their feet movement during walking and swimming is adopted in designing the robot’s four legs. Klann linkage is used to mimic such duck feet motion and the control mechanism of the feet is driven by DC motors and DC servo motors which are governed by an Arduino microcontroller. The robot is capable of sensing the presence of water through conductive sensors and detects obstacles using ultrasonic sensor while walking. Due to its amphibian nature and other features in movement, the robot is capable of traversing diversified terrains. It is envisaged that the proposed design will be appreciated in the industry to design amphibious robots in near future.

This paper combines the Good Regulator Theorem with the Law of Requisite Variety and seven other requisites that are necessary and sufficient for a cybernetic regulator to be effective and ethical. The resulting Ethical Regulator Theorem provides a basis for systematically evaluating and improving the adequacy of existing or proposed designs for systems that make decisions that can have ethical consequences; regardless of whether the regulators are human, machines, cyberanthropic hybrids, organizations, corporations, or government institutions. The theorem is then used to define an ethical design process that has potentially far-reaching implications for society. A six-level framework is proposed for classifying cybernetic and superintelligent systems, which highlights the existence of a possibility-space bifurcation in our future time-line. The implementation of “super-ethical” systems is identified as an urgent imperative for humanity to avoid the danger that superintelligent machines might lead to a technological dystopia. Third-order cybernetics is defined as the cybernetics of ethical systems. Concrete actions, a grand challenge, and a vision of a super-ethical society are proposed to help steer the future of the human race and our wonderful planet towards a realistically achievable minimum viable cyberanthropic utopia.

Natural calamities observation, study and simulation has always been a prime concern for disaster management agencies. Billions of dollars are spent annually to explore geo-seismic movements especially earthquakes but it has always been a unique accident. The real-time study of seismic waves, ground motions, and earthquakes always needed a programmable mechanical structure capable of physically producing the identical geo-seismic motions with seismology domain definitions. A programmable multi-parametric five degrees of freedom electromechanical seismic wave events simulation platform to study and experiment seismic waves and earthquakes realization in the form of geo-mechanic ground motions is exhibited in this work. The proposed platform was programmed and interfaced through an IoT cloud-based Web application. The geo-mechanics was tested in the range of i) frequencies of extreme seismic waves from 0.1Hz to 178Hz; ii) terrestrial inclinations from -10.000° to 10.000°; iii) velocities of 1km/s to 25km/s iv) variable arrival times 1us to 3000ms; v) magnitudes M1.0 to M10.0 earthquake; vi) epi-central and hypo-central distances of 290+ and 350+ kilometers. Wadati and triangulation methods have been used for entire platform dynamics design and implementation as one of key contributions in this work. This platform is as an enabler for a variety of applications such as training self-balancing and calibrating seismic-resistant designs and structures in addition to studying and testing seismic detection devices as well as motion detection sensors. Nevertheless, it serves as an adequate training colossus for machine learning algorithms and event management expert systems.

This paper presents a symmetrical topology for the design of solid-state transformer, made up of power switching converters, to replace conventional bulky transformers. The proposed circuitry not only reduces the overall size but also provides power flow control with the ability to be interfaced with renewable energy resources (RESs) to fulfill the future grid requirements at consumer end. Solid state transformer provides bidirectional power flow with variable voltage and frequency operation and has the ability to maintain unity power factor, and current total harmonic distortion (THD) for any type of load within defined limits of IEEE standard. Solid State Transformer offers much smaller size as compared to that of the conventional iron core transformer. MATLAB/Simulink platform is adopted to test the validity of the proposed circuit for different scenarios by providing the simulation results evaluated at 25 kHz switching frequency.

An improved anti-noise morphology vision navigation algorithm is proposed for intelligent tractor tillage in a complex agricultural field environment. Firstly, the two key steps, Guided Filtering and improved anti-noise morphology navigation line extraction, were addressed in detail. Then the experiments were carried out in order to verify the effectiveness and advancement of the presented algorithm. Finally, the optimal template and its application condition were studied for improving the image processing speed. The comparison experiment results show that the YCbCr color space has minimum time consumption, 0.094 s, compared with HSV, HIS and 2R-G-B color spaces. The Guided Filtering method can enhance the new & old soil boundary effectively than any other methods such as Tarel, Multi-scale Retinex, Wavelet-based Retinex and Homomorphic Filtering, meanwhile, has the fastest processing speed of 0.113 s. The extracted soil boundary line of the improved anti-noise morphology algorithm has best precision and speed compared with other operators such as Sobel, Roberts, Prewitt and Log. After comparing different size of image template, the optimal template with the size of 140×260 pixels can meet high precision vision navigation while the course deviation angle is not more than 7.5°. The maximum tractor speed of the optimal template and global template are 51.41 km/h and 27.47 km/h respectively which can meet real-time vision navigation requirement of the smart tractor tillage operation in the field. The experimental vision navigation results demonstrated the feasibility of the autonomous vision navigation for tractor tillage operation in the field using the new & old soil boundary line extracted by the proposed improved anti-noise morphology algorithm which has broad application prospect.

In recent years, demand has been increasing for target detection and tracking from aerial imagery via drones using onboard powered sensors and devices. We propose a very effective method for this application based on a deep learning framework. A state-of-art embedded hardware system empowers small flying robots to carry out the real-time onboard computation necessary for object tracking. Two types of embedded modules were developed: one is designed using a Jetson TX or AGX Xavier, and the other is based on an Intel Neural Compute Stick. These are suitable for real-time onboard computing power on small flying drones with limited space. A comparative analysis of current state-of-art deep-learning-based multi-object detection algorithms was carried out utilizing the designated GPU-based embedded computing modules to obtain detailed metric data about frame rates as well as the computation power. We also introduce an effective target tracking approach for moving objects. The algorithm for tracking moving objects is based on the extension of simple online and real-time tracking. It was developed by integrating a deep-learning-based association metric approach (Deep SORT), which uses a hypothesis tracking methodology with Kalman filtering and a deep-learning-based association metric. In addition, a guidance system that tracks the target position using a GPU-based algorithm is introduced. Finally, we demonstrate the effectiveness of the proposed algorithms by real-time experiments with a small multi-rotor drone.

The problem of real-time estimation of occupancy of buildings (number of people in various zones at every time instant) is relevant to a number of emerging applications that achieve high energy efficiency through feedback control. The measurement of CO2 concentration can be considered an important indicator that allows to define the occupation of closed and crowded spaces. Interesting cases can be school buildings and other buildings used in civil and residential (shopping centres, hospitals, etc.). This paper, starting from an experimental analysis in different classrooms of a University campus in real operating conditions, in different period of the year, proposes a possible correlation between CO2 concentration and the occupancy profile of the spaces. The acquired data are used to present some graphical correlations and to understand the most important variables or combination of them. Starting from an accurate analysis of the data, attempts are made to define a preliminary estimation method through the development of a mathematical models of occupancy dynamics in a building, which show interesting results.

The rapid development of multicopters has led to many security problems. In order to prevent multicopters from invading restricted areas or famous buildings, an Anti-UAV Defense System (AUDS) has been developed and become a research topic of interest. Topics under research in relation to this include electromagnetic interference guns for unmanned aerial vehicles (UAVs), high-energy laser guns, US military net warheads, and AUDSs with net guns. However, these AUDSs use either manual aiming or expensive radar to track UAVs. This paper proposes a dual-axis rotary platform with UAV automatic tracking. The tracking platform uses visual image processing technology to track and lock the dynamic displacement of a UAV. When a target UAV is locked, the system uses a nine-axis attitude meter and laser rangefinders to measure its flight altitude and calculates its longitude and latitude coordinates through sphere coordinates to provide UAV monitoring for further defense or attack missions. Tracking tests of UAV flights in the air were carried out using a DJI MAVIC UAV at a height of 30 meters to 100 meters. It was set up for UAV image capture and visual recognition for tracking under various weather conditions by a thermal imager and a full-color camera respectively. When there was no cloud during the daytime, the images captured by the thermal imager and full-color camera provide a high-quality image recognition result. However, under dark weather, black clouds will emit radiant energy and seriously affect the capture of images by a thermal imager. When there is no cloud at night, the thermal imager performs well in UAV image capture. When the UAV is tracked and locked, the system can effectively obtain the flight altitude and longitude and latitude coordinate values.

New developments in broadcast technology, such as the ad hoc wireless network and the detection devices that work, enable daily connections to the Internet, commonly referred to as the Internet of Things (IoT). IoT saw this as a support for the development of creative and contextual services and applications. The service can respond to the user's environment and preferences. Finite state machines are recently making waves when the issue of self-controlling systems come into the picture of designs. This research focuses on the design of a fault tolerant system that controls random failures impressed on the network. The method comprises of diodes, Resistors, Optocouplers, ESP8266 WI-FI Module Webpage with button, and two Arduinos which in effect will determine iteratively who to handle a failure at hand modelled as when the button on the webpage is pressed. In this work, a Heartbeat Detection and Monitoring System will be made using Arduino that detect the electrical state using the Pulse Sensor and show the readings in Beats Per Minute on the LED connected a microcontroller. It sends the texts to the server using the Wi-Fi module ESP8266 to signals can be monitored from the monitoring zone via the internet. This is reflected by the declaration of a master state by either of two Arduinos whenever the push button is pressed as observed on the codes. The result obtained from the research shows apparently, the state of the fault tolerance system none power deny of heartbeat condition connected to the LED.

Although different assessments and evaluations of Dual-Miller cycle performed, specified output power and thermal performance associated with engine determined. Besides, multi objective optimization of thermal efficiency, Ecological Coefficient of performance ( ) and Ecological function ( ) by the mean of NSGA-II technique and thermodynamic analysis performed. The Pareto optimal frontier obtaining the best optimum solution is chosen by fuzzy Bellman-Zadeh, LINMAP, and TOPSIS decision-making techniques. Based on the results, performances of dual-Miller cycles and their optimization are improved.

Buildings have started to play a critical role in the stability and resilience of modern smart grids, leading to a refocusing of large scale energy management strategies from the supply side to the consumer side. When the buildings integrate local renewable energy generation in the form of renewable energy resources they become prosumers and this reflects into additional complexity into the operation of the interconnected complex energy systems. A class of methods of modelling the energy consumption patterns of the building have recently emerged as black-box input-output approaches with the ability to capture underlying consumption trends. These make use and require large quantities of quality data produces by non-deterministic processes underlying the energy consumption. We present an application of a class of neural networks, namely deep learning techniques for time series sequence modelling with the goal of accurate and reliable building energy load forecasting. The Recurrent Neural Network implementation uses Long Short-Term Memory layers in increasing density of nodes to quantify prediction accuracy. The case study is illustrated on four university buildings from temperate climates over one year of operation using a reference benchmarking dataset that allows replicable results. The obtained results are discussed in terms of accuracy metrics and computational and network architecture aspects and are considered suitable for further used in future in situ energy management at the building and neighbourhood levels.

A sufficient condition for the almost global sta-bility of nonlinear switched systems under average dwell timerestriction is obtained. This condition is derived leaning uponthe existence of multiple Lyapunov densities, which are associ-ated to subsystems and satisfy some compatibility conditions.An upper bound for the average dwell time that ensures almostglobal stability is obtained.

In this paper, the physical station of space network was extended in time dimension by combining the train diagram information and station technical operation standard time. At the same time, the topology of railway space-time network which considered the secondary operation process of train was constructed and an improved A* algorithm based on car flow routing was proposed to generate feasible path sets. On this basis, a dynamic car flow organization optimization model was built to simulate the railway car flow organization process under abnormal conditions, and the results of solving the model could be used to obtain the real-time quantity of cars at each station.This paper can identify the dynamic bottleneck by comparing the real-time quantity of cars with the maximum quantity of cars at the station. Finally, the feasibility of this method was analyzed and verified by a case.

We present an updated design process for adapting and integrating existing cyber risk assessment approaches for impact assessment for the risk from IoT to the digital economy. The new design process includes a set of changes to the original standards (e.g. NIST) that are adapted for the IoT cyber risk in this paper. This paper also presents a new framework for impact assessment of IoT cyber risk, specific for the digital economy.

There is an increased attention on propositions on models, infrastructures and frameworks of IoT in both business reports and technical papers. These reports and publications frequently represent a juxtaposition of other related systems and technologies (e.g. Industrial Internet of Things, Cyber Physical Systems, Industry 4.0 etc). At present, the literature is missing a design process for integrating these constantly evolving systems and technologies in a clear and understandable step by step model. This paper contributes with a new reference architecture model for the integration of these systems and technologies. The reference architecture model is based on grouping of future and present techniques and presenting the design process through a new hierarchical framework and a new cascading model. With the application of the grounded theory, the hierarchical framework and the cascading model detail a new process for creating a taxonomy of categories and grouping of concepts into integration design. The new design process is tested and versified with an empirical review of Industry 4.0 frameworks and results with a new 5 levels reference architecture step by step model for the integration of these related systems and technologies (Industrial Internet of Things, Cyber Physical Systems, and Industry 4.0). We review 118 academic and industry papers published between 2010 and 2019. Then, we report the results of a qualitative empirical study that correlates academic literature with 14 world leading Industry 4.0 frameworks and initiatives. We therefore propose an architectural model that offers a better understanding of the systems integration between the Industrial Internet of Things and Industry 4.0.

This research article reports the results of a qualitative case study that correlates academic literature with five Industry 4.0 cyber trends, seven cyber risk frameworks and two cyber risk models. While there is a strong interest in industry and academia to standardise existing cyber risk frameworks, models and methodologies, an attempt to combine these approaches has not been done until present. We apply the grounded theory approach to derive with integration criteria for the reviewed frameworks, models and methodologies. Then, we propose a new architecture for the integration of the reviewed frameworks, models and methodologies. We therefore advance the efforts of integrating standards and governance into Industry 4.0 and offer a better understanding of a holistic economic impact assessment model for IoT cyber risk.

We present an updated design process for adapting and integrating existing cyber risk assessment approaches for impact assessment for the risk from IoT to the digital economy. The new design process includes a set of changes to the original standards (e.g. NIST) that are adapted for the IoT cyber risk in this paper. This paper also presents a new framework for impact assessment of IoT cyber risk, specific for the digital economy.

In this paper we present an understanding of cyber risks in the Internet of Things (IoT), we explain why it is important to understand what IoT cyber risks are and how we can use risk assessment and risk management approaches to deal with these challenges. We introduce the most effective ways of doing Risk assessment and Risk Management of IoT risk. As part of our research, we also developed methodologies to assess and manage risk in this emerging environment. This paper will take you through our research and we will explain: what we mean by the IoT; what we mean by risk and risk in the IoT; why risk assessment and risk management are important; the IoT risk management for incident response and recovery; what open questions on IoT risk assessment and risk management remain.

The world is currently experiencing the fourth industrial revolution driven by the newest wave of digitisation in the manufacturing sector. The term Industry 4.0 (I4.0) represents at the same time: a paradigm shift in industrial production, a generic designation for sets of strategic initiatives to boost national industries, a technical term to relate to new emerging business assets, processes and services, and a brand to mark a very particular historical and social period. I4.0 is also referred to as Industrie 4.0 the New Industrial France, the Industrial Internet, the Fourth Industrial Revolution and the digital economy. These terms are used interchangeably in this text. The aim of this article is to discuss major developments in this space in relation to the integration of new developments of IoT and cyber physical systems in the digital economy, to better understand cyber risks and economic value and risk impact. The objective of the paper is to map the current evolution and its associated cyber risks for the digital economy sector and to discuss the future developments in the Industrial Internet of Things and Industry 4.0.

The Internet-of-Things (IoT) enables enterprises to obtain profits from data but triggers data protection questions and new types of cyber risk. Cyber risk regulations for the IoT however do not exist. The IoT risk is not included in the cyber security assessment standards, hence, often not visible to cyber security experts. This is concerning, because companies integrating IoT devices and services need to perform a self-assessment of its IoT cyber security posture. The outcome of such self-assessment needs to define a current and target state, prior to creating a transformation roadmap outlining tasks to achieve the stated target state. In this article, a comparative empirical analysis is performed of multiple cyber risk assessment approaches, to define a high-level potential target state for company integrating IoT devices and/or services. Defining a high-level potential target state represent is followed by a high-level transformation roadmap, describing how company can achieve their target state, based on their current state. The transformation roadmap is used to adapt IoT risk impact assessment with a Goal-Oriented Approach and the Internet of Things Micro Mart model.

Based on the Graph Model of Conflict Resolution (GMCR), a two-stage decision framework is developed to reveal the essence of brownfield incidents and facilitate the resolution of brownfield conflicts caused by the incidents. More particularly, the forward GMCR is utilized in Stage I, the negotiation stage, to simulate the evolution of a brownfield conflict (BC) and predict its potential resolution via stability analysis. If no acceptable equilibrium can be obtained, the BC progresses into Stage II, the third-party-intervention stage, where the inverse GMCR is used to assist a third party in intervening the conflict to achieve a desirable outcome. To illustrate the practicality of this framework, a recent BC occurred in Changzhou, China, is taken as a case study. Invaluable insights are provided through the computation and investigation of the corresponding preference relationships.

Cyber Physical Systems (CPS) has been a popular research area in the last decade. The dependability of CPS is still a critical issue, and rare survey has been published in this domain. CPS is a dynamic complex system, which involves various multidisciplinary technologies. To avoid human error and to simplify management, self-management CPS (SCPS) is a wise choice. And to achieve dependable self-management, systematic solution is necessary to verify the design and to guarantee the safety of self-adaptation decision, as well as to maintain the health of SCPS. This survey first recalls the concepts of dependability, and proposes a generic environment-in-loop processing flow of self-management CPS, and then analyzes the error sources and challenges of self-management through the formal feedback flow. Focus on reducing the complexity, we first survey the self-adaptive architecture approaches and applied dependability means; then we introduce a hybrid multi-role self-adaptive architecture, and discuss the supporting technologies for dependable self-management at the architecture level. Focus on dependable environment-centered adaption, we investigate the verification and validation (V&V) methods for making safe self-adaptation decision and the solutions for processing decision dependably. For system-centered adaption, the comprehensive self-healing methods are summarized. Finally, we analyze the missing pieces of the technology puzzle and the future directions. In this survey, the technical trends for dependable CPS design and maintenance are discussed, an all-in-one solution is proposed to integrate these technologies and build a dependable organic SCPS. To the best of our knowledge, this is the first comprehensive survey on dependable SCPS building and evaluation.

The interest on the use of renewable energy resources is increasing, especially towards wind and hydro powers, which should be efficiently converted into electric energy via suitable technology tools. To this aim, data--driven control techniques represent viable strategies that can be employed for this purpose, due to the features of these nonlinear dynamic processes working over a wide range of operating conditions, driven by stochastic inputs, excitations and disturbances. Some of the considered methods, such as fuzzy and adaptive self--tuning controllers, were already verified on wind turbine systems, and similar advantages may thus derive from their appropriate implementation and application to hydroelectric plants. These issues represent the key features of the work, which provides some guidelines on the design and the application of these control strategies to these energy conversion systems. The working conditions of these systems will be also taken into account in order to highlight the reliability and robustness characteristics of the developed control strategies, especially interesting for remote and relatively inaccessible location of many installations.

It is difficult to capture the real-time online measurement data for biochemical oxygen demand (BOD) in wastewater treatment processes. An optimized extreme learning machine (ELM) based on an improved cuckoo search algorithm (ICS) is proposed in this paper for the design of soft BOD measurement model. In ICS-ELM, the input weights matrices of the extreme learning machine (ELM) and the threshold of the hidden layer are encoded as the cuckoo's nest locations. The best input weights matrices and threshold are obtained by using the strong global search ability of improved cuckoo search (ICS) algorithm. The optimal results can be used to improve the precision of forecasting based on less number of neurons of the hidden layer in ELM. Simulation results show that the soft sensor model has good real-time performance, high prediction accuracy and stronger generalization performance for BOD measurement of the effluent quality compared to other modeling methods such as back propagation (BP) network in most cases.

For many years, the programmable positioners have been widely applied in structures of modern electro-pneumatic final control elements. The positioner consists of an electro-pneumatic transducer, embedded controller and measuring instrumentation. Electro-pneumatic transducers that are used in positioners are characterized by a relatively short mean time-to-failure. The practical and economical method of a reasonable prolongation of this time is proposed in this paper. It is principally based on assessment and minimizing the effort of the embedded controller. For this purpose, were introduced: the control value variability, mean-time and the cumulative controller's effort. The diminishing of controller effort has significant practical repercussions, because it reduces the intensity of mechanical wear of the final control element components. On the other hand, the reduction of the cumulative effort is important in the context of process economy due to limitation of the consumption of energy of compressed air supplying the final control element. Therefore, the minimization of introduced effort factors has an impact on increasing the functional safety and economics of the controlled process. As a result of the performed simulations, the recommendations regarding the selection of the structure and tuning of positioner controller were elaborated. The simulations were performed in the Matlab-Simulink environment with the use of the liquid level control system in which a phenomenological model of a final control element was deployed. It has been proven that under appropriate conditions, it is possible to extend significantly the lifetime of the final control element and simultaneously enhance the control quality factors.

Research on bidirectional human-machine interfaces will enable the smooth interaction with robotic platforms in contexts ranging from industry to tele-medicine and rescue. This paper introduces a bidirectional communication system to achieve multisensory telepresence during the gestural control of an industrial robotic arm. We complement the gesture-based control by means of a tactile-feedback strategy grounding on a spiking artificial neuron model. Force and motion from the robot are converted in neuromorphic haptic stimuli delivered on the user’s hand through a vibro-tactile glove. Untrained personnel participated in an experimental task benchmarking a pick-and-place operation. The robot end-effector was used to sequentially press six buttons, illuminated according to a random sequence, and comparing the tasks executed without and with tactile feedback. The results demonstrated the reliability of the hand tracking strategy developed for controlling the robotic arm, and the effectiveness of a neuronal spiking model for encoding hand displacement and exerted forces in order to promote a fluid embodiment of the haptic interface and control strategy. The main contribution of this paper is in presenting a robotic arm under gesture-based remote control with multisensory telepresence, demonstrating for the first time that a spiking haptic interface can be used to effectively deliver on the skin surface a sequence of stimuli emulating the neural code of the mechanoreceptors beneath.

The fault diagnosis of wind turbine systems represent a challenging issue, especially for offshore installations, thus justifying the research topics developed in this work. Therefore, this paper addresses the problem of the fault diagnosis of wind turbines, and it present viable solutions of fault detection and isolation techniques. The design of the so--called fault indicator consists of its estimate, which involves data--driven methods, as they result effective tools for managing partial analytical knowledge of the system dynamics, together with noise and disturbance effects. In particular, the suggested data--driven strategies exploit fuzzy systems and neural networks that are employed to determine nonlinear links between measurements and faults. The selected architectures are based on nonlinear autoregressive with exogenous input prototypes, as they approximate the dynamic evolution of the system along time. The designed fault diagnosis schemes are verified via a high--fidelity simulator, which describes the normal and the faulty behaviour of an offshore wind turbine plant. Finally, by taking into account the presence of uncertainty and disturbance implemented in the wind turbine simulator, the robustness and the reliability features of the proposed methods are also assessed. This aspect is fundamental when the proposed fault diagnosis methods have to be applied to offshore installations.

The increasing trend of studying the innate softness of robotic structures and amalgamating it with the benefits of the extensive developments in the field of embodied intelligence has led to sprouting of a relatively new yet extremely rewarding sphere of technology. The fusion of current deep reinforcement algorithms with physical advantages of a soft bio-inspired structure certainly directs us to a fruitful prospect of designing completely self-sufficient agents that are capable of learning from observations collected from their environment to achieve a task they have been assigned. For soft robotics structure possessing countless degrees of freedom, it is often not easy (something not even possible) to formulate mathematical constraints necessary for training a deep reinforcement learning (DRL) agent for the task in hand, hence, we resolve to imitation learning techniques due to ease of manually performing such tasks like manipulation that could be comfortably mimicked by our agent. Deploying current imitation learning algorithms on soft robotic systems have been observed to provide satisfactory results but there are still challenges in doing so. This review article thus posits an overview of various such algorithms along with instances of them being applied to real world scenarios and yielding state-of-the-art results followed by brief descriptions on various pristine branches of DRL research that may be centers of future research in this field of interest.

The increasing trend of studying the innate softness of robotic structures and amalgamating it with the benefits of the extensive developments in the field of embodied intelligence has led to sprouting of a relatively new yet extremely rewarding sphere of technology. The fusion of current deep reinforcement algorithms with physical advantages of a soft bio-inspired structure certainly directs us to a fruitful prospect of designing completely self-sufficient agents that are capable of learning from observations collected from their environment to achieve a task they have been assigned. For soft robotics structure possessing countless degrees of freedom, it is often not easy (something not even possible) to formulate mathematical constraints necessary for training a deep reinforcement learning (DRL) agent for the task in hand, hence, we resolve to imitation learning techniques due to ease of manually performing such tasks like manipulation that could be comfortably mimicked by our agent. Deploying current imitation learning algorithms on soft robotic systems have been observed to provide satisfactory results but there are still challenges in doing so. This review article thus posits an overview of various such algorithms along with instances of them being applied to real world scenarios and yielding state-of-the-art results followed by brief descriptions on various pristine branches of DRL research that may be centers of future research in this field of interest.

A robust guaranteed cost preview repetitive controller is proposed for a class of polytopic uncertain discrete-time systems. In order to improve the tracking performance, the repetitive controller combined with preview compensator is inserted in the forward channel. By using the L-order forward difference operator, an augmented dynamic system is constructed. Then, the guaranteed cost preview repetitive control problem is transformed into the guaranteed cost control problem for the augmented dynamic system. For given performance index, the sufficient condition of asymptotic stability for the closed-loop system is derived by combining parameter-dependent Lyapunov function method with linear matrix inequality (LMI) techniques. By incorporating the controller obtained into the original system, the guaranteed-cost preview repetitive controller is derived. A numerical example is also included to show the effectiveness of the proposed method.

Home Security Systems are very important features of modern residential and office setups. This system is used to keep home safe from harmful gases, fire and intruders. It must be affordable, reliable and effective. In this paper, a GSM based home security system has been designed and implemented. The system consists of a GSM Module, MQ-2 smoke detector, Ultrasonic sonar sensor, LM35 temperature sensor, Arduino Uno and relay module. The MQ-2 smoke detector is used to detect harmful gases i.e. LPG, CH4, CO, Alcohol, Smoke or Propane. Any of the harmful gases stated above is detected it will warn the owner by activating the buzzer and displaying a warning message on the LCD display. It will also send a SMS to the owner. Our system can also measure temperate and if the temperature is increased above a certain range it will compensate it by activating Air Conditioner through the relay module. The system will also send a SMS to the owner. It can also detect intruders using Ultrasonic sensor and warn us through buzzer, SMS and displaying message on the LCD. Our system is reliable as it has very fast response and cost effective and it has been developed using our own technologies.

The management and proper use of the Urban Public Transport Systems (UPTS) constitutes a critical field that has not been investigated in accordance to its relevance and urgent idiosyncrasy within smart cities realm. Swarm Intelligence is a very promising paradigm to deal with such complex and dynamic systems. It presents robust, scalable and self-organized behaviour to deal with dynamic and fast changing systems. The intelligence of cities can be modelled as a swarm of digital telecommunication networks (the nerves), ubiquitously embedded intelligence, sensors and tags, and software. In this paper, a new approach based on the use of the Natural Computing paradigm and Collective Computation is shown, more concretely taking advantage of an Ant Colony Optimization algorithm variation and Fireworks algorithms in order to build a system that makes the complete control of the UPTS a tangible reality.

The sTetro is a stair cleaning robot which can climb the staircase with its shapeshifting capabilities. As this robot is intended to traverse multi-floor environment autonomously, hence its localization/positioning information is an essential component of the overall system. Usually, the indoor mobile robots rely on some external system for localization information, e.g., WiFi, UWB, vision, RFID signals, or indoor Global Positioning System (GPS). This requires the installation of additional hardware and/or modification of the working environment for precise positioning information of the mobile platform. As the dimensions of the staircase are known a priori, this knowledge can be used to localize the sTetro robot on the stairs. In this article, the geometry of the staircase has been exploited to localize the robot in 3D space with measurements from the onboard time-of-flight (ToF) range sensors only. The heading angle of the robot is also estimated with two ToF sensors installed in front of the sTetro robot. Results achieved by conducting experiments on real robot prove the efficacy of the proposed approach.

The following paper describes an economical, multiple model predictive control (EMMPC) for an air conditioning system of a confectionery manufacturer in Germany. The application consists of a packaging hall for chocolate bars, in which a new local conveyor belt air conditioning system is used and thus the temperature and humidity limits in the hall can be significantly extended. The EMMPC calculates the optimum energy or cost humidity and temperature set points in the hall. For this purpose, time-discrete state space models and an economic objective function with which it is possible to react to flexible electricity prices in a cost-optimised manner are created. A possible future electricity price model for Germany with a flexible EEG levy was used as a flexible electricity price. The flexibility potential is determined by variable temperature and humidity limits in the hall, which are oriented towards the comfort field for easily working persons, and the building mass. The building mass of the created room model is used as a thermal energy store. Considering electricity price and weather forecasts as well as internal, production plan-dependent load forecasts, the model predictive controller directly controls the heating and cooling register and the humidifier of the air conditioning system.

The management and proper use of the Urban Public Transport Systems (UPTS) constitute a field as critical as little investigated according to its relevance and urgent idiosyncrasy within smart cities realm. In this paper, a newfangled approach by using the Natural Computing paradigm and Collective Computation is shown, more concretely taking advantage of an Ant Colony Optimization algorithm variation in order to build a system that makes the complete control of the UPTS a tangible reality.