Search Results (5,520)

The force ripple of a permanent magnet synchronous linear motor (PMSLM) caused by multi-source disturbances in practical applications seriously restricts its high-precision motion control performance. The traditional single-mechanism model has difficulty fully characterizing the nonlinear disturbance factors, while the data-driven method has real-time limitations. Therefore, this paper proposes a hybrid modeling framework that integrates the physical mechanism and measured data and realizes the dynamic compensation of the force ripple by constructing a collaborative suppression algorithm. At the mechanistic level, based on electromagnetic field theory and the virtual displacement principle, an analytical model of the core disturbance terms such as the cogging effect and the end effect is established. At the data level, the acceleration sensor is used to collect the dynamic response signal in real time, and the data-driven ripple residual model is constructed by combining frequency domain analysis and parameter fitting. In order to verify the effectiveness of the algorithm, a hardware and software experimental platform including a multi-core processor, high-precision current loop controller, real-time data acquisition module, and motion control unit is built to realize the online calculation and closed-loop injection of the hybrid compensation current. Experiments show that the hybrid framework effectively compensates the unmodeled disturbance through the data model while maintaining the physical interpretability of the mechanistic model, which provides a new idea for motor performance optimization under complex working conditions. Full article

Vegetation dynamics are complexly influenced by multiple factors such as climate, human activities, and topography. In recent years, the frequency, intensity, and diversity of human activities have increased, placing substantial pressure on the growth of vegetation. Arid and semi-arid regions are particularly sensitive to climate change, and climate change and large-scale ecological restoration have led to significant changes in the dynamic of dryland vegetation. However, few studies have explored the nonlinear relationships between these factors and vegetation dynamic. In this study, we integrated trend analysis (using the Mann–Kendall test and Theil–Sen estimation) and machine learning algorithms (XGBoost-SHAP model) based on long time-series remote sensing data from 2001 to 2020 to quantify the nonlinear response patterns and threshold effects of bioclimatic variables, topographic features, soil attributes, and anthropogenic factors on vegetation dynamic. The results revealed the following key findings: (1) The kNDVI in the study area showed an overall significant increasing trend (p < 0.01) during the observation period, of which 26.7% of the area showed a significant increase. (2) The water content index (Bio 23, 19.6%), the change in land use (15.2%), multi-year average precipitation (pre, 15.0%), population density (13.2%), and rainfall seasonality (Bio 15, 10.9%) were the key factors driving the dynamic change of vegetation, with the combined contribution of natural factors amounting to 64.3%. (3) Among the topographic factors, altitude had a more significant effect on vegetation dynamics, with higher altitude regions less likely to experience vegetation greening. Both natural and anthropogenic factors exhibited nonlinear responses and interactive effects, contributing to the observed dynamic trends. This study provides valuable insights into the driving mechanisms behind the condition of vegetation in arid and semi-arid regions of China and, by extension, in other arid regions globally. Full article

The integration of large-scale wind power clusters significantly reduces the inertia level of the power system, increasing the risk of frequency instability. Accurately assessing the equivalent virtual inertia of wind farms is critical for grid stability. Addressing the dual bottlenecks in existing inertia assessment methods, where physics-based modeling requires full control transparency and data-driven approaches lack interpretability for inertia response analysis, thus failing to reconcile commercial confidentiality constraints with analytical needs, this paper proposes a symbolic regression framework for inertia evaluation in doubly fed wind farms with limited control information constraints. First, a dynamic model for the inertia response of DFIG wind farms is established, and a mathematical expression for the equivalent virtual inertia time constant under different control strategies is derived. Based on this, a nonlinear function library reflecting frequency-active power dynamic is constructed, and a symbolic regression model representing the system’s inertia response characteristics is established by correlating operational data. Then, sparse relaxation optimization is applied to identify unknown parameters, allowing for the quantification of the wind farm’s equivalent virtual inertia. Finally, the effectiveness of the proposed method is validated in an IEEE three-machine nine-bus system containing a doubly fed wind power cluster. Case studies show that the proposed method can fully utilize prior model knowledge and operational data to accurately assess the system’s inertia level with low computational complexity. Full article

With the increasing deployment of unmanned aerial vehicles (UAVs) in indoor environments, the demand for high-precision six-degrees-of-freedom (6-DoF) localization has grown significantly. Ultra-wideband (UWB) technology has emerged as a key enabler for indoor UAV navigation due to its robustness against multipath effects and high-accuracy ranging capabilities. However, conventional UWB-based systems primarily rely on range measurements, operate at low measurement frequencies, and are incapable of providing attitude information. This paper proposes a tightly coupled error-state extended Kalman filter (TC–ESKF)-based UWB/inertial measurement unit (IMU) fusion framework. To address the challenge of initial state acquisition, a weighted nonlinear least squares (WNLS)-based initialization algorithm is proposed to rapidly estimate the UAV’s initial position and attitude under static conditions. During dynamic navigation, the system integrates time-difference-of-arrival (TDOA) and angle-of-arrival (AOA) measurements obtained from the UWB module to refine the state estimates, thereby enhancing both positioning accuracy and attitude stability. The proposed system is evaluated through simulations and real-world indoor flight experiments. Experimental results show that the proposed algorithm outperforms representative fusion algorithms in 3D positioning and yaw estimation accuracy. Full article

Neural networks (NNs) achieve breakthroughs in computer vision and natural language processing,yet their “black box” nature persists. Traditional methods prioritise parameter optimisation and loss design, overlooking NNs’ fundamental structure as topologically organised nonlinear computational systems. This work proposes a complex network theory framework decoding structure–function coupling by mapping convolutional layers, fully connected layers, and Dropout modules into graph representations. To overcome limitations of heuristic compression techniques, we develop a topology-sensitive adaptive pruning algorithm that evaluates critical paths via node strength centrality, preserving structural–functional integrity. On CIFAR-10, our method achieves 55.5% parameter reduction with only 7.8% accuracy degradation—significantly outperforming traditional approaches. Crucially, retrained pruned networks exceed original model accuracy by up to 2.63%, demonstrating that topology optimisation unlocks latent model potential. This research establishes a paradigm shift from empirical to topologically rationalised neural architecture design, providing theoretical foundations for deep learning optimisation dynamics. Full article

This paper addresses the trajectory tracking control problem of underactuated ships in ocean engineering, which faces the dual challenges of tracking error time–performance regulation and robustness design due to the system’s underactuated characteristics, model uncertainties, and external disturbances. Aiming to address the issues of traditional finite-time control (convergence time dependent on initial states) and fixed-time control (control chattering and parameter conservativeness), this paper proposes a predefined-time adaptive control framework that integrates an event-triggered mechanism and neural networks. By constructing a Lyapunov function with time-varying weights and designing non-periodic dynamically updated dual triggering conditions, the convergence process of tracking errors is strictly constrained within a user-prespecified time window without relying on initial states or introducing non-smooth terms. An adaptive approximator based on radial basis function neural networks (RBF-NNs) is employed to compensate for unknown nonlinear dynamics and external disturbances in real-time. Combined with the event-triggered mechanism, it dynamically adjusts the update instances of control inputs, ensuring prespecified tracking accuracy while significantly reducing computational resource consumption. Theoretical analysis shows that all signals in the closed-loop system are uniformly ultimately bounded, tracking errors converge to a neighborhood of the origin within the predefined-time, and the update frequency of control inputs exhibits a linear relationship with the predefined-time, avoiding Zeno behavior. Simulation results verify the effectiveness of the proposed method in complex marine environments. Compared with traditional control strategies, it achieves more accurate trajectory tracking, faster response, and a substantial reduction in control input update frequency, providing an efficient solution for the engineering implementation of embedded control systems in unmanned ships. Full article

An Analog-to-Digital Converter (ADC) is an indispensable part of image sensor systems. This paper presents a silicon-based 13-bit 100 kS/s two-step single-slope analog-to-digital converter (TS-SS ADC) for infrared image sensors with a frame rate of 100 Hz. For the charge leakage and offset voltage issues inherent in conventional TS-SS ADC, a four-terminal comparator was employed to resolve the fine ramp voltage offset caused by charge redistribution in storage and parasitic capacitors. In addition, a current-steering digital-to-analog converter (DAC) was adopted to calibrate the voltage reference of the dynamic comparator and mitigate differential nonlinearity (DNL)/integral nonlinearity (INL). To eliminate quantization dead zones, a 1-bit redundancy was incorporated into the fine quantization circuit. Finally, the quantization scheme consisted of 7-bit coarse quantization followed by 7-bit fine quantization. The ADC was implemented using an SMIC 55 nm processSemiconductor Manufacturing International Corporation, Shanghai, China. The post-simulation results show that when the power supply is 3.3 V, the ADC achieves a quantization range of 1.3 V–3 V. Operating at a 100 kS/s sampling rate, the proposed ADC exhibits an effective number of bits (ENOBs) of 11.86, a spurious-free dynamic range (SFDR) of 97.45 dB, and a signal-to-noise-and-distortion ratio (SNDR) of 73.13 dB. The power consumption of the ADC was 22.18 mW. Full article

The highly stochastic nature of rainfall presents significant challenges for the accurate prediction of its time series. To enhance the prediction performance of non-stationary rainfall time series, this study proposes a hybrid deep learning forecasting framework—VMD-IWMA-BiLSTM—that integrates Variational Mode Decomposition (VMD), Improved Whale Migration Algorithm (IWMA), and Bidirectional Long Short-Term Memory network (BiLSTM). Firstly, VMD is employed to decompose the original rainfall series into multiple modes, extracting Intrinsic Mode Functions (IMFs) with more stable frequency characteristics. Secondly, IWMA is utilized to globally optimize multiple hyperparameters of the BiLSTM model, enhancing its ability to capture complex nonlinear relationships and long-term dependencies. Finally, experimental validation is conducted using daily rainfall data from 2020 to 2024 at the Xinzheng National Meteorological Observatory. The results demonstrate that the proposed framework outperforms traditional models such as LSTM, ARIMA, SVM, and LSSVM in terms of prediction accuracy. This research provides new insights and effective technical pathways for improving rainfall time series prediction accuracy and addressing the challenges posed by high randomness. Full article

Financial market forecasting remains challenging due to complex nonlinear dynamics and regime-dependent behaviors that traditional models struggle to capture effectively. This research introduces the Adaptive Financial Reservoir Network with Hypernetwork Flow (AFRN–HyperFlow) framework, a novel ensemble architecture integrating Echo State Networks, temporal convolutional networks, mixture density networks, adaptive Hypernetworks, and deep state-space models for enhanced financial time-series prediction. Through comprehensive feature engineering incorporating technical indicators, spectral decomposition, reservoir-based representations, and flow dynamics characteristics, the framework achieves superior forecasting performance across diverse market conditions. Experimental validation on 26,817 balanced samples demonstrates exceptional results with an F1-score of 0.8947, representing a 12.3% improvement over State-of-the-Art baseline methods, while maintaining robust performance across asset classes from equities to cryptocurrencies. The adaptive Hypernetwork mechanism enables real-time regime-change detection with 2.3 days average lag and 95% accuracy, while systematic SHAP analysis provides comprehensive interpretability essential for regulatory compliance. Ablation studies reveal Echo State Networks contribute 9.47% performance improvement, validating the architectural design. The AFRN–HyperFlow framework addresses critical limitations in uncertainty quantification, regime adaptability, and interpretability, offering promising directions for next-generation financial forecasting systems incorporating quantum computing and federated learning approaches. Full article

Identifying habitat characteristics is essential for conserving critically endangered species. When quantifying species habitat characteristics, ignoring data types may lead to misunderstandings about species’ specific habitat requirements. This study focused on the critically endangered Chinese pangolin in Guangdong Province, China, and divided the study area into 600 m × 600 m grids based on its average home range. The burrow number within each grid was obtained through line transect surveys, with burrow numbers/line transect lengths used as direct indicators of habitat utilization intensity. The relationships with sixteen environmental variables, which could be divided into three categories, including topographic, human disturbance and land cover composition, were quantified using the GAM method. We also converted continuous data into binary data (0, 1), constructed GAMs and compared them with habitat utilization intensity models. Our results indicate that the habitat utilization intensity model identified profile curvature and slope as primary factors, showing a nonlinear response to profile curvature (Edf = 5.610, p = 0.014) and a positive relationship with slope (Edf = 1.000, p = 0.006). The presence–absence model emphasized distance to water (Edf = 1.000, p = 0.014), slope (Edf = 1.709, p = 0.043) and aspect (Edf = 2.000, p = 0.026). The intensity model explained significantly more deviance, captured complex nonlinear relationships and supported higher model complexity without overfitting. This study demonstrates that habitat utilization intensity data provides a more ecologically informative basis for in situ conservation (e.g., identifying core habitats), and the process from habitat selection to habitat utilization should be integrated to reveal species’ habitat characteristics. Full article

Background/Objectives: The simulation of human movement offers transformative potential for the design of medical devices, particularly in understanding the cause–effect dynamics in individuals with neurological or musculoskeletal impairments. This study presents a simulation-driven framework to determine the optimal ankle–foot orthosis (AFO) stiffness for mitigating the risk of ankle sprains due to excessive subtalar inversion during high-impact activities, such as landing from a free fall. Methods: We employed biomechanical simulations to assess the influence of translational stiffness on subtalar inversion control, given that inversion angles exceeding 25 degrees are strongly correlated with injury risk. Simulations were conducted using a musculoskeletal model with and without a passive AFO; the stiffness varied in three anatomical directions. A Design of Experiments (DoE) approach was utilized to capture nonlinear interactions among stiffness parameters. Results: The results indicated that increased translational stiffness significantly reduced inversion angles to safer levels, though direction–dependent effects were noted. Based on these insights, we developed a 4D visualization tool that integrates simulation data with an interactive color–coded interface to depict ”safe design” zones for various AFO stiffness configurations. This tool supports clinicians in selecting stiffness values that optimize both safety and functional performance. Conclusions: The proposed framework enhances clinical decision-making and engineering processes by enabling more accurate and individualized AFO designs. Full article

Nonlinear narrowband low-frequency noise generated during tractors’ operation significantly affects operators’ comfort and working efficiency. Traditional linear active noise control algorithms often struggle to effectively suppress such complex acoustic disturbances. To address this challenge, this paper proposes a momentum-enhanced Volterra filter-based active noise control (ANC) algorithm that improves both the modeling capability of nonlinear acoustic paths and the convergence performance of the system. The proposed approach integrates the nonlinear representation power of the Volterra filter with a momentum optimization mechanism to enhance convergence speed while maintaining robust steady-state accuracy. Simulations are conducted under second- and third-order nonlinear primary paths, followed by performance validation using multi-tone signals and real in-cabin tractor noise recordings. The results demonstrate that the proposed algorithm achieves superior performance, reducing the NMSE to approximately −35 dB and attenuating residual noise energy by 3–5 dB in the 200–800 Hz range, compared to FXLMS and VFXLMS algorithms. The findings highlight the algorithm’s potential for practical implementation in nonlinear and narrowband active noise control scenarios within complex mechanical environments. Full article

To enable safe and effective human–robot collaboration (HRC) in smart manufacturing, it is critical to seamlessly integrate sensing, cognition, and prediction into the robot controller for real-time awareness, response, and communication inside a heterogeneous environment (robots, humans, and equipment). The proposed approach takes advantage of the prediction capabilities of nonlinear model predictive control (NMPC) to execute safe path planning based on feedback from a vision system. To satisfy the requirements of real-time path planning, an embedded solver based on a penalty method is applied. However, due to tight sampling times, NMPC solutions are approximate; therefore, the safety of the system cannot be guaranteed. To address this, we formulate a novel safety-critical paradigm that uses an exponential control barrier function (ECBF) as a safety filter. Several common human–robot assembly subtasks have been integrated into a real-life HRC assembly task to validate the performance of the proposed controller and to investigate whether integrating human pose prediction can help with safe and efficient collaboration. The robot uses OptiTrack cameras for perception and dynamically generates collision-free trajectories to the predicted target interactive position. Results for a number of different configurations confirm the efficiency of the proposed motion planning and execution framework, with a 23.2% reduction in execution time achieved for the HRC task compared to an implementation without human motion prediction. Full article

The formation mechanism of Virtual Reality (VR) Immersive Experience (VRIE) is notably complex; this study aimed to dynamically decode its underlying drivers by innovatively integrating Flow Theory and Privacy Calculus Theory, focusing on Perceptual-Interactive Fidelity (PIF), Consumer Willingness to Immerse in Technology (CWTI), and the applicability of Loss Aversion Theory. To achieve this, we analyzed approximately 30,000 user reviews from Amazon using Latent Semantic Analysis (LSA) and regression analysis. The findings reveal that user attention’s impact on VRIE is non-linear, suggesting an optimal threshold, and confirm PIF as a central influencing mechanism; furthermore, CWTI significantly moderates users’ privacy calculus, thereby affecting VRIE, while Loss Aversion Theory showed limited explanatory power in the VR context. These results provide a deeper understanding of VR user behavior, offering significant theoretical guidance and practical implications for future VR system design, particularly in strategically balancing user cognition, PIF, privacy concerns, and individual willingness. Full article

Understanding the carbon emissions of multimodal travel—comprising walking, metro, bus, cycling, and ride-hailing—is essential for promoting sustainable urban mobility. However, most existing studies focus on single-mode travel, while underlying spatiotemporal and behavioral determinants remain insufficiently explored due to the lack of fine-grained data and interpretable analytical frameworks. This study proposes a novel integration of high-frequency, real-world mobility trajectory data with interpretable machine learning to systematically identify the key drivers of carbon emissions at the individual trip level. Firstly, multimodal travel chains are reconstructed using continuous GPS trajectory data collected in Beijing. Secondly, a model based on Calculate Emissions from Road Transport (COPERT) is developed to quantify trip-level CO₂ emissions. Thirdly, four interpretable machine learning models based on gradient boosting—XGBoost, GBDT, LightGBM, and CatBoost—are trained using transportation and built environment features to model the relationship between CO₂ emissions and a set of explanatory variables; finally, Shapley Additive exPlanations (SHAP) and partial dependence plots (PDPs) are used to interpret the model outputs, revealing key determinants and their non-linear interaction effects. The results show that transportation-related features account for 75.1% of the explained variance in emissions, with bus usage being the most influential single factor (contributing 22.6%). Built environment features explain the remaining 24.9%. The PDP analysis reveals that substantial emission reductions occur only when the shares of bus, metro, and cycling surpass threshold levels of approximately 40%, 40%, and 30%, respectively. Additionally, travel carbon emissions are minimized when trip origins and destinations are located within a 10 to 11 km radius of the central business district (CBD). This study advances the field by establishing a scalable, interpretable, and behaviorally grounded framework to assess carbon emissions from multimodal travel, providing actionable insights for low-carbon transport planning and policy design. Full article