The complexity of objects and control systems increases the requirements for mathematical models. The structural identifiability (SI) assessment of nonlinear systems is one of the identification problems. Until now, this problem solves by parametric methods using various approximation methods. This approach is not always effective under uncertainty. We apply an approach to SI estimation based on the analysis of virtual structures. The requirements form for the system input based on the expansion of the excitation constancy property and S-synchronizability. The approach generalization to structural identifiability used in the analysis of systems with symmetric nonlinearity is given. homothety and identifiability conditions for systems with non-symmetric nonlinearities (SNN) obtained. The detectability and recoverability proofed for virtual frameworks (VF) guaranteed the SI estimation under uncertainty. The conditions under which the non-symmetric nonlinearity is hypothetical symmetric nonlinearity obtained. SI estimation examples considered for closed nonlinear systems under uncertainty.

The paper analyzes the phenomenon that condition the durability and reliability of a type of dental bur based on the wear of the active part and with effect on its quality. For the experimental study, a conical-cylindrical dental bur and a sample dental material in cobalt-chromium alloy, cylindrical shape, tested on a specially made experimental installation were used. The paper was limited to the consideration of a single parameter (loss of mass, mw by wear of the active part of the dental bur tested) for the establishment the durability and reliability, useful for the extension of the lifetime or even optimization of its operation. The wear phenomenon of the active part of dental bur is studied based on the results and experimental data obtained in the work process that was validated by interpolation and led to polynomial functions which approximate very well the dependent parameter, mw, considered in the experimental program. The results of the interpolation showed that in the first 11 h of work, the dental bur works with high efficiency, after which it can be easily decommissioned (optimizing operation, possibly constructive solutions); i.e., it should be replaced with a new one (criterion for replacing of worn dental bur).

Due to the accelerated development of the offshore method of oil production in recent decades, especially in the Arctic region, the risks of crude oil pollution of the waters of the World Ocean are inevitably increasing. These oil spills during the exploitation of shelf deposits, transportation of oil from production sites and other anthropogenic impacts have a devastating impact on the marine biosphere, economy and life of coastal regions. For operative monitoring of water surface and fixation of oil spills it is necessary to use modern, effective and reliable methods, remote monitoring tools. One of such methods is radar. This article deals with increasing the efficiency of the radar method of water surface monitoring by means of constructive modification of the radar antenna array and changing the shape of the radio signal. As a result of the literature review, theoretical analysis of radar and conducted mathematical modeling it is substantiated the increase of radar monitoring efficiency by using phased active antenna array and construction of the cosecant-squared pattern diagram of the radio signal.

Electrical rotating machines like Induction Motors (IMs) are widely used in several industrial applications since their robust elements, provide high efficiency and give versatility in industrial applications. Nevertheless, the occurrence of faults in IMs is inherent to their operating conditions, hence, Inter-turn short-circuit (ITSC) is one of the most common failures that affect IMs and its appearance is due to electrical stresses leads to the degradation of the stator winding insulation. In this regard, this work proposes a diagnosis methodology for the assessment and detection of incipient ITSC in IMs, the proposed method is based on the processing of vibration, stator currents and magnetic stray-flux signals. Certainly, the novelty and contribution include the characterization of different physical magnitudes by estimating a set of statistical time domain features, as well as, their fusion and reduction through the Linear discriminant Analysis technique within a feature-level fusion approach. Furthermore, the fusion and reduction of information from different physical magnitudes leads to perform the automatic fault detection and identification by a simple Neural-Network (NN) structure. The proposed method is evaluated under a complete set of experimental data and the obtained results demonstrate that the fusion of information from different sources (physical magnitudes) allows to improve the accuracy during the detection of ITSC in IMs , the results make this proposal feasible to be incorporated as a part of condition-based maintenance programs in the industry.

Nowadays, cyber-physical systems (CPSs) are composed of more and more agents and the demand for designers to develop ever larger multi-agent systems is a fact. When the number of agents increases, several challenges related to control or communication problems arise due to the lack of scalability of existing solutions. It is important to develop tools that allow control strategies evaluation of large-scale systems. In this paper, it is considered that a CPS is a heterogeneous robot multi-agent system that cooperatively performs a formation task through a wireless network. The goal of this research is to evaluate the system's performance when the number of agents increases. To this end, two different mixed reality frameworks developed with the open-source tools Gazebo and Webots are used. These frameworks enable combining both real and virtual agents in a realistic scenario allowing scalability experiences. They also reduce the costs required when a significant number of robots operate in a real environment, as experiences can be conducted with a few real robots and a higher number of virtual robots by mimicking the real ones. Currently, the frameworks include several types of robots being the aerial robot Crazyflie 2.1 and differential mobile robots Khepera IV those used in this work. To illustrate the usage and performance of the frameworks, an event-based control strategy for rigid formations varying the number of agents is analyzed. The agents should achieve a formation defined by a set of desired Euclidean distances to their neighbors. To compare the scalability of the system in the two different tools, the following metrics have been used: formation error, CPU usage percentage, and the ratio between the real-time and the simulation time. The results show the feasibility of using Robot Operating System (ROS) 2 in distributed architectures for multi-agent systems in mixed reality experiences regardless of the number of agents and their nature. However, the two tools under study present different behaviors when the number of virtual agents grows in some of the parameters, and such discrepancies are analyzed.

Industrial process control systems commonly exhibit features of time-varying, strong coupling, and strong nonlinearity. Obtaining accurate mathematical models of these nonlinear systems and achieving satisfactory control performance is still a challenging task. In this paper, data-driven modeling techniques and deep learning methods are used to accurately capture a category of smooth nonlinear system’s spatiotemporal features. The operating point of these systems may change over time, and their nonlinear characteristics can be locally linearized. We established the LSTM-CNN-ARX model by utilizing a fusion of long short-term memory (LSTM) network and convolutional neural network (CNN) to fit the coefficients of the state-dependent exogenous variable autoregressive (SD-ARX) model. Compared to other models, the hybrid LSTM-CNN-ARX model is more effective in capturing the nonlinear system’s spatiotemporal characteristics due to its incorporating the strengths of LSTM for learning temporal characteristics and CNN for capturing spatial characteristics. The model-based predictive control (MPC) strategy, namely LSTM-CNN-ARX-MPC, is developed by utilizing the model's local linear and global nonlinear features. The control comparison experiments conducted on a water tank system (WTS) show the effectiveness of the developed models and MPC methods.

This article seeks to strengthen efforts in technological developments based on the classification of PET plastic that positively impacts sustainable development and contributes to suitable solutions in collection centers in Mexico. Three experiment designs and machine learning tools for data processing were developed. For the experimentation, three factors were considered: the bottle's size, the amount of liquids inside the bottle, and the label on the bottle. The first experiment was to identify the distance of the sensor from post-consumer PET bottles. The second experiment was to determine the detection ability of the sensor with different levels of liquids inside the bottles, and the third was to determine the detection ability on the bottle labels. A digital lux meter on a microcontroller was developed to monitor illuminance on post-consumer PET plastic when it contains liquid as it passes through a conveyor belt for processing at an average rate of three bottles per second. With the implemented methodology, liquids were satisfactorily detected inside the transparent PET bottles when they had beverages between 25% and 100% of their capacity. Finally, this paper highlights that it is possible to implement an affordable design to identify bottles with liquids for collection centers.

The device and method in accordance with the constant pressure regulation of micro droplet PCR in microfluidic chips are developed to explore the optimization way for the micro droplet movement, fragmentation, and bubble generation in microfluidic chips in existing digital PCR technology. In the developed device, an air source device is adopted to regulate the pressure in the chip, such that micro droplet generation and PCR amplification without bubbles can be achieved. In 3 min, the sample in 20ul will be distributed into nearly 50,000 water-in-oil droplets exhibiting a diameter of about 87μm, and the micro droplet will be subjected to a close arrangement in the chip without air bubbles. The device and chip are adopted to quantitatively detect the human gene . As indicated by the experimental results, a good linear relationship exists between detection signal and DNA concentration ranging from 101~ 105 copies /μL (R2=0.999). The micro droplet PCR devices based on constant pressure regulation chips exhibit a wide variety of advantages (e.g., achieving high pollution resistance, micro droplet fragmentation and integration avoidance, reducing human interference, and standardizing results). Thus, micro droplet PCR devices based on constant pressure regulation chips have promising applications in nucleic acid quantification.

To improve the measurement accuracy of wood density and study the linear correlation between the drill feed resistance and wood density, a new micro drill instrument that can can simultaneously measure the rotation resistance and feed resistance of the drill needle was designed. The test wood samples included hardwood, softwood and conifer. The absolute dry density of each wood sample was measured. The drill resistance data was tested by using self-developed micro drill instrument and Resistogaph 650-SC. 4 linear models between drill resistance and the absolute dry density of wood . The results showed that: the statistical indicators of each model of the self-made micro drill resistance in-strument were better than the corresponding indicators of Resistogaph 650-SC; the coefficient of determination of the linear regression model between the feed resistance of the self-made micro drill resistance instrument and the absolute dry density of wood was 0.946; the statistical indicators of model including rotation resistance and feed resistance, were better than those of the model only including rotation resistance. Therefor, the design proposed in the article is reasonable, and increasing the feed resistance can improve the measurement accuracy of the micro drill resistance instrument for measuring wood density.

Fires pose a significant threat to human life and property. An autonomous fire detection and fighting robot has the potential to mitigate the challenges associated with firefighting. This paper presents the implementation of an autonomous fire detection and fighting robot equipped with sensors, algorithms, and actuators to detect, locate, and suppress fires autonomously. The robot's mechanical and electrical components were designed, prototyped, and tested in a controlled environment to evaluate its ability to navigate through obstacles, detect fires, and suppress them autonomously. The results show that the robot effectively detects and suppresses fires, making it a promising solution for firefighting applications. The study contributes to the development of autonomous robots for firefighting, enhancing the safety of firefighters and the effectiveness of firefighting operations.

This paper investigates the dynamic properties of artificial neural networks using differential equations and explores the influence of parameters on stability and neural oscillations. By analyzing the equilibrium point of the differential equations, we identify conditions for asymptotic stability and criteria for oscillation in artificial neural networks. Furthermore, we demonstrate how adjusting synaptic weights between neurons can effectively control stability and oscillation. The proposed model offers potential insights into the malfunctioning mechanisms of biological neural networks implicated in neurological disorders like Parkinson's disease tremors and epilepsy seizures, which are characterized by abnormal oscillations.

This paper proposes a multi-terminal adaptive collaborative operation method to solve the problem of unstable internal force tracking in clamping and handling unknown objects by multi-terminal robots. In the proposed method, the internal command force changes the complex internal force control problem into an internal force tracking problem from multi-slave to master. Moreover, we develop an algorithm for multi-slave setups to estimate object stiffness and motion uncertainty in the direction of the internal command force according to Lyapunov theory. Finally, the impedance control generates a reference trajectory for the multi-slave to maintain the desired internal force and track the master’s motion. Several experiments are conducted on a self-made robot equipped. The experimental results show that the oscillation amplitude of each slave end is less than 1 mm, the directional oscillation amplitude is less than 1 degree during the tracking of the desired commanded internal force. For objects with low stiffness, the error of the commanded internal force is less than 1 N (6%) per slave. The error in tracking the commanded internal force for objects with high stiffness is less than 2 N (8%). The results prove the feasibility and effectiveness of the proposed method.

Control of autonomous robot motion in radial mass density field is presented. In that sense the robot motion is described as the function of the radial mass density parameters. The radial mass density field is between the maximal radial mass density and the minimal radial mass density. Between these two limited values one can use n points (n = 1, 2, . . . nmax) and calculate the related radial mass density for each point. The radial mass density is maximal at the minimal gravitational radius and minimal at the maximal gravitational radius. This conclusion is valid for Planck scale, but also for the scales that are less or higher of that one. Using the ratio of the Planck mass and Planck radius it is generated energy conservation constant with value κ = 0.99993392118. Further, in this theory it is possible to connect Planck’s and gravitational parameters as functions of the maximal (or minimal) radial mass density. In that sense the autonomous robot motion in radial mass density field is important for the control of the robot motion at micro and nano scales.

In the context of Kalman filters, the predicted error covariance matrix $\mathbf{P}_{k+1}$ and measurement noise covariance matrix $\mathbf{R}$ are used to represent the uncertainty of state variables and measurement noise, respectively. However, in real-world situations, these matrices may vary with time due to measurement faults. To address this issue in CubeSat attitude estimation, an adaptive extended Kalman filter has been proposed that can dynamically estimate the predicted error covariance matrix and measurement noise covariance matrix using an expectation-maximization approach. Simulation experiments have shown that this algorithm outperforms existing methods in terms of attitude estimation accuracy, particularly in sunlit and shadowed phases of the orbit, with the same filtering parameters and initial conditions.

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

This work presents a new scheme for autonomous control and obstacle detection of a catamaran unmanned surface vessel. Based on the Newtonian mechanics, hydrodynamics, and maneuvering modelling group modelling principles in the attached coordinate system, a three-degree-of-freedom motion model of the catamaran unmanned surface vessel is constructed. The fuzzy inference method is used to overcome the drawback that the traditional PID control cannot tune the PID parameters online, and the trajectory controller is designed. Meanwhile, 3D LIDAR is used to achieve obstacle detection. The results of the trajectory tracking simulations and experiments verify the accuracy of the model design and the effectiveness of the autonomous control design.

From the perspective of network attackers, finding attack sequences that can make significant damage on network controllability is an important task, which also helps defenders improve the robustness during network constructions. Therefore, developing effective attack strategies is a key aspect of research on network controllability and its robustness. In this paper, we propose a Leaf Node Neighbor-based Attack (LNNA) strategy that can effectively disrupt the controllability of undirected networks. The LNNA strategy targets the neighbors of leaf nodes, and when there are no leaf nodes in the network, the strategy attacks the neighbors of nodes with a higher degree to produce the leaf nodes. Results from simulations on synthetic and real-world networks demonstrate the effectiveness of the proposed method. In particular, our findings suggest that removing neighbors of low-degree nodes (i.e., nodes with degree 1 or 2) can significantly reduce the controllability robustness of networks. Thus, protecting such low-degree nodes and their neighbors during network construction can lead to networks with improved controllability robustness.

Recently, various research has been developed addressing communication sensors for Unmanned Aerial Systems (UASs); especially when pondering control difficulties, communication is a crucial component. To this end, strengthening a control algorithm with redundant linking sensors ensures the overall system works accurately even if some components fail. This paper proposes a novel approach to integrate several sensors and actuators for a heavy Unmanned Aerial Vehicle (UAV). Additionally, a cutting-edge Robust Thrust Vectoring Control (RTVC) technique is designed to control various communicative modules during a flying mission and converge the attitude system to stability. The results of the study demonstrate that even though RTVC is not frequently utilized, it works as well as cascade PID controllers, particularly for multi-rotors with mounted flaps, and could be perfectly functional in UAVs powered by thermal engines to increase the autonomy since the propellers cannot be used as controller surfaces.

The agricultural sector is undergoing a revolution that requires sustainable solutions to the challenges that arise from traditional farming methods. To address these challenges, technical and sustainable support is needed to develop projects that improve crop performance. This study focuses on the onion crop and the challenges presented throughout its phenological cycle. Aerial monitoring using unmanned aerial vehicles (UAV) and digital image processing were used to identify patterns in the onion crop, including humid areas, weed growth, vegetation deficits, and decreased harvest performance. An algorithm was developed to identify the patterns that most affected crop growth, as the average local production reported was 40.166 ton/ha, but only 25.00 ton/ha was reached due to blight caused by constant humidity and limited sunlight. This resulted in the death of leaves and poor development of bulbs, with 50% of the production being of medium size. It is estimated that approximately 20% of the production was lost due to blight and unfavorable weather conditions.

This paper discusses a passive control issue for Nonlinear Time-Varying (NTV) systems subject to stability and attenuation performance. Based on the modeling approaches of Takagi-Sugeno (T-S) fuzzy model and the Linear Parameter-Varying (LPV) model, a Parameter-Dependent Polynomial Fuzzy (PDPF) model is constructed to represent the NTV systems. According to Parallel Distributed Compensation (PDC) concept, a parameter-dependent polynomial fuzzy controller is built to achieve robust stability and passivity of PDPF model. Furthermore, the passive theory is applied to achieve the performance constraining the disturbance effect on the PDPF systems. To develop the stability criteria, by introducing a parameter-dependent polynomial Lyapunov function, one can derive some stability conditions which belong to the term of Sum-Of-Squares (SOS) form. Based on the Lyapunov function, two stability criteria are proposed to design the corresponding PDPF controller such that the NTV system is robustly stable and passive. Finally, a numerical example is applied to demonstrate the effectiveness of the proposed stability criterion.

The safe and reliable operation of autonomous vehicles in complex and dynamic environments is heavily dependent upon exteroceptive and proprioceptive sensors. A LiDAR system generates accurate 3D point clouds, which are crucial for the detection, classification, and tracking of multiple targets. LiDAR data, however, presents significant challenges due to its density, noise, and varying sampling rates. In this study, various clustering and MTT techniques for LiDAR point clouds will be identified and classified within the context of autonomous driving to assess the state-of-the-art methods’ key challenges and their performances. We have categorized clustering and MTT methods used in AV applications, identified research gaps and challenges and analyzed existing algorithms and their challenges in detail. Researchers and practitioners in the field of autonomous driving will find this review to be a valuable resource.

The use of acoustic and magnetic methods of non-destructive testing to detect zones of stable localization of deformation in order to assess and predict the performance of long-term equipment is of scientific and practical interest at present. A structural-mechanical criterion has been developed, that reflects the revealed relationships between the structural and substructural states, internal stress fields and stable localization of deformations with the characteristics of non-destructive tests in the metal of long-term equipment made of structural 0.2 С steel and heat-resistant 0,12C-1Cr-1Mo-1V steel. The values of the structural-mechanical criteria Ks.-m for structural 0.2 С steel and for heat-resistant 0,12C-1Cr-1Mo-1V steel, corresponding to the moment of stable localization of deformation, are established. At the same time, it is recommended to replace the checked equipment nodes due to the exhaustion of the resource. The proposed and justified approach to assessing and predicting the performance and residual life of long-term power equipment, based on the identified relationships between the structural and substructural states, internal stress fields and stable localization of deformations with the characteristics of non-destructive tests and the calculation of the structural-mechanical criterion, was applied at a number of power plants in the Kemerovo region – Kuzbass. A methodology has been developed for evaluating the residual life, based on the identification and use of relationships between structural and substructural states, internal stress fields and stable localization of deformations with the characteristics of non-destructive tests and the calculation of a structural-mechanical criterion.

According to the World Meteorological Organization, since 2000, there has been an increase in global flood-related disasters by 134 percent as compared to the two previous decades. Efficient flood risk management strategies necessitate a holistic approach to evaluating flood vulnerabilities and risks. Catastrophic losses can occur when the peak flow values in the rivers in a basin coincide. Therefore, estimating the joint flood risks in a region is vital, especially when frequent occurrences of extreme events are experienced. This study focuses on estimating the joint flood risks due to river flow extremes in the Grand River watershed in Canada. Determining the interdependence of floods at multiple locations using state-of-the-art tools, the associated damage probabilities, and their costs will be beneficial to various stakeholders, such as the insurance industry, the disaster management sector, and most importantly, the public.

In the era of electrification and artificial intelligence, direct current motors are widely utilized with numerous innovative adaptive and learning methods. Traditional methods utilize model-based algebraic techniques with system identification, such as recursive least squares, extended least squares, and autoregressive moving averages. The new method known as deterministic artificial intelligence asserts physical-based process dynamics to achieve target trajectory tracking. There are two common autonomous trajectory generation algorithms: sinusoidal function and Pontryagin's based generation algorithm. This thesis aims to simulate model-following and deterministic artificial intelligence methods using sinusoidal and Pontryagin's methods and compare their performance difference when following challenging step function slew maneuver.

Hydro generator sets serve as the peak and frequency regulation of the power system,and play a very important role in maintaining system stability and improving power quality.Based on the internal characteristics model of a specific type of hydro generator,this paper constructs a hydroelectric coupling model for hydropower units,studies the influence of the regulation system of hydropower units on low-frequency oscillations under different load conditions,and adopts variable speed reaching law and fuzzy sliding mode control strategy to improve the regulation quality of the system and ensure the stable operation of the units.Results of simulation and water turbine set under different load conditions show that varible speed reaching law can effectively improve the power-angle oscillation behavior of the hydropower set and suppress the occurrence of low-frequency oscillations of the system when the system is subject to power disturbance,which provide a new theoretical basis and solution for the vibration analysis and control optimization of hydraulic turbine units.

Although the similarity laws were widely used in impact fields, the scaling relations of anisotropic elastic structures often were broken when the geometric distortion (not equal scaling in different spatial directions) and the material distortion (different materials used for scaled model and full-size prototype) were considered. To overcome the difficulty of geometric and material distortion, a directional framework of similarity laws, termed as oriented-density-length-velocity (ODLV) system, is proposed for the anisotropic elastic structure under impact loads. Different from previous similarity law systems using scalar dimensional analysis, the directional similarity law framework mainly considers spatial anisotropy for structural geometry and material parameters. Based on the oriented dimensional analysis and the orthotropic Hooke's law, directional dimensionless numbers and directional scaling relations with geometric power properties for the elastic modulus and the Poisson's ratio are presented systematically. By selecting the dominant material parameters controlling similarity, three important scaling techniques with correction of geometric width and thickness are proposed to compensate for the difficulty of distortion. A clamped square plate with different anisotropic and isotropic elastic materials subjected to dynamic pressure pulse is verified numerically and discussed in detail. The results show that the thin square plate prototype must be scaled to be the thinner/thicker rectangular plate, and the components of displacement, stress and strain between scaled model and full-scale prototype behave good consistency in both spatial and temporal fields.

This research work presents the nonlinear control framework to estimate and reject the mismatched lumped disturbances acting on the nonlinear uncertain system. It is an unfortunate fact that the conventional Extended State Observer (ESO) is not capable to estimate the mismatched lumped disturbance and its derivative simultaneously for the systems. Also, the basic ESO is only suitable for systems with Integral Chain Form (ICF) structure. Similarly, the conventional Feedback Linearizing Control (FLC) approach is not robust for stabilizing the systems in the presence of disturbances and uncertainties. Hence, the nonlinear control framework is proposed to overcome the above issues which are composed of, (a) Dual Extended State Observer (DESO), and (b) DESO based FLC. The DESO provides information on the unmeasured state, mismatched disturbance, and its derivative. While the DESO-FLC utilizes the information from DESO to counter the effect of such disturbances and to stabilize the nonlinear systems around the reference point. The detailed closed-loop analysis is presented for the proposed control framework in the presence of lumped disturbances. The performance robustness of the presented design has been validated for the third order, nonlinear, unstable, and disturbed Magnetic Levitation System (MLS). The results of the DESO-FLC approach are compared with the most popular Linear Quadratic Regulator (LQR) and nonlinear FLC approaches based on the integral error criterion and the average electrical energy consumption.

The lab-on-a-chip concept, enabled by microfluidic technology, promises the integration of multi-ple discrete laboratory techniques into a miniaturised system. Research into microfluidics has generally focused on the development of individual elements of the total system (often with rela-tively limited functionality), without full consideration for integration into a complete fully opti-mised and miniaturised system. Typically, the operation of many of the reported lab-on-a-chip devices is dependent on the support of a laboratory framework. In this paper, a demonstrator platform for routine laboratory analysis is designed and built, which fully integrates a number of technologies into a single device with multiple domains such as fluidics, electronics, pneumatics, hydraulics, and photonics. This facilitates the delivery of breakthroughs in research, by incorpo-rating all physical requirements into a single device. To highlight this proposed approach, this demonstrator microsystem acts as a fully integrated biochemical assay reaction system. The re-sulting design determines enzyme kinetics in an automated process and combines reservoirs, three-dimensional fluidic channels, optical sensing, and electronics in a low-cost, low-power and portable package.

A detailed literature review is performed in this study to address solutions for the full-body design and control of an aerial manipulator. Deep Reinforcement Learning methods are growing to be utilized recently to cope with various uncertainties. The pros and cons of these theories will be explained as well as introducing the advantages of Fuzzy Reinforcement Learning methods. State-of-the-Art, possible challenges, potential approaches, and a summary of desired precision devices are discussed in this study.

This manuscript explores unmanned aerial vehicle DC motor control performance efficacy of deterministic artificial intelligence in comparison to model-following adaptation, particularly a direct self-tuner with filtering. The deterministic artificial intelligence model made use of self-awareness statements to overcome error in response to permutations of the multi-duty cycle square wave that served as the system input. It can be seen that (despite equivalently powerful estimation techniques) deterministic artificial intelligence provided far superior results: a reduction in peak initial transient error of 55%, and a mean error reduction over 81% with over 65% reduction in error standard deviation compared to a state-of-the-art nonlinear adaptive control method. Deterministic artificial intelligence also was able to very closely track at the switching of the input control, while the benchmark nonlinear adaptive control failed to respond as quickly at these points.

Is it possible to develop a meaningful measure for the complexity of a simulation model? Algorithmic information theory provides concepts that have been applied in other areas of research for the practical measurement of object complexity. This article offers an overview of complexity from a variety of perspectives and provides a body of knowledge with respect to the complexity of simulation models. Key terms of model detail, resolution, and scope are defined. An important concept from algorithmic information theory, Kolmogorov complexity, and an application of this concept, normalized compression distance, are used to indicate the possibility of measuring changes in model detail. Additional research in this area can advance the modeling and simulation body of knowledge toward the practical application of measuring simulation model complexity. Examples show that KC and NCD measurements of simulation models can detect changes in scope and detail.

This paper aims at computing feasible control strategies and the corresponding feasible state trajectories to drive an autonomous rear-axle bicycle robot from a given initial state to a final state such that the total running cost is minimized. Pontryagin’s Minimum Principle is applied and derives the optimality conditions from which the feasible control functions, expressed as functions of state and costate variables, are substituted into the combined state-costate system to obtain a new free-control state-costate nonlinear system of ordinary differential equations. A computer program was written in Scilab to solve the combined state-costate system and obtain the feasible state functions, the feasible costate functions and the feasible control functions. Associated Computational Simulations were provided to show the effectiveness and the reliability of the approach.

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

Microgrids offer flexibility in power generation in a way of using multiple renewable energy sources. In the past few years, microgrids become a very active research area in terms of design and control strategies. Most of the microgrids use DC/DC converters to connect renewable energy sources to the load. In this paper, the simulation model of a DC microgrid with three different energy sources (Lithium-ion battery (LIB), photovoltaic (PV) array, and fuel cell) and external variant power load is built with MATLAB/Simulink and the simulative results show that the stability of DC microgrid can be guaranteed by the proposed maximum power point controller MPPT. The three energy sources are connected to the load through DC/DC converters, one for each. This type of topology ensures protection for each energy source as well as optimum stability at the load.

this article presents the results of implementing existing software tools in the accounting field. The teaching processes regarding the use of Learning and Knowledge Technologies (TAC) in the university environment, and very specifically, in what has to do with the pedagogical integration of the same in the curriculum is deficient and disjointed with the current technological development. Thus, in the different curricula of professional programs of Public Accounting and related, the courses related to computer automation processes are oriented only towards the management of computer science and accounting software and the great diversity of existing applications that would undoubtedly directly benefit the student to know the potential of these in their future accounting practice is not taken into account. Strengthen the various skills of a Public Accountant in training through Learning and Knowledge Technologies (TAC), under the hypothesis of developing skills in the accounting field through TACs. The research was developed using a quantitative approach, an empirical-analytical method, with a type of descriptive research under an experimental design based on G1 x O1 and G2–O2, three phases were defined. In the first phase, the characterization of the existing software tools in the accounting field was carried out. In the second phase, their relevance was determined. In the third phase, performance was evaluated and then classified in a repository. The data obtained were analyzed with parametric analysis techniques through which it was found that the difference in quantitative results in the academic process between the experimental and control groups was statistically significant, which concluded the success of the experimental treatment. The use of CT scans in the classroom by the experimental group resulted in an improvement in their academic performance compared to the control group, strengthening their self-learning processes and facilitating the development of cognitive functions and skills necessary in the exercise of their accounting profession. This research supports and strengthens the work skills developed in the classroom for public accounting students. The tools TAC is developed from the request made by the radiometry laboratory as a first phase and a second phase is necessary for validation with experts.

In this study, a multiobjective, multiperiod, global optimization for design, sizing and dispatch of an islanded, hybrid microgrid was performed using a model built in MATLAB. The system was simulated over one year for sizing and over one day for dispatch, both using hourly time steps. The model minimized lifecycle levelized costs, emissions, lost load and dumped power while maximizing penetration of clean, renewable sources in the microgrid. This found optimal capacities of the renewable, energy storage and backup generation components which provide the best combination of affordability, sustainability, reliability and efficiency. After experimenting with several global solvers, it was determined that particle swarm optimization is most well-suited to solving the sizing optimization problem. The PV-wind microgrid using Li-ion batteries along with diesel engines was found to perform best among all the combinations considered. It was found that in spite of including additional objectives, monetary costs are the primary driver while allocating generation capacity between different renewable sources like wind versus solar PV. Furthermore, the sizing of PV, wind and battery storage depends strongly on the rating of the standby distributed generator, mainly due to reliability consideration. Generating Pareto-optimal sets revealed interesting relationships between different input variables (i.e. PV, wind and battery capacities) as well as trade-offs that arise while pursuing different objectives. Pursuing cost-minimization alone may lead to sub-optimal outcomes in terms of environmental impact, reliability and excess energy production. A sensitivity analysis was also conducted to understand the effects of various parameters like fuel price and energy storage costs on the optimal system's design and operation. Such accurate sizing programs help reduce the extent of oversizing of sub-systems during the design and planning stage, which is usually needed to achieve high reliability with distributed and decentralized energy systems like off-grid microgrids. This reduces the upfront capital investment needed to build the system, making clean electricity access affordable in the short term. The economic-environmental dispatch produced day-ahead scheduling strategies to meet the above mentioned objectives. The system was found to be relatively robust to short-term uncertainties and disturbances in renewable generation and load, although this does cause sub-optimal performance due to increased reliance on fossil fuels. It was found that dispatching of the batteries and backup generators is most critical in minimizing impacts of such events. However, the response to longer-term disturbances still remains to be assessed. The study also includes a comprehensive literature review of tools available for microgrid design as well as different optimization algorithms that have been used to solve microgrid sizing, dispatch and scheduling problems. Additionally, an overview is provided of various control strategies that can be used to improve robustness and resiliency of microgrids.

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

For a mobile robot, navigation in a densely crowded space can be a challenging and sometimes impossible task, especially with traditional techniques. In this paper, we present a framework to train neural controllers for differential drive mobile robots which must safely navigate a crowded environment while trying to reach a target location. To learn the robot’s policy, we train a convolutional neural network using two reinforcement learning algorithms, Deep Q-Networks (DQN) and Asynchronous Advantage Actor Critic (A3C), and develop a training pipeline that allows to scale the process to several compute nodes. We show that the asynchronous training procedure in A3C can be leveraged to quickly train neural controllers and test them on a real robot in a crowded environment.

The main objective of this work is the design and implementation of self-adaptive capabilities in wireless sensors by applying control engineering and model-based design methodologies. It has been addressed the problem related to the changes in the flow of data packets through the network connection and the excess energy consumption that this causes in these devices. To design the solution, a systemic characterization of the scheduling and execution process of embedded tasks on the device has been carried out. This means defining cause-effect relationships in the system and its modelling theoretically and/or experimentally. In turn, these models facilitate the design of control strategies to improve the dynamic behavior of the system. As a solution, a self-adaptation strategy based on feedforward control algorithm has been designed and developed, which has been applied to improve the dynamic behavior and resource consumption. The developed solution has been satisfactorily evaluated experimentally.

In this paper we present AWEbox, a Python toolbox for modeling and optimal control of multi-aircraft systems for airborne wind energy (AWE). AWEbox provides an implementation of optimization-friendly multi-aircraft AWE dynamics for a wide range of system architectures and modeling options. It automatically formulates typical AWE optimal control problems based on these models, and finds a numerical solution in a reliable and efficient fashion. To obtain a high level of reliability and efficiency, the toolbox implements different homotopy methods for initial guess refinement. The first type of methods produces a feasible initial guess from an analytic initial guess based on user-provided parameters. The second type implements a warmstart procedure for parametric sweeps. We investigate the software performance in two different case studies. In the first case study we solve a single-aircraft reference problem for a large number of different initial guesses. The homotopy methods reduce the expected computation time by a factor of 1.7 and and the peak computation time by a factor of 8, compared to when no homotopy is applied. Overall, the CPU timings are competitive to timings reported in the literature. When the user initialization draws on expert a priori knowledge, homotopies do not increase expected performance, but the peak CPU time is still reduced by a factor of 5.5. In the second case study, a power curve for a dual-aircraft lift-mode AWE system is computed using the two different homotopy types for initial guess refinement. On average, the second homotopy type, which is tailored for parametric sweeps, outperforms the first type in terms of CPU time by a factor of 3. In conclusion, AWEbox provides an open-source implementation of efficient and reliable optimal control methods that both control experts and non-expert AWE developers can benefit from.

Mini-drones can be used for a variety of tasks, such as weather monitoring, package delivery, search and rescue, and recreation. Their uses are mostly restricted to outside locations with access to the Global Positioning System (GPS) and/or similar systems since their usefulness, safety, and performance substantially rely on ubiquitously accurate positioning and navigation. Indoor localization is getting better, thanks to technologies like Visual Simultaneous Localization and Mapping (V-SLAM). However, more advancements are still required for mini-drone navigation applications with greater safety standards. In this research, a novel method for enhancing indoor mini-drone localization performance is proposed. By merging Oriented Rotated Brief SLAM (ORB-SLAM2), Semi-Direct Monocular Visual Odometry (SVO), and an Adaptive Complementary Filter, the suggested strategy improves V-SLAM approaches (ACF). The findings demonstrate that, when compared to other widely-used indoor localization algorithms, the suggested methodology performs better at estimating location under various situations (low light, low texture, and dynamic environments).

By constructing a static map, the library robot can navigate and access documents autonomously, which greatly improves efficiency; however, for libraries where shelves can be moved, map changes do not allow for direct navigation, and also sensors such as radar and camera are relatively expensive, so we propose a low-cost navigation algorithm based on real-time ranging data and map matrices, and designed a mobile archive access robot. In order to obtain real-time distance data, nine near/long range sensors were mounted on the chassis and a composite digital filtering algorithm was designed based on different moving area characteristics; then the access task matrix and map matrix were designed based on the archive access task and the location characteristics of the archive shelf placement, the robot can rely on the range data to update the map matrix during the moving process, complete its own positioning, and use the task matrix The robot can use the task matrix to complete autonomous navigation and access to multiple files. Experiments show that the filtered positioning accuracy can reach 1cm, while the robot can move to the target shelf autonomously, which is more practical and less costly.

Human motion analysis using inertial measurement units (IMUs) has recently been shown to provide accuracy similar to the gold standard, marker-based optical motion capture, but at much lower costs and while being less restrictive and time-consuming. However, IMU-based motion analysis requires precise knowledge of the orientation in which the sensor is attached to the body segments. This knowledge is commonly obtained via an anatomical calibration procedure based on precisely defined poses or motions, which is time-consuming and error-prone. In the present work, we propose a self-calibrating approach for magnetometer-free joint angle tracking that is suitable for joints with two degrees of freedom (DoF), such as the elbow, ankle, and metacarpophalangeal finger joints. The proposed methods exploit kinematic constraints to simultaneously identify the joint axes and the heading offset. The experimental evaluation shows that the proposed methods are able to estimate plausible and consistent joint axes from just ten seconds of arbitrary elbow joint motion. Comparison with optical motion capture shows that the proposed methods yield joint angles with similar accuracy as a conventional IMU-based method while being much less restrictive. Therefore, the proposed methods improve the practical usability of IMU-based motion tracking in many clinical and biomedical applications.

Drones, as mobile media of the present day, increase the operational and narrative capabilities of television and accelerate the logistics of shooting. Unmanned aerial vehicles with a camera properly steered by a pilot are able, to some extent, to replace a jimmy jib/crane and a dolly; basic technical devices, used in the studios, enabling the creation of narrative systems of pictures in film and television. Television is more and more often using drone footage to report events, broadcast live, as well as create coverage and television documentaries. In many productions the pilot of the drone simultaneously acts as the drone camera operator, which can improve the effectiveness of shooting, but also carries some risk related to flight safety. The article describes and presents in the form of processed footage the real conditional ties of a Visual Line of Sight (VLOS) flight faced by pilots filming with a drone. VLOS is a type of air operation, which requires maintaining eye contact with the drone. In many countries a drone visibility flight is legally sanctioned as VLOS Operation. An experiment was conducted to investigate the interactions between a human and a machine in airspace steered using a controller with a touchscreen. The drone pilot was considered an integral part of the drone’s flight system control Experimental data was collected with the use of a mobile eye-tracker, video cameras, surveys and pilot declarations. During the experiment, eight television drone pilot operators recaptured a model shot under the regime of VLOS flight at low altitude. They all show that both advanced and beginner pilots did not look at the UAV for over half the time of shot execution. The experiment allowed establishing two coefficients related to the effectiveness of a VLOS flight aiming at filming from the drone. The results point to clear differences in screen perception styles used by drone television pilots.. The coefficients were described in the form of mathematical formulas and their limit values were determined. The research also determines the limits of pilots’ perception, within which they are able to film with a drone. The outcomes may help to optimize the process of aerial filming with the use of a drone, carried out for television, film and other media, as well as in a simulation of such a flight for research and training. From the perspective of media science and social communication, the presented study included a technological component that can be accessed through information science, using statistical models and variable distributions. Media scholars can study the impact of the media without having to look into the metaphorical black box. Computer science opens up this possibility.

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

This study looks at the application of delayed action Passive InfraRed (PIR) sensors in the control of water use for urinal flushing. In this we briefly review the literature on urinal controls before reviewing four different approaches to PIR urinal controls. Existing literature discusses some of the pros and cons of different types of urinal control. However, the literature doesn’t consider the marked differences that can occur within individual approaches, based on the way controls operate. This study was initiated at the University of Surrey during 2019 following a water saving audit, in an attempt to bring down what had been identified as one of the largest users of water. This paper therefore aims to identify the most effective way to reduce water consumption of urinal systems, through retro-fitting PIR control systems within the variety of settings found across university campuses. This paper also reviews the different reductions achieved over periods of different levels of use, linked to term time, holidays, Covid-19 related lockdowns, and the ‘new normal’. It found that grouped delayed action flushing was the most effective form of urinal control for reducing water use. The delayed action, grouped PIR sensors, achieved between, a 59-64% adjusted reduction against the control group during non-Covid19 periods, and a 35% reduction against the control group during lockdowns.

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

Nowadays brushless DC motors (BLDCMs) are becoming indispensable components as the electrification revolution in the mobility industry is happening. Electric kick scooters, so-called e-scooters, are among these micro-mobility vehicles which are powered by these motors. Due to the uncertain and nonlinear features, the controller performance developed for these motors degrades. For these reasons, a chattering-reduced cascaded Sliding Mode Control (SMC) scheme to effectively track reference motor speed in the outer loop by eliminating torque ripples in the inner loop current control was designed. Field-oriented Control (FOC) methodology was used to implement the SMC in the BLDCM. An exponential reaching law algorithm was proposed for sliding surfaces of the inner and outer loop controllers. The suitability and performance of electric scooter-hub motors were analyzed in terms of traction control. A cascaded speed and torque controller produced significantly favorable results representing minimized torque and current ripples, and operation over a wide speed range.

Fuel consumption, subsequent emissions and safe operation of class 8 vehicles are of prime importance in recent days. It is imperative that the vehicle operates in its true optimal operating region given a variety of constraints such as road grade, load, gear shifts, Battery State of charge (for hybrid vehicles), etc. In this paper a research study is conducted to evaluate the fuel economy and subsequent emission benefits when applying predictive control to a mild hybrid line haul truck. The problem is solved using a combination of dynamic programming with back tracking and model predictive control. The specific fuel saving features that are studied in this work are dynamic cruise control, gear shifts, vehicle coasting and torque management. These features are evaluated predictively as compared to a reactive behavior. The predictive behavior of these features are a function of road grade. The result and analysis shows significant improvement in fuel savings along with NOx benefits. Out of the control features dynamic cruise (predictive) control and dynamic coasting showed the most benefits while predictive gear shifts and torque management (by power splitting between battery and engine) for this architecture did not show fuel benefits but provided other benefits in terms of powertrain efficiency.

Voltage Source Inverters (VSI) are the integral part of Electrical Vehicles (EV) to enhance the reliability of supply power to critical loads in vehicle to load (V2L) applications. Inherent properties of sliding mode control (SMC) makes it one of the best vailable options to achieve desired voltage quality under variable load conditions. Intrinsic characteristic of robustness associated with SMC is achieved generally at the cost of unwanted chattering along the sliding surface. To manage this compromise better, optimal selection of sliding surface coefficient is applied with proposed composite exponential reaching law (C-ERL). The novelty of proposed C-ERL is associated with the intelligent mix of exponential, power and difference functions blended with rotating sliding surface selection (RSS) technique for three phase two level VSI. Moreover, proposed reaching law along with power rate exponential reaching law(PRERL), enhanced exponential reaching law(EERL) and repeatitive reaching law(RRL) are implemented on two level three phase VSI under variable load condtions. Comparative analysis of which strongly advocates the authenticity and effectiveness of proposed reaching law in achieving well regulated output voltage, with high level of robustness, reduced chattering and low %THD.

The keyless systems have replaced the old fashion methods of inserting physical keys in the keyhole to, i.e., unlock the door, because they are inconvenient and easy to be exploited by the threat actors. Keyless systems use the technology of radio frequency (RF) as an interface to transmit signals from the key fob to the vehicle. However, Keyless systems are susceptible to being compromised by a thread actor who intercepts the transmitted signal and performs a reply attack. In this paper, we propose a transfer learning-based model to identify the replay attacks launched against remote keyless controlled vehicles. Specifically, the system makes use of a pre-trained ResNet50 deep neural network to predict the wireless remote signals used to lock or unlock doors of a remote-controlled vehicle system remotely. The signals are finally classified into three classes: real signal, fake signal high gain, and fake signal low gain. We have trained our model with 100 epochs (3800 iterations) on a KeFRA 2022 dataset, a modern dataset. The model has recorded a final validation accuracy of 99.71% and a final validation loss of 0.29% at a low inferencing time of 50 ms for the model-based SGD solver. The experimental evaluation revealed the supremacy of the proposed model.

Sparse reward long horizon task is a major challenge for deep reinforcement learning algorithm. One of the key barriers is data-inefficiency. Even in the simulation environment, it usually takes weeks to training the agent. In this study, a data-efficiency training framework is proposed, where a curriculum learning is design for the agent in the simulation scenario. Different distributions of the initial state are set for the agent to get more informative reward during the whole training process. A fine-tuning of the parameters in the output layer of the neural network for value function is conduct to bridge the gap between sim-to-real. An experiment of UAV maneuver control is conducted in the proposed training framework to verify the method more efficient. We demonstrate that data-efficiency is different for the same data in different training stages.

In the speed control system of Interior Permanent Magnet Synchronous Motor (IPMSM) without a speed sensor, the speed under the traditional PI control suffers from poor tracking performance and step response overshoot. This paper proposes a Compound Variable Structure PI (CVSPI) controller to improve the system control performance. It can choose whether to include an integral term according to the size of the system deviation to speed up the response. It also introduces a Model Reference Adaptive System (MRAS) speed observer in the controller to estimate the speed and adaptively adjust the size of the anti-integration saturation gain to improve the dynamic response following performance and immunity of the system. A feed-forward link is added for a given input differential to achieve an accurate answer to time-varying inputs. As the linear compensation matrix of the conventional MRAS is a unit matrix, the speed can only be accurately observed in a specific speed range. In this paper, a new linear compensation matrix is designed, and a new speed adaptive law is derived, allowing the improved MRAS to measure speed over a wide range accurately. Simulation results validate the excellent control performance of the CVSPI and the accuracy of the enhanced MRAS over a wide speed range.

This paper aims at computing feasible control strategies and the corresponding feasible state trajectories to drive an autonomous rear-axle bicycle robot from a given initial state to a final state such that the total running cost is minimized. Pontryagin’s Minimum Principle is applied and derives the optimality conditions from which the feasible control functions, expressed as functions of state and costate variables, are substituted into the combined state-costate system to obtain a new free-control state-costate nonlinear system of ordinary differential equations. A computer program was written in Scilab to solve the combined state-costate system and obtain the feasible state functions, the feasible costate functions and the feasible control functions. Associated Computational Simulations were provided to show the effectiveness and the reliability of the approach.

A therapy’s outcome is determined by a tumor’s response to treatment which, in turn, depends on multiple factors such as the severity of the disease and the strength of patient’s immune response. Gold standard cancer therapies are in most cases fragile when sought to break the ties to either tumor kill ratio or patient toxicity. Lately, research has shown that cancer therapy can be at most robust when handling adaptive drug resistance and immune escape patterns developed by evolving tumors. This is due to the stochastic and volatile nature of the interactions, at the tumor environment level, tissue vasculature, and immune landscape, induced by drugs. Herein, we explore the path towards antifragile therapy control, that generates treatment schemes that are not fragile but go beyond robustness. More precisely, we describe a first instantiation of a control-theoretic method to make therapy schemes cope with the systemic variability in the tumor–immune–drug interactions and gain more tumor kill with less patient toxicity. Considering the anti-symmetric interactions within a model of the tumor–immune–drug network, we introduce the antifragile control framework that demonstrates promising results in simulation. We evaluate our control strategy against state-of-the-art therapy schemes on various experiments and discuss the insights we gained on the potential that antifragile control could have in treatment design in clinical settings.

This paper develops a methodology to control the navigation of an autonomous ship robot from an initial state to a final. To solve the problem the following approach is used: The ship robot system is modelled as a control system of six ordinary differential equations involving six state variables and three control variables. After having computed the system Hamiltonian, the feasible controls for optimality are derived from the normal equations of optimality as functions of the state and costate variables. Such controls are substituted into the state and the costate equations and give a combined control-free state-costate system of ordinary differential equations which is solved numerically by using a developed Matlab computer program. Associated computational simulations are designed and provided to show the reliability of the approach.

This paper develops feasible control strategies and associated system responses to bring an autonomous front-axle bicycle robot from specified initial conditions to final conditions such that a specific performance index is minimized. To solve the problem, the following approach is used: The feasible controls derived from the normal equations of optimality are substituted into the state and the costate systems and form a combined control-free state-costate system which is vectorized to enable and ease the application of a numerical method. A computer program written in Matlab computer programming language, codes a fourth-order Runge-Kutta numerical method and then solve the combined state-costate system of ordinary differential equations. The obtained results are the feasible bicycle robot trajectory, the feasible state functions, the feasible costate functions and the feasible control functions. Associated Computational Simulations are designed and provided to persuade on the effectiveness and the reliability of the approach.

This work presents a nonlinear model predictive control scheme that challenges overcoming the obstacles holding back over decades to develop affordable autonomous control and monitoring systems applied in the large-scale industry. Among the numerous proposals in the literature, most do not consider the significant fluctuation of kinetic parameters in the reduced mathematical model ADM2, widely used for control and monitoring purposes. The prevalent cause, on a basis, is the lack of information caused by some dynamics and parameters that cannot be measured in real-time by reliable sensors. In addition, to make matters worse, those systems inherently act with nonlinear nature and have a high sensitiveness to uncontrollable inputs and perturbations. Therefore, to prevent these drawbacks, this work proposes a new methodology that reconstructs the lack of information from the non-measurable dynamics, concentration of bacterias, and the kinetic parameters related to reaction rates. Simulations results demonstrate the effectiveness of the methodology compared with traditional industrial control schemes.

Phase synchronization of weakly coupled limit cycle oscillators are related to the stability of the zero solution of the reduced-order dynamics of phase differences, represented by a systems of differential equations on a hypertorus. Using Rantzer's density function, a dual form of Lyapunov function, we propose a method to certify almost global stability of an equilibrium on a hypertorus. We show that the proposed method can certify robustness of phase synchronization of all-to-all and weakly coupled limit cycle oscillators with respect to disturbances in phases. The method leverages sum of squares polynomial optimization to construct the certification function.

This work presents a methodology that seeks to be a new standard in modeling identification in anaerobic digestion reactors. Because it is not possible to measure all variables with reliable and cost-efficient real-time methods, a specific structure composed of an asymptotic observer for the concentration of state variables; acidogenic and methanogenic bacterias, unlock the use of new types of raw sludges for industrial control and monitoring purposes. New yield parameters were included in the reduced anaerobic digestion model (ADM2) used as the core, precisely two terms in total alkalinity, to bring about the modeling of additional organic materials at inlet containing proteins or amino acids. The fermentation of these substances introduces ammonium, providing variations in the amount of alkalinity available inside the reaction. The new model is used to solve an optimization problem that calculates the parameters that best fit the dynamics of state variables with the same information taken on the experimental data. The adjustment process started with the genetic algorithm; however, to improve the performance, a novel method is proposed called step-ahead. Together, including the design of an asymptotic observer, numerical simulations demonstrate the strengths of the structure, which constitutes a significant step in paving the way further to implement feasible, cost-effective control and monitoring systems in the industry.

Reasonable trajectory planning is the precondition for the parafoil airdrop system to achieve autonomous accurate homing and safe landing. In order to successfully realize the self-homing of the parafoil airdrop system, a new trajectory optimization design scheme is proposed in this paper. The scheme is based on the parafoil's unique flight and control characteristics and adopts a segmented homing design. Compared with the current common trajectory design method, its core feature is to avoid the problem that the straight-line flight distance before landing is limited by the radius of the height-reducing area and ensure landing accuracy and safety. Firstly, the different starting states of the parafoil airdrop system and the landing requirements were comprehensively considered, and the homing trajectory is reasonably segmented. Based on the requirements of energy control, stable flight, and landing accuracy, the optimal objective function of the trajectory was established, and the trajectory parameters, calculation methods, and constraints were given. Secondly, the cuckoo search algorithm was applied to optimize the objective function to obtain the final home trajectory. Finally, the trajectory planning under different airdrop conditions was simulated and verified. The results showed that the planned trajectories could reach the target point accurately and meet the flight direction requirements, proving the proposed scheme's correctness and feasibility.

Various factors, such as uncertainty of component parameters and uncertainty of sensor meas-urement values, contribute to the difficulty of fault detection in the landing gear retrac-tion/extension hydraulic system. In this paper, we introduce linear fractional transformation technology and uncertainty analysis theory for the construction of the diagnostic bond graph of the landing gear retraction/extension hydraulic system. In this way, interval analytical redundancy relations and fault signature matrix can be derived. Using the fault signature matrix, existing faults of the system can be preliminarily detected and isolated. Additionally, interval analytical re-dundancy relations can be used to detect system faults in detail, and cases analysis can be carried out to determine if the actuator is externally or internally leaky, and if the landing gear selector valve is reversing stuck. Compared to the traditional analytical redundancy relations, this method takes into account the negative factors of uncertainty; and compared to the traditional absolute diagnostic threshold, the interval diagnostic threshold is more accurate and sensitive.

Steam Generator Level Control System (SGLCS) is one of the key instrumentations and control subsystems to ensure the safe operation of nuclear power plants. It is highly recommended to perform reliability analysis for SGLCS for making better maintenance strategy. SGLCS is a digital control system with complex redundant configuration and failure\self-diagnosis\repair action, traditional fault tree is not applicable due to its static property, Markov model is not a good choice too because of heavy burden of creating state transition graph for even medium-size system. Boolean Logic Driven Markov Process (BDMP) can describe complex failure-repair state transition via ‘trigger link’ and three kinds of leaf nodes, as well as keep compact and easy-read struct like fault tree. So BDMP is adopted to analysis reliability of SGLCS. Graphical BDMP modeling environment KB3 and Monte Carlo simulator YAMS is used for BDMP modeling and quantitative analysis respectively, and unavailability of SGLCS is obtained. The contribution of three parts of SGLCS to the unavailability of the system is also evaluated, and it is found that the water supply flow control part contributes the most to the failure of SGLCS.

This paper presents an approach to the application of the Model-Based Systems Engineering (MBSE) and Model-Based Systems Architecting (MBSA) principles to develop a Model-Based Pattern Language (MBPL). It takes too long for systems engineers and architects to develop a new system from scratch, particularly new space-based systems derived from the existing space systems architectures. A pattern language is a holistic view of reusable logical model artifacts; many are interdisciplinary and introductory, if at all. The results are mostly a combination of the application-specific logical solution, which further results in the best possible overall solution. The main benefit of the pattern language is reducing the time and validation required to generate a new space-based system architecture; this approach will develop top-level requirements in the initial phase of the system development. The rationale of the methodology proposed by the paper is as follows, collect, and decompose published literature and other open-source information available on space system architectures and system models; develop SysML models for systems, subsystems, products, assembly, subassembly level, and mission-specific requirements using CAMEO SysML software. Arrange these patterns to develop a functional ontology and construct a logical architecture pattern library. This approach created, updated, and managed SysML pattern language, which evaluated the expedited new model construction. Again, our objective is to develop a logical pattern language using public domain information and evaluate patterns by constructing a new space mission concept—for example, planetary surface habitat.

In this paper, we propose an efficient numerical computation method of reduced-order controller design for linear time-invariant systems. The design problem is described by linear matrix inequalities (LMIs) with a rank constraint on a structured matrix, due to which the problem is NP-hard. Instead of the heuristic method that approximates the matrix rank by the nuclear norm, we propose a numerical projection onto the rank-constrained set based on the alternating direction method of multipliers (ADMM). Then the controller is obtained by alternating projection between the rank-constrained set and the LMI set. We show the effectiveness of the proposed method compared with existing heuristic methods, by using 95 benchmark models from the COMPLeib library.

This article analyzes and compares the integration of two different maximum power point tracking (MPPT) control methods, which are tested under partial shading and fast ramp conditions. These MPPT methods are designed by Improved Particle Swarm Optimization (IPSO) and a combination technique between Neural Network and Perturb & Observe method (NN_P&O). These two methods are implemented and simulated for photovoltaic systems (PV), where various system responses, such as: voltage and power are obtained. The MPPT techniques were simulated using Matlab/Simulink environment. A comparison of the performance of IPSO and NN_P&O algorithms is carried out to confirm the best accomplishment of the two methods in terms of speed, accuracy and simplicity.

Since the conventional split-merge algorithm is sensitive to the object scale variance and splitting starting point, a piecewise split-merge polygon approximation method is proposed to extract the object contour features. Specifically, the contour corner is used as the starting point for the contour piecewise approximation to reduce the sensitivity of the contour segment on the starting point; then, the split-merge algorithm is used to implement the polygon approximation for each contour segments. Both the distance ratio and the arc length ratio instead of the distance error are used as the iterative stop condition to improve the robustness to the object scale variance. Both the angle and length as two features describe the shape of the contour polygon, and affect each other along the contour order relationship. Since they have a strong coupling relationship. To improve the description correction of the contour, these two features are combined to construct a Coupled Hidden Markov Model to detect the object by calculating the probability of the contour feature. The proposed algorithm is validated on ETHZ Shape Classes and INRIA Horses standard datasets. Compared with other contour-based object detection algorithms, the proposed algorithm reduces the complexity of contour description, improves the robustness of contour features to scale variance, and has a higher object detection rate.

An adaptive deep neural network is used in an inverse system identification setting to approximate the inverse of a nonlinear plant with the aim of constituting the plant controller by copying to the latter the weights and architecture of the converging deep neural network. This deep learning (DL) approach to the adaptive inverse control (AIC) problem is shown to outperform adaptive filtering techniques and algorithms normally used in adaptive control, especially when the plant is nonlinear. The deeper the controller the better the inverse function approximation, provided that the nonlinear plant have an inverse and that this inverse can be approximated. Simulation results prove the feasibility of this DL-based adaptive inverse control scheme. The DL-based AIC system is robust to parameter change of the nonlinear plant in that, under such change, the plant output reassumes the value of the reference signal considerably faster than with the adaptive filter counterpart of the deep neural network. Settling times and rise times of the step response are shown to improve in the DL-based AIC system.

This work attempts to answer in a clear way the following key questions regarding the optimal initialization of the Sysmon tool, towards the identification of Lateral Movement in the MS Windows ecosystem. First, from an expert’s standpoint and with reference to the relevant literature, what are the criteria of determining the possibly optimal initialization features of the Sysmon’s event monitoring tool, which are also applicable as custom rules within the config.xml configuration file? Second, based on the identified features, how can a functional configuration file, able to identify as many LM variants as possible, be generated? To answer these questions, we relied on the MITRE ATT&CK knowledge base of adversary tactics and techniques, and focused on the execution of the nine commonest LM methods. The conducted experiments, performed on a properly configured testbed, suggested a great number of interrelated networking features, that were implemented as custom rules in the Sysmon’s config.xml file. Moreover, by capitalizing on the rich corpus of the 870K Sysmon logs collected, we create and evaluate in terms of TP and FP rates an extensible Python .evtx file analyzer, dubbed PeX, which can be used towards automatizing the parsing and scrutiny of such voluminous files. Both the .evtx logs dataset and the developed PeX tool are provided publicly for further propelling future research in this interesting and rapidly evolving field.

Deep learning dominates automated animal activity recognition (AAR) tasks due to the high performance on large-scale datasets. However, constructing centralised data across diverse farms raises data privacy issues. Federated learning (FL) provides a distributed learning solution to train a shared model by coordinating multiple farms (clients) without sharing their private data. Whereas directly applying FL to AAR tasks often faces two challenges: client-drift during local training and gradient conflicts during global aggregation. In this study, we develop a novel FL framework called FedAAR to achieve AAR with sensor data. Specifically, we devise a prototype-guided local update module to alleviate the client-drift issue, which introduces global prototypes as shared knowledge to force clients to learn consistent features. To reduce gradient conflicts between clients, we design a gradient refinement-based aggregation module to eliminate conflicting components between client gradients during global aggregation, thereby improving the agreement between clients. Experiments are conducted on a public dataset to verify FedAAR’s effectiveness, which consists of 87,621 2-s motion data. The results demonstrate that FedAAR outperforms state-of-the-arts, with precision (75.23%), recall (75.17%), F1-score (74.70%), and accuracy (88.88%), respectively. The ablation experiments also show FedAAR’s robustness against various factors (i.e., different data sizes, communication frequency, and client numbers).

With the ever-increasing popularity of unmanned aerial vehicles and other platforms providing dense point clouds, universal filters for accurate identification of ground points in such dense clouds are needed. Many filters have been proposed and are widely used, usually based on the determination of an original surface approximation and subsequent identification of points within a predefined distance from such surface. In this paper, we present a new filter. This Multi-view and shift rasterization algorithm (MVSR) is based on an entirely different principle, i.e., on the identification of just the lowest points in individual grid cells, shifting the grid along both planar axis and subsequent tilting of the entire grid – after each of these steps, one lowest point per cell is detected. The principle is presented in detail and compared both visually and numerically to other commonly used ground filters (PMF, SMRF, CSF, ATIN) on three sites with different ruggedness and vegetation density. Visually, the MVSR filter showed the smoothest and thinnest ground profiles, with ATIN the only filter performing comparably (although the profiles were somewhat thicker and not as complete as MVSR-acquired ground). The same was confirmed when comparing ground filtered by other filters with the MVSR-based surface. The goodness of fit with the original cloud is demonstrated by the root mean square deviations (RMSD) of the points from the original cloud found below the MVSR-generated surface (ranging, depending on site, between 0.6-2.5 cm). ATIN again performed closest to MVSR, with RMSDs of ground filtered points found above MVSR-based surface at individual sites ranging between 4.5-7.4 cm. The remaining filters performed comparable in the simplest flat area but poorly in rugged and much-vegetated sites, with RMSDs above the MVSR surface ranging at such sites from 21 to 95 cm. In conclusion, the novel filter presented in this paper performed outstandingly at all sites, identifying the ground points with great accuracy while filtering out the maximum of vegetation/above-ground points. The filter dilutes the cloud somewhat; in such dense point clouds, however, this can be perceived rather as a benefit than as a disadvantage.

This paper presents the implementation of a control strategy based on fuzzy logic artificial intelligence (AI) for speed regulation of an electromagnetic frequency regulator (EFR) prototype, aiming to eliminate the dependence on knowledge of physical parameters in the most diverse operating conditions. Speed multiplication is one of the most important steps in power generation wind. Gearboxes are generally used for this purpose. However, they have a reduced lifespan and a high failure rate and are still noise sources. The search for new ways to match the speed (and torque) between the turbine and the generator is an important research area to increase the energy, financial and environmental efficiency of wind systems. The EFR device is an example of an alternative technology that this team of researchers has proposed. It counts the fact of taking advantage of the main advantages of an induction machine with the rotor in a squirrel cage positively. In the first studies, the EFR control strategy consisted of the conventional PID controllers, which has several limitations widely discussed in the literature. This strategy also limits the EFR's performance, considering its entire operating range. The simulation program was developed using the Matlab/Simulink platform, while the experimental results were obtained in the laboratory emulating the EFR-based system. The EFR prototype used has 2 poles, a nominal power of 2.2 kW, and a nominal frequency of 60 Hz. Experimental results were presented to validate the efficiency of the proposed control strategy.

During the smelting process of AOD furnace, the unbalanced reaction of material will lead to the occurrence of splashing. It will not only damage the smelting equipment, but also seriously injure the personnel. In this study, first, the information of liquid level, audio information, and vibration information are detected by multiple sensors respectively. Then, the fused information is used to forecast the splashing. Finally, the multitasking fuzzy controller is used to suppress splashing. The results show that the method of forecasting and suppressing splashing can accurately forecast and achieve rapid suppression. Thus, the efficiency of smelting can be improved.

In a dynamic and rapidly changing world, customers’ often conflicting demands plus fluid economic requirements, often driven by geo-politics, have continued to evolve, out-striping the capability of existing production systems. With its inherent shortcomings, the traditional factory has proven to be incapable of addressing these modern-day manufacturing challenges. Recent advancements in Industry 4.0 have catalyzed the development of new manufacturing paradigms (or smart factory visions) under different monikers (e.g., Smart factory, Intelligent factory, Digital factory, Cloud-based factory etc.) would help fix these challenges. Due to a lack of consensus on a general nomenclature for these manufacturing paradigms, the term Future Factory (or Factory of the Future) is here used as a collective euphemism, without prejudice. The Future Factory constitutes a creative convergence of multiple technologies, techniques and capabilities that represent a significant change in current production capabilities, models, and practices. It is a data-driven manufacturing approach and system that harnesses intelligence from multiple information streams i.e., assets (including people), processes, and subsystems to help create new forms of production efficiency and flexibility. Serving both as a review monograph and reference companion, this paper details the meanings, characteristics, and technological underpinnings of the Future Factory. It also elucidates on the architectural models that guide the structured deployment of these modern factories with particular emphasis on three advanced communication technologies capable of speeding up advancements in the field. It not only highlights the relevance of communication between assets but also lays out mechanisms to achieve these interactions using the Administration shell. Finally, the paper also discusses the key enabling technologies that are typically embedded into bare bone factories to help improve their visibility, resilience, intelligence, and capacity, in addition to how these technologies are being deployed and to what effect. At the onset of the study, we were interested in developing a monograph which would serve as a comprehensive but concise review of general principles, fundamental concepts, major characteristics, key building blocks and implementation guidelines for the Future Factory within the overall context of the manufacturing ecosystem, in the age of Industry 4.0. Our hope is that this paper would enrich the extant literature on advanced manufacturing, help shape policy and research, and provide insights on how some of the identified pathways can be diffused into industry.

The reuse and integration of data give big opportunities, supported by the F.A.I.R. data principles. Seamless data integration from heterogenous sources has been interest of the geospatial community for long time. However, 3D city models, BIM and information supporting smart cities present higher semantic and geometrical complexity, which pose new challenges, never tackled in a comprehensive methodology. Building on previous theories and studies, this paper proposes an overarching workflow and framework for multisource (geo)spatial data integration. It starts from the definition of use case-based requirements for the integrated data, guides the analysis of integrability of the involved datasets, suggesting actions to harmonise them, until data merging and validation. It is finally tested and exemplified on a case study. This approach allows the development of consistent, well-documented and inclusive data integration workflows, for the sake of use cases automation in various geospatial domains and the production of Interoperable and Reusable data.

In the last years, interactive exhibitions based on digital technologies are becoming widely common, thanks to their flexibility and effectiveness in engaging visitors and creating memorable experiences. One of the topics in which digital technologies can be particularly effective is the communication of abstract concepts that are difficult for the human mind to imagine. An emblematic example is the astronomy discipline, which requires us to imagine and understand phenomena far away from our everyday life. In this paper, the authors present a research project, MARSS, in which digital technologies are used effectively to enhance the Users’ Experience of the Museo Astronomico di Brera located in Milan. Specifically, the MARSS project aims at designing and developing a new digital journey inside the museum to allow different categories of visitors to enjoy the exhibition in an engaging and interactive way. The paper presents the design and development phases of the experience and its evaluation with users. The results of the evaluation indicate that the digital interactive experience has been appreciated by users and is successful in translating the content of high scientific value into more engaging and easily understandable elements.

This article presents an estimation of the hypertension risk based on a dataset on 1007 individuals. The application of a Tobit Model shows that “Hypertension” is positively associated to “Age”, “BMI-Body Mass Index”, and “Heart Rate”. The data show that the element that has the greatest impact in determining inflation risk is “BMI-Body Mass Index”. An analysis was then carried out using the fuzzy c-Means algorithm optimized with the use of the Silhouette coefficient. The result shows that the optimal number of clusters is 9. A comparison was then made between eight different machine-learning algorithms for predicting the value of the Hypertension Risk. The best performing algorithm is the Gradient Boosted Trees Regression according to the analyzed dataset. The results show that there are 37 individuals who have a predicted hypertension value greater than 0.75, 35 individuals who have a predicted hypertension value between 0.5 and 0.75, while 227 individuals have a hypertension value between 0.0 and 0.5 units.

Microgrids are becoming popular nowadays because they provide clean, efficient, and low-cost energy. To use the stored energy in times of emergency or peak loads, microgrids require bulk storage capacity. Since microgrids are the future of renewable energy, the energy storage technology employed should be optimized to generate electricity. Batteries play a variety of essential roles in daily life and are used at peak hours and during a time of emergency. There are different types of batteries i.e., lion batteries, lead-acid batteries, etc. Optimal battery sizing of microgrids is a challenging problem, that limits modern technologies such as electric vehicles, etc. It is important to know different battery features such as battery life, battery throughput, and battery autonomy to get optimal battery sizing for microgrids. Mixed-integer linear programming (MILP) is an established technique for the integration and optimization of different energy sources and parameters for optimal battery sizing. A new MILP based dataset is introduced in this work. Support vector machine (SVM) is the machine learning application used to estimate the optimum battery size. The impact of feature selection algorithms on the proposed machine learning-based model is evaluated. The performance of the six best-performing feature selection algorithms is analyzed. The experimental results show that the feature selection algorithms improve the performance of the proposed methodology. Ranker search shows the best performance with a Spearman’s rank-ordered correlation constant of 0.9756, linear correlation constant of 0.9452, Kendall correlation constant of 0.8488 and root mean squared error of 0.0525.

This paper presents the design of a digital twin that blends aviation, gaming, simulation, and Geographic Information Systems (GIS) to create a synthetic environment within which strategies, laws and platforms for electric aviation may be tested out. This digital twin has been called Future Urban Synthetic Environment (FUSE). FUSE includes an in-built Unmanned Traffic Management (UTM) that can be used to run simulations to test the coordination of all urban traffic. It uses real GIS tagged imagery data and implements it at runtime into the game engine and thus link the optimised imagery loading to the visual performance of the simulation engine. FUSE provides a 3D digital twin of specified areas designed to simulate the effects (in terms of noise, visual impact, privacy) of drones and electric air taxis operating under various operational scenarios (such as number of deliveries allowed per day, maximum payload weight, no-fly areas, position of depots, vertiports, etc.). With so much high-fidelity data it is difficult for any game system to effectively render the environment and do justice to the detail whilst enabling enough of the landscape to be rendered to keep in focus the detail when looking out at the horizon.

In the past decades, a significant rise in the adoption of streaming applications has changed the decision-making process for the industry and academia sectors. This movement led to the emergence of a plurality of Big Data technologies such as Apache Storm, Spark, Heron, Samza, Flink, and other systems to provide in-memory processing for real-time Big Data analysis at high throughput. Spark Streaming represents one of the most popular open-source implementations which handles an ever-increasing data ingestion and processing by using the Unified Memory Manager to manage memory occupancy between storage and processing regions dynamically, which is the focus of this study. The problem behind memory management for data-intensive stream processing pipelines is that the incoming data is faster than the downstream operators can consume. Consequently, the backpressure of Spark acts in the opposite direction of downstream operators. In such a case, the incoming data overwhelms the memory manager and provokes memory leak issues. As a result, it affects the performance of applications generating, e.g., high latency, low throughput, or even data loss. In such a case, the initial intuition motivating our work is that memory management became the critical factor in keeping processing at scale and system stability of Spark. This work provides a deep dive into Spark backpressure, evaluates its structure, presents the main characteristics to support data-intensive streaming pipelines, and investigates the current in-memory-based performance issues.

Fundamental science and applied research and technology development (RTD) are facing significant challenges that particularly compound to the notorious credibility, reproducibility, funding and sustainability crises. The underlying, serious shortcomings are substantially amplified by a metrics-obsessed publication culture, and a growing cohort of academics fishing for fairly stagnant (public) funding budgets. This work presents, for the first time, a groundbreaking strategy to successfully address these severe issues; the novel strategy proposed here leverages the distributed ledger technology (DLT) “blockchain” to capitalize on cryptoeconomic mechanisms, such as tokenization, consensus, crowdsourcing, smart contracts, reputation systems as well as staking, reward and slashing mechanisms. This powerful toolbox, which is so far widely unfamiliar to traditional scientific and RTD communities (“TradSci”), is synergistically combined with the exponentially growing computing capabilities for virtualizing experiments through digital twin methods in a future scientific “metaverse”. Project contributions, such as hypotheses, methods, experimental data, modelling, simulation, assessment, predictions and directions are crowdsourced using blockchain, and captured by so-called non-fungible tokens (“NFTs”). The so enabled, highly integrative approach, termed decentralized science (“DeSci”), is destined to move research out of its present silos, and to markedly enhance quality, credibility, efficiency, transparency, inclusiveness, sustainability, impact, and sustainability of a wide spectrum of academic and commercial research initiatives.

Spatial crowdsourcing emerges as a new computing paradigm that enables mobile users to accomplish spatio- temporal tasks in order to solve human-intrinsic problems. Existing crowdsourcing systems critically use centralized servers for interacting with workers and making task assignment decisions. These systems are hence susceptible to issues such as the single point of failure and the lack of operational transparency. Prior work, therefore, turns to blockchain-based decentralized crowdsourcing systems, yet still suffers from problems of lacking efficient task assignment scheme, requiring a deposit to an untrusted system, low block generation speed, and high transaction fees. To address these issues, we design a blockchain-based decentralized framework for spatial crowdsourcing, which we call SC-EOS. Our system does not rely on any trusted servers, while providing efficient and user-customizable task assignment, low monetary cost, and fast block generation. More importantly, it frees users from making a deposit into an untrusted system. Our framework can also be extended and applied to generic crowdsourcing systems. We implemented the proposed system on the EOS blockchain. Trace-driven evaluations involving real users show that our system attains the comparable task assignment performance against a clairvoyant scheme. It also achieves 10× cost savings than an Ethereum-based implementation.

Smart cities will undoubtedly be the distinguishing characteristic of human geography in the twenty-first century. Throughout 1.3 million people move to cities every week around the world, and it is estimated that by 2040, cities will house 65 percent of the world's population. While the world's largest cities now contribute for 60% of global GDP, this percentage will continue to climb as cities get larger and smarter. According to experts, cities will account for up to 80% of future economic development in developing regions. Smart cities are no longer the wave of the future; they have here and are rapidly expanding as the Internet of Things (IoT) grows. With dozens of towns throughout the world, the smart city sector is expected to grow into a massive business as time goes on. Cities have been an increasingly crucial engine of the global economy and wealth over time. As a result, it is critical to guarantee that they are optimized to maximize efficiency and sustainability while also ensuring that each citizen's quality of life is improved. We can describe the need for smart cities through this project, and it also shows us how IoT technology and smart city enablers may be deployed in urban settings to help cities perform better for their residents and achieve overall sustainable growth. This initiative will educate urban planners, researchers, ICT professionals, and other city officials about the facilitators of IoT for smart cities and their long-term growth.

The age of information (AoI) metric was proposed to measure the freshness of messages obtained at the terminal node of a status updating system. In this paper, the AoI of discrete time status updating system with probabilistic packet preemption is investigated by analyzing the steady state of a three-dimensional discrete stochastic process. Assuming the queue used in system is Ber/Geo/1/2*/η, which represents that the system size is 2 and the packet in buffer can be preempted by fresher packet with probability η. Instead of considering system’s AoI separately, we use a three-dimensional state vector (n,m,l) to simultaneously track the real time changes of the AoI, the age of packet in server, and the age of packet waiting in buffer. We give the explicit expression of system’s average AoI, and show that the average AoI of system without packet preemption is obtained by letting η=0. When η is set to 1, the mean of AoI of system having Ber/Geo/1/2* queue is obtained as well. Combining the results we have obtained and comparing them with corresponding average continuous AoIs, we propose a possible relationship between average discrete AoI with Ber/Geo/1/c queue and the average continuous AoI with M/M/1/c queue. For each of two extreme cases where η=0 and η=1, we also determine the stationary distribution of AoI using the probability generation function (PGF) method. The relations between average AoI and the packet preemption probability η, as well as AoI’s distribution curves in two extreme cases are illustrated by numerical simulations. Notice that the probabilistic packet preemption may occur, for example, in an energy harvest (EH) node of wireless sensor network, where the packet in buffer can be replaced only when the node collects enough energy. In particular, to exhibit the usefulness of our idea and methods and highlight the merits of considering discrete time systems, in this paper we give much more explanations showing that how the results about continuous AoI is derived by analyzing the corresponding discrete time system, and how the discrete age analysis is generalized to the system with multiple sources. In terms of packet service process, we also propose our idea to analyze system’s AoI when the service time distribution is relaxed to be arbitrary.

Whereas the use of distributed ledger technologies has previously been limited to cryptocurrencies, other sectors—such as healthcare, supply chain, and finance—can now benefit from them because of bitcoin scripts and smart contracts. However, these applications rely on oracles to fetch data from the real world, which cannot reproduce the trustless environment provided by blockchain networks. Despite their crucial role, academic research on blockchain oracles is still in its infancy, with few contributions and a heterogeneous approach. This study undertakes a bibliometric analysis and aims to shed light on the institutions and authors that are actively contributing to the oracle literature, intending to promote progress and cooperation. On the one hand, although worldwide collaboration is still lacking, various authors and institutions are working in similar directions. On the other hand, most areas of research are scarcely explored, and others are even untouched.

Trash mulches are very effective in preventing soil erosion; reduce sediment transport rate, runoff rate and increasing infiltration. The study was carried out with the objectives to observe the sediment outflow from sugar cane leaf (trash) mulch treatments at selected land slopes under simulated rainfall conditions by using rainfall simulator of size 10 m × 1.2 m × 0.5 m with the locally available soil material collected from Pantnagar. In the present study, trash mulches with different quantities were selected to observe the effect of mulching in soil loss reduction. The quantity of mulch was taken as, 6 t/ha, 8 t/ha and 10 t/ha, three rainfall intensities viz. 11cm/h, 13cm/h and 14.65cm/h at 0%, 2% and 4% land slopes were selected. The duration of rainfall was fixed (10 minutes) for every mulch treatment. The total runoff volume was found to be varying with different mulch rates for particular rainfall input and land slope. The runoff distribution pattern was observed to be increasing with the increase in land slope. The average sediment concentration (SC) and outflow was found to be increasing with the increasing land slope, but SC and outflow decreased with increasing mulch rate for particular land slope and rainfall intensity. The SOR (SOR) for no mulch treated land was higher as compared to trash mulch treated lands. Mathematical relationships were developed for relating SOR, SC, land slope and rainfall intensity for a particular mulch treatment. It was observed that values of SOR and average SC had a good correlation with rainfall intensity and land slope for each mulch treatment. The correlation coefficients of developed models were found to be more than 90%.

The health of the landing gear retraction and extension hydraulic system may be assessed using fuzzy comprehensive evaluation (FCE), however the traditional FCE method depends solely on human assessment by specialists, which is excessively subjective. To address the issue of excessive human subjective variables in the assessment, an improved FCE model based on enhanced risk coefficient is provided, which includes four consideration indexes: failure probability, failure severity, failure detection difficulty, and failure repair difficulty. To reduce subjective human judgment errors entirely due to expert experience, the improved FCE takes into account the likelihood of failure using a statistical method, the severity of failure using a fault simulation analysis based on the LMS Imagine.Lab AMESim simulation platform, and the difficulty of fault detection and repair using the aircraft manufacturer's professional maintenance information. As part of the evaluation model, the range of health assessment values and accompanying treatment methods are included, making it easier to implement on a daily basis in aircraft maintenance. As a final step, the simulation is evaluated and the simulated faults are calculated.

Purpose: This research aims to model a police agency ordering problem based on criteria that measure the performance of operational and logistical variables, using a multicriteria method. Design/methodology/approach: The multicriteria method PROMETHEE II was used, which with the aid of the Visual PROMETHEE software, emulated the systematized data in the impact matrix and produced the final ordering of the most efficient police agencies in equalizing the operational, logistical, financial, and human resources applied in the combating crime and reducing criminal indices. Findings: The results confirmed that the resources made available to police agencies located in different municipalities in the metropolitan region of the state of Rio de Janeiro are better applied by managers compared to police units in the capital of Rio de Janeiro. Research limitations/implications: As implications of the research, it can be inferred that the use of multicriteria methods in modelling problems in ​​public security can contribute to the rationalization of the use of available resources to fight crime in large cities. Research has shown that it is possible to use the multicriteria methodology in ordering police agencies that best equalize the available resources. Practical implications: The practical impact of this research lies in optimizing the resources available to law enforcement agencies in the fight against crime in general. Social implications: The results can influence the decision making of the local government in the allocation of resources, as well as offering sectors of the economy information relevant to local development. Originality/value: The results of the MCDA analysis can be used to help police agencies in Rio de Janeiro, Brazil to be more efficient. In addition, the application of MCDA can be a new approach to measuring the efficiency of police services.

Users on the social networking platform have the freedom to express themselves freely. Towards the same time, this has created a forum for disagreement and hate directed at someone, society, racism, sexual orientation, and so on. Identifying hate online is a challenging task. Researchers from all around the world have contributed major methods for detecting hate speech, but owing to the issue's complexity, there are still many unresolved issues. In this research, we offer a multi-model learning strategy for detecting hate speech on Twitter. We utilised the Kaggle TwitterHate dataset, which had 31962 tweets categorised as binary hate or non-hate, to evaluate our technique. The suggested method is tested using commonly used machine learning classifiers with multi-model technique. Using TF-IDF features, we acquired detection results of 96.29 %, precision of 96%, recall of 96%, and f1-score of 96%.

Soil erosion and sediment transport are quite complex processes as they depend on physical, biological, mechanical, and chemical processes within a particular catchment. Therefore, it is highly essential to better explain engaged physical processes and means of accounting for site-specific conditions, for soil loss and sediment yield estimation. This paper mainly focuses on physical explanations behind soil erosion and common soil erosion models like Universal or Revised Universal Soil Loss Equation(USLE/RUSLE) and Modified Universal Soil Loss Equation(MUSLE). Based on the physical explanations and overall limitations, the MUSLE is selected for the application of sediment yield estimation. The main objective of this paper is to estimate the best exponent of the MUSLE, and to estimate the best combination of the exponent and topographic factor of the MUSLE under hydro-climatic conditions of Ethiopia. For the sake of calibration procedure, the main parameters of the MUSLE which directly affect soil erosion process such as cover, conservation practice, soil erodibility, and topographic factors are estimated based on the past experiences from literature and comparative approaches, whereas the other parameters which do not directly affect the erosion process or which have no any physical meaning (i.e coefficient a and exponent b) are estimated through calibration. It is verified that the best exponent of the MUSLE is 1 irrespective of the topographic factor, which results in the maximum performance of the MUSLE (i.e approximately 100\%). For the best combination of the exponent and topographic factor, the performance of the MUSLE is greater than or equal to 80\% for all four watersheds under our consideration, we expect the same for other watersheds of Ethiopia.

Unmanned Aerial vehicles (UAVs) can transmit critical Intelligence, surveillance, and reconnaissance data right from drones when operators need real-time access to information and find it hard to wait for the return of aircraft. Artificial satellites are applied in offering communication links between different points on earth. Satellite communication can be helpful in telecommunication systems globally. SATCOM is the data and voice service that allows aircraft to communicate using satellite using air traffic control and airline operations centers at high-frequency stations and when covering the conventional ground radar. Unmanned Aerial Vehicles Satcom are applied in different aspects of real-life applications like traffic monitoring, play load delivery, surveillance, and seemingly dangerous areas. They can go where one cannot go and experience experiences that were never seen before. UAV Satcom is used when transmitting the ISR, Intelligence, and reconnaissance data right from drones, especially in situations in which the decision-makers need near real-time. All current signs show the exciting and bright future for using unmanned aerial vehicle Satcom technology. The future generations are projected to feature enhanced autonomy and improve safety standards. SATCOM can be the future communication link for UAVs. SATCOM is being used increasingly in surveys in the aftermath of any disaster.

Global temperature rise due to hydrocarbon gases emission that are produced by generating the electrical power has a great attention by the researchers to reduce it till zero emission is successfully achieved. Sustainable energy source such as solar energy, wind, hydro-energy and sea wave energy are focal areas to replace the fossil fuel by clean energy. In this article, daylight is used to minimize the power consumption that required for indoor lighting using electric roller blind. Smart controller is designed to adjust the position of the roller blind stepper motor, and hence, adjust the roller blind opening, based on the preset light intensity, to achieve precise utilization of daylight inside the room. If the desired Lux is not achieved for any reason, the smart controller adjusts the LED circuit current to boost the light intensity to achieve precisely the desired Lux. Comprehensive test cases using MATLAB-Simulink is carried out to verify the performance of the proposed smart controller. Techno-economic analysis is introduced to evaluate the benefits of installing the controller. Summary and recommendation are given at the end.

Blockchain and Machine Learning gives the best solutions together in performing various tasks in the Smart Health care system. With these two new emerging technologies, that have materialized in the last decade. In this paper, we proposed secure, transparent and intelligent methods in the Internate of medical things industry using Machine learning models and blockchain technology to enhance security level and train our models to improve diagnostic, prevention, treatment of the patient, patient rights, patient autonomy and equality in the health care system.

Aircraft emissions represent a relevant amount of human induced CO2. Globally, up to 2.5 per cent of such emissions stem from the aviation industry. In order to investigate the effects within the atmosphere, realistic flight profiles are necessary to provide quantitatively tangible values of emissions. The flight profiles and the according fuel consumption can be calculated by using waypoints from flight plans and Base of Aircraft Data (BADA). This paper presents an approach to refine the fuel consumption by integrating the passenger load into the calculation. Since effects of emissions have to be assessed on a greater scale, such as on the European air traffic network, the presented approach provides cost functions for CO2 emissions for different aircraft types and load factors. The cost functions were derived by means of regression analyses of BADA based calculated flight profiles with a step size of one second. The calculations are based on real historic traffic scenarios of several days. The derived aircraft specific fuel burn coefficients enable a simple and efficient integration of CO2 estimations depending on the flight distance, load factor and aircraft type. This can be applied to large traffic scenarios to also study different set-ups such as travel restrictions, other disruptions or an alteration in the traffic system as a whole. In order to enable the assessment of further aspects of such changes to the European air traffic system at large and to foster reproducibility and comparability of related studies, we provide further general-purpose cost estimation functions for several important key characteristics. Besides fuel consumption, we develop cost estimations for air navigation fees and maintenance for conventional aircraft. Those functions are also provided for the design concept of a short-range all-electric aircraft. This propeller aircraft features game-changing technologies such as active laminar flow control, active load alleviation and advanced materials and structure concepts. The approaches discussed in this paper will focus on the generic aspects of aircraft related costs, which can be derived from general available data. For the sake of reproducibility, the results will be made publicly available.

Motivated for improving the efficiency and reliability of wind turbine energy conversion, this paper presents an advanced control design that enhances the power regulation efficiency and re-liability. The constrained behaviour of the wind turbine is taken into account, by using the barrier Lyapunov function in the analysis of the Lyapunov direct method. This, consequently, guarantees that the generated power remains within the desired bounds to satisfy the grid power demand. Moreover, a Nussbaum-type function is utilized in the control scheme, to cope with the unpre-dictable wind speed. This eliminates the need for accurate wind speed measurement or estimation. Furthermore, via properly designed adaptive laws, a robust actuator fault-tolerant capability is integrated into the scheme, handling the model uncertainty. Numerical simulations are performed on a high-fidelity wind turbine benchmark model, under different fault scenarios, to verify the effectiveness of the developed design. Also, a Monte-Carlo analysis is exploited for the evaluation of the reliability and robustness characteristics against the model-reality mismatch, measurement errors and disturbance effects.

According to the World Health Organization (WHO), dementia is the seventh leading reason of death among all illnesses and one of the leading causes of disability among the world’s elderly people. Day by day the number of Alzheimer’s patients is raising. Considering the increasing rate and the dangers, Alzheimer’s disease should be diagnosed carefully. Machine learning is a potential technique for Alzheimer’s diagnosis but general users do not trust machine learning models due to the black-box nature. Even, some of those models do not provide the best performance because of using only neuroimaging data. To solve these issues, this paper proposes a novel explainable Alzheimer’s disease prediction model using a multimodal dataset. This approach performs a data-level fusion using clinical data, Freesurfer MRI segmentation data, and psychological data. For Alzheimer’s disease vs cognitively normal prediction, the random forest classifier provides 100% accuracy. Furthermore, Alzheimer’s disease and non-Alzheimer’s dementia should be classified properly because their symptoms are similar. To the best of our knowledge, we are the first to present a three-class classification on Alzheimer’s disease vs cognitively normal vs non-Alzheimer’s dementia and achieved 99.86% accuracy using an ensemble model. Besides, a novel Alzheimer’s patient management architecture is also proposed in this work..

The robust control of high precision electromechanical systems, such as micropositioners, is challenging in terms of the inherent high nonlinearity, the sensitivity to external interference, and the complexity of accurate identification of the model parameters. To cope with these problems, this work investigates a disturbance observer-based deep reinforcement learning control strategy to realize high robustness and precise tracking performance. Reinforcement learning has shown great potential as optimal control scheme, however, its application in micropositioning systems is still rare. Therefore, embedded with the integral differential compensator (ID), deep deterministic policy gradient (DDPG) is utilized in this work with the ability to not only decrease the state error but also improves the transient response speed. In addition, an adaptive sliding mode disturbance observer (ASMDO) is proposed to further eliminate the collective effect caused by the lumped disturbances. The sterling performance is revealed with intensive tracking simulation experiments and demonstrates the improvement in the accuracy and response time of the controller.

During the few years, various algorithms have been developed to extract features from high-resolution satellite imagery. For the classification of these extracted features, several complex algorithms have been developed. But these algorithms do not possess critical refining stages of processing the data at the preliminary phase. Various satellite sensors have been launched such as LISS3, IKONOS, QUICKBIRD, and WORLDVIEW etc. Before classification and extraction of semantic data, imagery of the high resolution must be refined. The whole refinement process involves several steps of interaction with the data. These steps are pre-processing algorithms that are presented in this paper. Pre-processing steps involves Geometric correction, radiometric correction, Noise removal, Image enhancement etc. Due to these pre-processing algorithms, the accuracy of the data is increased. Various applications of these pre-processing of the data are in meteorology, hydrology, soil science, forest, physical planning etc. This paper also provides a brief description of the local maximum likelihood method, fuzzy method, stretch method and pre-processing methods, which are used before classifying and extracting features from the image.

This paper considers the principles of building a circuit model of film resistor cutting. The conductive resistive medium is defined with the component equations and the topology of the circuit model. A method of estimating the electric parameters of a resistor operating in the system with a measuring voltage source is shown. An equation system for the node voltages is defined, and the resistive layer parameters are analyzed as the circuit model structure changes during the cutting process.

This study determines the threshold for the computational rate of actuator motor controllers for unmanned underwater vehicles necessary to accurately follow discontinuous square wave commands. Motors must track challenging square-wave inputs, and identification of key computational rates permit application of deterministic artificial intelligence (D.A.I.) to achieve tracking to a machine-precision degree of accuracy in direct comparison to other state-of-art approaches. All modeling approaches are validated in MATLAB simulations where the motor process is discretized at varying step-sizes (inversely proportional to computational rate). At a large step-size (fast computational rate), discrete D.A.I. shows a mean error more than three times larger than that of a ubiquitous model-following approach. Yet, at a smaller step size (slower computational rate), the mean error decreases by a factor of 10, only three percent larger than that of continuous D.A.I. Hence, the performance of discrete D.A.I. is critically affected by the sampling period for discretization of the system equations and computational rate. Discrete D.A.I. should be avoided when small step-size discretization is unavailable. In fact, continuous D.A.I. has surpassed all modeling approaches which makes it the safest and most viable solution to future commercial applications in unmanned underwater vehicles.