Search Results (46)

In industrial scenarios, the control of permanent magnet synchronous servo motors is mostly achieved with proportional–integral controllers, which require manual adjustment of control parameters. At the same time, the performance of the servo system is usually disturbed by internal characteristic changes, load changes, and external factors. Therefore, preset control parameters may not achieve the desired optimal performance. Many scholars use intelligent algorithms, such as neural networks, to adaptively tune control parameters. However, the offline pre-training of neural networks is often time- and resource-consuming. Due to the lack of a model pre-training process in the neural network online self-tuning process, randomly setting the initial network weight seriously affects the position tracking performance of the servo control system in the start-up phase. In this paper, the physical model and the traditional frequency domain-tuning method of the three-closed-loop permanent magnet synchronous servo system are analyzed. Combined with the neural network PI control parameter self-tuning method and physical symmetry, a physical information-driven optimization framework is proposed. To demonstrate its superiority, the neural network PI controller and the proposed optimization framework are used to control the single-axis sine wave trajectory. The results show that the optimization framework proposed can effectively improve the position tracking control performance of the servo control system in the start-up phase by setting the threshold of the servo control parameters, reduce the position tracking control error to 0.75 rads in the start-up phase, and reduce the position tracking drop caused by a sudden load by 25%. This method achieves the independent optimization adjustment of control parameters under position tracking control, providing a reference for the intelligent control of permanent magnet synchronous servo motors. Full article

As a high-frequency and essential type of special electromechanical equipment, a vertical elevator has a significant societal implication for their safe operation. The load-weighing module, serving as the core component for overload warning, is susceptible to precision degradation due to the nonlinear deformation of rubber buffers installed at the base of the elevator car. This deformation arises from the coupled effects of environmental factors such as temperature, humidity, and material aging, leading to potential safety risks including missed overload alarms and false empty status detections. To address the issue of accuracy deterioration in elevator load-weighing systems, this study proposes an online self-calibration method based on multimodal information fusion. A reference detection model is first constructed to map the relationship between applied load and the corresponding relative compression of the rubber buffers. Subsequently, displacement data from a draw-wire sensor are integrated with target detection model outputs, enabling real-time extraction of dynamic rubber buffers’ deformation characteristics under empty conditions. Based on the above, a displacement-based compensation term is derived to enhance the accuracy of load estimation. This is further supported by a dynamic error compensation mechanism and an online computation framework, allowing the system to self-calibrate without manual intervention. The proposed approach eliminates the dependency on manual tuning inherent in traditional methods and forms a highly robust solution for load monitoring. Field experiments demonstrate the effectiveness of the proposed method and the stability of the prototype system. The results confirm that the synergistic integration of multimodal perception and adaptive calibration technologies effectively resolves the challenge of load-weighing precision degradation under complex operating conditions, offering a novel technical paradigm for elevator safety monitoring. Full article

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 suppression in structural applications. The proposed scheme utilizes a Linear–Quadratic Regulator (LQR)-optimized PID controller as the baseline regulator. To address the limitations of this baseline PID controller under varying seismic excitations, an auxiliary fuzzy adaptation layer is integrated to adjust the state-weighting matrices of the LQR performance index dynamically. The online modification of the state weightages alters the Riccati equation’s solution, thereby updating the PID gains at each sampling instant. The fuzzy adaptive mechanism modulates the said weighting parameters as nonlinear functions of the classical displacement error and normalized acceleration. Normalized acceleration provides fast, scalable, and effective feedback for vibration mitigation in structural control using AMDs. By incorporating the system’s normalized acceleration into the adaptation scheme, the controller achieves improved self-tuning, allowing it to respond efficiently and effectively to changing conditions. The hierarchical design enables robust real-time PID gain adaptation while maintaining the controller’s asymptotic stability. The effectiveness of the proposed controller is validated through customized MATLAB/SIMULINK-based simulations. Results demonstrate that the proposed adaptive PID controller significantly outperforms the baseline PID controller in mitigating structural vibrations during seismic events, confirming its suitability for intelligent structural control applications. Full article

A novel adaptive intelligent control system (AICS) with learning-while-controlling capability is developed for a highly nonlinear single-input single-output plant by redesigning the conventional model reference adaptive control (MRAC) framework, originally based on first-order Lyapunov stability, and employing customized neural networks. The AICS is designed with a simple structure, consisting of two main subsystems: a meta-learning-triggered mechanism-based physics-informed neural network (MLTM-PINN) for plant identification and a self-tuning neural network controller (STNNC). This structure, featuring the triggered mechanism, facilitates a balance between high controllability and control efficiency. The MLTM-PINN incorporates the following: (I) a single self-supervised physics-informed neural network (PINN) without the need for labelled data, enabling online learning in control; (II) a meta-learning-triggered mechanism to ensure consistent control performance; (III) transfer learning combined with meta-learning for finely tailored initialization and quick adaptation to input changes. To resolve the conflict between streamlining the AICS’s structure and enhancing its controllability, the STNNC functionally integrates the nonlinear controller and adaptation laws from the MRAC system. Three STNNC design scenarios are tested with transfer learning and/or hyperparameter optimization (HPO) using a Gaussian process tailored for Bayesian optimization (GP-BO): (scenario 1) applying transfer learning in the absence of the HPO; (scenario 2) optimizing a learning rate in combination with transfer learning; and (scenario 3) optimizing both a learning rate and the number of neurons in hidden layers without applying transfer learning. Unlike scenario 1, no quick adaptation effect in the MLTM-PINN is observed in the other scenarios, as these struggle with the issue of dynamic input evolution due to the HPO-based STNNC design. Scenario 2 demonstrates the best synergy in controllability (best control response) and efficiency (minimal activation frequency of meta-learning and fewer trials for the HPO) in control. Full article

Tea cultivation faces significant threats from red spider mite (RSM: Oligonychus coffeae) infestations, which reduce yields and economic viability in major tea-producing regions. Current automated detection methods rely on supervised deep learning models requiring extensive labeled data, limiting scalability for smallholder farmers. This article proposes AIM-Net (AI-based Infestation Mapping Network) by evaluating SwAV (Swapping Assignments between Views), a self-supervised learning framework, for classifying RSM infestation severity (Mild, Moderate, Severe) using a geo-referenced, field-acquired dataset of RSM infested tea-leaves, Cam-RSM. The methodology combines SwAV pre-training on unlabeled data with fine-tuning on labeled subsets, employing multi-crop augmentation and online clustering to learn discriminative features without full supervision. Comparative analysis against a fully supervised ResNet-50 baseline utilized 5-fold cross-validation, assessing accuracy, F1-scores, and computational efficiency. Results demonstrate SwAV’s superiority, achieving 98.7% overall accuracy (vs. 92.1% for ResNet-50) and macro-average F1-scores of 98.3% across classes, with a 62% reduction in labeled data requirements. The model showed particular strength in Mild_RSM-class detection (F1-score: 98.5%) and computational efficiency, enabling deployment on edge devices. Statistical validation confirmed significant improvements (p < 0.001) over baseline approaches. These findings establish self-supervised learning as a transformative tool for precision pest management, offering resource-efficient solutions for early infestation detection while maintaining high accuracy. Full article

The control stability and accuracy of quad tiltrotor UAVs is improved when encountering external disturbances during automatic flight by an active disturbance rejection control (ADRC) parameter self-tuning control strategy based on a radial basis function (RBF) neural network. Firstly, a nonlinear flight dynamics model of the quad tiltrotor UAV is established based on the approach of component-based mechanistic modeling. Secondly, the effects of internal uncertainties and external disturbances on the model are eliminated, whilst the online adaptive parameter tuning problem for the nonlinear active disturbance rejection controller is addressed. The superior nonlinear function approximation capability of the RBF neural network is then utilized by taking both the control inputs computed by the controller and the system outputs of the quad tiltrotor model as neural network inputs to implement adaptive parameter adjustments for the Extended State Observer (ESO) component responsible for disturbance estimation and the Nonlinear State Error Feedback (NLSEF) control law of the active disturbance rejection controller. Finally, an adaptive attitude control system for the quad tiltrotor UAV is constructed, centered on the ADRC-RBF controller. Subsequently, the efficacy of the attitude control system is validated through simulation, encompassing a range of flight conditions. The simulation results demonstrate that the Integral of Absolute Error (IAE) of the pitch angle response controlled by the ADRC-RBF controller is reduced to 37.4° in comparison to the ADRC controller in the absence of external disturbance in the full-states mode state of the quad tiltrotor UAV, and the oscillation amplitude of the pitch angle response controlled by the ADRC-RBF controller is generally reduced by approximately 50% in comparison to the ADRC controller in the presence of external disturbance. In comparison with the conventional ADRC controller, the proposed ADRC-RBF controller demonstrates superior performance with regard to anti-disturbance capability, adaptability, and tracking accuracy. Full article

Self-localisation is a critical concept in the context of autonomous navigation and control of mobile robots. The most prevalent method for localisation is sensor fusion. Nevertheless, there are certain situations where the robots are compelled to localise on minimal sensor information. Furthermore, the key challenge is determining how to localise if this minimal sensor information fails. This paper proposes a data-driven analytical redundancy technique to address this challenge in wheeled mobile robots. Initially, the localisation of the robot is performed using the encoder information alone to create a minimalistic approach. In such a situation, a fault or failure in the encoders makes the robot behave in an undesirable way. To mitigate this, we are proposing a method to use the information from the analytical models when a fault is detected. Specifically, we obtain the analytical models through data-driven techniques. By a step response experiment, the input voltage and output angular velocity data of the motor are collected. We then use the System Identification toolbox in MATLAB^® (ver R2025a) and the Koopman framework to obtain different analytical models using the same data. We observe that these models experience errors at different input voltages of the motor, affecting the proposed method for handling the encoder fault. So, in this work, we use online tuning of the Koopman operator and experimentally demonstrate its effectiveness in handling the sensor fault on a mobile robot localising with minimal information. Full article

Cyberhate presents a multifaceted, context-sensitive challenge that existing detection methods often struggle to tackle effectively. Large language models (LLMs) exhibit considerable potential for improving cyberhate detection due to their advanced contextual understanding. However, detection alone is insufficient; it is crucial for software to also promote healthier user behaviors and empower individuals to actively confront the spread of cyberhate. This study investigates whether integrating large language models (LLMs) with persuasive technology (PT) can effectively detect cyberhate and encourage prosocial user behavior in digital spaces. Through an empirical study, we examine users’ perceptions of a self-monitoring persuasive strategy designed to reduce cyberhate. Specifically, the study introduces the Comment Analysis Feature to limit cyberhate spread, utilizing a prompt-based fine-tuning approach combined with LLMs. By framing users’ comments within the relevant context of cyberhate, the feature classifies input as either cyberhate or non-cyberhate and generates context-aware alternative statements when necessary to encourage more positive communication. A case study evaluated its real-world performance, examining user comments, detection accuracy, and the impact of alternative statements on user engagement and perception. The findings indicate that while most of the users (83%) found the suggestions clear and helpful, some resisted them, either because they felt the changes were irrelevant or misaligned with their intended expression (15%) or because they perceived them as a form of censorship (36%). However, a substantial number of users (40%) believed the interventions enhanced their language and overall commenting tone, with 68% suggesting they could have a positive long-term impact on reducing cyberhate. These insights highlight the potential of combining LLMs and PT to promote healthier online discourse while underscoring the need to address user concerns regarding relevance, intent, and freedom of expression. Full article

Marine voyage optimization determines the optimal route and speed to ensure timely arrival. The problem becomes particularly complex when incorporating a dynamic environment, such as future expected weather conditions along the route and unexpected disruptions. This study explores two model-free Deep Reinforcement Learning (DRL) algorithms: (i) a Double Deep Q Network (DDQN) and (ii) a Deep Deterministic Policy Gradient (DDPG). These algorithms are computationally costly, so we split optimization into an offline phase (costly pre-training for a route) and an online phase where the algorithms are fine-tuned as updated weather data become available. Fine tuning is quick enough for en-route adjustments and for updating the offline planning for different dates where the weather might be very different. The models are compared to classical and heuristic methods: the DDPG achieved a 4% lower fuel consumption than the DDQN and was only outperformed by Tabu Search by 1%. Both DRL models demonstrate high adaptability to dynamic weather updates, achieving up to 12% improvement in fuel consumption compared to the distance-based baseline model. Additionally, they are non-graph-based and self-learning, making them more straightforward to extend and integrate into future digital twin-driven autonomous solutions, compared to traditional approaches. Full article

The application of lower-limb exoskeleton robots in rehabilitation is becoming more prevalent, where the precision of control and the speed of response are essential for effective movement tracking. This study tackles the challenge of optimizing both control accuracy and response speed in trajectory tracking for lower-limb exoskeleton hip robots. We introduce an optimization strategy that integrates the Sparrow Search Algorithm (SSA) with fuzzy Proportional-Integral-Derivative (PID) control. This approach addresses the inefficiencies and time-consuming process of manual parameter tuning, thereby improving trajectory tracking performance. First, recognizing the complexity of hip joint motion, which involves multiple degrees of freedom and intricate dynamics, we employed the Lagrangian method. This method is particularly effective for handling nonlinear systems and simplifying the modeling process, allowing for the development of a dynamic model for the hip joint. The SSA is subsequently utilized for the online self-tuning optimization of both the proportional and quantization factors within the fuzzy PID controller. Simulation experiments confirm the efficacy of this strategy in tracking hip joint trajectories during flat walking and standing hip flexion rehabilitation exercises. Experimental results from diverse test populations demonstrate that SSA-fuzzy PID control improves response times by 27.8% (for flat walking) and 30% (for standing hip flexion) when compared to traditional PID control, and by 6% and 2%, respectively, relative to fuzzy PID control. Regarding tracking accuracy, the SSA-fuzzy PID approach increases accuracy by 81.4% (for flat walking) and 80% (for standing hip flexion) when compared to PID control, and by 57.5% and 56.8% relative to fuzzy PID control. The proposed strategy significantly improves both control accuracy and response speed, offering substantial theoretical support for rehabilitation training in individuals with lower-limb impairments. Moreover, in comparison to existing methods, this approach uniquely tackles the challenges of parameter tuning and optimization, presenting a more efficient solution for trajectory tracking in exoskeleton systems. Full article

Reasonable and effective control of a cathode air supply system is conducive to improving the dynamic response, operating efficiency, and reliability of fuel cell systems. This paper proposes a novel data-driven adaptive oxygen excess ratio (OER) control strategy based on online parameter identification for fuel cell systems. The proposed control scheme employs a second-order active disturbance rejection controller (ADRC) derived from the proportional-integral-derivative tuning rule to effectively deal with model uncertainties and external disturbances. Online parameter identification continuously translates the cathode air supply system into the second-order model, enabling the real-time adaptation of controller parameters to varying operating conditions. Simulation results demonstrate that the OER control strategy proposed significantly improves voltage stability and system efficiency under dynamic conditions compared to traditional methods. The innovation of this paper is that, based on consideration of the nonlinear slow time-varying characteristics of a PEMFC and the frequent disturbance of load current, adaptive control under system dynamic conditions can be considered. Combining the parameter identification scheme, an adaptive online self-tuning scheme is designed for the identified system model, which avoids the tediousness of a complex modeling process and has promotion value in practical applications. Full article

Currently, a significant number of pre-trained models are published online to provide services to users owing to the rapid maturation and popularization of machine learning as a service (MLaaS). Some malicious users have pre-trained models illegally to redeploy them and earn money. However, most of the current methods focus on verifying the copyright of the model rather than tracing responsibility for the suspect model. In this study, TraceGuard is proposed, the first framework based on steganography for tracing a suspect self-supervised learning (SSL) pre-trained model, to ascertain which authorized user illegally released the suspect model or if the suspect model is independent. Concretely, the framework contains an encoder and decoder pair and the SSL pre-trained model. Initially, the base pre-trained model is frozen, and the encoder and decoder are jointly learned to ensure the two modules can embed the secret key into the cover image and extract the secret key from the embedding output by the base pre-trained model. Subsequently, the base pre-trained model is fine-tuned using stego images to implement a fingerprint while the encoder and decoder are frozen. To assure the effectiveness and robustness of the fingerprint and the utility of fingerprinted pre-trained models, three alternate steps of model stealing simulations, fine-tuning for uniqueness, and fine-tuning for utility are designed. Finally, the suspect pre-trained model is traced to its user by querying stego images. Experimental results demonstrate that TraceGuard can reliably trace suspect models and is robust against common fingerprint removal attacks such as fine-tuning, pruning, and model stealing. In the future, we will further improve the robustness against model stealing attack. Full article

Pediatric respiratory disease diagnosis and subsequent treatment require accurate and interpretable analysis. A chest X-ray is the most cost-effective and rapid method for identifying and monitoring various thoracic diseases in children. Recent developments in self-supervised and transfer learning have shown their potential in medical imaging, including chest X-ray areas. In this article, we propose a three-stage framework with knowledge transfer from adult chest X-rays to aid the diagnosis and interpretation of pediatric thorax diseases. We conducted comprehensive experiments with different pre-training and fine-tuning strategies to develop transformer or convolutional neural network models and then evaluate them qualitatively and quantitatively. The ViT-Base/16 model, fine-tuned with the CheXpert dataset, a large chest X-ray dataset, emerged as the most effective, achieving a mean AUC of 0.761 (95% CI: 0.759–0.763) across six disease categories and demonstrating a high sensitivity (average 0.639) and specificity (average 0.683), which are indicative of its strong discriminative ability. The baseline models, ViT-Small/16 and ViT-Base/16, when directly trained on the Pediatric CXR dataset, only achieved mean AUC scores of 0.646 (95% CI: 0.641–0.651) and 0.654 (95% CI: 0.648–0.660), respectively. Qualitatively, our model excels in localizing diseased regions, outperforming models pre-trained on ImageNet and other fine-tuning approaches, thus providing superior explanations. The source code is available online and the data can be obtained from PhysioNet. Full article

This paper presents a novel fuzzy-augmented model reference adaptive voltage regulation strategy for the DC–DC buck converters to enhance their resilience against random input variations and load-step transients. The ubiquitous proportional-integral-derivative (PID) controller is employed as the baseline scheme, whose gains are tuned offline via a pre-calibrated linear-quadratic optimization scheme. However, owing to the inefficacy of the fixed-gain PID controller against parametric disturbances, it is retrofitted with a model reference adaptive controller that uses Lyapunov gain adaptation law for the online modification of PID gains. The adaptive controller is also augmented with an auxiliary fuzzy self-regulation system that acts as a superior regulator to dynamically update the adaptation rates of the Lyapunov gain adaptation law as a nonlinear function of the system’s classical error and its normalized acceleration. The proposed fuzzy system utilizes the knowledge of the system’s relative rate to execute better self-regulation of the adaptation rates, which in turn, flexibly steers the adaptability and response speed of the controller as the error conditions change. The propositions above are validated by performing tailored hardware experiments on a low-power DC–DC buck converter prototype. The experimental results validate the improved reference tracking and disturbance rejection ability of the proposed control law compared to the fixed PID controller. Full article

Population-based metaheuristics can be seen as a set of agents that smartly explore the space of solutions of a given optimization problem. These agents are commonly governed by movement operators that decide how the exploration is driven. Although metaheuristics have successfully been used for more than 20 years, performing rapid and high-quality parameter control is still a main concern. For instance, deciding the proper population size yielding a good balance between quality of results and computing time is constantly a hard task, even more so in the presence of an unexplored optimization problem. In this paper, we propose a self-adaptive strategy based on the on-line population balance, which aims for improvements in the performance and search process on population-based algorithms. The design behind the proposed approach relies on three different components. Firstly, an optimization-based component which defines all metaheuristic tasks related to carry out the resolution of the optimization problems. Secondly, a learning-based component focused on transforming dynamic data into knowledge in order to influence the search in the solution space. Thirdly, a probabilistic-based selector component is designed to dynamically adjust the population. We illustrate an extensive experimental process on large instance sets from three well-known discrete optimization problems: Manufacturing Cell Design Problem, Set covering Problem, and Multidimensional Knapsack Problem. The proposed approach is able to compete against classic, autonomous, as well as IRace-tuned metaheuristics, yielding interesting results and potential future work regarding dynamically adjusting the number of solutions interacting on different times within the search process. Full article