Search Results (387)

In recent years, the traditional orchard sprayer has had problems, such as waste of liquid agrochemicals, low target coverage, high manual dependence, and environmental pollution. In this study, an automatic swing-arm sprayer for orchards was developed based on the standardized pear orchard in Pinggu, Beijing. Firstly, the structural principles of a crawler-type traveling system and swing-arm sprayer were simulated using finite element software design. The combination of a diffuse reflection photoelectric sensor and Arduino single-chip microcomputer was used to realize real-time detection and dynamic spray control in the pear canopy, and the sensor delay compensation algorithm was used to optimize target recognition accuracy and improve the utilization rate of liquid agrochemicals. Through the integration of innovative structural design and intelligent control technology, a vertical droplet distribution test was carried out, and the optimal working distance of the spray was determined to be 1 m; the nozzle angle for the upper layer was 45°, that for the lower layer was 15°, and the optimal speed of the swing-arm motor was 75 r/min. Finally, a particle size test and field test of the orchard sprayer were completed, and it was concluded that the swing-arm mode increased the pear tree canopy droplet coverage by 74%, the overall droplet density by 21.4%, and the deposition amount by 23% compared with the non-swing-arm mode, which verified the practicability and reliability of the swing-arm spray and achieved the goal of on-demand pesticide application in pear orchards. Full article

This paper presents some of the most significant findings in the design of a hydraulic servomechanism for flight controls, which were primarily achieved by the first author during his activity in an aviation institute. These results are grouped into four main topics. The first one outlines a classical theory, from the 1950s–1970s, of the analysis of nonlinear automatic systems and namely the issue of absolute stability. The uninformed public may be misled by the adjective “absolute”. This is not a “maximalist” solution of stability but rather highlights in the system of equations a nonlinear function that describes, for the case of hydraulic servomechanisms, the flow-control dependence in the distributor spool. This function is odd, and it is therefore located in quadrants 1 and 3. The decision regarding stability is made within the so-called Lurie problem and is materialized by a matrix inequality, called the Lefschetz condition, which must be satisfied by the parameters of the electrohydraulic servomechanism and also by the components of the control feedback vector. Another approach starts from a classical theorem of V. M. Popov, extended in a stochastic framework by T. Morozan and I. Ursu, which ends with the description of the local and global spool valve flow-control characteristics that ensure stability in the large with respect to bounded perturbations for the mechano-hydraulic servomechanism. We add that a conjecture regarding the more pronounced flexibility of mathematical models in relation to mathematical instruments (theories) was used. Furthermore, the second topic concerns, the importance of the impedance characteristic of the mechano-hydraulic servomechanism in preventing flutter of the flight controls is emphasized. Impedance, also called dynamic stiffness, is defined as the ratio, in a dynamic regime, between the output exerted force (at the actuator rod of the servomechanism) and the displacement induced by this force under the assumption of a blocked input. It is demonstrated in the paper that there are two forms of the impedance function: one that favors the appearance of flutter and another that allows for flutter damping. It is interesting to note that these theoretical considerations were established in the institute’s reports some time before their introduction in the Aviation Regulation AvP.970. However, it was precisely the absence of the impedance criterion in the regulation at the appropriate time that ultimately led, by chance or not, to a disaster: the crash of a prototype due to tailplane flutter. A third topic shows how an important problem in the theory of automatic systems of the 1970s–1980s, namely the robust synthesis of the servomechanism, is formulated, applied and solved in the case of an electrohydraulic servomechanism. In general, the solution of a robust servomechanism problem consists of two distinct components: a servo-compensator, in fact an internal model of the exogenous dynamics, and a stabilizing compensator. These components are adapted in the case of an electrohydraulic servomechanism. In addition to the classical case mentioned above, a synthesis problem of an anti-windup (anti-saturation) compensator is formulated and solved. The fourth topic, and the last one presented in detail, is the synthesis of a fuzzy supervised neurocontrol (FSNC) for the position tracking of an electrohydraulic servomechanism, with experimental validation, in the laboratory, of this control law. The neurocontrol module is designed using a single-layered perceptron architecture. Neurocontrol is in principle optimal, but it is not free from saturation. To this end, in order to counteract saturation, a Mamdani-type fuzzy logic was developed, which takes control when neurocontrol has saturated. It returns to neurocontrol when it returns to normal, respectively, when saturation is eliminated. What distinguishes this FSNC law is its simplicity and efficiency and especially the fact that against quite a few opponents in the field, it still works very well on quite complicated physical systems. Finally, a brief section reviews some recent works by the authors, in which current approaches to hydraulic servomechanisms are presented: the backstepping control synthesis technique, input delay treated with Lyapunov–Krasovskii functionals, and critical stability treated with Lyapunov–Malkin theory. Full article

In this paper, a robust neural adaptive controller is proposed for the trajectory tracking control problem of unmanned surface vessels (USVs), considering model uncertainty, time-varying environmental disturbance, and actuator saturation. First, measurement errors in acceleration signals are eliminated through filtering techniques and a series of auxiliary variables, and after linearly parameterizing the USV dynamic model, a parameter adaptive update law is developed based on Lyapunov’s second method to estimate unknown dynamic parameters in the USV dynamics model. This parameter adaptive update law enables online identification of all USV dynamic parameters during trajectory tracking while ensuring convergence of the estimation errors. Second, a radial basis function neural network (RBF-NN) is employed to approximate unmodeled dynamics in the USV system, and on this basis, a robust damping term is designed based on neural damping technology to compensate for environmental disturbances and unmodeled dynamics. Subsequently, a trajectory tracking controller with parameter adaptation law and robust damping term is proposed using Lyapunov theory and adaptive control techniques. In addition, finite-time auxiliary variables are also added to the controller to handle the actuator saturation problem. Signal delay compensators are designed to compensate for input signal delays in the control system, thereby enhancing controller reliability. The proposed controller ensures robustness in trajectory tracking under model uncertainties and time-varying environmental disturbances. Finally, the convergence of each signal of the closed-loop system is proved based on Lyapunov theory. And the effectiveness of the control system is verified by numerical simulation experiments. Full article

This study presents an adaptive sliding mode control strategy tailored for robotic manipulators, featuring a quasi-convex function-based control gain and a time-delay estimation (TDE) enhanced by neural networks. To compensate for TDE errors, the proposed method utilizes both the previous TDE error and radial basis function neural networks with a weight update law that includes damping terms to prevent divergence. Additionally, a continuous gain function that is quasi-convex function dependent on the magnitude of the sliding variable is proposed to replace the traditional switching control gain. This continuous function-based gain has effectiveness in suppressing chattering phenomenon while guaranteeing the stability of the robotic manipulator in terms of uniform ultimate boundedness, which is demonstrated through both simulation and experiment results. Full article

This study presents advanced control and energy management strategies for uncertain wind energy systems using a Takagi–Sugeno (T-S) fuzzy modeling framework. To address key challenges, such as system uncertainties, external disturbances, and input delays, the study integrates a fuzzy H∞ robust control approach with a neural network-based delay compensation mechanism. A fuzzy observer-based H∞ tracking controller is developed to enhance robustness and minimize the impact of disturbances. The stability conditions are rigorously derived using a quadratic Lyapunov function, H∞ performance criteria, and Young’s inequality and are expressed as Linear Matrix Inequalities (LMIs) for computational efficiency. In parallel, a neural network-based controller is employed to compensate for the input delays introduced by online learning processes. Furthermore, an energy management layer is incorporated to regulate the power flow and optimize energy utilization under varying operating conditions. The proposed framework effectively combines control and energy coordination to improve the systems’ performance. The simulation results confirm the effectiveness of the proposed strategies, demonstrating enhanced stability, robustness, delay tolerance, and energy efficiency in wind energy systems. Full article

Teleoperation systems experience degraded control stability and safety due to dynamic communication delays. This study proposes an Interpolation Predictor for Teleoperation under Dynamic Communication Delay (IPT-DCD), a predictor that reconstructs asynchronously received control commands via interpolation and predicts future commands using an encoder–decoder LSTM architecture. To restore the temporal consistency of delayed signals, a signal preprocessing technique called the Backward Shifting and Interpolation (BSI) was applied, enabling the transformation of received data into an undelayed and uniformly sampled format. As a result, the proposed model was capable of generating real-time steering command outputs through a many-to-many time series structure. Furthermore, to evaluate its effectiveness, IPT-DCD was experimentally compared with a baseline model, a Predictor for Teleoperation under Dynamic Communication Delay (PT-DCD). The results reveal that IPT-DCD exhibits significantly greater robustness to large communication delay outliers than the baseline, highlighting its effectiveness in dynamic and unstable teleoperation environments. Full article

Revolutionizing distributed agile software testing, we propose BCTestingPlus, a groundbreaking blockchain-based platform. In the traditional distributed agile software testing lifecycle, software testing has suffered from a lack of trust, traceability, and security in communication and collaboration. Furthermore, developers’ failure to complete unit testing has been a significant bottleneck, causing delays and contributing to project failures. Introducing BCTestingPlus, a transformative blockchain-based architecture engineered to overcome these challenges. This framework integrates blockchain technology to establish an inherently transparent and secure environment for software testing. BCTestingPlus operates on a private Ethereum blockchain network, offering superior control and privacy. By implementing smart contracts on this network, BCTestingPlus ensures secure payment verification and efficient acceptance testing. Crucially, it aligns development and testing teams toward shared objectives and guarantees equitable compensation for their efforts. The experimental results and findings conclusively show that this innovative approach demonstrates that BCTestingPlus significantly enhances transparency, bolsters trust, streamlines coordination, accelerates testing, and secures communication channels for all parties involved in the distributed agile software testing lifecycle. It delivers robust security for both development and testing teams, ultimately transforming the efficiency and reliability of distributed agile software testing. Full article

This paper presents a non-fragile observer-based dissipative control strategy for the suspension systems of electric vehicles equipped with in-wheel motors, accounting for input delays, actuator faults, and observer gain uncertainty. Traditional control approaches—such as $H_{\infty }$, passive control, and robust feedback schemes, often address these challenges in isolation and with increased conservatism. In contrast, this work introduces a unified framework that integrates fault-tolerant control, delay compensation, and robust state estimation within a dissipativity-based setting. A novel dissipativity analysis tailored to Electric Vehicle Active Suspension Systems (EV-ASSs) is developed, with nonzero delay bounds explicitly incorporated into the stability conditions. The observer is designed to ensure accurate state estimation under gain perturbations, enabling robust full-state feedback control. Stability and performance criteria are formulated via Linear Matrix Inequalities (LMIs) using advanced integral inequalities to reduce conservatism. Numerical simulations validate the proposed method, demonstrating effective fault-tolerant performance, disturbance rejection, and precise state reconstruction, thereby extending beyond the capabilities of traditional control frameworks. Full article

Bilateral teleoperation of skid-steering mobile robots with time-varying delays presents significant challenges in ensuring accurate leader–follower coupling. This article presents a novel controller for a bilateral teleoperation system composed of a robot manipulator and a skid-steering mobile robot. The proposed controller leverages neural networks to compensate for ground–robot interactions, uncertain dynamics, and communication delays. The control strategy integrates a shared scheme between damping injection and two neural networks, enhancing the robustness and adaptability of the delayed system. A rigorous theoretical analysis of the closed-loop teleoperation system is provided, establishing conditions of control parameters to ensure stability and convergence of the coordination errors. The proposed method is validated through numerical testing, demonstrating strong agreement between theoretical outcomes and simulation results. Full article

Phosphomannomutase 2 (PMM2) catalyzes the interconversion of mannose-6-phosphate and mannose-1-phosphate, a key step in the biosynthesis of GDP-mannose for N-glycosylation. Its deficiency is the most common cause of congenital disorders of glycosylation (CDGs), accounting for the subtype known as PMM2-CDG. PMM2-CDG is a rare autosomal recessive disease characterized by multisystemic dysfunction, including cerebellar atrophy, peripheral neuropathy, developmental delay, and coagulation abnormalities. The disease is associated with a spectrum of pathogenic missense mutations, particularly at residues involved in dimerization and catalytic function (i.e., p.Phe119Leu and p.Arg141His). The dimerization of PMM2 is considered essential for enzymatic activity, although it remains unclear whether this supports structural stability alone, or whether both subunits are catalytically active—a distinction that may affect how mutations in each monomer contribute to overall enzyme function and disease phenotype. PMM2 has a paralog, phosphomannomutase 1 (PMM1), which shares substantial structural similarity—including obligate dimerization—and displays mutase activity in vitro, but does not compensate for PMM2 deficiency in vivo. To investigate potential heterodimerization between PMM1 and PMM2 and the effect of interface mutations over PMM2 dimer stability, we first assessed the likelihood of their co-expression using data from GTEx and the Human Protein Atlas. Building on this expression evidence, we modeled all possible dimeric combinations between the two paralogs using AlphaFold3. Models of the PMM2 and PMM1 homodimers were used as internal controls and aligned closely with their respective reference biological assemblies (RMSD < 1 Å). In contrast, the PMM2/PMM1 heterodimer model, the primary result of interest, showed high overall confidence (pLDDT > 90), a low inter-chain predicted alignment error (PAE∼1 Å), and robust interface confidence scores (iPTM = 0.80). Then, we applied PISA, PRODIGY, and mmCSM-PPI to assess interface energetics and evaluate the impact of missense variants specifically at the dimerization interface. Structural modeling suggested that PMM2/PMM1 heterodimers were energetically viable, although slightly less stable than PMM2 homodimers. Interface mutations were predicted to reduce dimer stability, potentially contributing to the destabilizing effects of disease-associated variants. These findings offer a structural framework for understanding PMM2 dimerization, highlighting the role of interface stability, paralogs co-expression, and sensitivity to disease-associated mutations. Full article

This study presents a networked cyber-physical architecture that integrates a Reinforcement Learning-based Digital Twin (DT) to enable zero-delay interaction between physical and digital components in smart agriculture. The proposed system allows real-time remote control of a robotic arm inside a hydroponic greenhouse, using a sensor-equipped Wearable Glove (SWG) for hand motion capture. The DT operates in three coordinated modes: Real2Digital, Digital2Real, and Digital2Digital, supporting bidirectional synchronization and predictive simulation. A core innovation lies in the use of a Reinforcement Learning model to anticipate hand motions, thereby compensating for network latency and enhancing the responsiveness of the virtual–physical interaction. The architecture was experimentally validated through a detailed communication delay analysis, covering sensing, data processing, network transmission, and 3D rendering. While results confirm the system’s effectiveness under typical conditions, performance may vary under unstable network scenarios. This work represents a promising step toward real-time adaptive DTs in complex smart greenhouse environments. Full article

The P300 event-related potential, evoked by attending to specific sensory stimuli, is utilized in non-invasive brain–computer interface (BCI) systems and is considered the only interface through which individuals with complete paralysis can operate devices based on their intention. Conventionally, visual stimuli used to elicit P300 have been presented using displays; however, placing a display directly in front of the user obstructs the field of view and prevents the user from perceiving their surrounding environment. Moreover, every time the user changes posture, the display must be repositioned accordingly, increasing the burden on caregivers. To address these issues, we propose a novel system that employs wirelessly controllable LED visual stimulus presentation devices distributed throughout the surrounding environment, rather than relying on traditional displays. The primary challenge in the proposed system is the communication delay associated with wireless control, which introduces errors in the timing of stimulus presentation—an essential factor for accurate P300 analysis. Therefore, it is necessary to evaluate how such delays affect P300 detection accuracy. The second challenge lies in the variability of visual stimulus strength due to differences in viewing distance caused by the spatial distribution of stimulus devices. This also requires the validation of its impact on P300 detection. In Experiment 1, we evaluated system performance in terms of wireless communication delay and confirmed an average delay of 352.1 ± 30.9 ms. In Experiment 2, we conducted P300 elicitation experiments using the wireless visual stimulus presentation device under conditions that allowed the precise measurement of stimulus presentation timing. We compared P300 waveforms across three conditions: (1) using the exact measured stimulus timing, (2) using the stimulus timing with a fixed compensation of 350 ms for the wireless delay, and (3) using the stimulus timing with both the 350 ms fixed delay compensation and an additional pseudo-random error value generated based on a normal distribution. The results demonstrated the effectiveness of the proposed delay compensation method in preserving P300 waveform integrity. In Experiment 3, a system performance verification test was conducted on 21 participants using a wireless visual presentation device. As a result, statistically significant differences (p < 0.01) in amplitude between target and non-target stimuli, along with medium or greater effect sizes (Cohen’s d: 0.49–0.61), were observed under all conditions with an averaging count of 10 or more. Notably, the P300 detection accuracy reached 85% with 40 averaging trials and 100% with 100 trials. These findings demonstrate that the system can function as a P300 speller and be utilized as an interface equivalent to conventional display-based methods. Full article

Active disturbance rejection control is implemented in a LC-filtered surface-mounted permanent magnet synchronous motor (SPMSM) drive system to enhance current control dynamics. However, the combined effects of computation one-beat delay and the pulse-width modulation zero-order hold (ZOH) effect significantly degrade system stability and dynamic performance. To address these limitations, an improved predictive extended state observer (ESO) with an accurate ZOH discretization method is proposed to ensure fast and robust dynamic performance. The predictive ESO predicts one beat to compensate for the delay effect, while the ZOH discretization yields a more precise discrete dynamic model of the system. These combined improvements substantially enhance the system’s phase and gain margins, leading to superior dynamic performance. Furthermore, a discrete-domain transfer function of the control system is analytically derived, with the control parameters systematically designed using frequency-domain analysis to guarantee robust performance. Experimental validation on a LC-filtered SPMSM drive system demonstrates remarkable enhancement in current control dynamics while maintaining sufficient robustness. Full article

Background: Understanding the mechanisms by which woody perennials adapt to extreme water deficits is important in regions experiencing increasingly frequent and intense droughts. Methods: We investigated the effects of drought severity in the shrubs Corylus avellana L., C. maxima Mill., and their morphological intermediate forms, all from local Belgian origin, and C. avellana from a Spanish-Pyrenean origin. Potted saplings in a common garden were not receiving any water for a duration of 30 days in July 2021 and developed a range of visual stress symptoms. We assessed responses across the various symptom categories. Results: Droughted plants senesced later than the controls (up to 6 days). The most severely affected plants disproportionately displayed the longest delay (21 days). The delayed leaf senescence was reflected in the subsequent bud burst which was delayed for the droughted plants, with again the largest delay observed for the most severely affected plants. Interestingly, radial growth shifted towards the autumn among the drought-treated plants, suggesting compensation growth after growing conditions normalized. The Spanish-Pyrenean provenance, characterized by smaller plants with smaller leaves, developed visual drought symptoms later than the local provenance during the drought. Conclusions: The results indicate that severe early summer drought, followed by rewatering, not only diminishes radial growth but also prolongs the growth period, and delays leaf senescence. A prolonged time frame for radial growth and a delayed leaf senescence indicate a longer period in which carbon is incorporated in woody tissue or in non-structural carbohydrates. This can help the fine tuning of carbon sequestration modeling. The Pyrenean provenance, adapted to high altitude, holds an advantage under water-limited conditions. Full article

Fast steering mirrors (FSMs), actuated by piezoelectric ceramics, play pivotal roles in satellite laser communication, distinguished by their high bandwidth and fast responsiveness, thereby facilitating the precise pointing and robust tracking of laser beams. However, the dynamic performance of FSMs is notably impaired by the hysteresis nonlinearity inherent in piezoelectric ceramics. Under dynamic conditions, rate-dependent hysteresis models and Hammerstein models are predominantly employed to characterize hysteresis nonlinearity. By combining the advantages of these two models, a hysteresis model termed modified Hammerstein-like (MHL) model is proposed. This model integrates an input time delay, a rate-dependent hysteresis term, and a linear dynamic term in a cascaded structure, effectively capturing the dynamic characteristics of hysteresis systems across a broad frequency range. Additionally, a composite control strategy is tailored for the MHL model which consists of a feedforward compensator based on a rate-dependent hysteresis inverse model and a proportional–integral (PI) controller for closed-loop regulation. Experimental results demonstrate the effectiveness of the proposed modeling and composite control methods. Full article