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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

The article presents several innovative systems developed through student laboratory projects, including two autonomous vehicles, a four-legged walking robot, an active ankle-foot orthosis, a ball on beam balancing mechanism, a ball on plate system, and a manipulator arm—all powered by pneumatic artificial muscles (PAMs). Fluidic muscles offer significant potential in various mechatronic systems, robots, and manipulators due to their flexible, lightweight nature and compliance. Their ability to produce smooth and adaptable motions is particularly beneficial in applications requiring natural and human-like movement, such as rehabilitation and assistive devices. Although PAMs powered control systems face challenges with nonlinear phenomena, their biologically inspired design holds promise for future applications across various industries. These may include innovative applicability in industrial, automotive, and aerospace sectors, as well as use in sports, medical aids, entertainment, and animatronics. Incorporating self-made laboratory systems actuated by PAMs into control systems education offers a comprehensive learning opportunity that combines theoretical concepts with hands-on experience. This approach develops the necessary skills of future engineers, expanding their understanding of technical principles and preparing them for future challenges in engineering practice.

The numerical implementation of the controllers allows the use of very complex algorithms with ease. However, in practice, due to its proven advantages, the PID controller (and its variants) is widely used in industrial control systems as well as in many other applications that require continuous control. Most of the methods for tuning the parameters of PID controllers are based on time-invariant linear models of the processes, which in practice can lead to poor performance of the control system. The paper presents an application of reinforcement learning algorithms in tuning of PID controllers for the control of some classes of continuous nonlinear systems. Tuning the parameters of PID controllers is done with the help of Twin Delayed Deep Deterministic Policy Gradients (TD3) algorithm which presents a series of advantages compared to other similar methods from Machine Learning dedicated to continuous state and action spaces. TD3 algorithm is an off-policy Actor-Critic based method and was used as it does not require a system model. The presented technique is applied for control of a biotechnological system which has a strongly nonlinear dynamic. The proposed tuning method is compared to the classical tuning methods of PID controllers. The performance of the tuning method based on the TD3 algorithm is demonstrated through simulation illustrating the effectiveness of the proposed methodology.

This study develops a progressive optimal fault-tolerant control method based on insufficient fault information. By combining passive and active fault-tolerant control manners during the process of fault diagnosis, insufficient fault information is fully used, and optimal fault-tolerant control effect is achieved. In addition, the fault-tolerant control method based on guaranteed robust cost control is introduced. The proposed progressive optimal fault-tolerant control method considers two aspects. First, as the amount of fault information continually increases, the performance index of the progressive optimal fault-tolerant controller improves. Second, at each moment, based on the corresponding insufficient fault information and prior knowledge, optimal fault-tolerant control is achieved according to current fault information. The process of progressive optimal fault-tolerant control converges to active fault-tolerant control when the fault is completely identified and the optimal fault-tolerant controller is no longer reconfigured until no more useful fault information can be provided. Furthermore, a progressive optimal fault-tolerant control algorithm based on the grid segmentation in the parameter uncertainty domain and the selection of different auxiliary center points is introduced. The simulation results verify the feasibility of the proposed algorithm and the validity of the proposed theory.

Classically the walk in biped robotics was obtained controlling balance during the whole step, i.e. guaranteeing that the pressure point under the soles always stayed in the polygon of the supporting feet. However, this assumed that the feet were able to transfer torque to the ground during the whole gait cycle. In spite of the fact that the amount of transferrable torque in the feet-ground contact is limited, it is possible only during some phases of the step, and the overall process is energetically inefficient. On the other side, starting from the passive motion of the rimless wheel falling on an inclined surface, and ending to the inverted pendulum with a compass, balance in the whole was proven in spite of dynamical instability inside each step. Along this line results of Foot Placement Estimation (FPE) in 2-D and 3-D showed how energy efficient walk was possible, emulating the human walk with a free fall on the swing foot and energy restitution at the foot collision with the ground for the next step. This model assumes pointy feet, so without torque transfer to the ground. In the realm of FPE, in previous papers the present author adopted the 3-D inverted pendulum in polar coordinates (Spherical Inverted Pendulum - SIP) to introduce omnidirectional walks with arbitrarily changing characteristics. No torque control was used during the step, i.e the pendulum was always in free fall at each step, the only control actions were at the beginning of the next step. These actions are: the change of angular velocities at the start of a new step, with respect to those given after the collision (emulating the torque action in the brief double stance period), to recover for the losses, and the preparation of the position in the frontal and sagittal planes of the swing foot for the next collision. The present paper improves this paradigm, proposing a general model to account for all characteristics of the biped and of the gait, with adding a minimum of dynamical complexity with respect to the SIP. This model allows, not only to walk omnidirectionally on a flat surface, but also to go up and down staircases.

Carbon Capture and Storage (CCS) stands as a pivotal technological stride toward a sustainable future, with the practice of injecting supercritical CO2 into subsurface formations having already been an established practice for enhanced oil recovery operations. The overarching objective of CCS is to protract the operational viability and sustainability of platforms and oilfields, thereby facilitating a seamless transition towards sustainable practices. This study introduces a comprehensive framework for optimizing well placements in CCS operations, employing a derivative-free method known as Bayesian optimization. The development plan is tailored for scenarios featuring aquifers devoid of flow boundaries, incorporating production wells tasked with controlling pressure buildup and injection wells dedicated to CO2 sequestration. Notably, the wells operate under group control, signifying predefined injection and production targets and constraints that must be adhered to throughout the project’s lifespan. As a result, the objective function remains invariant under specific permutations of the well locations. Our investigation delves into the efficacy of Bayesian optimization under the introduced permutation invariance. The results reveal that it demonstrates critical efficiency in handling the optimization task extremely fast. In essence, this study advocates for the efficacy of Bayesian optimization in the context of optimizing well placements for CCS operations, emphasizing its potential as a preferred methodology for enhancing sustainability in the energy sector.

The problem addressed in this article consists of the motion control of a quadrotor, comprising model disturbances and uncertainties. In order to tackle model uncertainty, adaptive control based on reinforcement learning is used. The distinctive feature of this article, in comparison with other works on quadrotor control using reinforcement learning is the exploration of the underlying optimal control problem in which a quadratic cost and a linear dynamics allow an algorithm that runs in real time. Instead of identifying a plant model, adaptation is obtained by approximating the performance index given by the Q-function using directional forgetting recursive least squares that rely on a linear regressor build from quadratic functions of input/output data. The adaptive algorithm proposed is tested in simulation in a cascade control structure that drives a quadrotor. Simulations show the improvement in performance that results when the proposed algorithm is turned on.

Most works related to the identification of mathematical nonlinear systems make one suppose that such approaches can always be directly applied to any nonlinear system. This misconception produces a great deal of discouragement when the obtained results are not the expected ones. Thus, the current work hypothesizes that the most information one has about the mathematical structure of the model, the most precise the identification result should be. Therefore, a variant of the Sparse Identification of Nonlinear Dynamics (SINDY) approach is presented to obtain the full mathematical nonlinear model of a high-order system with coupled dynamics, namely, a commercial quadcopter. Furthermore, due to its high sensitivity to inputs, a control system is devised using the identified model to stabilize the quadcopter. This illustrates the effectiveness of the proposed identification method.

The ongoing challenge to ensure a sustainable and affordable energy supply forces industrial companies to implement appropriate measures. These measures typically lead to an increased system complexity, which has to be addressed during operation. Whereas existing approaches from the field of supervisory and optimal control appear to be capable of mastering this issue, these are still not adopted in industry. Therefore, this work presents a procedure model for the systematic development of application-oriented operating strategies for industrial energy supply systems. The procedure model combines research approaches from the fields of sequencing control and approximate MPC to extract rule-based operating strategies. By splitting the procedure model into five phases, expert knowledge can be integrated in a target-oriented manner. Subsequently to the description, the procedure model is exemplary applied to the example of an industrial heating supply system. Throughout an optimization study, the developed operating strategy is compared to a MPC strategy as well as a baseline strategy. Whereas the conventional MPC approach is the upper bound with regard to optimality, the developed operating strategy is able to generate comparable results. Compared to the baseline strategy, a relative reduction in operating expenses of 5.4 % to 37.0 % are achieved in this specific use case.

Ensuring precise electric locomotive stopping is pivotal for achieving intelligent and unmanned auxiliary transportation systems. Currently, human drivers' expertise plays a central role in the stopping process, posing challenges for automation and cargo location accuracy, particularly in coal mining. This paper focuses on achieving accurate electric locomotive stopping under diverse conditions by utilizing permanent magnet synchronous motor-driven locomotives. This technique introduces a novel stopping control method that combines a fuzzy Proportional-Integral-Derivative (F-PID) controller and a vector control model for permanent magnet synchronous motors (PMSM). After this, we design the F-PID using the PMSM technique based on the new fuzzy rules for each sub-system. In the end, extensive simulations and real-world experiments are conducted on an electric locomotive stopping test bed, which demonstrate the effectiveness of the proposed control method. From the simulation results, it confirming that the ability to achieve precise stopping under various working conditions.

This paper aims to address the exponential stability and stabilization problems for a class of delayed nonlinear Markov jump systems under randomly occurring Denial-of-Service (DoS) attack and packet loss. Firstly, the stochastic characteristics of DoS attack and packet loss are depicted by the attack success rate and packet loss rate. Secondly, a Period Observation Window (POW) method and a hybrid-input strategy are proposed to compensate for the impact of DoS attack and packet loss on the system. Thirdly, A Dynamic Event-triggered Mechanism (DETM) is introduced to save more network resources and ensure the security and reliability of systems. Then, by constructing a general common Lyapunov functional and combining with the DETM and other inequality analysis techniques, the less conservative stability and stabilization criteria for the underlying systems are derived. In the end, the effectiveness of our result is verified through a numerical example.

Nowadays, unmanned vehicles are widely used in various fields. However, the safety of unmanned vehicles is directly determined by the autopilot systems, and sensor faults are a very critical factor that affects the normal operation of the autopilot systems. To efficiently and comprehensively test unmanned systems for sensor faults, this paper proposes a chip-level testing platform for unmanned vehicle autopilot systems based on FPGA hardware-in-the-loop simulation. Unlike existing testing platforms, the introduction of FPGA technology allows us to achieve nanosecond real-time simulation frequency, thus realizing chip-level simulation of sensors and black-box automated testing. Firstly, we propose a set of general platform and modeling methods, and the paper presents a detailed application of the four most common necessary sensors in autopilot systems as examples. Secondly, we propose for the first time a chip-level fault testing method for unmanned systems, and build a test platform with a quadrotor vehicle, the PX4 software platform, and the Pixhawk4 hardware platform as examples. Finally, the experimental results verify that the testing platform proposed in this paper can adapt to various autopilot systems and has high simulation test reliability.

Digital twins are an emerging technology that could be harnessed for the digitalization of the industry. Steel industry systems contain a large number of electro-hydraulic components, as proportional valves. An input-output model for a novel water proportional cartridge valve is derived from physical modelling based on fluid mechanics, dynamics, and electrical principles. The valve is a two-stage valve with two 2/2-way water proportional valves as the pilot stage and a marginally stable poppet-type cartridge valve as the main valve. The orifice equation, which is based on Bernoulli principles, is approximated by a polynomial which makes parameter estimation easier and makes modelling possible without measuring pressure of the varying control volume situated in the pilot stage part of the valve. Data were collected when the valve was operating as a component in a closed-loop system as part of a press-mill machine in a steel manufacturing plant. Parameter estimation was made by convex optimization with physical constraints to overcome problems caused by poor system excitation. For comparison, a simple linear model was derived and the least squares method used for parameter estimation. A thorough estimation of the parameters relative errors is presented. The model contains 5 parameters related to the design parameters of the valve. The modelled position output is in good agreement with experimental data for training and test data. The model can be used for real time monitoring of the valve’s status by the model parameters. One of the model parameters varies linearly with production cycles. Thus, aging of the valve can be monitored.

This paper presents an innovative multi-agent, data-driven reinforcement learning (RL) approach to develop and utilize the thermal equivalent network model that represents the motor's thermal dynamics. A multi-agent reinforcement learning is designed and trained to adjust the model parameters using data from several motor driving cycles. To ensure the incoming driving cycle matches the historical data before employing the pre-trained RL agents, offline statistical analysis and clustering techniques are developed and used. Numerical simulations highlighted the RL agent's ability to develop strategies that effectively address the variability of driving cycles. The proposed RL framework showed its capability to accurately reflect the motor's thermal behavior under various driving conditions.

Classifying network flow subsequences in an Industrial IoT gateway is an effective method for identifying Industrial IoT faults. This paper proposes a subsequence classification algorithm SSGBUL-IKNN based on unsupervised learning encoding to address the problem of low classification accuracy. Firstly, we built a network module based on unsupervised learning to encode the flow sequence of the Industrial IoT gateway. In the encoding module, a subsequence calibration algorithm controls the increasing error during the coding process. Then, the specific fault type is obtained through an improved KNN classification algorithm based on the indication distance source from the integrated coding sequences converted by multi-dimensional network flow sequences. The test result on three Industrial IoT datasets of a sewage treatment plant shows that the accuracy of SSGBUL-IKNN in this paper exceeds 92%, significantly higher than the algorithm DTW and TSF. It reaches the classification requirements of Industrial IoT fault diagnosis.

This research addresses the formidable challenge of achieving precise trajectory tracking for autonomous vehicle formations in uncertain environments. It introduces an adaptive control system tailored for autonomous vehicles, with a primary focus on ensuring prescribed performance in trajectory tracking within a leader-follower formation paradigm. The system incorporates a guidance law that allows the leader vehicle to dynamically adjust desired yaw angles and speeds for follower vehicles based on the established reference trajectory, enhancing tracking accuracy and responsiveness to environmental changes. To address practical external disturbances, the study utilizes Radial Basis Function Neural Networks (RBFNN) in conjunction with second-order filters for error approximation. This approach is further strengthened by a carefully formulated adaptive law. The innovative integration of a barrier Lyapunov function with the backstepping method significantly enhances the system’s adaptability and robustness, ensuring trajectory tracking performance meets predetermined standards. Simulation results illustrate the control system’s adept handling of various external disturbances, consistently maintaining trajectory tracking errors within predefined limits. This underscores the system’s potential to markedly enhance the operational reliability and efficiency of autonomous vehicle formations in unpredictable environmental conditions.

System-of-systems (SoS) evolution is a complex and unpredictable process. Although various principles to facilitate collaborative SoS evolution have been proposed, there is a lack of experimental data validating their effectiveness. To address these issues, we present an Agent-Based Model (ABM) for SoS evolution in the Internet of Vehicles (IoV) , serving as a quantitative analysis tool for SoS research. By integrating multiple complex and rational behaviors of individuals, we aim to simulate real-world scenarios as accurately as possible. To simulate the SoS evolution process, our model employs multiple agents with autonomous interactions and incorporates external environmental variables. Furthermore, we propose three evaluation metrics: evolutionary time, degree of variation, and evolutionary cost, to assess the performance of SoS evolution. Our study demonstrates that enhanced information transparency significantly improves the evolutionary performance of distributed SoS. Conversely, the adoption of uniform standards only brings limited performance enhancement to distributed SoSs. Although our proposed model has limitations, it stands out from other approaches that utilize Agent-Based Modeling to analyze SoS theories. Our model focuses on realistic problem contexts and simulates realistic interaction behaviors. This study enhances the comprehension of SoS evolution processes and provides valuable insights for the formulation of effective evolutionary strategies.

Currently, the textile industry is a poorly automated sector, due in part to problems in the handling of deformable leather and textile parts during production operations. In this work, several problems in the handling process of leather and textile parts are addressed, introducing methods to increase the automation of the process. A pneumatic actuator designed to pick up textile or leather parts avoiding their deformation during transport has been developed. This actuator maximizes the number of gripping points to improve handling, making it more stable and efficient. Additionally, a vision system has been implemented in the part picking task which, in conjunction with the CAD information of the part, sends the modified gripping position of the part to the robot. This allows customized handling of each textile or leather part. Finally, validation tests have been carried out on this development, both in simulations and in laboratory conditions, demonstrating its viability and direct applicability in the production line.

In cutting processes tool condition affects the quality of the manufactured parts. As such an essential component to prevent unplanned downtime and to assure machining quality is having information about the state of the cutting tool. The primary function of it is to alert the operator that the tool has reached or is reaching a level of ware beyond which behavior is unreliable. In this paper the tool condition is being monitored by analyzing the electric current on the main spindle via an artificial intelligence model utilizing a LSTM neural network. In the current study the tool is monitored while working on a cylindrical raw piece made of AA6013 aluminum alloy with a custom polycrystalline diamond tool, for the purposes of monitoring the ware of these tools. Spindle current characteristics were obtained using external measuring equipment to not influence the operation of the machine included in a larger production line. As a novel approach, an artificial intelligence model based on a LSTM neural network is utilized for the analysis of the spindle current obtained during a manufacturing cycle and assessing the tool ware range in real time. The neural network was designed and trained to notice significant char-acteristics of the captured current signal. The conducted research serves as a proof of concept for use of a LSTM neural network-based model as a method of monitoring the condition of cutting tools.

Automation is the key aspect of science and technology field and refers to controlling the systems for efficient output requirements. The development of robotics and similar, technologies in 21st century is a vast topic of research and significant progress has been made on this field. This research study focuses on building a ribbon-cutting robot with a Bluetooth interface for event inaugurations. The entire system hinges on constructing a prototype that is mounted on a robotic car frame with four wheels and an Arduino controller. In this case, ribbons are cut using a nickel wire, and it may be paired with an Android device via Bluetooth or an application. The robot is one of the first steps toward the development of autonomous, cognitive robots and can be used in a variety of events. Efficient temperature monitoring is done with help of LM35 sensor and Bluetooth based communication in order to monitor the conditions and effectively control the actions for which robot is designed. The robot has significantly allowed authors for desired tests on ribbon cutting and final results obtained were very exciting for its desired application target. Ribbon-cutting robots find applications in various events, including inaugurations, exhibitions, and ceremonies. Their precision and novelty add value to such occasions.

Dynamic systems which underly controlled systems are expected to increase in complexity as robots, devices, and connected networks become more intelligent. While classical stable systems converge to a stable point (a sink), another type of stability is to consider a stable path rather than a single point. Such stable paths can be made of saddles which draw in trajectories from certain regions, and then push the trajectory toward the next saddle point. These are chains of saddles are called stable heteroclinic channels (SHCs), and can be used in robotic control to represent time sequences. While we have previously shown that each saddle is visualizable as a trajectory waypoint in phase space, how to increase the fidelity of the trajectory was unclear. In this paper, we hypothesized that the waypoints can be individually modified to locally vary fidelity. Specifically, we expected that increasing the saddle value (ratio of saddle eigenvalues) causes the trajectory to slow to more closely approach a particular saddle. Combined with other parameters that control speed and magnitude, a system expressed with an SHC can be modified locally, point by point, without disrupting the rest of the path, supporting their use in motion primitives. However, even more complex trajectory shape modifications are possible. While some combinations can enable a trajectory to better reach into corners, other combinations can rotate, distort and round the trajectory in the region of a corner. In our example, modifying select saddle values produced a 32% decrease in the trajectory error of a complex trajectory produced using this system. This is an effect not visible in previous 1D studies, that can lead to different learnable and tunable representations of dynamic systems.

In contemporary construction, the prevalence of vibration serviceability issues in lightweight and slender structures has become increasingly common, owing to advancements in building materials and construction methods. While these structures often meet the criteria for ultimate limit states, they can still elicit complaints due to excessive vibrations induced by human activity. To address this challenge, the Integral Resonant Control (IRC) technique has emerged as a favored approach for actively damping vibrations in various systems. This study introduces a fresh perspective on implementing a multi-input multi-output (MIMO) IRC scheme for active vibration control (AVC) specifically tailored for pedestrian structures utilizing inertial mass actuators. Building upon a common framework and design methodology outlined in previous research, this work presents a novel application of MIMO IRC for AVC. The designed controller is rigorously tested and implemented on a laboratory floor structure to validate its efficacy.

This paper presents a study of the 2D roughness profiles on a flat surface generated on a steel work piece, by ball nose end milling, with linear equidistant tool paths (pick-intervals). The milled surface exploration with a surface roughness tester (on pick and feed directions) produces usually 2D roughness profiles having periodical evolutions. These evolutions can be seen as time-dependent signals, describable as a sum of sinusoidal components (the wavelength of each component being regarded as a period). In order to detect a well approximated description of these components, two appropriate signal processing techniques are used in this work: first technique provides a direct mathematical (analytical) description and is based on computer aided curve (signal) fitting (more accurate), the second technique (providing an indirect and incomplete description) is based on the spectrum generated by fast Fourier transform (less accurate). This study can be seen as a way for a better understanding the interaction between the tool and the work piece or to achieve a mathematical description of the machined surface microgeometry in terms of roughness (e. g. its description being a collection of closely spaced 2D roughness profiles).

Using the senses is essential to interact with objects in real-world environments. However, not all the senses are available when interacting with virtual objects in virtual environments. This paper presents a diamond methodology to fuse two technologies to represent the senses of sight and touch when interacting with a virtual object. The sense of sight is represented through augmented reality, and the sense of touch is represented through kinesthetic haptics. The diamond methodology is centered on the user experience and comprises five general stages: Experience design, Sensory representation, Development, Display, and Fusion. The first stage comes from the expected, proposed, or needed user experience. Then, each technology takes its homologous activities from the second to the fourth stage, diverging from each other along their development. Finally, the technologies converge to the fifth and final stage for fusion in the user experience. The diamond methodology was tested by generating a user's dual sensation when interacting with the elasticity of a tension virtual spring. The user can simultaneously perceive the visual and tactile change of the virtual spring during the interaction, representing the object's deformation. The experimental results demonstrated that an interactive experience can be felt and seen in augmented reality following the diamond methodology.

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

In the paper, a study of the performance of unmanned ground vehicle (UGV), establishes numerical simulation model of the chassis system by three-dimensional software and finite element analysis software. Based on the numerical modelling and analysis, the work focuses on study of the strength and stiffness of the vehicle's chassis and researched the distribution of stress and deformation under the extremal condition. The paper also presents an autopilot design with new cascade control system for an autonomous motion of an unmanned ground vehicle based on Proportional-Integral-Derivative (PID) and Feed-Forward (FF) control. The PID-FF controller is a part of dedicated for presented UGV used in a hybrid control system for precise control and stabilization, necessary to increase the vehicle motion stability and maneuvers precision. The hybrid PID-FF control system proposed for the ground vehicle model gives a satisfactory quality of control, while maintaining the simplicity of the control system. Presented tests performed in area of mechanical design and control analysis gives good results and proves usefulness of designed unmanned device.

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

To assure the opacity, an optimal problem is to retain the occurring events sequences as many as possible. Contrary to such problem, the other optimal problem is to preserve the minimal occurring events sequences. In the paper, based on the choosing cost, an optimal opacity-enforcing model is presented to minimize the sum of discount choosing cost, which is not only to preserve the opacity, but also to retain the secret to the maximum. To solve the model, two scenarios on opacity are considered. For the two scenarios, some algorithms are presented to achieve the optimal solution for the model by using the method of dynamic programming. And then, the solutions produced by the algorithms are proved correctly by theoretical proof. Finally, some illustrations for the algorithms are given.

This paper proposes a solution for the problem of mobile robot navigation and trajectory interpolation in dynamic environments with large scenes. The solution combines a semantic laser SLAM system that utilizes deep learning and a trajectory interpolation algorithm. The paper first introduces some open-source laser SLAM algorithms and then elaborates in detail on the general framework of the SLAM system used in this paper. Secondly, the concept of voxel is introduced into the occupation probability map to enhance the ability of local voxel maps to represent dynamic objects. Then, in this paper, we propose a PointNet++ point cloud semantic segmentation network combined with deep learning algorithms to extract deep features of dynamic point clouds in large scenes and output semantic information of points on static objects. A descriptor of the global environment is generated based on its semantic information. Closed-loop completion of global map optimization is performed to reduce cumulative error. Finally, T-trajectory interpolation is utilized to ensure the motion performance of the robot and improve the smooth stability of the robot trajectory. The experimental results indicate that the combination of the semantic laser SLAM system with deep learning and the trajectory interpolation algorithm proposed in this paper yields better graph building and loop closure effects in large scenes at SIASUN large scene campus. The use of T-trajectory interpolation ensures vibration-free and stable transitions between target points.

In the full load operating range, wind turbines typically use pitch control to maintain rotor speed and output power at their rated values to guarantee the whole system’s safety. Blade pitch actuators are subject to physical limitations and safety requirements, which imposes strict constraints on pitch angle’s amplitude and rate of change. These constraints will bring windup problem to the integral part of the pitch controller. It leads to deterioration of the pitch control system’s performance or even the instability problem, especially for large-scale turbines operating in extreme uncertain wind conditions or suffering from cyber attacks. This paper designs an anti-windup robust pitch angle control strategy to deal with pitch rate constraint issue to enhance the security of control system. First, to facilitate controller design, a filtered tracking error technique is employed to transform the nonaffine form into an affine one. Subsequently, a feedback robust controller based on UDE is developed to handle the model’s uncertainty and external disturbances. To address the issue of integral saturation in the pitch system and guarantee its safety, an elliptical bounded constraint is integrated into the designed UDE strategy. This bounded UDE controller can improve the stability of power generation quality, reduces the mechanical loads on components and enhance the whole system’s safety. Finally, the effectiveness of the proposed scheme is verified on the Wind Turbine Blockset platform in Matlab/Simulink. It can achieve better performance than the traditional method.

A novel educational platform called Shared Modeling and Simulation Environment (SMSE) was initiated in the ERASMUS+ “CybPhys” project. It integrates the Jupyter platform, including Ju-pyter Notebooks, for e-learning in the STEM field. A novel platform enhances e-learning by combining Moodle with Jupyter's capabilities to create virtual labs. A survey was conducted in the spring of 2023 among bachelor and master students of Chernihiv National Polytechnic Uni-versity aimed to gather feedback from students using SMSE in their e-learning process. Two student groups were involved: one of them consisted of students using SMSE in both the autumn and spring semesters and another represented the students starting with SMSE in the spring se-mester. The survey based on the adjusted Technology Acceptance Model (TAM) was conducted to understand the acceptance of this e-learning approach. A comprehensive analysis of students’ answers based on the TAM approach revealed the inside of the process of transformation of stu-dents’ perceptions during the acquisition of the SMSE platform. Our research demonstrates that SMSE effectively merges Moodle's online learning capabilities with Jupyter notebooks, provid-ing a flexible and interactive learning experience for both in-class and remote students. It pro-vides a web-based, multifunctional e-learning environment that combines a variety of tools and technologies, giving students the possibility to be involved in all sorts of teaching activities, such as lectures, exercises, simulations, etc., through the use of one single online environment.

This paper presents a mathematical modeling approach utilizing a fuzzy modeling framework for fixed wing aircraft systems with the goal of creating a highly desirable mathematical representation for model-based control design applications. The starting point is a mathematical model comprised of fifteen non-linear ordinary differential equations representing the dynamic and kinematic behavior applicable to a wide range of fixed wing aircraft systems. Here the proposed mathematical modeling framework is applied to the AIRBUS A310 model developed by ONERA. The proposed fuzzy modeling framework takes advantage of sector non-linearity techniquesto recast all the non-linear terms from the original model to a set of combined fuzzy rules. The result of this fuzzification is a more suitable mathematical description from the control system design point of view. Therefore, the combination of this fuzzy model and the wide range of control techniques available in the literature for such kind of models will enable us to avoid common control design methods, such as gain scheduling, where stability issues can be extremely challenging.

The article presents the operation of the automatic pine sawn timber inspection system, which was developed at the Woodinspector company and offered commercially. The vision inspection system is used to detect various wood defects, including knots, blue stain, and mechanical damage caused by worms. Blue stain is a defect that is difficult to detect based on the color of the wood, because it can be easily confused with wood defects or dirt that do not impair its strength properties. In particular, the issues of detecting blue stain in wood, the use of artificial neural networks and improving the operation of the system in production conditions were discussed.

The performance of laser beams in tracking Lissajous scan trajectories is severely limited by beam jitter. To enhance the performance of fast steering mirror (FSM) control in tracking Lissajous scan trajectories, this paper proposed a fractional order active disturbance rejection controller (FOADRC) and verified its effectiveness in improving system scanning tracking accuracy. A dynamic mathematical model of fast steering mirror was studied and the design of parameters for the control mode of the closed-loop system was determined. A reduced order linear active disturbance rejection controller suitable for FSM systems was designed and the corresponding fractional order proportional differentiation (FOPD) controller were determined according to the mathematical model. The use of the designed controller enabled high-performance tracking of high-frequency Lissajous scanning curves (X-axis 500 Hz, Y-axis 350 Hz) and met the need for high-frequency repetitive scanning. The controller has the characteristics of simple implementation and low computational complexity and is suitable for closed-loop control applications in engineering.

Mass customization, small batch sizes, high variability of product types and a changing product portfolio during the life cycle of an industrial plant are current trends in the industry. Due to an increasing decoupling of the development of software and hardware components in an industrial context, compatibility problems within industrial control systems arise more and more frequently. In this publication, a strategy concept for compatibility testing is derived and discussed by means of literature review and applied research. This 4-phased strategy concept identifies incompatibilities between software and hardware components in the industrial control environment and enables test engineers to detect problems at an early stage. By automating the compatibility test on an external I-PC, the test can be run both when new software is installed on the industrial controller and when the controller is restarted. Thus, changes to the components are constantly detected and incompatibilities are avoided. Furthermore, early incompatibility detection can ensure that a system remains permanently operational. Based on a discussion, additionally strategies are identified to consolidate the robustness and applicability of the presented concept.

Safety limits application has always been a traditional approach to ensure the safe operation of electro-mechanical systems within many industries including automated vehicles, robotics, aerospace, traditional automotive, railways, manufacturing, etc. In all of these applications, control and safety limits are usually hard-coded into the production firmware and are fixed throughout the entire product life cycle. Currently, due to the evolving needs of automated systems like automated vehicles and robots, this traditional approach does not address all the use cases and scenarios to ensure safe operation. Especially for data-driven machine learning applications that constantly evolve and learn over time, it is important to be able to adjust the safety limits application strategy to be more flexible and adaptable based on different Operational Design Domains (ODDs) and scenarios. Our ITSC conference paper ~\cite{4} introduced the concept of a new safety limits application strategy called the Dynamic Control Limits Application (DCLA) strategy that supports the flexible application of diverse limits profiles based on the parameters involved within the dynamic scenario at different layers of the Autonomy software stack.This paper extends the DCLA strategy to derive the complete methodology for safety limits application based on ODD elements, scenario identification and scenario classification using Decision Making Engines. It leverages the layered architecture introduced in the ITSC conference paper to implement the Decision Making (DM) algorithms. Another important extension is the use of cloud infrastructure that is based on the Vehicle-to-Infrastructure (V2I) technology to store the scenarios and the limits mapping to serve as a ground truth and/or a backup mechanism in case of errors or failures associated with the main Decision Making (DM) Engine. There is also a focus on providing a more comprehensive list of scenarios and a custom built experimental dataset to cover the maximum ODD elements, and multiple tables of safety limits to be chosen from, which eventually helps in creating different safety limits application profiles. These distinct safety limits application profiles are based on the scenario parameters that are perceived by the system upon which the Decision Making algorithms are applied or trained. This systematic approach can be used within the industry for any of the future automated vehicles and systems until Level 5 Autonomy.

Fully mechanized mining face production involves complex geological conditions; mining pressure; gas, water, fire and other mining environments. The working face needs a shearer, hydraulic support, a scraper conveyor and other equipment for coordination. The deep integration of intelligent technology with factors such as "humans, machines, the environment, and management" in the workplace is the core content of intelligent coal mines. This paper puts forward an advanced framework for coal mining robot technology systems, including single robots, robotized equipment, robot clusters and unmanned systems. The framework clarifies the common key technologies of coal mining robot research and development and cross-integration with new technologies such as 5G, the industrial internet, big data, artificial intelligence, and digital twins to improve the autonomous and intelligent application of coal mining robots. By establishing a scientific and complete standard system for coal mining robots, we aim to achieve customized research and development and standardized production of various types of robots. A specific analysis was conducted on the research progress of common key technologies such as explosion-proof design, mechanical system innovation, power drive, intelligent sensing, positioning and navigation, and underground communication of coal mining robots. The current research and application status of various types of coal mining robots in China are summarized. A new direction for future coal mine robot research and development is proposed. Moreover, robotic mining systems should be promoted to enhance the overall intelligence level and mining efficiency of mining equipment. To develop human‒machine environment-integrated robots to improve the autonomy and collaboration level of coal mining robots. The digital twinning of the entire mine robot system should be accelerated, the normalized operation level of coal mine robots should be improved, research on coal mining robots, support robots, and transportation robots should be carried out, intelligence should be achieved in fully mechanized mining faces, and equipment support for fewer and unmanned fully mechanized mining faces should be provided. The practical process of implementing coal mining robotization has been summarized, and the technical and engineering feasibility of the coal mining machine population has been verified.

RISC-V offers a modular technical approach combined with an open, royalty-free instruction set architecture (ISA). This openness allows various researches to incorporate RISC-V into both open and proprietary solutions or services. However, despite its advantages as a fundamental building block for many embedded systems, the escalating complexity and functional demands of real-time applications have made adhering to response time deadlines challenging. This has led to an increased demand for comprehensive development insights for real-time systems based on RISC-V. To improve development efficiency, we offer a detailed performance analysis of RISC-V in comparison to various ISAs. In this paper, we analyze the real-time performance of RISC-V through two real-time approaches based on processor architectures. For RTOS applications, we adopted FreeRTOS and evaluated its performance on HiFive1 Rev B (RISC-V) and STM3240G-EVAL (ARM M) to evaluate real-time performance. For Real-time Linux, we utilized Linux with the Preempt-RT patch and tested its performance on VisionFive 2 (RISC-V), MIO5272 (x86-64), and Raspberry Pi 4 B (ARM A). Through these experiments, we examined the real-time mechanism of each operating system. Additionally, in the Preempt-RT experiments, scheduling latencies were evaluated using cyclictest. Finally, in order to practically show the real-time capabilities of RISC-V, we implemented motion control of a six-axis collaborative robot, which was performed on the VisionFive 2 platform. This implementation provided a comparative result of RISC-V’s performance against the x86-64 architecture of MIO-5272. Ultimately, the results indicated that the real-time performance of RISC-V for real-time applications was slightly inferior to that of the x86-64 architecture. A noticeable achievement of this research was the first implementation of an EtherCAT Master on RISC-V designed for real-time applications featuring a multi-tasking structure. The research offers valuable insights into the real-time capabilities of RISC-V compared to established architectures like x86-64. While RISC-V might not surpass these architectures in real-time performance, its flexibility, modularity, and open nature make it a compelling choice for a wide range of real-time applications. The successful implementation of the EtherCAT Master on RISC-V further expands its potential in the domain of real-time embedded control systems.

A simple model is developed for membrane fouling, taking into account two main fouling phenomena: cake formation, due to attached solids onto the membrane surface and pores clogging, due to retained compounds inside the pores. The model is coupled with a simple anaerobic digestion model for describing the dynamics of an Anaerobic Membrane BioReactor (AnMBR). In simulations, we investigate its qualitative behavior: it is shown that the model exhibits satisfying properties in terms of flux decrease due to membrane fouling. Comparing simulation and experimental data, the model is shown to predict quite well the dynamics of an AnMBR. The simulated flux best fits the experimental flux with a correlation coefficient r2=0.968 for the calibration data set and r2=0.938 for the validation data set. General discussions are given on possible control strategies to limit fouling and optimize the flux production. We show in simulations that these strategies allow one to increase the mean production flux to 33 L/(h.m2), whereas without control it was 18 L/(h.m2).