Search Results (684)

To improve the dynamic performance of position tracking in permanent magnet synchronous linear motors, a model predictive position control method based on disturbance observer is proposed. Firstly, a novel neural network enhanced model reference adaptive observer is designed to estimate the lumped disturbance of the system. Taking the estimated disturbance as a new state variable, it is explicitly embedded in the framework of model prediction, which realizes the online estimation and compensation of disturbance, and effectively solves the deterioration of control performance caused by inaccurate system parameters and unknown disturbance in model prediction method. The increment of the control input is used as the input of the prediction equation, which makes the control input smoother and avoids drastic changes. The adaptive gain of the observer is designed by Lyapunov theory and the stability of the system is analyzed. A large number of experiments and analysis are carried out on the tubular permanent magnet linear synchronous motor platform, which proves the effectiveness of the proposed method. Full article

Recent systems for position and movement monitoring are increasingly enhanced by the integration of advanced AI techniques. Besides traditional analytical and algorithmic approaches, which are still applied in areas such as signal processing, sensor fusion, and kinematic modeling, there is a growing body of research that leverages AI-based methods to improve accuracy, robustness, and real-time decision-making capabilities. Artificial neural networks and deep learning methods are more and more often used for tasks such as predicting movement trajectories, detecting position anomalies, and approximating complex motion patterns. The main aim of this work is to provide the main contributions of the recent publications to the current state of the field. Key trends, challenges, and prospects for their future development are also highlighted. Initial statistical analysis was conducted based on responses to queries formulated for searching engines of leading online databases since 2006. Next, the retrieved articles from the last 6 years were subjected to a more detailed analysis. They were divided into thematic areas, including models for human pose estimation; systems for motion detection and tracking, with special attention to human movement; and, eventually, more specialized applications such as action recognition, autonomous driving, motion analysis, and surveillance. The architectures of the created models, the methods for parameter tuning or training, the input datasets used, and the result evaluation metrics were classified. Finally, some more general conclusions were drawn. Full article

Disturbances in dynamical systems pose a major challenge for parameter identification, particularly in the presence of unknown initial conditions and uncertain external influences. To address this issue, this paper proposes an algebraic parameter estimation methodology that incorporates fractional-order calculus in the Laplace domain for controlled linear engineering systems. The proposed approach eliminates the influence of unknown initial conditions and considers external disturbances that admit a local polynomial representation through Taylor series expansions over sufficiently small time intervals, while avoiding explicit numerical differentiation in the time domain. The manuscript includes analytical, numerical, and experimental validations to highlight the benefits of incorporating fractional-order differentiation in the derivation of algebraic estimators for online parameter estimation. The method is experimentally validated on two linear differentially flat electrical circuits, whose flat representations enable the proposed algebraic formulation under distinct disturbance signals. The results demonstrate that the fractional differentiation order acts as an additional tuning parameter, and that appropriately selected fractional orders can improve estimation accuracy, yielding parameter estimates consistently closer to their true values when compared with the conventional integer-order algebraic formulation. Full article

Active sonar tracking of multiple underwater targets is frequently challenged by intense reverberation, which leads to sonar returns that are both non-stationary and non-Gaussian. In such scenarios, the generalized labeled multi-Bernoulli (GLMB) filter, which relies on a Gaussian assumption, often experiences a rise in an Optimal Subpattern Assignment (OSPA) distance, along with recurrent label switching. To mitigate this problem, a robust delta-generalized labeled multi-Bernoulli technique (ST-δ-GLMB) is introduced; it characterizes noise using a Student’s t-distribution and employs variational Bayes to estimate the corresponding parameters. More precisely, the Student’s t-distribution is utilized to represent measurement non-stationarity, and an online variational Bayesian estimation of the noise parameters is conducted within a multi-target framework based on the Student’s t-model. Moreover, without altering the GLMB data-association and label-management machinery, we derive closed-form updates and propagation for the Student’s t-parameters, thereby keeping the recursive computational burden and practical implementability under control. Finally, Monte Carlo simulations and lake-trial data demonstrate that, under non-stationary and heavy-clutter conditions, ST-δ-GLMB maintains stable track continuity and accurate target-number (cardinality) estimates in the presence of non-stationary measurements. Full article

Indoor mobile robots often experience degraded localization accuracy and robustness when relying on a single positioning modality. In addition, conventional pose computation based on Euler-parameterized transformations can be computationally involved and susceptible to singularities, while practical fusion schemes may not adequately suppress measurement errors. This paper proposes an indoor robot localization method, termed IMU_UWB_ESKF, which tightly fuses inertial and UWB measurements using a Lie-group state representation. IMU- and UWB-derived quantities are formulated on the associated Lie algebra, enabling numerically stable pose propagation and measurement updates. To mitigate sensor noise and reduce drift, a dual-stage Kalman filtering strategy is adopted: an EKF-based measurement correction is first performed, followed by a multi-dimensional error-state Kalman filter for refined fusion. The proposed pipeline is implemented on a wheeled-robot platform under ROS, integrating real-time IMU/UWB parameter extraction, pose transformation, and online state estimation. Experimental results demonstrate stable real-time localization with improved robustness and accuracy under dynamic motion, indicating the method’s applicability to indoor navigation tasks. Full article

State of Health (SOH) estimation of lithium-ion batteries is a critical and challenging requirement in advanced battery management technologies. As an important parameter, battery impedance contains significant electrochemical information that can reflect the state of health of batteries. In this study, a SOH estimation method is proposed based on alternating electrical signals. First, an aging test was carried out using commercial 18650-type batteries. Considering the current uncertainty in practical applications, tests under different discharge conditions were conducted to obtain the capacity and wide frequency band impedance data of each battery throughout its life cycle. Then, important features at specific frequencies were extracted from the impedance data, and an interpretable analysis of the features was performed using the distribution of relaxation times (DRTs). Finally, the impedance features were combined with the Gaussian process regression algorithm in machine learning to estimate and validate the SOH. The results show that using fixed-frequency impedance features can achieve accurate estimation. The average value of the maximum absolute error of each battery under different working conditions can be controlled within 1.59%. With the development of embedded chips and online measurement technology, battery management systems can obtain important impedance features by applying alternating electrical signals within a certain frequency range, thus achieving online estimation of SOH. Full article

To address the actuator fault problem faced by underactuated surface vessels (USVs), this study develops an active fault-tolerant control scheme based on finite-time output feedback. First, a finite-time neural terminal homogeneous state observer with a portional-integral structure is established. High-precision pose reconstruction enables finite-time synchronous reconstruction of unmeasured states. This allows unknown nonlinearities to be explicitly expressed online and incorporated into the compensation channel, significantly reducing the sensitivity of modeling errors to control performance. A neural damping mechanism is used to structurally reconstruct uncertain dynamics and loss-of-effectiveness (LOE) fault factors within the system, thereby constructing an online approximator to achieve real-time identification and compensation of composite uncertainties. This integrates the unknown nonlinearities and fault effects of the original system into an online-updatable estimation channel. Adopting a backstepping-based design methodology, a finite-time hybrid event-triggered control (ETC) architecture is further constructed. By introducing an event-triggered update mechanism at the control layer, the real-time continuous control signal is transformed into a discrete update. Based on Lyapunov stability theory, a comprehensive analysis is carried out to verify the stability of the proposed control scheme. Numerical simulations are finally carried out to validate the effectiveness of the scheme. Simulation results show that the tracking error is reduced by about $93\%$ and $60\%$ compared to the comparison scheme. Full article

Robust numerical frameworks are essential for the simulation, design, monitoring, and control of membrane-based separation units, particularly under highly nonlinear and industrially relevant operating conditions. In this context, a comprehensive phenomenological and numerical framework is proposed for the simulation of hollow-fiber membrane modules, incorporating coupled mass, momentum (through pressure drop), and energy transport equations. The governing equations are discretized using a rigorous orthogonal collocation formulation, and the performances of two numerical solution strategies are systematically investigated for the first time to allow the in-line and real-time implementation of the model: a steady-state approach based on the Newton–Raphson method with careful treatment of initial estimates, and a pseudotransient formulation. Particularly, an original and consistent numerical treatment is introduced for the energy balance at boundaries where the permeate flow vanishes, enabling the stable incorporation of thermal effects and Joule–Thomson phenomena. The results clearly show that the steady-state Newton–Raphson approach provides the best overall performance in terms of computational efficiency, numerical robustness, and accuracy when physically consistent initial profiles are employed. In particular, the combination of a linear initial guess and a numerical mesh constituted of four collocation points yielded the most favorable balance between convergence speed, numerical robustness, and accuracy for the base-case sensitivity analysis. For monitoring-oriented applications, the numerical choice should be weighted primarily toward computational performance once physical consistency and convergence criteria are satisfied, rather than toward maximum mesh-refinement accuracy. In this context, small differences in internal-fiber profiles can be compensated through real-time permeance estimation and are negligible when compared with measurement uncertainty in real industrial processes. Under extreme operating conditions involving low concentrations, low flow rates, and highly permeable species, the pseudotransient formulation proved to be a reliable auxiliary strategy, enabling robust convergence when suitable initial guesses were not readily available. The proposed framework is validated against experimental data from the literature and subjected to extensive convergence and sensitivity analyses, providing a reliable basis for simulation and for assessing computational feasibility in in-line and real-time monitoring-oriented applications. A full demonstration of digital-twin integration, online parameter updating, reduced-order coupling, and closed-loop control is beyond the scope of the present study and will be addressed in future work. Full article

To address trajectory-tracking degradation of unmanned surface vehicles (USVs) in constrained waters caused by model uncertainty, strong environmental disturbances, and actuator limitations, this paper proposes a robust disturbance-observer-based optimization model predictive control method. First, a nonlinear tracking error model is established for a 3-DOF USV by incorporating environmental loads, parametric perturbations, and unmodeled dynamics into the kinematic and dynamic equations. Based on this model, a prediction model suitable for model predictive control is derived through linearization and discretization. Then, to estimate complex unknown disturbances online, a robust disturbance observer integrating a radial basis function neural network (RBFNN) with an adaptive sliding-mode mechanism is developed, enabling real-time approximation and compensation of lumped disturbances in the surge and yaw channels. Furthermore, to overcome actuator saturation caused by the direct superposition of feedforward compensation and feedback control in conventional composite strategies, a dynamic constraint reconstruction mechanism is introduced. By feeding the observer-generated compensation signal back into the MPC optimizer, the feasible control region is updated online so that the total control input satisfies both magnitude and rate constraints of the propulsion system. Theoretical analysis based on Lyapunov theory proves the uniform ultimate boundedness of the observation errors and neural-network weight estimation errors, while input-to-state stability theory is employed to establish closed-loop stability. Comparative simulations under sinusoidal trajectories, time-varying curvature paths, and large-maneuver turning conditions demonstrate that the proposed method significantly improves tracking accuracy, disturbance rejection capability, and control feasibility under severe disturbances and parameter mismatch. Full article

The large-scale grid integration of photovoltaic systems, accompanied by extensive power electronic equipment, exacerbates the risk of sub-synchronous oscillation (SSO) and poses a serious threat to the safe and stable operation of modern power systems. To address the limitation that traditional additional damping controllers rely on accurate mathematical models of the system, this paper applies model-free adaptive control (MFAC) to suppress sub-synchronous oscillation in photovoltaic systems. The proposed method requires no prior identification of the plant model and achieves adaptive control by online estimation of pseudo-partial derivatives using only system input-output data, with parameters optimized by particle swarm optimization. Simulation results show that the proposed controller can effectively shorten the settling time and suppress oscillations However, for oscillations induced by different mechanisms, it still has the limitation of requiring parameter re-optimization. This approach provides a new model-free technical pathway for sub-synchronous oscillation mitigation in grid-connected photovoltaic systems. Full article

This paper presents a real-time digital twin (DT) of the power conversion system used in offshore wind applications. The proposed DT is exploited to identify key electrical parameters of both the permanent magnet synchronous generator (PMSG) and the three-phase boost rectifier and has been developed with a Condition Monitoring (CM)-oriented approach. A Gated Recurrent Unit (GRU) neural network is adopted as a real-time digital model (RTDM) to estimate online the PMSG phase resistance and synchronous inductance, as well as the DC-link capacitance at the rectifier output. The network is trained in MATLAB using data generated by a Typhoon HIL 606 emulator, covering both balanced and unbalanced operating conditions and a wide range of parameter variations. The trained GRU is then deployed on the control board and implemented in LabVIEW Real-Time for embedded execution. Experimental tests on a PMSG-based generating unit confirm the effectiveness of the proposed RTDM, achieving low root-mean-square and mean percentage errors in parameter estimation. The results demonstrate that the enhanced neural real-time DT is a promising tool for condition monitoring and predictive maintenance of power conversion systems in offshore wind applications. Full article

To address the inverse identification of contact-related thermal faults in gas-insulated switchgear (GIS), this study proposes a method for contact resistance inversion and internal temperature field reconstruction. The proposed method enables the estimation of faulty internal contact resistance using external enclosure temperature data, while simultaneously reconstructing the internal temperature field. First, a forward numerical model of GIS is established, and a POD-Kriging surrogate model is developed to achieve second-level rapid prediction of the forward problem. Based on this surrogate model, the thermal fault inversion problem is formulated as an optimization problem of fault parameters and solved using the Grey Wolf Optimizer. GIS temperature-rise experiments are performed to validate the numerical model, and a real GIS contact fault case is further analyzed. The results indicate that the proposed method yields an average inversion error of 9.5% for degraded contact resistance, with the maximum error at internal temperature monitoring points remaining below 8%. The total inversion time is approximately 30 s. These findings demonstrate that the proposed method is capable of effective online inversion and diagnosis of contact-related thermal faults in GIS equipment. Full article

Multi-line-scan camera systems provide high-frequency sampling and wide field-of-view coverage, making them valuable for three-dimensional measurement and dynamic reconstruction. However, their one-dimensional projection property introduces scale ambiguity and strong parameter coupling during calibration, which limits the consistency and stability of local optimization in multi-camera systems. To address this issue, this paper proposes a global calibration method based on physical constraints and hierarchical optimization. A unified imaging and motion model is constructed by incorporating physical scale constraints and structural priors, and geometric scale information is introduced into the joint optimization to reduce scale ambiguity and parameter coupling. Parameter normalization and staged optimization are further adopted to improve numerical stability for variables of different magnitudes and enable consistent estimation of multi-camera parameters within a unified framework. Simulation and experimental results show that the method achieves stable convergence under focal-length initialization perturbation, baseline deviation, and noise interference, with a three-dimensional reconstruction error below 0.67 mm and a convergence probability of at least 99.7%. These results indicate that the proposed method effectively reduces calibration uncertainty in multi-line-scan camera systems and supports high-precision online measurement and dynamic three-dimensional perception. Full article

Non-invasive temperature estimation during online operation is a critical challenge in enclosed micro-reaction systems, particularly when the thermal mass of the working fluid varies dynamically or is uncertain. Conventional model-based approaches typically rely on fixed thermal parameters, leading to significant estimation errors when the actual reagent volume deviates from nominal conditions. To address this limitation, this study proposes a volume-adaptive temperature estimation framework applied to an ultrafast quantitative polymerase chain reaction (qPCR) system. By modeling the heat-transfer pathways via a simplified resistance–capacitance (RC) network, a nonlinear least squares (NLS) algorithm within an output-error (OE) framework is employed to identify key thermal parameters online. The framework separates the estimation into an offline calibration stage—where a thermocouple-equipped chip provides ground-truth data—and an online deployment stage that relies solely on non-invasive external measurements. This approach allows the system to explicitly compensate for volume-induced variations in thermal inertia. Validation experiments on an ultrafast qPCR platform with reagent volumes ranging from 100 to 250 $\mathsf{\mu }\mathrm{L}$ and heating rates exceeding 20 °C/s demonstrate that the method achieves robust performance, maintaining a mean absolute error (MAE) of reagent temperature at 0.24 °C and restricting the average volume estimation error to within 1.37 $\mathsf{\mu }\mathrm{L}$. DNA gel electrophoresis results further confirm the biological reliability of the temperature prediction strategy by verifying amplification specificity. This work provides a generalised solution for precise thermal management in micro-systems subject to variable thermal loads. Full article

A low-overhead joint synchronization and channel estimation method for conventional CP-OFDM systems is developed to mitigate the error accumulation of stage-wise processing under multipath fading and carrier frequency offset (CFO). The joint estimation of symbol timing offset (STO), CFO, and channel parameters is formulated in a least-squares framework, and the analytical elimination of the channel vector reduces the original three-dimensional optimization to a two-dimensional search. In addition, reusable common terms and a precomputable pseudoinverse-related operator are exploited to reduce redundant online computations. Simulation results show that, under different signal-to-noise ratio (SNR) and normalized CFO conditions, the method achieves higher perfect synchronization probability and lower root-mean-square error (RMSE) for STO, CFO, and channel estimation than conventional CP-based baselines, while providing a favorable trade-off between estimation accuracy and computational complexity. Full article