Search Results (418)

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

The heterogeneous automatic guided vehicle (AGV) system, composed of several AGVs with different load capability and handling function, has good flexibility and agility to operational requirements. Accurate task travel time prediction (T3P) is vital for the efficient operation of heterogeneous AGV systems. However, T3P remains a challenging problem due to individual task correlations and dynamic changes in model input/output dimensions. To address these challenges, a biomimetics-inspired learning framework based on a radial basis function (RBF) neural network with an improved mayfly algorithm and a selective update strategy (IMA-SURBF) is proposed. Firstly, a T3P model is constructed by using travel-influencing factors as input and task travel time as output of the RBF neural network, where the input/output dimension is determined dynamically. Secondly, the improved mayfly algorithm (IMA), a biomimetic metaheuristic method, is adopted to optimize the initial parameters of the RBF neural network, while a selective update strategy is designed for parameter updates. Finally, simulation experiments on model design, parameter initialization, and comparison with deep learning-based models are conducted in a complex assembly line scenario to validate the accuracy and efficiency of the proposed method. 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

Accurate and spatially consistent rainfall estimation is essential for hydrological modeling and flood risk mitigation, especially in mountainous tropical regions with sparse observational networks and highly heterogeneous rainfall. This study presents a comparative analysis of six radar–gauge merging methods, including three statistical approaches—Quantile Adaptive Gaussian (QAG), Empirical Quantile Mapping (EQM), and radial basis function (RBF)—and three geostatistical approaches—external drift kriging (EDK), Bayesian Kriging (BAK), and Residual Kriging (REK). The evaluation was conducted over the Huong River Basin in Central Vietnam, a region characterized by steep terrain, monsoonal climate, and frequent hydrometeorological extremes. Two observational scenarios were established: Scenario S1 utilized 13 gauges for merging and 7 for independent validation, while Scenario S2 employed all 20 stations. Hourly radar and gauge data from peak rainy months were used for the evaluation. Each method was assessed using continuous metrics (RMSE, MAE, CC, NSE, and KGE), categorical metrics (POD and CSI), and spatial consistency indicators. Results indicate that all merging methods significantly improved the accuracy of rainfall estimates compared to raw radar data. Among them, RBF consistently achieved the highest accuracy, with the lowest RMSE (1.24 mm/h), highest NSE (0.954), and strongest spatial correlation (CC = 0.978) in Scenario S2. RBF also maintained high classification skills across all rainfall categories, including very heavy rain. EDK and BAK performed better with denser gauge input but required recalibration of variogram parameters. EQM and REK yielded moderate performance and had limitations near basin boundaries where gauge coverage was sparse. The results highlight trade-offs between method complexity, spatial accuracy, and robustness. While complex methods like EDK and BAK offer detailed spatial outputs, they require more calibration. Simpler methods are easier to apply across different conditions. RBF emerged as the most practical and transferable option, offering strong generalization, minimal calibration needs, and computational efficiency. These findings provide useful guidance for integrating radar and gauge data in flood-prone, data-scarce regions. Full article

In order to improve the poor prediction effect of current filling body strength design, a support vector machine (SVM) and Lib Toolbox were used to build an optimal match model or strength index of unclassified tailings filling body. Eight main factors were analyzed and screened as condition attributes, and backfill strength as a decision attribute. Next, we selected 72 groups of training samples and 6 groups of calibration samples. Our model adopts a radial basis function (RBF) as the kernel function and uses a grid search method to optimize parameters; it then tests the combination of optimal parameters by cross-validation. Results show that the mean error of regression prediction and verified predictions made by the SVM match model were 1.01%, which were more accurate than the BP neural network model’s predictions. On the premise that stope stability is ensured, the SVM match model may decrease cement consumption and the cost of backfill more effectively, and improve economic efficiency. Full article

Clean and safe air quality is essential for public health, yet particulate matter (PM) significantly degrades air quality and poses serious health risks. The Gulf Cooperation Council (GCC) countries are particularly vulnerable to frequent and intense dust storms due to their vast desert landscapes. This study presents the first health risk assessment of carcinogenic and non-carcinogenic risks associated with exposure to PM2.5 and PM10 bound heavy metals and polycyclic aromatic hydrocarbons (PAHs) based on air quality data collected during the years of 2016–2018 near Dubai International Airport and Abu Dhabi International Airport. The results reveal no significant carcinogenic risks for lead (Pb), cobalt (Co), nickel (Ni), and chromium (Cr). Additionally, AI-based regression analysis was applied to time-series dust monitoring data to enhance predictive capabilities in environmental monitoring systems. The estimated incremental lifetime cancer risk (ILCR) from PAH exposure exceeded the acceptable threshold (10⁻⁶) in several samples at both locations. The relationship between visibility and key environmental variables—PM1, PM2.5, PM10, total suspended particles (TSPs), wind speed, air pressure, and air temperature—was modeled using three machine learning algorithms: linear regression, support vector machine (SVM) with a radial basis function (RBF) kernel, and artificial neural networks (ANNs). Among these, SVM with an RBF kernel showed the highest accuracy in predicting visibility, effectively integrating meteorological data and particulate matter variables. These findings highlight the potential of machine learning models for environmental monitoring and the need for continued assessments of air quality and its health implications in the region. Full article

In this paper, a robust neural adaptive controller is proposed for the trajectory tracking control problem of unmanned surface vessels (USVs), considering model uncertainty, time-varying environmental disturbance, and actuator saturation. First, measurement errors in acceleration signals are eliminated through filtering techniques and a series of auxiliary variables, and after linearly parameterizing the USV dynamic model, a parameter adaptive update law is developed based on Lyapunov’s second method to estimate unknown dynamic parameters in the USV dynamics model. This parameter adaptive update law enables online identification of all USV dynamic parameters during trajectory tracking while ensuring convergence of the estimation errors. Second, a radial basis function neural network (RBF-NN) is employed to approximate unmodeled dynamics in the USV system, and on this basis, a robust damping term is designed based on neural damping technology to compensate for environmental disturbances and unmodeled dynamics. Subsequently, a trajectory tracking controller with parameter adaptation law and robust damping term is proposed using Lyapunov theory and adaptive control techniques. In addition, finite-time auxiliary variables are also added to the controller to handle the actuator saturation problem. Signal delay compensators are designed to compensate for input signal delays in the control system, thereby enhancing controller reliability. The proposed controller ensures robustness in trajectory tracking under model uncertainties and time-varying environmental disturbances. Finally, the convergence of each signal of the closed-loop system is proved based on Lyapunov theory. And the effectiveness of the control system is verified by numerical simulation experiments. Full article

Long-term sea level variations in the northern South China Sea (SCS) are known to significantly impact coastal ecosystems and socio-economic activities. To improve sea level prediction accuracy, four models—harmonic analysis and three artificial neural networks (ANNs), namely genetic algorithm-optimized back propagation (GA-BP), radial basis function (RBF), and long short-term memory (LSTM)—are developed and compared using 52 years of observational data (1960–2004). Key evaluation metrics are presented to demonstrate the models’ effectiveness: for harmonic analysis, the root mean square error (RMSE) is reported as 14.73, the mean absolute error (MAE) is 12.61, the mean bias error (MBE) is 0.0, and the coefficient of determination (R²) is 0.84; for GA-BP, the RMSE is measured as 29.1371, the MAE is 24.9411, the MBE is 5.6809, and the R² is 0.4003; for the RBF neural network, the RMSE is calculated as 27.1433, the MAE is 22.7533, the MBE is 2.1322, and the R² is 0.4690; for LSTM, the RMSE is determined as 23.7929, the MAE is 19.7899, the MBE is 1.3700, and the R² is 0.5872. The key findings include the following: (1) A significant sea level rise trend at 1.4 mm/year is observed in the northern SCS. (2) Harmonic analysis is shown to outperform all ANN models in both accuracy and robustness, with sea level variations effectively characterized by four principal and six secondary tidal constituents. (3) Despite their complexity, ANN models (including LSTM) are found to fail in surpassing the predictive capability of the traditional harmonic method. These results highlight the continued effectiveness of harmonic analysis for long-term sea level forecasting, offering critical insights for coastal hazard mitigation and sustainable development planning. Full article

Atmospheric methane (CH₄) concentrations have increased to 2.5 times their pre-industrial levels, with a marked acceleration in recent decades. CH₄ is responsible for approximately 30% of the global temperature rise since the Industrial Revolution. This growing concentration contributes to environmental degradation, including ocean acidification, accelerated climate change, and a rise in natural disasters. The column-averaged dry-air mole fraction of methane (XCH₄) is a crucial indicator for assessing atmospheric CH₄ levels. In this study, the Sentinel-5P TROPOMI instrument was employed to monitor, map, and estimate CH₄ concentrations on both regional and global scales. However, TROPOMI data exhibits limitations such as spatial gaps and relatively coarse resolution, particularly at regional scales or over small areas. To mitigate these limitations, a novel Convolutional Neural Network Autoencoder (CNN-AE) model was developed. Validation was performed using the Total Carbon Column Observing Network (TCCON), providing a benchmark for evaluating the accuracy of various interpolation and prediction models. The CNN-AE model demonstrated the highest accuracy in regional-scale analysis, achieving a Mean Absolute Error (MAE) of 28.48 ppb and a Root Mean Square Error (RMSE) of 30.07 ppb. This was followed by the Random Forest (RF) regressor (MAE: 29.07 ppb; RMSE: 36.89 ppb), GridData Nearest Neighbor Interpolator (NNI) (MAE: 30.06 ppb; RMSE: 32.14 ppb), and the Radial Basis Function (RBF) Interpolator (MAE: 80.23 ppb; RMSE: 90.54 ppb). On a global scale, the CNN-AE again outperformed other methods, yielding the lowest MAE and RMSE (19.78 and 24.7 ppb, respectively), followed by RF (21.46 and 27.23 ppb), GridData NNI (25.3 and 32.62 ppb), and RBF (43.08 and 54.93 ppb). Full article

This study addresses the critical challenge of insufficient classification accuracy for different defect signals in rail magnetic flux leakage (MFL) detection by proposing an enhanced intelligent classification framework based on particle swarm optimized radial basis function neural network (PSO-RBF). Three key innovations drive this research: (1) A dynamic PSO algorithm incorporating adaptive learning factors and nonlinear inertia weight for precise RBF parameter optimization; (2) A hierarchical feature processing strategy combining mutual information selection with correlation-based dimensionality reduction; (3) Adaptive model architecture adjustment for small-sample scenarios. Experimental validation shows breakthrough performance: 87.5% accuracy on artificial defects (17.5% absolute improvement over conventional RBF), with macro-F1 = 0.817 and MCC = 0.733. For real-world limited samples (100 sets), adaptive optimization achieved 80% accuracy while boosting minority class (“spalling”) F1-score by 0.25 with 50% false alarm reduction. The optimized PSO-RBF demonstrates superior capability in extracting MFL signal patterns, particularly for discriminating abrasions, spalling, indentations, and shelling defects, setting a new benchmark for industrial rail inspection. Full article

This paper introduces a robust neural adaptive MIMO control strategy to improve the stability and adaptability of bipedal locomotion amid uncertainties and external disturbances. The control combines nonlinear dynamic inversion, finite-time convergence, and radial basis function (RBF) neural networks for fast, accurate trajectory tracking. The main novelty of the presented control strategy lies in unifying instantaneous feedback, real-time learning, and dynamic adaptation within a multivariable feedback framework, delivering superior robustness, precision, and real-time performance under extreme conditions. The control scheme is implemented on a 5-DOF underactuated $\mathrm{R}\mathrm{A}\mathrm{B}\mathrm{B}\mathrm{I}\mathrm{T}$ robot using a $\mathrm{d}\mathrm{S}\mathrm{P}\mathrm{A}\mathrm{C}\mathrm{E}\mathrm{D}\mathrm{S}1103$ platform with a sampling rate of $∆t=1.5 \mathrm{m}\mathrm{s} (667 \mathrm{H}\mathrm{z})$. The experimental results show excellent performance with the following: The robot achieved stable cyclic gaits while keeping the tracking error within $e=\pm 0.04 \mathrm{r}\mathrm{a}\mathrm{d}$ under nominal conditions. Under severe uncertainties of trunk mass variations ${∆m}_{\mathrm{t}\mathrm{r}\mathrm{u}\mathrm{n}\mathrm{k}}=+100\%$, limb inertia changes ${∆I}_{\mathrm{l}\mathrm{i}\mathrm{m}\mathrm{b}}=\pm 30\%$, and actuator torque saturation at $\tau =\pm 150 \mathrm{N}\mathrm{m}$, the robot maintains stable limit cycles with smooth control. The performance of the proposed controller is compared with classical nonlinear decoupling, non-adaptive finite-time, neural-fuzzy learning, and deep learning controls. The results demonstrate that the proposed method outperforms the four benchmark strategies, achieving the lowest errors and fastest convergence with the following: $\mathrm{I}\mathrm{A}\mathrm{E}=1.36$, $\mathrm{I}\mathrm{T}\mathrm{A}\mathrm{E}=2.43$, $\mathrm{I}\mathrm{S}\mathrm{E}=0.68$, $t_{ss}=1.24 \mathrm{s}$, and $M_p=2.21\%$. These results demonstrate evidence of high stability, rapid convergence, and robustness to disturbances and foot-slip. Full article

In high-elevation or high-latitude permafrost areas, persistent subzero temperatures significantly impact the freeze–thaw durability of concrete structures. Traditional methods for studying the frost resistance of concrete in permafrost regions do not provide a complete picture for predicting properties, and new approaches are needed using, for example, machine learning algorithms. This study utilizes four machine learning models—Support Vector Machine (SVM), extreme learning machine (ELM), long short-term memory (LSTM), and radial basis function neural network (RBFNN)—to predict freeze–thaw damage factors in concrete under low and subzero temperature conservation conditions. Building on the prediction results, the optimal model is refined to develop a new machine learning model: the Sparrow Search Algorithm-optimized Extreme Learning Machine (SSA-ELM). Furthermore, the SHapley Additive exPlanations (SHAP) value analysis method is employed to interpret this model, clarifying the relationship between factors affecting the freezing resistance of concrete and freeze–thaw damage factors. In conclusion, the empirical formula for concrete freeze–thaw damage is compared and validated against the prediction results from the SSA-ELM model. The study results indicate that the SSA-ELM model offers the most accurate predictions for concrete freeze–thaw resistance compared to the SVM, ELM, LSTM, and RBFNN models. SHAP value analysis quantitatively confirms that the number of freeze–thaw cycles is the most significant input parameter affecting the freeze–thaw damage coefficient of concrete. Comparative analysis shows that the accuracy of the SSA-ELMDE prediction set is improved by 15.46%, 9.19%, 21.79%, and 11.76%, respectively, compared with the prediction results of SVM, ELM, LSTM, and RBF. This parameter positively influences the prediction results for the freeze–thaw damage coefficient. Curing humidity has the least influence on the freeze–thaw damage factor of concrete. Comparing the prediction results with empirical formulas shows that the machine learning model provides more accurate predictions. This introduces a new approach for predicting the extent of freeze–thaw damage to concrete under low and subzero temperature conservation conditions. Full article

Methane dry reforming (DRM) offers a promising route by converting two greenhouse gases into syngas, but catalyst deactivation through carbon deposition severely reduces energy efficiency. While neural networks offer potential for predicting carbon deposition and reducing experimental burdens, conventional random data partitioning in small-sample regimes compromises model accuracy, stability, and generalizability. To overcome these limitations, we conducted a systematic comparison between backpropagation (BP) and radial basis function (RBF) neural network models. Throughout 10 model trials with random trainset splits, the RBF model demonstrated superior performance and was consequently selected for further optimization. Then, we developed a K-fold cross-validation framework to enhance model selection, resulting in an optimized RBF model (RBF-Imp). The final model achieved outstanding performance on unseen test data (MSE = 0.0018, R² = 0.9882), representing a 64% reduction in MSE and a 4.3% improvement in R² compared to the mean performance across 10 independent validations. These results demonstrated significant improvements in the prediction accuracy, model stability, and generalization capability of the small-sample data model, providing intelligent decision-making support for the removal of carbon deposition. Full article

This work devised an on-device learning approach to self-calibrate Micro-Electro-Mechanical Systems-based Inertial Measurement Units (MEMS-IMUs), integrating a digital signal processor (DSP), an accelerometer, and a gyroscope in the same package. The accelerometer and gyroscope stream their data in real time to the DSP, which runs artificial intelligence (AI) workloads. The real-time sensor data are subject to errors, such as time-varying bias and thermal stress. To compensate for these drifts, the traditional calibration method based on a linear model is applicable, and unfortunately, it does not work with nonlinear errors. The algorithm devised by this study to reduce such errors adopts Radial Basis Function Neural Networks (RBF-NNs). This method does not rely on the classical adoption of the backpropagation algorithm. Due to its low complexity, it is deployable using kibyte memory and in software runs on the DSP, thus performing interleaved in-sensor learning and inference by itself. This avoids using any off-package computing processor. The learning process is performed periodically to achieve consistent sensor recalibration over time. The devised solution was implemented in both 32-bit floating-point data representation and 16-bit quantized integer version. Both of these were deployed into the Intelligent Sensor Processing Unit (ISPU), integrated into the LSM6DSO16IS Inertial Measurement Unit (IMU), which is a programmable 5–10 MHz DSP on which the programmer can compile and execute AI models. It integrates 32 KiB of program RAM and 8 KiB of data RAM. No permanent memory is integrated into the package. The two (fp32 and int16) RBF-NN models occupied less than 21 KiB out of the 40 available, working in real-time and independently in the sensor package. The models, respectively, compensated between 46% and 95% of the accelerometer measurement error and between 32% and 88% of the gyroscope measurement error. Finally, it has also been used for attitude estimation of a micro aerial vehicle (MAV), achieving an error of only 2.84°. Full article

The agricultural sector is one of the most significant sectors of the global economy, yet it is concurrently a highly energy-intensive industry. The issue of optimizing field operations in terms of energy consumption is therefore a key consideration for sustainable agriculture, and the solution to this issue leads to both environmental and financial benefits. The aim of this study was to estimate energy consumption during soil cultivation using geophysical scanning data and machine learning (ML) algorithms. This included determining the optimal set of independent variables and the most suitable ML method. Soil parameters such as electrical conductivity, magnetic susceptibility, and soil reflectance in infrared spectra were mapped using data from Geonics EM-38 and Veris 3100 scanners. These data, along with soil texture, served as inputs for predicting fuel consumption and field productivity. Three machine learning algorithms were tested: support vector machines (SVMs), multilayer perceptron (MLP), and radial basis function (RBF) neural networks. Among these, SVM achieved the best performance, showing a MAPE of 4% and a strong correlation (R = 0.97) between predicted and actual productivity values. For fuel consumption, the optimal method was MLP (MAPE = 4% and R = 0.63). The findings demonstrate the viability of geophysical scanning and machine learning for accurately predicting energy use in tillage operations. This approach supports more sustainable agriculture by enabling optimized fuel use and reducing environmental impact through data-driven field management. Further research is needed to obtain training data for different soil parameters and agrotechnical treatments in order to develop more universal models. Full article