The spring-loaded inverted pendulum model is similar to human walking in terms of the center of mass (CoM) trajectory and the ground reaction force. It is thus widely used in humanoid robot motion planning. A method that uses a velocity feedback cont...
In this paper, we present a hybrid genetic-hierarchical algorithm for the solution of the quadratic assignment problem. The main distinguishing aspect of the proposed algorithm is that this is an innovative hybrid genetic algorithm with the original,...
Minimally invasive surgery has undergone significant advancements in recent years, transforming various surgical procedures by minimizing patient trauma, postoperative pain, and recovery time. However, the use of robotic systems in minimally invasive...
Direct yaw moment control (DYC) can effectively improve the yaw stability of four-wheel distributed drive electric vehicles (4W-DDEVs) under extreme conditions, which has become an indispensable part of active safety control for 4W-DDEVs. This study...
This paper addresses the problem of the optimal stabilization of DC microgrids using a hierarchical control design. A recursive optimal power flow formulation is proposed in the tertiary stage that ensures the global optimum finding due to the convex...
Dynamic locomotion capabilities on complex terrains constitute a critical requirement for humanoid robots in industrial manufacturing and emergency response applications. To address the fundamental challenges of terrain perception, underactuated dyna...
In this paper, an improved hybrid genetic-hierarchical algorithm for the solution of the quadratic assignment problem (QAP) is presented. The algorithm is based on the genetic search combined with the hierarchical (hierarchicity-based multi-level) it...
This article presents a class of hierarchical mean-field-type games with multiple layers and non-quadratic polynomial costs. The decision-makers act in sequential order with informational differences. We first examine the single-layer case where each...
For the multi-objective control problem of tracking effect and vehicle stability in the path tracking process of six-wheel distributed unmanned vehicles, a control strategy based on hierarchical control (HC) theory is proposed. A hierarchical kinemat...
To improve the handling and stability of four-wheel independent drive electric vehicles (FWID EVs), this paper introduces a hierarchical architecture lateral stability control system. The upper-level controller is responsible for generating the addit...
Analytical target cascading (ATC) is a method for coordinating hierarchical system design optimization with a decomposition-based framework. Since a launch vehicle (LV) is usually powered by two or more stages of rocket motors, the overall design of...
To enhance the safety and stability of lane change maneuvers for autonomous vehicles in adverse weather conditions, this paper proposes a quadratic programming−based trajectory planning algorithm for lane changing in rainy weather. Initially, i...
To resolve the inherent coupling conflict between trajectory tracking and lateral stability in distributed electric drive buses, this paper proposes a hierarchical cooperative control framework. A simplified two-degree-of-freedom (2-DOF) vehicle mode...
Vision navigation systems provide significant advantages in agricultural scenarios such as pesticide spraying, weeding, and harvesting by interpreting crop row structures in real-time to establish guidance lines. However, the delay introduced by imag...
For multi-axle distributed drive (MADD) vehicles, the complexity of the longitudinal dynamics control system increases with the number of driven wheels, which presents a huge challenge to control the multi-motor drive vehicle with more than four whee...
Accurate trajectory tracking of quadrotor UAVs remains challenging due to highly nonlinear dynamics, model uncertainties, and time-varying external disturbances, which make it difficult to achieve both precise position tracking and stable attitude re...
The advanced tensor solution to the problem of inter-domain routing with normalized Quality of Service under hierarchical coordination in a communication network is proposed in the paper. The novelty of the method based on the tensor model lies in th...
To improve the power grid adaptability and low voltage ride-through (LVRT) capability of hydraulic wind turbines (HWT), an LVRT control method based on hierarchical control is proposed for the energy regulation of HWT. The method includes a top-level...
As smart cities continue to generate vast quantities of data, data integrity is increasingly threatened by instances of fraud. Anomalous or fake data deteriorate the process and have impacts on decision-making systems and predictive analytics. Hence,...
Predicting the secondary structure from protein sequence plays a crucial role in estimating the 3D structure, which has applications in drug design and in understanding the function of proteins. As new genes and proteins are discovered, the large siz...
This paper presents the formulation and simulation-based validation of a novel hierarchical fuzzy-adaptive Proportional–Integral–Derivative (PID) control framework for a rectilinear active mass damper, designed to enhance vibration suppre...
Most of the existing research in the field of autonomous vehicles (AVs) addresses decision making, planning and control as separate factors which may affect AV performance in complex driving environments. A hierarchical framework is proposed in this...
Effective postharvest cooling of olive fruit is increasingly critical under rising harvest temperatures driven by climate change. This study models passive cooling dynamics using a trait-based, mixed-effects statistical framework. Ten olive groups&md...
The threat of quantum computing has spurred research into post-quantum cryptography. SQIsign, a candidate submitted to the standardization process of the National Institute of Standards and Technology, is emerging as a promising isogeny-based signatu...
This paper deals with longitudinal motion control of electric vehicles (EVs) driven by in-wheel-motors (IWMs). It shows that the IWM-EV is fundamentally a multi-agent system with physical interaction. Three ways to model the IWM-EV are proposed, and...
The drive torque of each wheel hub motor of a four-wheel independent wire-controlled steering electric vehicle is independently controllable, representing a typical over-actuated system. Through optimizing the distribution of the drive torque of each...
In this paper, a hierarchical adaptive control strategy is proposed to enhance the handling stability of distributed drive electric vehicles. In this strategy, the upper-level fuzzy controller calculates the additional yaw moment and rear wheel angle...
In the context of Minimally Invasive Surgery, surgeons mainly rely on visual feedback during medical operations. In common procedures such as tissue resection, the automation of endoscopic control is crucial yet challenging, particularly due to the i...
Wheeled bipedal robots (WBRS) combine the terrain adaptability potential of legged robots with the motion efficiency of wheeled robots, but the terrain adaptability is affected by the control system. Aiming at the defect that the traditional modeling...
The relaxation spectra, from which other material functions used to describe mechanical properties of materials can be uniquely determined, are important for modeling the rheological properties of polymers used in chemistry, food technology, medicine...
We present a mortality model where future stochastic changes in population-wide mortality are driven by a finite-state hierarchical Markov chain. A baseline mortality in an initial ‘Alive’ state is calculated as the average logarithm of t...
Confidentiality and efficient bandwidth utilization require a combination of compression and encryption of digital images. In this paper, a new method for joint image compression and encryption based on set partitioning in hierarchical trees (SPIHT)...
This paper presents the design and implementation of a Model-based Predictive Control (MPC) strategy integrated within a modular multilayer architecture for a three-wheeled omnidirectional mobile robot, the Robotino 4 from Festo. The implemented arch...
Peanut shells, a major economic and oil crop in China, boast an abundant availability and remarkably high lignin content compared to other agricultural residues. Previous work indicated that the modified hierarchical zeolite (Zn-ZSM-5/MCM41) was effe...
This paper proposes an active collision avoidance controller based on a hierarchical model predictive control framework for distributed electric drive vehicles (4IDEV) considering extreme conditions. In this framework, a two-layer strategy is develop...
Collision avoidance and path planning are critical topics in autonomous vehicle development. This paper presents the progressive development of an optimization-based controller for autonomous vehicles using the Control Lyapunov Function–Control...
Partial demagnetization of multiple in-wheel motors changes torque distribution characteristics and can reduce vehicle stability, which poses a challenge for in-wheel motor drive electric vehicles (IWMDEVs) to maintain a balance between safety and ef...
To address the issue of limited accuracy in vehicle lateral and longitudinal dynamics control—caused by the strong coupling and nonlinearity between the four-wheel steering and distributed drive systems, particularly under crosswind disturbance...
To tackle the challenges of distributed flexible resource coordination and inherent control delays in virtual power plant (VPP)-participated frequency regulation (FR) for interconnected power systems, this paper proposes a novel distributed model pre...
With the increasing demand for autonomous driving, ensuring safe and efficient lane-changing behavior in multi-lane traffic scenarios has become a key challenge. This paper proposes an algorithm for active lane-changing decision-making and trajectory...
Herein, to address the challenges faced by Automatic Guided Vehicles (AGVs) in construction site environments, including heavy vehicle loads, extensive road search areas, and randomly distributed obstacles, this paper presents a hierarchical trajecto...
This paper presents a hierarchical lane-changing trajectory planner based on the least action principle for autonomous driving. Our approach aims to achieve reliable real-time avoidance of static and moving obstacles in multi-vehicle interaction scen...
Modular Multilevel Converters (MMCs) are a topology that can scale several voltage levels to obtain higher efficiency and lower harmonics than most voltage-source converters. MMCs are very attractive for renewable energy applications and fast chargin...
Deep learning has achieved remarkable success in hyperspectral image (HSI) classification, attributed to its powerful feature extraction capabilities. However, existing methods face several challenges: Convolutional Neural Networks (CNNs) are limited...
With the rapid development of deep-sea resource exploration and marine scientific research, wheeled remotely operated vehicles (ROVs) have become crucial for seabed operations. However, under complex seabed conditions, traditional ROV control systems...
Attempting to make machines mimic human walking, grasping, balancing, and other behaviors is a deep exploration of cognitive science and biological principles. Due to the existing prediction lag problem, an error compensation mechanism that integrate...
The digital economy has become an important engine for global economic development by promoting optimal resource allocation and advancing industrial restructuring. Based on the panel data from 279 prefecture-level cities in China from 2012 to 2021, t...
High-precision time–frequency systems are essential for low Earth orbit (LEO) navigation satellites to achieve real-time (RT) centimeter-level positioning services. However, subject to stringent size, power, and cost constraints, LEO satellites...
Background: The sense of agency (SoA)—the subjective experience of controlling one’s own actions and their consequences—is a fundamental aspect of human cognition, volition, and motor control. Understanding how the SoA arises and is...
Our objective was to model the average wood density in black spruce trees in representative stands across a boreal forest landscape based on relationships with predictor variables extracted from airborne light detection and ranging (LiDAR) point clou...