Search Results (13)

High-precision identification of dynamic parameters is crucial for the on-orbit performance of space manipulators. This paper investigates dynamic modeling and parameter identification under special environmental conditions such as microgravity and vacuum. First, a dynamic model of the manipulator incorporating a nonlinear friction term is established using the Newton-Euler method, and an improved Stribeck friction model is proposed to better characterize high-speed conditions and space environmental effects. On this basis, a hybrid parameter identification method combining Particle Swarm Optimization (PSO) and Levenberg–Marquardt (LM) algorithms is proposed to balance global search capability and local convergence accuracy. To enhance identification performance, Fourier series are used to design excitation trajectories, and their harmonic components are optimized to improve the condition number of the observation matrix. Experiments conducted on a ground test platform with a six-degree-of-freedom (6-DOF) manipulator show that the proposed method effectively identifies 108 dynamic parameters. The correlation coefficients between predicted and measured joint torques all exceed 0.97, with root mean square errors below 5.1 N·m, demonstrating the high accuracy and robustness of the method under limited data samples. The results provide a reliable model foundation for high-precision control of space manipulators. Full article

The temperature and humidity profiles within the planetary boundary layer (PBL) are crucial for Earth’s climate research. The Atmospheric Sounder Spectrometer by Infrared Spectral Technology (ASSIST) measures downward thermal radiation in the atmosphere with high temporal and spectral resolution continuously during day and night. The physics-based retrieval method, utilizing iterative optimization, can obtain solutions that align with the true atmospheric state. However, the retrieval is typically an ill-posed problem and is affected by noise, necessitating the introduction of regularization. To achieve high-precision detection, a systematic evaluation was conducted on the retrieval performance of temperature and humidity profiles using ASSIST by regularization methods based on the Gauss–Newton framework, which include Fixed regularization factor (FR), L-Curve (LC), Generalized Cross-Validation (GCV), Maximum Likelihood Estimation (MLE), and Iterative Regularized Gauss–Newton (IRGN) methods, and the Levenberg–Marquardt (LM) method based on a damping least squares strategy. A five-day validation experiment was conducted under clear-sky conditions at the Anqing radiosonde station in China. The results indicate that for temperature profile retrieval, the IRGN method demonstrates superior performance, particularly below 1.5 $\mathrm{k}\mathrm{m}$ altitude, where the mean BIAS, mean RMSE, mean Degrees of Freedom for Signal (DFS), and mean residual reach 0.42 $\mathrm{K}$, 0.80 $\mathrm{K}$, 3.37, and $3.01\times {10}^{-13}$ $\left(\mathrm{W}/{\mathrm{c}\mathrm{m}}^2 \mathrm{s}\mathrm{r} {\mathrm{c}\mathrm{m}}^{-1}\right)$, respectively. In contrast, other regularization methods exhibit over-regularization, leading to degraded information content. For humidity profile retrieval, below 1.5 $\mathrm{k}\mathrm{m}$ altitude, the LM method outperforms all regularization-based methods, with the mean BIAS, mean RMSE, mean DFS, and mean residual of 3.65$\%$, 5.62$\%$, 2.05, and $4.36\times {10}^{-12}$ $\left(\mathrm{W}/{\mathrm{c}\mathrm{m}}^2 \mathrm{s}\mathrm{r} {\mathrm{c}\mathrm{m}}^{-1}\right)$, respectively. Conversely, other regularization methods exhibit strong prior dependence, causing retrieval to converge results toward the initial guess. Full article

This study investigates the effectiveness of Artificial Neural Networks (ANNs) in predicting the outcomes of Double Cantilever Beam (DCB) tests, focusing on time and force as input variables and displacement as the predicted output. Three ANN training algorithms—Scaled Conjugate Gradient (SCG), Broyden Fletcher Goldfarb Shanno (BFGS) Quasi-Newton, and Levenberg-Marquardt (LM)—were evaluated based on prediction accuracy and computational efficiency. A parametric study was performed by varying the number of neurons (from 10 to 100) in a single hidden layer to optimize network structure. Among the evaluated algorithms, LM demonstrated superior performance, achieving prediction accuracies of 99.6% for force and 99.3% for displacement. In contrast, SCG exhibited the fastest convergence but had a significantly higher error rate of 8.6%. The BFGS algorithm provided a compromise between accuracy and speed but was ultimately outperformed by LM in terms of overall precision. In addition, configurations with up to 100 neurons were tested, indicating that although slightly lower error rates could be achieved, the increase in computation time was substantial. Consequently, the LM algorithm with 50 neurons delivered the best balance between accuracy and computational cost. These findings underscore the potential of ANNs, particularly LM-based models, to enhance material design processes by providing reliable predictions from limited experimental data, thereby reducing both resource utilization and the time required for testing. Full article

Benchmarking different optimization algorithms is tasky, particularly for network-based cellular communication systems. The design and management process of these systems involves many stochastic variables and complex design parameters that demand an unbiased estimation and analysis. Though several optimization algorithms exist for different parametric modeling and tuning, an in-depth evaluation of their functional performance has not been adequately addressed, especially for cellular communication systems. Firstly, in this paper, nine key numerical and global optimization algorithms, comprising Gauss–Newton (GN), gradient descent (GD), Genetic Algorithm (GA), Levenberg–Marguardt (LM), Quasi-Newton (QN), Trust-Region–Dog-Leg (TR), pattern search (PAS), Simulated Annealing (SA), and particle swam (PS), have been benchmarked against measured data. The experimental data were taken from different radio signal propagation terrains around four eNodeB cells. In order to assist the radio frequency (RF) engineer in selecting the most suitable optimization method for the parametric model tuning, three-fold benchmarking criteria comprising the Accuracy Profile Benchmark (APB), Function Evaluation Benchmark (FEB), and Execution Speed Benchmark (ESB) were employed. The APB and FEB were quantitatively compared against the measured data for fair benchmarking. By leveraging the APB performance criteria, the QN achieved the best results with the preferred values of 98.34, 97.31, 97.44, and 96.65% in locations 1–4. The GD attained the worst performance with the lowest APE values of 98.25, 95.45, 96.10, and 95.70 in the tested locations. In terms of objective function values and their evaluation count, the QN algorithm shows the fewest function counts of 44, 44, 56, and 44, and the lowest objective values of 80.85, 37.77, 54.69, and 41.24, thus attaining the best optimization algorithm results across the study locations. The worst performance was attained by the GD with objective values of 86.45, 39.58, 76.66, and 54.27, respectively. Though the objective values achieved with global optimization methods, PAS, GA, PS, and SA, are relatively small compared to the QN, their function evaluation counts are high. The PAS, GA, PS, and SA recorded 1367, 2550, 3450, and 2818 function evaluation counts, which are relatively high. Overall, the QN algorithm achieves the best optimization, and it can serve as a reference for RF engineers in selecting suitable optimization methods for propagation modeling and parametric tuning. Full article

In urban Vehicular Ad Hoc Network (VANET) environments, buildings play a crucial role as they can act as obstacles that attenuate the transmission signal between vehicles. Such obstacles lead to multipath effects, which could substantially impact data transmission due to fading. Therefore, quantifying the impact of buildings on transmission quality is a key parameter of the propagation model, especially in critical scenarios involving emergency vehicles where reliable communication is of utmost importance. In this research, we propose a supervised learning approach based on Artificial Neural Networks (ANNs) to develop a predictive model capable of estimating the level of signal degradation, represented by the Bit Error Rate (BER), based on the obstacles perceived by moving emergency vehicles. By establishing a relationship between the level of signal degradation and the encountered obstacles, our proposed mechanism enables efficient routing decisions being made prior to the transmission process. Consequently, data packets are routed through paths that exhibit the lowest BER. To collect the training data, we employed Network Simulator 3 (NS-3) in conjunction with the Simulation of Urban MObility (SUMO) simulator, leveraging real-world data sourced from the OpenStreetMap (OSM) geographic database. OSM enabled us to gather geospatial data related to the Two-Dimensional (2D) geometric structure of buildings, which served as input for our Artificial Neural Network (ANN). To determine the most suitable algorithm for our ANN, we assessed the accuracy of ten learning algorithms in MATLAB, utilizing five key metrics: Mean Squared Error (MSE), Root Mean Squared Error (RMSE), Mean Absolute Error (MAE), Correlation Coefficient (R), and Maximum Prediction Error (MaxPE). For each algorithm, we conducted fifteen iterations based on ten hidden neurons and gauged its accuracy against the aforementioned metrics. Our analysis highlighted that the ANN underpinned by the Conjugate Gradient With Powell/Beale Restarts (CGB) learning algorithm exhibited superior performance in terms of MSE, RMSE, MAE, R, and MaxPE compared to other algorithms such as Levenberg–Marquardt (LM), Bayesian Regularization (BR), BFGS Quasi-Newton (BFG), Resilient Backpropagation (RP), Scaled Conjugate Gradient (SCG), Fletcher–Powell Conjugate Gradient (CGF), Polak–Ribiére Conjugate Gradient (CGP), One-Step Secant (OSS), and Variable Learning Rate Backpropagation (GDX). The BER prediction by our ANN incorporates the TWO-RAY Ground (TRG) propagation model, an adjustable parameter within NS-3. When subjected to 300 new samples, the trained ANN’s simulation outcomes illustrated its capability to learn, generalize, and successfully predict the BER for a new data instance. Overall, our research contributes to enhancing the performance and reliability of communication in urban VANET environments, especially in critical scenarios involving emergency vehicles, by leveraging supervised learning and artificial neural networks to predict signal degradation levels and optimize routing decisions accordingly. Full article

The proliferation of inverter-based distributed energy resources (IBDERs) has increased the number of control variables and dynamic interactions, leading to new grid control challenges. For stability analysis and designing appropriate protection controls, it is important that IBDER models are accurate. This paper focuses on the accurate estimation and parameter calibration of DER_A, a recently proposed aggregated IBDER model. In particular, we focus on the parameters of the reactive power–voltage regulation module. We formulate the problem of parameter tuning as a non-linear least square minimization problem and solve it using the Levenberg–Marquardt (LM) method. The LM method is primarily chosen due to its flexibility in adaptively selecting between the steepest descent and Gauss–Newton methods through a damping parameter. The LM approach is used to minimize the error between the actual measurements and the estimated response of the model. Further, the computational challenges posed by the numerical calculation of the Jacobian are tackled using a quasi-Newton root-finding approach. The proposed method is validated on a real feeder model in the northeastern part of the United States. The feeder is modeled in OpenDSS and the measurements thus obtained are fed to the DER_A model for calibration. The simulation results indicate that our approach is able to successfully calibrate the relevant model parameters quickly and with high accuracy, with a total sum of square error of $3.57\times {10}^{-7}$. Full article

As the time spent by people indoors continues to significantly increase, much attention has been paid to indoor air quality. While many IAQ studies have been conducted through field measurements, the use of data-driven techniques such as machine learning has been increasingly used for the prediction of indoor air pollutants. For the present study, the concentrations of indoor air pollutants such as CO₂, PM_2.5, and VOCs in child daycare centers were predicted by using an artificial neural network model with three different training algorithms including Levenberg–Marquardt, Bayesian regularization, and Broyden–Fletcher–Goldfarb–Shanno quasi-Newton methods. For training and validation, data of indoor pollutants measured in child daycare facilities over a 1-month period were used. The results showed all the models produced a good performance for the prediction of indoor pollutants compared with the measured data. Among the models, the prediction by the LM model met the acceptable criteria of ASHRAE guideline 14 under all conditions. It was observed that the prediction performance decreased as the number of hidden layers increased. Moreover, the prediction performance was differed by the type of indoor pollutant. This was caused by patterns observed in the measured data. Considering the outcomes of the study, better prediction results can be obtained through the selection of suitable prediction models for time series data as well as the adjustment of training algorithms. Full article

Scaling models is one of the challenges for water resource planning and management, with the aim of bringing the developed models into practice by applying them to predict water quality and quantity for catchments that lack sufficient data. For this study, we evaluated artificial neural network (ANN) training algorithms to predict the water quality index in a source catchment. Then, multiple linear regression (MLR) models were developed, using the predicted water quality index of the ANN training algorithms and water quality variables, as dependent and independent variables, respectively. The most appropriate MLR model has been selected on the basis of the Akaike information criterion, sensitivity and uncertainty analyses. The performance of the MLR model was then evaluated by a variable aggregation and disaggregation approach, for upscaling and downscaling proposes, using the data from four very large- and three large-sized catchments and from eight medium-, three small- and seven very small-sized catchments, where they are located in the southern basin of the Caspian Sea. The performance of seven artificial neural network training algorithms, including Quick Propagation, Conjugate Gradient Descent, Quasi-Newton, Limited Memory Quasi-Newton, Levenberg–Marquardt, Online Back Propagation, and Batch Back Propagation, has been evaluated to predict the water quality index. The results show that the highest mean absolute error was observed in the WQI, as predicted by the ANN LM training algorithm; the lowest error values were for the ANN LMQN and CGD training algorithms. Our findings also indicate that for upscaling, the aggregated MLR model could provide reliable performance to predict the water quality index, since the r² coefficient of the models varies from 0.73 ± 0.2 for large catchments, to 0.85 ± 0.15 for very large catchments, and for downscaling, the r² coefficient of the disaggregated MLR model ranges from 0.93 ± 0.05 for very large catchments, to 0.97 ± 0.02 for medium catchments. Therefore, scaled models could be applied to catchments that lack sufficient data to perform a rapid assessment of the water quality index in the study area. Full article

In this paper, an object localization and tracking system is implemented with an ultrasonic sensing technique and improved algorithms. The system is composed of one ultrasonic transmitter and five receivers, which uses the principle of ultrasonic ranging measurement to locate the target object. This system has several stages of locating and tracking the target object. First, a simple voice activity detection (VAD) algorithm is used to detect the ultrasonic echo signal of each receiving channel, and then a demodulation method with a low-pass filter is used to extract the signal envelope. The time-of-flight (TOF) estimation algorithm is then applied to the signal envelope for range measurement. Due to the variations of position, direction, material, size, and other factors of the detected object and the signal attenuation during the ultrasonic propagation process, the shape of the echo waveform is easily distorted, and TOF estimation is often inaccurate and unstable. In order to improve the accuracy and stability of TOF estimation, a new method of TOF estimation by fitting the general (GN) model and the double exponential (DE) model on the suitable envelope region using Newton–Raphson (NR) optimization with Levenberg–Marquardt (LM) modification (NRLM) is proposed. The final stage is the object localization and tracking. An extended Kalman filter (EKF) is designed, which inherently considers the interference and outlier problems of range measurement, and effectively reduces the interference to target localization under critical measurement conditions. The performance of the proposed system is evaluated by the experimental evaluation of conditions, such as stationary pen localization, stationary finger localization, and moving finger tracking. The experimental results verify the performance of the system and show that the system has a considerable degree of accuracy and stability for object localization and tracking. Full article

In this work, we began to take forward kinematics of the Gough–Stewart (G-S) platform as an unconstrained optimization problem on the Lie group-structured manifold SE(3) instead of simply relaxing its intrinsic orthogonal constraint when algorithms are updated on six-dimensional local flat Euclidean space or adding extra unit norm constraint when orientation parts are parametrized by a unit quaternion. With this thought in mind, we construct two kinds of iterative problem-solving algorithms (Gauss–Newton (G-N) and Levenberg–Marquardt (L-M)) with mathematical tools from the Lie group and Lie algebra. Finally, a case study for a general G-S platform was carried out to compare these two kinds of algorithms on SE(3) with corresponding algorithms that updated on six-dimensional flat Euclidean space or seven-dimensional quaternion-based parametrization Euclidean space. Experiment results demonstrate that those algorithms on SE(3) behave better than others in convergence performance especially when the initial guess selection is near to branch solutions. Full article

Understanding the flashover performance of the outdoor high voltage insulator has been in the interest of many researchers recently. Various studies have been performed to investigate the critical flashover voltage of outdoor high voltage insulators analytically and in the laboratory. However, laboratory experiments are expensive and time-consuming. On the other hand, mathematical models are based on certain assumptions which compromise on the accuracy of results. This paper presents an intelligent system based on Artificial Neural Networks (ANN) to predict the critical flashover voltage of High-Temperature Vulcanized (HTV) silicone rubber in polluted and humid conditions. Various types of learning algorithms are used, such as Gradient Descent (GD), Levenberg-Marquardt (LM), Conjugate Gradient (CG), Quasi-Newton (QN), Resilient Backpropagation (RBP), and Bayesian Regularization Backpropagation (BRBP) to train the ANN. The number of neurons in the hidden layers along with the learning rate was varied to understand the effect of these parameters on the performance of ANN. The proposed ANN was trained using experimental data obtained from extensive experimentation in the laboratory under controlled environmental conditions. The proposed model demonstrates promising results and can be used to monitor outdoor high voltage insulators. It was observed from obtained results that changing of the number of neurons, learning rates, and learning algorithms of ANN significantly change the performance of the proposed algorithm. Full article

With photoplethysmograph (PPG) sensors showing increasing potential in wearable health monitoring, the challenging problem of motion artifact (MA) removal during intensive exercise has become a popular research topic. In this study, a novel method that combines heart rate frequency (HRF) estimation and notch filtering is proposed. The proposed method applies a cascaded adaptive noise cancellation (ANC) based on the least mean squares (LMS)-Newton algorithm for preliminary motion artifacts reduction, and further adopts special heart rate frequency tracking and correction schemes for accurate HRF estimation. Finally, notch filters are employed to restore the PPG signal with estimated HRF based on its quasi-periodicity. On an open source data set that features intensive running exercise, the proposed method achieves a competitive mean average absolute error (AAE) result of 0.92 bpm for HR estimation. The practical experiments are carried out with the PPG evaluation platform developed by ourselves. Under three different intensive motion patterns, a 0.89 bpm average AAE result is achieved with the average correlation coefficient between recovered PPG signal and reference PPG signal reaching 0.86. The experimental results demonstrate the effectiveness of the proposed method for accurate HR estimation and robust MA removal in PPG during intensive exercise. Full article

The amount of information currently generated in the world has been increasing exponentially, raising the question of whether all acquired data is relevant for the learning algorithm process. If a subset of the data does not bring enough innovation, data-selection strategies can be employed to reduce the computational complexity cost and, in many cases, improve the estimation accuracy. In this paper, we explore some adaptive filtering algorithms whose characteristic features are their fast convergence and data selection. These algorithms incorporate a prescribed data-selection strategy and are compared in distinct applications environments. The simulation results include both synthetic and real data. Full article