Search Results (10,055)

To address the complex multi-objective optimization problem of “cost–risk–recovery–dilution” in sublevel caving without bottom pillars under uncertainty, this study develops an operational GOOSE-based framework (OGOOSE) integrated with robust ε-constraint modeling. Methodologically, OGOOSE adopts three synergistic mechanisms: Opposition-Based Learning (OBL) for enhanced initial solution quality and spatial coverage symmetry, an Adaptive Inertia Weight (AIW) mechanism to maintain a symmetrical balance between exploration and exploitation, and a Boundary Reflection Mechanism (BRM) to ensure engineering feasibility. For modeling, an “ellipsoid-plane” geometric surrogate is employed, where the ellipsoid’s structural symmetry serves as the ideal baseline, while the Mean-CVaR criterion quantifies the asymmetry of operational risk (negative tail) under uncertainty. Taking robust cost (C) as the primary objective, the four-objective problem is decomposed via the ϵ-constraint method to enforce a balanced Pareto trade-off. Results demonstrate that OGOOSE significantly outperforms GOOSE, WOA, and HHO on CEC2017 benchmarks, achieving the lowest Friedman rank. In the engineering case study, it attains an average dilution rate of 28.95% (the lowest among comparators) without increasing unit cost or compromising recovery, demonstrating stable operational symmetry across economic and quality indicators. Sensitivity analysis of the ε-thresholds identifies an optimal “knee-point” that establishes a manageable balance between risk control (εR) and dilution limits (εP). OGOOSE effectively balances accuracy, stability, and interpretability, providing a robust tool for stabilizing complex mining systems against inherent operational asymmetry. Full article

The dynamic response accuracy of suspension servo actuators directly determines the vibration-reduction performance of active-suspension systems. However, during long-term service, the system is prone to the influence of compound-degradation faults, such as internal leakage and time delay, leading to a significant decline in control performance. To address this issue, this paper proposes a collaborative control framework combining model-free adaptive control with a differential term of tracking error (DE-MFAC) and an improved particle swarm optimization (IPSO) algorithm. Firstly, to overcome the limitations of traditional model-free adaptive control (MFAC), a DE-MFAC strategy is constructed by implicitly handling the time-delay term and introducing the differential term of tracking error and dynamic weight factor into the performance index. Secondly, to enhance the parameter-tuning effect, the traditional particle swarm optimization (PSO) algorithm is improved (IPSO) by incorporating a dynamic inertia weight and an out-of-bounds random reflection mechanism, thereby strengthening the global optimization capability. On this basis, a suspension servo actuator system model incorporating internal leakage and time-delay faults is established based on the co-simulation platform of Simulink and AMESim, and the proposed method is validated. The simulation results show that, compared with the optimized traditional MFAC, the DE-MFAC tuned by IPSO exhibits superior position-tracking accuracy, faster response speed, and stronger overshoot-suppression capability under various compound-fault conditions. Further analysis indicates that the Integral of Absolute Cubic Error (IACE) function, due to its higher sensitivity to large deviations, can more effectively suppress overshoot and is suitable for engineering scenarios with strict requirements on dynamic performance. In addition, the optimization of control parameters using the IPSO algorithm can effectively compensate for the performance degradation caused by degradation faults, providing a feasible technical approach for extending the service life of actuators through adaptive adjustment. Full article

The development of highly dynamic bipedal robots demands sensing capable of capturing key contact-related signals in real time, particularly the Center of Pressure (CoP). CoP is fundamental for locomotion control and state estimation and is also of interest in biomedical applications such as gait analysis and lower-limb assistive devices. To enable reliable CoP acquisition under dynamic walking, this paper presents a foot-mounted measurement system and an online self-calibration method that adapts sensor scale and bias parameters during locomotion using both external foot sensors and the robot’s proprioceptive measurements. We demonstrate an online self-calibration pipeline that updates foot-sensor scale and bias parameters during a walking experiment on a NAO-V5 platform using a sliding window optimization. The reported results indicate improved within-trial consistency relative to an offline-calibrated reference baseline under the tested walking conditions. In addition, the framework reconstructs a digitized estimate of the vertical ground reaction force (vGRF) from load-cell readings; due to ADC quantization and the discrete offline calibration dataset, the vGRF signal may exhibit stepwise behavior and should be interpreted as a reconstructed (digitized) quantity rather than laboratory-grade continuous force metrology. Overall, the proposed sensing-and-calibration pipeline offers a practical solution for dynamic CoP acquisition with low-cost hardware. Full article

In response to the deterioration of path-tracking accuracy and driving stability encountered by intelligent vehicles under dynamically varying operating conditions, a multi-objective optimization strategy integrating soft actor-critic (SAC) reinforcement learning with variable-parameter Model Predictive Control (MPC) is proposed in this paper to achieve online adaptive adjustment of path-tracking controller parameters. Based on a three-degree-of-freedom vehicle dynamics model, a linear time-varying (LTV) MPC controller is constructed to jointly optimize the front wheel steering angle. An SAC agent is developed utilizing the actor-critic framework, with a comprehensive reward function designed around tracking accuracy and control smoothness to enable online tuning of the MPC weighting matrices (lateral error weight, heading error weight, and steering control weight) as well as the prediction horizon parameter, thereby realizing adaptive balance between tracking accuracy and stability under different operating conditions. Based on the simulation results, it can be concluded that under normal operating conditions, the proposed integrated SAC-MPC control scheme demonstrates superior tracking performance, with the maximum absolute lateral error and mean lateral error reduced by 44.9% and 67.2%, respectively, and the maximum absolute heading error reduced by 23.5%. When the system operates under nonlinear conditions during the transitional phase, the proposed control scheme not only enhances tracking accuracy—evidenced by reductions of 43.4% and 23.8% in the maximum absolute lateral error and maximum absolute heading error, respectively—but also significantly improves system stability, as indicated by a 20.7% reduction in the sideslip angle at the center of gravity. Experimental validation further confirms these findings. The experimental results reveal that, compared with the fixed-parameter MPC, the maximum absolute value and mean value of the lateral error are reduced by approximately 36.2% and 78.1%, respectively; the maximum absolute heading angle error is decreased by 24.3%; the maximum absolute yaw rate is diminished by 19.6%; and the maximum absolute sideslip angle at the center of gravity is reduced by 30.8%. Full article

Legged robot locomotion remains a critical challenge in robotics, demanding control strategies that are not only dynamically stable and robust but also capable of adapting to complex and changing environments. deep reinforcement learning (DRL) has recently emerged as a powerful approach to automatically generate motion control policies by learning from interactions with simulated or real environments. This study provides a systematic overview of DRL applications in legged robot control, emphasizing experimental platforms, measurement techniques, and benchmarking practices. Following PRISMA guidelines, 27 peer-reviewed studies published between 2018 and 2025 were analyzed, covering model-free, model-based, hierarchical, and hybrid DRL frameworks. Our findings reveal that reward shaping, policy representation, and training stability significantly influence control performance, while domain randomization and dynamic adaptation methods are essential for bridging the simulation-to-real-world gap. In addition, this review highlights instrumentation approaches for evaluating algorithm effectiveness, offering insights into sample efficiency, energy management, and safe deployment. The results aim to guide the development of reproducible and experimentally validated DRL-based control systems for legged robots. Full article

In pellet production, the uniformity of material distribution directly affects the subsequent roasting effect and the quality of finished products. Aiming at the problems of uneven distribution in traditional shuttle distribution systems, such as material stacking at both ends of the wide belt, insufficient parameter matching leading to uneven distribution, and reliance on manual adjustment which makes it difficult to adapt to dynamic working conditions, this paper proposes an intelligent control method based on Integral Simulation and Gradient Descent optimization (IS-GD). Firstly, this method combines the structure and operating parameters of the distribution equipment and accurately simulates the material distribution law on the wide belt during the reciprocating movement of the shuttle through integral technology. Based on the simulation results, longitudinal and lateral uniformity discriminant functions are constructed, and a phased gradient descent optimization strategy is adopted to dynamically adjust the shuttle belt speed, walking speed, and operating parameters of each stage with the goal of minimizing the uniformity index. Experimental results show that this method achieves a significant improvement in lateral distribution uniformity without affecting the stability of longitudinal distribution. This research provides reliable technical support for intelligent distribution control in pellet production and helps to improve the roasting quality and production efficiency of pellets. Full article

Model predictive control (MPC) has become one of the most promising control strategies in the field of electric vehicle energy management due to its rolling optimization and explicit constraint processing capabilities. This study analyzes the modeling mechanism and implementation path of MPC in power allocation, regenerative braking and energy collaborative control, which elaborates on the improvement principle of energy efficiency and system stability through predictive modeling and dynamic optimization. The evolution of MPC application in hybrid power systems, vehicle dynamic stability control, and hierarchical optimization control is discussed. The synergistic effect of multi-objective optimization and health-conscious control in energy efficiency improvement and service life extension is analyzed. With the development of artificial intelligence technology, MPC is expanding from model-based deterministic control to the directions of intelligent learning and distributed adaptation. Model uncertainty, computational complexity, and real-time solving efficiency are the main challenges faced by MPC. Future research will focus on the deep integration of model simplification, rapid solving, and intelligent learning to achieve a more efficient and reliable intelligent energy management system. Full article

Power-system planning is being reshaped by rapid decarbonisation, electrification, and digitalisation, which collectively amplify uncertainty in demand, generation, technology adoption, and policy pathways. This review critically synthesises three principal optimisation paradigms used to plan under uncertainty in power systems: scenario-based stochastic optimisation, set-based robust optimisation (including adaptive and distributionally robust variants), and minimax-regret decision models. The review is positioned to address a recurrent limitation of many uncertainty-planning surveys, namely the separation between “method reviews” and “technology reviews”, and the consequent lack of decision-operational guidance for planners and system operators. The central contribution is a decision-centric framework that operationalises method selection through two explicit dimensions. The first is an information posture, which formalises what uncertainty information is credible and usable in practice (probabilistic, set-based, or probability-free scenario representations). The second is a flexibility posture, which formalises the availability, controllability, and timing of operational recourse enabled by smart-grid technologies. These postures are connected to modelling templates, data requirements, tractability implications, and validation/stress-testing needs. Smart-grid technologies are integrated not as an appended catalogue but as explicit sources of recourse that change the economics of uncertainty and, in turn, shift the relative attractiveness of stochastic, robust, and regret-based planning. Soft Open Points, Coordinated Voltage Control, and Vehicle-to-Grid/Vehicle-to-Building are treated uniformly under this recourse lens, highlighting how device capabilities, control timescales, and implementation constraints map into each paradigm. The paper also increases methodological transparency by describing literature-search, screening, and inclusion principles consistent with a structured narrative review. Practical guidance is provided on modelling choices, uncertainty governance, computational scalability, and institutional adoption constraints, alongside revised comparative tables that embed data credibility, regulatory interpretability, and implementation maturity. Full article

Cement production exerts a significant negative impact on the environment through the emission of greenhouse gases, particulate matter (PM), heavy metals, and other toxic substances into the atmosphere, soil, and bodies of water, degrading the environment and affecting the population’s health. This study reviews different solutions to reduce pollution and mitigate its effects. Particular attention is given to Carbon Capture, Utilization, and Storage (CCUS) technologies and their ability to significantly reduce CO₂. Biomass and waste-derived fuels were identified as viable substitutes for fossil fuels, although challenges related to supply chain reliability and secondary environmental impacts remain. The study further examined mitigation strategies for non-gaseous pollutants, including noise pollution control measures such as sound barriers and vibration isolation systems, soil remediation techniques such as phytoremediation and the recycling of cement kiln dust (CKD), and water pollution control technologies, including filtration, chemical precipitation, biological treatment, and Zero Liquid Discharge (ZLD) systems. Key research gaps were identified, particularly concerning the long-term durability, scalability, and cost-effectiveness of these mitigation approaches. Overall, the review emphasizes the need for integrated pollution control strategies to support the transition toward a more sustainable cement industry and recommends future research focused on developing mitigation technologies that are efficient, economically viable, and adaptable to large-scale industrial applications. Full article

This paper presents a fault-tolerant control (FTC) strategy for a six-degree-of-freedom (DoF) anthropomorphic manipulator operating under actuator faults and complex friction dynamics. The proposed framework integrates a backstepping control methodology with LuGre friction modeling and a feedforward neural network (FFNN) for friction estimation. Actuator faults are considered in the form of multiplicative efficiency losses and additive disturbances. An adaptive control law is developed to estimate and compensate for both friction and actuator faults in real time. The stability of the closed-loop system is guaranteed through Lyapunov theory. The simulation results validate the effectiveness and robustness of the proposed approach in ensuring precise trajectory tracking despite faults and friction uncertainties. Full article

The rapid integration of photovoltaic (PV) generation into modern power networks introduces significant operational challenges, including intermittent power production, uneven charge distribution, and reduced system reliability in multi-battery energy storage systems. Addressing these challenges requires intelligent, adaptive, and physically consistent control strategies capable of operating under uncertain environmental and load conditions. This study proposes a Physics-Informed Neural Network (PINN)-based charge allocation framework that explicitly embeds physical constraints—namely charge conservation and State-of-Charge (SoC) equalization—directly into the learning process, enabling real-time adaptive control under varying irradiance and load conditions. The proposed controller exploits real-time measurements of PV voltage, current, and irradiance to achieve optimal charge distribution while ensuring converter stability and balanced battery operation. The framework is implemented and validated in MATLAB/Simulink under Standard Test Conditions of 1000 W·m⁻² irradiance and 25 °C ambient temperature. Simulation results demonstrate stable PV voltage regulation within the 230–250 V range, an average PV power output of approximately 95 kW, and effective duty-cycle control within the range of 0.35–0.45. The system maintains balanced three-phase grid voltages and currents with stable sinusoidal waveforms, indicating high power quality during steady-state operation. Compared with conventional Proportional–Integral–Derivative (PID) and Model Predictive Control (MPC) methods, the PINN-based approach achieves faster SoC equalization, reduced transient fluctuations, and more than 6% improvement in overall system efficiency. These results confirm the strong potential of physics-informed intelligent control as a scalable and reliable solution for smart PV–battery energy systems, with direct relevance to renewable microgrids and electric vehicle charging infrastructures. Full article

Seismic monitoring is a crucial step in ensuring the safety and resilience of building structures. The implementation of effective monitoring systems, particularly across large-scale, complex building clusters, is currently hindered by the limitations of traditional sensor placement methods, which suffer from low efficiency, high subjectivity, and difficulties in replication. This paper proposes an innovative AI-based Automated Layout Method for seismic monitoring devices, leveraging building geometric recognition to provide a scalable, quantifiable, and reproducible engineering solution. The core methodology achieves full automation and quantification by innovatively employing a dual-channel approach (images and vectors) to parse architectural floor plans. It first converts complex geometric features—including corner coordinates, effective angles, and concavity/convexity attributes—into quantifiable deployment scoring and density functions. The method implements a multi-objective balanced control system by introducing advanced engineering metrics such as key floor assurance, central area weighting, spatial dispersion, vertical continuity, and torsional restraint. This approach ensures the final sensor configuration is scientifically rigorous and highly representative of the structure’s critical dynamic responses. Validation on both simple and complex Reinforced Concrete (RC) frame structures consistently demonstrates that the system successfully achieves a rational sensor allocation under budget constraints. The placement strategy is physically informed, concentrating sensors at critical floors (base, top, and mid-level) and strategically utilizing external corner points to maximize the capture of torsional and shear responses. Compared with traditional methods, the proposed approach has distinct advantages in automation, quantification, and adaptability to complex geometries. It generates a reproducible installation manifest (including coordinates, sensor types, and angle classification) that directly meets engineering implementation needs. This work provides a new, efficient technical pathway for establishing a systematic and sustainable seismic risk monitoring platform. Full article

This study addresses the management and optimization of decentralized bioresource energy generation under conditions of political instability, using Ukraine as a representative case. The research aims to enhance energy security and operational resilience where centralized energy infrastructure is vulnerable to disruption. A high-efficiency technology for decentralized heat generation is proposed, based on the direct combustion of non-standard agricultural biomass with a one-year renewal cycle. The methodology combines experimental and statistical analysis of biomass feeding processes with advanced three-dimensional modeling of mixture formation and combustion, as well as the development of an artificial intelligence-driven automated control system. The system enables the use of sunflower, rapeseed, wheat, corn, and other agricultural residues with variable particle size and moisture content of up to 40%, without the need for pre-drying or pelletization. An original jet–vortex bioheat generator and optimized dosing systems were designed to ensure continuous and stable combustion. An operational algorithm allowing stable performance within 25–100% of nominal capacity was formulated based on statistical evaluation of screw feeder behavior and optimization of adjustable electric drive parameters, ensuring thermal carrier temperature stability within ±1–2 °C. The main novelty lies in the integrated optimization framework combining unconventional biomass utilization, adaptive electric drive control, and AI-based automation to achieve high energy efficiency and environmental performance. The results indicate that such decentralized systems can substantially strengthen national energy security and support sustainable energy supply in unstable political environments. Full article

Defect detection on Printed Circuit Boards (PCBs) constitutes a pivotal component of the quality control system in electronics manufacturing. However, owing to the intricate circuitry structures on PCB surfaces and the characteristics of defects—specifically their minute scale, irregular morphology, and susceptibility to background texture interference—existing generic deep learning models frequently fail to achieve an optimal equilibrium between detection accuracy and inference speed. To address these challenges, this study proposes MDEB-YOLO, a lightweight real-time detection network tailored for PCB micro-defects. First, to enhance the model’s perceptual capability regarding subtle geometric variations along conductive line edges, we designed the Efficient Multi-scale Deformable Attention (EMDA) module within the backbone network. By integrating parallel cross-spatial channel learning with deformable offset networks, this module achieves adaptive extraction of irregular concave–convex defect features while effectively suppressing background noise. Second, to mitigate feature loss of micro-defects during multi-scale transformations, a Bidirectional Residual Multi-scale Feature Pyramid Network (BRM-FPN) is proposed. Utilizing bidirectional weighted paths and residual attention mechanisms, this network facilitates the efficient fusion of multi-view features, significantly enhancing the representation of small targets. Finally, the detection head is reconstructed based on grouped convolution strategies to design the Lightweight Grouped Convolution Head (LGC-Head), which substantially reduces parameter volume and computational complexity while maintaining feature discriminability. The validation results on the PKU-Market-PCB dataset demonstrate that MDEB-YOLO achieves a mean Average Precision (mAP) of 95.9%, an inference speed of 80.6 FPS, and a parameter count of merely 7.11 M. Compared to baseline models, the mAP is improved by 1.5%, while inference speed and parameter efficiency are optimized by 26.5% and 24.5%, respectively; notably, detection accuracy for challenging mouse bite and spur defects increased by 3.7% and 4.0%, respectively. The experimental results confirm that the proposed method outperforms state-of-the-art approaches in both detection accuracy and real-time performance, possessing significant value for industrial applications. Full article

The global energy transition to renewable energy sources requires a rigorous assessment of the environmental impacts of all system components, including power electronics converters (PECs), which play a critical role in adapting generated energy to grid and load requirements. This paper presents a comprehensive comparative assessment of conventional PECs used in renewable energy systems, with a focus on DC-AC, DC-DC, and AC-DC converters. The study combines life cycle assessment (LCA) with the Circular Energy Sustainability Index (CESI) to evaluate both environmental performance and material circularity. The LCA is conducted using a functional unit defined as a representative converter, within consistent system boundaries that encompass material extraction, manufacturing, and end-of-life stages. This approach enables comparability among converter topologies but introduces limitations related to the exclusion of application-specific design optimizations, such as maximum efficiency, spatial constraints, and thermal management. CESI is subsequently applied as a decision-support tool to rank converter technologies according to sustainability and circularity criteria. The results reveal substantial differences among converter types: the controlled rectifier exhibits the lowest environmental impact and the highest circularity score (95.3%), followed by the uncontrolled rectifier (69.3%), whereas the inverter shows the highest environmental burden and the lowest circularity performance (38.6%), primarily due to its higher structural complexity and the material and manufacturing intensity associated with its switching architecture. Full article