Search Results (74)

Trajectory planning for morphing gliding reentry vehicles is a nonconvex optimization problem driven by nonlinearity, parameter uncertainty, and multiple constraints. No-fly zones (NFZs) are a critical constraint because their rapid movement and expansion hinder the real-time generation of optimal flight trajectories and wing morphing strategies. Therefore, this study proposes an innovative online trajectory optimization method based on sequential convex optimization integrated with a deep neural network (DNN). The proposed method first uses the Radau pseudospectral method to discretize continuous dynamics and convert the non-convex trajectory planning problem into a relaxed convex subproblem. The subproblem is reformulated as an augmented Lagrangian function through linearization and is iteratively solved using the interior-point method. Finally, the DNN learns the mapping between flight states and optimal control variables (angle of attack rate, bank angle rate, and wing sweep angle rate) to rapidly generate control variables. Different from the time-consuming offline optimization method, the proposed model only requires 0.4 ms to predict three groups of control variables, with the predicted control errors remaining below 2.25%. This method efficiently provides high-precision and stable reentry trajectories and morphing strategies for gliding reentry vehicles. Thus, the proposed method achieves synchronous flight path and wing deformation optimization and demonstrates strong robustness under time-varying mission conditions. Full article

Wireless-power mobile edge computing, SWIPT-MEC, priority-aware WPT scheduling and swarm resource allocation already solve important parts of the energy-management problem. The novelty of WPT-JCCO is not any one of those elements; it is a single swarm-supervisory feasible set that couples decisions which the three adjacent method classes normally separate. Each epoch-level action jointly selects the robot to charge and one of three physically distinct WPT modalities: far-field radio-frequency, resonant near-field and directional lightwave transfer, together with the SWIPT split, local/edge task placement, CPU frequency, bandwidth and transmit power. Relative to SWIPT-MEC, the formulation adds discrete recipient–modality selection with pose, alignment, blockage and dwell-dependent feasibility. Relative to conventional WPT scheduling, charging is not a separate priority or routing stage but is solved jointly with computation and radio allocation. Relative to swarm resource-allocation methods, energy replenishment is endogenous and an individual minimum-battery constraint protects the weakest robot. A fourth coupling makes the centrally generated resource vector admissible only when the complete sense–compute–actuate age fits the one-second supervisory epoch; otherwise a previously feasible or local-safe action is applied. Nonlinear harvesting, partial offloading, priority scoring and augmented-Lagrangian primal–dual updates are treated as established techniques. This paper derives the continuous block updates, keeps the WPT variables binary through candidate screening, and declares convergence only when stationarity, feasibility, merit-change and binary-hold tests are jointly satisfied. Normalised primal steps are safeguarded by backtracking, dual and penalty updates are bounded, and a local tracking bound plus divergence monitor delimit real-time operation without claiming global mixed-integer optimality or closed-loop motion stability. Numerical evaluation over a 20-robot swarm and 30 Monte Carlo runs shows that WPT-JCCO reduces net energy depletion by 23.8% relative to communication–computation optimisation with static WPT and by 49.7% relative to local-only execution, while increasing task success from 93.5% to 97.3%. A released common-trace comparison shows normalised-cost reductions of 11.1%, 11.3% and 5.8% relative to two-stage WPT+CCO, fixed-SWIPT dynamic offloading and an offline Q-learning scheduler. Convergence and one-factor-at-a-time sensitivity studies further examine swarm size, task load, WPT budget, bandwidth, edge capacity, mobility and channel margin. The headline values remain scoped to the nominal independent-task case; mode-specific RF, near-field and lightwave operating envelopes, robust pose/CSI, WPT-safety and task-DAG extensions are formulated but not presented as hardware-validated results. Full article

With the rapid development of intelligent navigation technologies, accurate dynamic object detection in complex maritime environments remains a critical challenge due to occlusion, scale variation, and multi-target interference. To address these issues, this study proposes a vision–radar fusion-based dynamic object detection method. A cross-modal feature mapping mechanism is developed to achieve deep integration of visual and radar information, and an augmented Lagrangian optimization strategy is introduced to enhance feature consistency and representation capability. Furthermore, an improved Faster R-CNN framework is designed by optimizing the region proposal network and incorporating a multi-scale training strategy to improve detection performance for objects of varying scales. Experimental results on a self-constructed MVRD show that the proposed method achieves detection accuracies of 88.93%, 76.86%, 74.47%, and 83.01% under sunny, strong illumination, foggy, and crossing-waterway conditions, respectively. These results demonstrate that the proposed approach exhibits strong robustness and stability in complex maritime environments. Overall, the method significantly improves dynamic object detection accuracy and provides effective support for reliable environmental perception in intelligent navigation systems. Full article

Distributed optimal design brings significant solutions for experiment optimization in complex engineering design problems. A Kriging-based augmented Lagrangian Method is proposed with the help of the Multi-fidelity Hamiltonian Kriging (MHK) surrogate model. The Multi-fidelity Hamiltonian Kriging-based Augmented Lagrangian Method (MHK-ALM) uses subsystem surrogate models constructed from multi-fidelity data to speed up the inner loop solution of ALM, while also reducing the iterations of the outer loop of ALM. The MHK-ALM is illustrated with one numerical simulation of a multi-fidelity constrained NASA speed reducer problem, demonstrated with a multidisciplinary design optimization of a solid-propellant ballistic missile. The engineering application of the multidisciplinary design optimization (MDO) problem shows that the proposed method can perform precisely over certain advanced surrogate-based optimization frameworks. The MHK-ALM can be applied for any other distributed optimal design problems where one need complex subsystem decomposition. Full article

In this paper, we focus on online stochastic optimization problems in which random parameters follow time-varying distributions. In each round t, a decision is obtained from solving the current optimization problem. Then samples are drawn from distributions which are updated after obtaining the decision. The objective and constraint are updated in this process, and the updated problem is used to obtain the next decision. To solve the online stochastic optimization problem, we propose a model-based stochastic augmented Lagrangian method, which is referred to as the MSALM. In each round, we construct model functions for the sample objective and constraint functions based on their properties, which reduce computational complexity. The step size is designed in a dynamic way and decreases as t increases to accelerate convergence. Due to the setting of the online stochastic problem, we use stochastic dynamic regret and constraint violation to measure the performance of our algorithm. Under certain assumptions, we prove that our algorithm’s stochastic dynamic regret and constraint violation have a sublinear bound in terms of the total number of slots T. We design simulation experiments to verify the efficiency of our online algorithm. Its performance is evaluated on a range of information and system engineering problems, including adaptive filtering, online logistic regression, time-varying smart grid energy dispatch, online network resource allocation, and path planning. In addition, in the context of the path planning problem, we integrate our algorithm with supervised learning to demonstrate its enhanced capabilities. The experimental results validate the performance of our new algorithm in practical applications. Full article

This study aims to enhance the precision of humanoid robots in imitating complex human “walking–grasping” coordinated movements. Addressing limitations in sample efficiency and reward function design in Generative Adversarial Imitation Learning (GAIL), we propose the Similarity Reward-Augmented Generative Adversarial Imitation Learning (SRA-GAIL) framework. The method integrates plantar thin-film resistive pressure sensors to measure the real-time pressure distribution at four key points on both feet, combined with roll/pitch angle data acquired from JY901S inertial measurement units (IMUs). A Lagrangian constraint optimization strategy is employed to achieve gait stability control based on the zero moment point (ZMP). Simultaneously, a visual similarity evaluation module is established using human demonstration trajectories captured by a Logitech C920E camera, augmented by grip force feedback from flexible thin-film pressure sensors on the hands. This enables the design of a multimodal sensor-fused similarity reward function. By incorporating Lagrangian constraint optimization and a maximum entropy reinforcement learning framework, Similarity Reward-Augmented Generative Adversarial Imitation Learning synchronously optimizes gait stability control—guided by zero moment point (ZMP) and roll/pitch data—and vision-based trajectory similarity evaluation. These components address motion stability constraints and trajectory similarity metrics, respectively, generating biomechanically plausible gait strategies. A spatiotemporal attention mechanism parses human motion trajectory features to drive the end-effector for high-precision trajectory tracking. To validate the proposed method, an imitation learning experimental system was constructed on a physical XIAOLI humanoid robot platform, integrating inertial measurement units (IMUs), plantar pressure sensors, and a vision system. Quantitative evaluations were conducted across multiple dimensions, including robot platform analysis, walking stability, object grasping success rates, and end-effector trajectory similarity. The results demonstrate that, compared to Generative Adversarial Imitation Learning (GAIL) and behavioral cloning, Similarity Reward-Augmented Generative Adversarial Imitation Learning achieves a stable object grasping success rate of 93.7% in complex environments, with a 23.8% improvement in sample efficiency. The method maintains a 96.5% compliance rate for zero moment point (ZMP) trajectories within the support polygon, significantly outperforming baseline approaches. This effectively addresses the bottleneck in robot policies adapting to dynamic changes in real-world environments. Full article

Lower-limb exoskeleton robots play a pivotal role in rehabilitation medicine and assistive augmentation, where precise dynamic modelling and trajectory tracking control are fundamental to effective assistance. Existing models predominantly focus on hip and knee rotational degrees of freedom, with insufficient attention to ankle dynamics and pelvic translation. To address these limitations, this paper establishes a sagittal-plane dynamic model comprising nine generalised coordinates, treating the human lower limb and exoskeleton as an integrated coupled system. A seven-segment kinematic model encompassing the trunk, bilateral thighs, shanks, and feet is constructed via a modified Denavit–Hartenberg parameter method, and dynamic equations are derived using Lagrangian formulation. Three control strategies—PD control, PD with gravity compensation, and the computed torque method—are designed and evaluated through simulations using gait data from five subjects (two self-collected, three from a public dataset) acquired via Vicon motion capture. Results demonstrate that the computed torque method achieves a joint angle tracking root mean square error (RMSE) of 0.59°, representing an 86.3% improvement over conventional PD control, while maintaining a low control torque RMS of 4.44 N·m. The controller exhibits stable tracking performance across walking speeds of 0.4–1.45 m/s, validating the effectiveness of the proposed model and control strategies. Full article

This paper presents an improved hybrid Eulerian–Lagrangian framework, which has been augmented with an adaptive mesh refinement technique, for simulating passive scalar transport on deforming interfaces. We capture interface deformation using an Eulerian level-set method while solving the interfacial transport equation with a single-layer smoothed particle hydrodynamics method. As a result, the proposed hybrid approach combines the high efficiency of the Eulerian formulation with the strict mass conservation property of smoothed particle hydrodynamics method. To further accelerate the simulations, we employ adaptive mesh refinement for the Eulerian solver and restrict particles to the finest refinement level. To mitigate Lagrangian particle clustering, we adopt a remeshing procedure that generates particle distributions adapted to the local interface geometry on the finest mesh. This remeshing also enables accurate, mass-conservative reconstruction of the interfacial concentration field. Moreover, by incorporating an adaptive remeshing strategy, we tune the remeshing frequency to balance computational cost and accuracy. The accuracy and robustness of the proposed method are demonstrated through a suite of benchmark test cases. Additionally, we evaluate the effectiveness of adaptive mesh refinement through benchmark test cases, verifying its compatibility with the interfacial smoothed particle hydrodynamics method and quantifying the resulting speedup. Full article

This paper presents a practical optimization framework for improving trajectory feasibility in constrained nonlinear optimal control problems for agile unmanned aerial vehicles (UAVs). The proposed method addresses trajectory optimization problems with non-convex geometric constraints, where gradient-based solvers often fail to converge to feasible solutions. The framework combines Model Predictive Path Integral (MPPI) control and the Augmented Lagrangian iterative Linear Quadratic Regulator (AL-iLQR). MPPI is employed as a fast sampling-based guidance mechanism to explore feasible regions of the trajectory space, while AL-iLQR is used to efficiently refine locally optimal solutions with high numerical accuracy. By decoupling feasibility exploration from local optimal refinement, the proposed method mitigates the sensitivity of gradient-based trajectory optimization to initialization in highly constrained environments. Numerical simulations involving both simplified two-dimensional dynamics and full quadrotor models demonstrate that the proposed approach significantly improves the probability of converging to feasible and dynamically consistent trajectories compared with AL-iLQR alone. The proposed method does not aim to provide theoretical guarantees of global optimality; instead, it offers a practical and computationally efficient strategy for enhancing feasibility and robustness in real-time UAV trajectory optimization. Full article

To enhance the performance of deep image prior, we propose a novel image denoising model that embeds an anisotropic diffusion tensor into the total generalized variation model and combines it with the deep image prior. The proposed tensor weights deep gradients and guides gradient orientation, which effectively preserves sharp edges. We solve the corresponding minimization problem using the augmented Lagrangian method and the alternating direction method of multipliers. Experimental results show that the proposed method can remove noise while suppressing staircase artifacts and enhancing edge structures, yielding restored images with clearer edge details. Both quantitative metrics and visual comparisons show consistent improvements over competing methods across multiple noise levels, with more pronounced advantages in edge preservation. Full article

Electromagnetic interference (EMI) rectification of grid-tied inverters is crucial for their practical application, and the variable frequency modulation (VFM) technique is a low-cost and simple way for EMI reduction. However, changes in loss and harmonic behaviors make it hard for parameter determination of VFM. In this paper, the parameters required for switching frequency (SF) function are determined for loss optimization of MOSFETs and inductors, while total harmonic distortion (THD) and temperature rise in MOSFETs and inductor core are constrained to guarantee the feasibility of the calculated parameters. Current transient is derived through multidimensional Fourier decomposition (MFD) and characteristics of Bessel function for loss estimation of MOSFET and inductor. Modified Steinmetz equation (MSE) is applied for core loss estimation and AC resistance is considered for copper loss estimation. With the constraints of THD and temperature, the loss optimization problem is solved by the augmented Lagrangian (AL) method. With the assistance of the proposed method, total loss optimization can be realized in feasible regions while the temperature rise in essential components can be restricted to the preset values. Full article

Codon optimization is widely used to improve heterologous gene expression in Escherichia coli. However, many existing methods focus primarily on maximizing the codon adaptation index (CAI) and neglect broader aspects of biological context. In this study, we present ColiFormer, a transformer-based codon optimization framework fine-tuned on 3676 high-expression E. coli genes curated from the NCBI database. Built on the CodonTransformer BigBird architecture, ColiFormer employs self-attention mechanisms and a mathematical optimization method (the augmented Lagrangian approach) to balance multiple biological objectives simultaneously, including CAI, GC content, tRNA adaptation index (tAI), RNA stability, and minimization of negative cis-regulatory elements. Based on in silico evaluations on 37,053 native E. coli genes and 80 recombinant protein targets commonly used in industrial studies, ColiFormer demonstrated significant improvements in CAI and tAI values, maintained GC content within biologically optimal ranges, and reduced inhibitory cis-regulatory motifs compared with established codon optimization approaches, while maintaining competitive runtime performance. These results represent computational predictions derived from standard in silico metrics; future experimental work is anticipated to validate these computational predictions in vivo. ColiFormer has been released as an open-source tool alongside the benchmark datasets used in this study. Full article

Satellite videos are widely applied for large-scale surveillance. Existing low-rank matrix decomposition-based methods produce promising results under simple and stationary backgrounds. However, these methods suffer a severe performance drop on satellite videos with complex and dynamic backgrounds. To address these challenges, we propose a matrix-based total variation regularized robust PCA (TV-RPCA) approach for moving-vehicle detection. Specifically, our TV-RPCA uses the partial sum of singular values to model the low-rank background. Moreover, a ${\mathit{\ell }}_p$ norm and a spatial–temporal TV regularization are adopted to encourage the spatial–temporal continuity of foregrounds. The optimization of our TV-RPCA is carried out using the augmented Lagrangian multiplier framework combined with the alternating direction minimization approach. Comprehensive experiments conducted on SkySat and Jilin-1 video data verify the effectiveness of the proposed approach. Full article

Escherichia coli LS5218 is an attractive host for producing polyhydroxybutyrate. The strain, however, strongly requires heterologous gene expressions like phaC for efficient production. For enhancing the production, the whole gene expressions relating to end product-producing flow should be optimized so that not only heterologous induced-genes but also other relating genes are comprehensively analyzed on the transcription levels, resulting in normally time-consuming mutant-creation. Additionally, the explanation for each transcriptional relationship is likely to follow the relationships on known metabolic pathway map to limit the consideration. This study aimed to infer gene regulatory networks within glycolysis, a central metabolic pathway in LS5218, using machine learning-based causal discovery methods. To construct a directed acyclic graph representing the gene regulatory network, we employed the NOTEARS algorithm (Non-combinatorial Optimization via Trace Exponential and Augmented lagRangian for Structure learning). Using transcription data of 264 time-resolved sampling points, we inferred the gene regulatory network and identified several distal regulatory relationships. Notably, gapA, a key enzyme controlling the transition between the preparatory and rewarding phases in glycolysis, was found to influence pgi, the enzyme at the pathway’s entry point. These findings suggest that inferring such nonlocal regulatory interactions can provide valuable insights for guiding genetic engineering strategies. Full article

System representation via computational graphs has become a cornerstone of modern machine learning, underpinning the gradient-based training of complex models. We have previously introduced the Partial Lagrangian Method—a divide-and-conquer approach that decomposes the Lagrangian into link-wise components—to derive and evaluate the equations of motion for robot systems with dynamically changing structures. That method leverages the symbolic expressiveness of computational graphs with automatic differentiation to streamline dynamic analysis. In this paper, we advance this framework by establishing a principled way to encode time-dependent differential equations as computational graphs. Our approach, which augments the state vector and applies the chain rule, constructs fully time-independent graphs directly from the Lagrangian, eliminating the erroneous time-derivative embeddings that previously required manual correction. Because our transformation is derived from first principles, it guarantees graph correctness and generalizes to any system governed by variational dynamics. We validate the method on a simple serial-link robotic arm, showing that it faithfully reproduces the standard equations of motion without graph failure. Furthermore, by compactly representing state variables, the resulting computational graph achieves a seven-fold reduction in evaluation time compared to our prior implementation. The proposed framework thus offers a more intuitive, scalable, and efficient design and analysis of complex dynamic systems. Full article