Search Results (1,269)

With the increasing demand for earth observation and communication missions, semi-rigid airships have emerged as critical aerial platforms due to their long endurance and high payload capacity. However, high-precision dynamic modeling and robust autonomous flight control remain challenging because of large hull volume and strong aerodynamic nonlinearities. This study proposes an integrated framework combining computational fluid dynamics (CFD) aerodynamic modeling with full-envelope gain scheduling control. First, nonlinear aerodynamic characteristics over wide ranges of angles of attack and sideslip are identified via CFD simulation, and a six-degree-of-freedom (6-DOF) nonlinear dynamic model incorporating added-mass effects is established. Subsequently, a gain scheduling linear quadratic regulator (LQR) controller is then designed using airspeed, climb rate, and yaw rate as scheduling variables, enabling coordinated control allocation between low-speed thrust vectoring and high-speed aerodynamic surfaces. Simulation results demonstrate improved three-dimensional (3D) path following performance and smooth flight mode transitions. The mean absolute errors (MAEs) in altitude, airspeed, and heading are limited to 0.711 m, 0.028 m/s, and 2.377°, respectively. Furthermore, the system’s robustness is validated under composite wind disturbances, confirming effectiveness of the proposed approach across the full flight envelope. Full article

A piezoelectric actuator (PEA) is a fundamental part of a high-precision motion system, yet its performance is critically constrained by inherent nonlinearities such as the velocity dead zone and hysteresis. To overcome these limitations and the associated time-varying dynamics, this study introduces a novel control framework for a dual-mode standing wave PEA. The framework integrates a Global Linearized Sparse Prediction (GLSP) model with an Adaptive Kalman Observer-based Model Predictive Control (AKOBMPC) strategy, specifically designed for velocity dead-zone compensation. The GLSP model employs Koopman operator theory to lift the complex, nonlinear electromechanical and contact dynamics into a linear invariant subspace. Incorporated with a deep learning-based structured pruning mechanism, the model achieves an effective balance between prediction accuracy and computational efficiency, facilitating real-time implementation. Leveraging this high-fidelity model, the AKOBMPC algorithm is developed to estimate unmeasurable disturbances and optimize the control sequence for precise velocity tracking. Experimental results demonstrate the GLSP model’s accurate prediction of system behavior under varying loads and excitation frequencies. The proposed controller effectively suppresses the velocity dead zone, achieving tracking errors within ±0.35 mm/s for a 40.00 mm/s trapezoidal reference and within ±0.50 mm/s for sinusoidal tracking. These results confirm the superior performance of the AKOBMPC scheme over conventional methods, offering a robust solution for high-precision velocity regulation in PEA system and contributing to the advancement of next-generation precision actuator. Full article

Most camera view planning algorithms are employed in exploration tasks that maximise information gain, but few address the specific challenge of observing targeted surface areas with optimal image quality. This paper presents a novel camera view planning algorithm designed for dermoscopic mole mapping, which is crucial for early melanoma detection. Traditional full-body scanners, though beneficial, suffer from fixed camera positions that can compromise image quality due to varying body contours and patient sizes. Our algorithm addresses this limitation by dynamically optimizing the camera position on a set of collaborative robot (cobot) arms to enhance image resolution, safety, and viewing angles during skin examinations. The proposed method formulates the problem as a non-linear least-squares optimisation that ensures no camera occlusion and a safe distance from the end effector encapsulating the camera to the patient while adjusting the pose of the camera based on the topography of the body. This approach not only maintains optimal imaging conditions by considering resolution and angle of incidence but also prioritises patient safety by preventing physical contact between the camera and the patient. Extensive testing demonstrates that our algorithm adapts effectively to different body shapes and sizes, ensuring high-resolution images across various patient demographics. Moreover, the integration of our camera view planning algorithm into an intelligent dermoscopy system has shown promising results in improving the efficiency and geometric quality of dermoscopic image acquisition, which could lead to more reliable and faster diagnoses. This technology holds significant potential to transform melanoma screening and diagnosis, providing a scalable, safer, and more precise approach to dermatological imaging. Full article

To address the suboptimal radiometric calibration accuracy observed in specific beam codes of the GaoFen-3 (GF-3) series satellite for sea surface wind speed (SSWS) retrieval, this study introduces a calibration constant correction method based on the geophysical model function (GMF). This approach enables high-precision SSWS retrieval from GF-3B data. Conventional SAR-based SSWS retrieval models typically rely on pointwise mapping relationships, which overlook the spatial characteristics inherent in dynamic sea surface wind fields. To overcome this limitation, this study proposes an attention-guided dual-branch feature-fusion network (ADBFF-NET). The first branch, implemented as a backpropagation neural network (BPNN), learns nonlinear mappings between the normalized radar cross-section (NRCS, σ⁰), incidence angle, azimuth look direction, and wind vectors (speed and direction). The second branch, designed as a residual convolutional neural network, extracts spatial features of wind fields. An attention mechanism fuses the outputs of both branches, thereby enhancing retrieval accuracy. Experiments conducted with GF-3 series satellite data were validated against the European Centre for Medium-Range Weather Forecasts (ECMWF) Reanalysis V5 (ERA5), Advanced Scatterometer (ASCAT) wind fields, and altimeter-derived wind speeds. The results indicate that the SSWS retrieved from GF-3B SAR data using the corrected calibration constants achieve a root mean square error (RMSE) of 1 m/s against ERA5 wind speeds, representing an approximately 40% reduction compared with the RMSE obtained using the original calibration constant. Furthermore, compared to ERA5 and ASCAT data, the RMSE of the wind speeds retrieved by the ADBFF-NET model reaches 1.17 m/s and 1.03 m/s, respectively. Full article

To address the calibration challenge caused by the nonlinear variation in intrinsic parameters during continuous camera zooming in UAV electro-optical pods, this paper proposes an online calibration method based on IMU-visual fusion. Traditional offline calibration cannot adapt to dynamic scenarios, while existing self-calibration methods suffer from slow convergence and insufficient robustness. The proposed method aims to achieve real-time and accurate estimation of camera intrinsic parameters during zooming. Specifically, we first construct a unified state estimation framework that encodes the internal and external parameters of the camera and the 3D positions of scene feature points into a high-dimensional state vector, then establish a camera motion model based on IMU data, construct a visual observation model by combining the pinhole camera and second-order radial distortion model to establish a nonlinear mapping from 3D feature points to 2D pixel coordinates, and adopt an improved ORB algorithm for feature extraction and LK optical flow method to achieve high-precision cross-frame feature matching to enhance the stability of visual observation. Most importantly, we design a tight-coupling fusion strategy based on the Extended Kalman Filter (EKF) prediction-update iteration mechanism, which fuses IMU high-frequency motion constraints and visual geometric constraints in real time to suppress parameter drift induced by focal length changes. Finally, we recursively solve the state vector to complete the online dynamic estimation of intrinsic parameters. Monte Carlo simulation experiments and real UAV flight experiments confirm that the method has both high estimation accuracy and strong environmental adaptability, can meet the high-precision calibration needs of UAVs in dynamic scenarios, and provides reliable technical support for accurate target positioning. Full article

This paper presents a comprehensive framework for the identification, state estimation, and robust control of a bistable Duffing–Holmes oscillator, validated through an experimental setup. First, to address parametric uncertainty, a Recursive Least Squares Method (RLSM) with a forgetting factor is applied to a filtered model representation, enabling accurate parameter convergence from noisy measurements. Subsequently, a Nonlinear Integral Extended State Observer (NIESO) is designed to reconstruct unmeasured states and estimate total disturbances. A key theoretical contribution is the derivation of explicit gain conditions that guarantee the observer’s stability, overcoming limitations of previous designs. For trajectory tracking, an observer-based backstepping controller is synthesized. Crucially, to bridge the gap between theory and practice, a drift-free integration scheme is implemented to generate feasible position commands for the shake table, preventing actuator saturation. Experimental results confirm the framework’s effectiveness, achieving a 3.7-fold reduction in RMS tracking error compared to open-loop operation, with the tracking error rapidly converging to a small neighborhood within approximately $0.2$ $\mathrm{s}$. Furthermore, the closed-loop system demonstrates superior energy efficiency, requiring significantly lower actuator voltage to sustain stable interwell oscillations. Full article

In ground-based short-wave infrared (SWIR) astronomical observations, temperature drift in the detector readout circuit often introduces nonlinear, spatially non-uniform stripe noise together with Gaussian noise, making weak stellar targets easily submerged and difficult to detect. To address this challenge, we propose a structurally guided weighted low-rank denoising method for infrared star images. Going beyond traditional spatial filtering and standard low-rank decomposition, the proposed method integrates physical priors with mathematical optimization into a unified framework. First, the point spread function (PSF) characteristics of stellar targets are used to construct a hierarchical structural filter, which is further transformed into adaptive prior weights. This design preserves weak-target energy while suppressing noise during iterative optimization. Second, by exploiting the global spatial correlation of the image, residual stripes and the background are jointly modeled as a low-rank component for effective separation. Finally, Bilateral Random Projection (BRP) is introduced to accelerate the weighted soft-thresholding iterations. Experiments on real ground-based observation data, together with ablation studies and sensitivity analyses, demonstrate that the proposed method effectively suppresses structured stripe interference while preserving weak stellar targets under low-SNR conditions. In addition, the acceleration module further improves computational efficiency, making the framework more suitable for practical real-time processing. Full article

The paper presents four solutions to the voltage source inverter (VSI) control system with existing delays in the measurement channels and the middle switching frequency (25,600 Hz): Single-Input Single-Output Coefficient Diagram Method (SISO-CDM), Multi-Input Multi-Output Passivity-Based Control (MISO-PBC), Multi-Input Multi-Output One-Sample-Ahead Preview Controller (MISO-OSAP), and MISO-OSAP with Luenberger Observer (MISO-OSAP-LO). The theory, including adjustments to controller gains or to the coefficients of the characteristic equation of the closed-loop system, is presented. Simulations of the VSI operation with these control systems for the nonlinear load and the dynamic resistive load (per the requirements of the EN 62040-3 standard) are presented. The SISO-CDM and MISO-PBC are finally selected for experimental verification of the simulations. The results of the tests enable the selection of the control type for a particular VSI design based on its cost and an estimation of the advantages of the more expensive solution. The paper should help in engineering design according to the remarks in the paper. Full article

Precast reinforced concrete (RC) structures offer advantages in terms of construction efficiency and quality control; however, their seismic performance is governed by the behavior of the beam–column connections. This study presents an experimental investigation of the cyclic response of precast RC beam–column joints that include a composite steel connection, designed to enhance strength, stiffness, and damage control in critical regions. A composite joint specimen was tested under displacement-controlled cyclic loading, and its behavior was compared with that of a corresponding pure RC connection. Experimental results showed that the composite configuration effectively prevented premature failure at the beam–column interface, relocated plastic hinges away from the joint core, and significantly improved the load-carrying capacity, stiffness, and energy dissipation. To interpret the experimental observations and examine the internal stress transfer and evolution of damage, a three-dimensional nonlinear finite-element model was developed. The simulations reproduced the observed modes of failure, shapes of deformation, hysteretic responses, and moment distribution trends, particularly in the post-yield and strain-hardening ranges. Although the pinching effects observed experimentally were not fully captured numerically, the overall levels of agreement in the ultimate strength and plastic hinge locations were satisfactory. The combined results indicate that composite steel-reinforced precast beam–column joints represent a promising solution for improving seismic performance. Full article

Multimodal epileptic seizure detection using physiological biosignals remains challenging due to signal noise, inter-subject variability, weak cross-modal alignment, and the limited interpretability of many machine learning models. To address these challenges, this study proposes a parameterized multimodal feature-fusion framework that unifies normalization, modality weighting, and nonlinear cross-modal interaction within a single mathematical representation. Four fusion parameters, the fusion exponent $\rho$, interaction weight $\left(\delta \right)$, normalization factor $\left(\lambda \right),$ and the cross-modal interaction term $\left(\eta \right)$, are introduced at the feature-fusion level, while all classifiers retain their original learning mechanisms. The framework is evaluated using synchronized EEG, ECG, EMG, and accelerometer signals from 120 subjects, segmented into 2 s windows at 512 Hz and analyzed using twelve classical and deep learning classifiers. Principal Component Analysis (PCA) applied to the fused feature space reveals improved class separability compared to unimodal representations, with EEG exhibiting the strongest intrinsic discrimination and peripheral modalities contributing complementary structure when fused. SHapley Additive exPlanations (SHAP) further identify entropy as the most influential feature across all modalities, followed by RMS and energy, yielding physiologically coherent attributions. Quantitative performance evaluation and ablation analysis confirm that the observed improvements arise from the proposed representation design rather than classifier-specific modifications. Unlike existing architecture-dependent fusion strategies, the proposed method introduces a mathematically parameterized feature-space formulation that enhances separability and interpretability without modifying classifier architectures, thereby establishing a representation-driven paradigm for explainable multimodal seizure detection. These results demonstrate that mathematically principled feature-space modeling can simultaneously enhance predictive performance and interpretability, providing a transparent and robust foundation for explainable multimodal seizure detection. Full article

Background: This longitudinal study examined the clinical outcomes of physiotherapy interventions in patients with chronic low back pain, specifically observing the interactions between demographic characteristics, physical metrics, and psychological variables. Methods: A cohort of n = 150 patients, Final n = 123 (18% attrition rate), was assessed using a one-group pre-test/post-test design, with primary outcome measures including Health-Related Quality of Life, the Perceived Stress Scale, and the Numerical Pain Rating Scale. Participants received eight standardized sessions over 4 weeks, including electro-physical agents combined with individualized kinesiotherapy. Data analysis/synthesis was performed via Multiple Correspondence Analysis (MCA) to map associations between categorical variables and treatment responses. Results: The predominant clinical profile found was a middle-aged female with moderate educational attainment, presenting with a Body Mass Index in the overweight range and moderate-to-high baseline pain intensity. MCA revealed distinct phenotypic trends: longer Work Experience was associated with lower baseline Quality of Life (QoL) and heightened stress/pain levels. In contrast, patients characterized by higher education and significant Work Experience demonstrated notable post-intervention QoL gains. High baseline QoL served as a predictor for sustained improvement and pain attenuation, while elevated pre-intervention pain scores were consistently linked to perceived unmet clinical needs and exacerbated stress. Conclusions: MCA successfully mapped non-linear clusters—such as the “Socio-Psychological Barrier” profile—that traditional univariate methods fail to visualize, suggesting that “individualized care” must prioritize health literacy among patients experiencing extensive work-related strain. Full article

Fixed-wing unmanned aerial vehicles, with their advantages of long endurance and substantial payload capacity, are poised to be a key platform for the future low-altitude economy. However, the challenge of achieving precise attitude tracking control under unknown time-varying disturbances persists. To tackle this difficulty, this article introduces a soft-sign function-based active disturbance rejection control (SSADRC) method, and develops a hybrid grey wolf optimizer (HGWO) with balanced exploration–exploitation mechanisms for intelligent parameter tuning. Specifically, SSADRC utilizes a novel smooth nonlinear function with saturation constraints to reconstruct the nonlinear feedback controller and the extended state observer, ensuring smooth and stable control output. Subsequently, HGWO integrates the good point set-based initialization strategy, the fitness-based dynamic-weight strategy, the diversity-based adaptive-mutation strategy, and the logistic chaotic map-based survival-of-the-fittest strategy, addressing the tuning of multiple coupled parameters in SSADRC. Additionally, the SSADRC-based pitch attitude controller is designed for a fixed-wing unmanned aerial vehicle, and an HGWO and seven other swarm optimization algorithms are employed to tune the parameters. The results demonstrate that the HGWO exhibits the best convergence accuracy in the SSADRC parameter optimization task, and SSADRC illustrates better command tracking performance and state estimation accuracy than typical ADRC. Full article

This study addresses the challenge of designing an adaptive sliding mode controller for a class of nonlinear Markov jump systems. These systems are characterized by unmeasurable states, partially unknown transition probabilities, and uncertainties arising from matched external disturbances and modeling inaccuracies. In control design and analysis, the nonlinear Markov system in which both the linear term and specific information about the upper bound in the external disturbance term are unknown. To enable descending equivalent sliding mode motion to regulate the dithering phenomenon in a controlled system, an integral sliding surface is established to achieve chattering suppression via descending equivalent sliding motion. A key theoretical contribution is the rigorous proof that the proposed control law ensures both finite-time reachability of the sliding surface and mean-square stability of the closed-loop trajectories. Comparative simulation results demonstrate that the proposed approach achieves a state estimation RMSE of 0.175, which is 48.0% lower than conventional sliding mode control (0.337) and 3.3% lower than observer-based sliding mode control without fault compensation (0.181). The controller reduces control chattering by 75.2% compared to conventional SMC (total variation from 64.4 to 16.0), achieves sliding surface reachability within 0.42s, and maintains effective fault estimation with an average RMSE of 0.138 for time-varying actuator efficiency factors. These quantitative improvements validate the effectiveness of the proposed fault-tolerant mechanism. Full article

Motivated by the recent progress in Finite-Time Fault Estimation (FTFE) and its application to very few classes of Nonlinear Dynamical Systems (NDSs), this paper aims to drive further advancements in the field. In this research direction, a review of the literature reveals that most studies integrate the Linear Matrix Inequality (LMI) approach with the Takagi–Sugeno fuzzy (TSF) models to approximate nonlinear dynamics. However, the Sum Of Squares (SOS) approach offers numerous advancements and improvements over the LMI approach for TSF models. As an initial effort, by applying the SOS approach, this paper proposes two design procedures to ensure the finite-time boundedness of the state and actuator estimation errors for a class of polynomial fuzzy (PF) models. The first result relies on a polynomial integral observer. The second result is derived using a polynomial proportional-integral observer. Simulation results are provided to compare the two design procedures. Full article

The mechanical method has become a new construction method for connected aisles in metro tunnels due to its advantages of fast construction speed, high safety, and minimal ground disturbance. During the tunneling process, the interaction mechanism between the composite segment and the shield cutterhead is complex. Taking Shenzhen Metro Line 8 No. 1 Connected Aisle as the research object, a 3D refined model of the shield cutterhead, composite segments and bolt system were built with Abaqus to investigate their dynamic response under cutting. The Drucker–Prager damage model and contact algorithm were introduced to describe the nonlinear behavior of the cutting process. The reliability of the numerical model was verified by concrete cutting tests and on-site Fiber Bragg Grating monitoring, and good agreements were observed. Results show cutterhead cutting first induces circumferential squeezing, then extends longitudinally with a notable time lag, and longitudinal dynamic response is much stronger than transverse. Affected by cutterhead thrust–rotation coupling, cuttable segments have larger displacement with maximum 0.07 mm, forming an asymmetric deformation zone. Ring joint opening follows “a distal attenuation of the opening amount” rule with maximum 0.018 mm, while bolt stress and displacement show “near-end concentration with gradient attenuation”, with longitudinal bolts being more responsive. Mechanical disturbance from small-shield cutting is minimal, with tunnel segment deformation, joint openings, and bolt stress all remaining well below code-specified allowable values. Numerical results show good agreement with field monitoring data of ring joint openings obtained using Fiber Bragg Grating (FBG) sensors, confirming the reliability of the simulation. The results can provide references for structural design and construction parameter optimization of composite segments in a connected aisle. Full article