Search Results (672)

To address the deteriorated control performance of permanent magnet synchronous motor (PMSM) drive systems for new energy vehicles (NEVs) under complex conditions caused by multi-source disturbances (internal parameter perturbations and external load mutations), this paper proposes an improved terminal integral sliding mode control (ITISMC-ADERL) strategy integrating a piecewise adaptive terminal integral sliding mode surface and an ADERL. The proposed sliding mode surface adopts interval-adaptive switching between high- and low-order power terms, completely eliminating singularity and integral saturation defects of traditional terminal sliding mode control while ensuring fast convergence, and achieving an optimal structural balance between convergence speed and chattering suppression. The state-dependent ADERL leverages the synergy of error-sliding variable coupled dynamic gain adjustment and variable exponential power compensation, realizing dual-mode adaptive switching of “strong driving for fast approaching far from the sliding surface, weak gain for smooth regulation near the sliding surface”, which significantly improves control accuracy and anti-disturbance robustness. The finite-time convergence of the closed-loop system is rigorously proved via Lyapunov stability theory. Full-operating-condition comparative tests on a TMS320F28379D DSP platform show that the proposed strategy outperforms SMC-ERL, ISMC-ERL and ITISMC-ERL in all test scenarios (no-load startup, acceleration/deceleration, sudden load changes, flux linkage perturbation), meeting the requirements of high-performance NEV drive systems and possessing important engineering application potential. Full article

Within the framework of Somigliana’s displacement and traction identities, we propose an extended equivalent elastic model that enables a BEM that is singularity-free in the primary solution stage for two-dimensional elastostatics. The central idea is to shift the integration boundary from the physical contour $S_1$ to an auxiliary contour $S_2$, introducing a geometric separation that removes boundary-source singularities from the discrete system. When the separation between $S_1$ and $S_2$ is sufficiently large, all integrals in the assembled algebraic equations become regular, and post-processing can be performed in a unified manner using the same nonsingular expressions for both boundary and interior evaluation. We introduce a practical separation measure, the dimensionless parameter $\delta$, and verify that a moderate choice (e.g., $\delta \approx 0.5$) is effective through a rigid-body displacement test. Benchmark examples demonstrate that, at lower computational cost, the proposed method improves accuracy and convergence compared with the conventional direct BEM (displacement boundary integral equation (BIE) with free-term coefficient $c=1/2$) and compares favorably with the finite element method (FEM). In particular, thin structures can be treated directly without invoking plate or shell theories. Full article

Permanent magnet synchronous motors (PMSMs) are widely used in agricultural unmanned aerial vehicle (UAV) electromechanical systems for their high efficiency and power density. While sliding mode control (SMC) offers robustness for PMSM drives, conventional designs face challenges like slow convergence, singularity, and chattering. This paper proposes a model-free improved non-singular fast terminal SMC scheme with an improved adaptive super-twisting algorithm and a disturbance observer (MFINFTSMC-IADSTA-IFTSMO) for agricultural UAV applications. The designed sliding surface ensures fixed-time convergence without singularity, the adaptive reaching law reduces chattering, and the observer enables feedforward compensation of disturbances. Closed-loop stability is proven via Lyapunov theory. DSP-based experiments demonstrate that the proposed method outperforms existing SMC variants in dynamic response, steady-state accuracy, chattering suppression, and disturbance rejection. Specifically, the proposed method achieves a start-up convergence time of only 0.35 s, which is 56.25% shorter than that of the classic SMC-STA method, fully verifying its superior fast convergence performance. Full article

Minimizing the impacts of coupling, randomness, time variation and uncertain nonlinearity to enhance real-time performance is critical for controlling complex industrial systems. This paper proposes an optimized adaptive filtering method (LAF-MTNF) for time-varying uncertain nonlinear systems with multiple-input multiple-output (MIMO) measurement noise, which integrates the multi-dimensional Taylor network (MTN) with Lyapunov stability theory (LST). Leveraging MTN’s inherent advantages—simple structure, linear parameterization, and low computational complexity—LAF-MTNF achieves efficient real-time filtering while avoiding the exponential computation burden of neural networks. The contributions of this work are threefold: (1) A novel integration of LST and MTN is proposed for MIMO filtering, in which an energy space is constructed with a unique global minimum to eliminate local optimization traps, addressing the stability deficit of traditional MTN filters using LMS/RLS algorithms. (2) Convergence performance is systematically quantified by deriving explicit expressions for the error convergence rate (regulated by a positive constant) and convergence region (a sphere centered at the origin) while modifying adaptive gain to avoid singularity, filling the gap of incomplete performance analysis in existing Lyapunov-based filters. (3) The design is disturbance-independent, relying only on input/output measurements and requiring no prior knowledge of noise statistics, thus enhancing robustness to unknown industrial disturbances. We systematically analyze the Lyapunov stability of LAF-MTNF, and simulations on a complex MIMO system verify that it outperforms existing methods in filtering precision (mean error 0.0227 vs. 0.0674 of RBFNN) and dynamic response speed, while ensuring asymptotic stability and real-time applicability. The proposed LAF-MTNF method achieves significant advantages over traditional adaptive filtering methods in filtering accuracy, convergence speed and anti-cross-coupling capability. This method has broad application prospects in high-precision industrial servo motion control, power system state monitoring and other multi-variable nonlinear industrial scenarios with complex noise environments. Full article

Let X be a compact Riemann surface of genus $g\ge 2$. An octonionic bundle over X is a fiber bundle whose fiber is the non-associative algebra of complex octonions, equivalently a principal $G_2\left(\mathbb{C}\right)$-bundle, where $G_2\left(\mathbb{C}\right)$ is the exceptional Lie group of automorphisms of the octonions. We prove that the natural inclusion $G_2\left(\mathbb{C}\right)\hookrightarrow \mathrm{SO}(7,\mathbb{C})$ induces a closed embedding of the moduli space ${\mathcal{M}}_{\mathrm{Oct}}\left(X\right)$ into the moduli space ${\mathcal{M}}_{\mathrm{SO}(7,\mathbb{C})}\left(X\right)$ of $\mathrm{SO}(7,\mathbb{C})$-bundles. We further analyze the normal bundle to this embedding, computing its rank as $7(g-1)$ and providing an explicit cohomological description of its fibers, which enables explicit computations of tangent spaces and provides a foundation for deformation theory. As applications of the embedding, we prove that the image is a closed irreducible subvariety not contained in the singular locus of the ambient space, and we derive the Whitney formula $c\left(T_{\mathrm{amb}}\right)=c\left(T\right)·c\left(N\right)$ relating the Chern classes of the tangent bundle of ${\mathcal{M}}_{\mathrm{Oct}}\left(X\right)$, the pullback of the ambient tangent bundle, and the normal bundle over the smooth locus. Full article

The theory of physical degrees of freedom (DoF) developed by Franceschetti–Migliore–Minero (FMM) establishes a fundamental phase transition in the singular-value spectrum of electromagnetic radiation operators under maximal rotational symmetry. In this work, we revisit this result from a symmetry-explicit operator-theoretic perspective and extend it to scenarios with reduced and controllable symmetries, with particular emphasis on reconfigurable intelligent surfaces (RISs). We model the radiation process as a compact operator acting between admissible source and observation spaces and characterize its symmetry through group equivariance. This formulation enables a systematic decomposition of the operator into irreducible representation sectors associated with the effective symmetry group, defined as the intersection of symmetries supported jointly by the source architecture, RIS geometry and programmability, receiver configuration, and propagation environment. We show that the FMM phase transition persists within each symmetry sector and that the total DoF budget is redistributed across sectors according to symmetry constraints. A key outcome of this analysis is the distinction between physical and effective degrees of freedom. While breaking the maximal $\mathrm{SO}\left(2\right)$ symmetry does not increase the total number of electromagnetic DoF dictated by physics, symmetry reduction modifies their allocation across sectors, potentially lifting degeneracies and increasing the number of degrees of freedom that can be effectively addressed by a given excitation, RIS control, and measurement architecture, even when the total number of physical DoF remains fixed by fundamental limits. This clarifies the role of controlled symmetry breaking as a design mechanism rather than a means to surpass fundamental limits. The proposed framework bridges electromagnetic operator theory, representation theory, and RIS-enabled system design, providing both rigorous symmetry-resolved DoF accounting and actionable insights for excitation, surface programmability, and measurement strategies under practical architectural constraints. Full article

The configuration synthesis and kinematic analysis of reconfigurable parallel mechanisms are performed for two motion modes: three-translation (3T) and three-translation-one-rotation (3T1R). Firstly, the degrees of freedom and constraint conditions of the moving platform and the limbs of the mechanism are analyzed. The limb configurations satisfying the degrees of freedom are synthesized by using the equivalent motion screw method, and the RUPU/2UPU reconfigurable parallel mechanism is synthesized by reasonably arranging the limbs. The degrees of freedom and motion continuity of the mechanism are analyzed by using the geometric constraint method based on screw theory. It has been proved that the mechanism can switch motion modes via the revolute joint R. The inverse position solution and workspace of the mechanism are analyzed, and its full Jacobian matrix is established. Based on this matrix, the reconfigurability and singularity of the mechanism were analyzed. At the same time, the dexterity of the mechanism is evaluated based on the velocity Jacobian matrix and the actuation Jacobian matrix. The results of the two methods are consistent. Finally, the mechanism’s degrees of freedom, motion continuity, and reconfigurable characteristics are verified through virtual simulation experiments. The experimental results are consistent with the theoretical analysis. Full article

This paper proposes an adaptive wavelet neural network nonsingular fast terminal sliding mode control strategy based on a finite-time framework for a space robot system under external disturbances and model uncertainties. Firstly, the dynamic model of space robot is established based on the second Lagrange equation. Unlike sliding mode control, which converges asymptotically, terminal sliding mode control (TSMC) has been proposed to ensure finite-time convergence for a space robot system. Based on the aforementioned TSMC framework, the fast terminal sliding mode control (FTSMC) is proposed to enhance system convergence rate. However, TSMC exhibits a singularity issue attributed to the presence of negative fractional order. To avoid this issue, a nonsingular fast terminal sliding mode controller (NFTSMC) has been proposed. The controller is designed to integrate linear and nonlinear terms into a novel nonsingular fast terminal sliding mode surface. The method achieves fast finite-time convergence concurrently with improved robustness, while effectively avoiding singularities. To compensate for external disturbances and model uncertainties in the space robot system, this paper proposes the combination of wavelet neural network (WNN) for the real-time estimation of lumped uncertainties. Network parameters are dynamically adjusted via an adaptive law to mitigate chattering effectively and enhance trajectory tracking precision. Utilizing Lyapunov stability theory and numerical simulations, the space robot system’s stability is rigorously proven and the controller effectiveness is validated. Compared with the traditional NFTSMC, the proposed control strategy reduces the convergence time by 20.74%. In the case of trajectory tracking comparison, the root mean square error (RMSE) improves by 35.85%, the mean tracking error improves by 63.29%, the integral of absolute error (IAE) improves by 29.37%, and the integral of time-weighted absolute error (ITAE) improves by 93.06%. Additionally, a comparative simulation with RBFNN is included in this paper. Compared with RBFNN, the proposed control strategy reduces input torque energy consumption by 77.36% and improves control smoothness by 87.03%, quantitatively demonstrating the effectiveness of the proposed control strategy. Full article

The dominant pores governing methane adsorption in coal are micropores (pore size < 2 nm). Their spatial heterogeneity can be quantitatively characterized using multifractal theory; however, the evolution patterns and mechanisms of microporous structures across different coalification degrees remain unclear. This research selected a series of coal samples from different ranks and identified the coalification degree using the maximum vitrinite reflectance (Rₒ_,max). By comprehensively employing low-temperature CO₂ adsorption experiments and multifractal analysis, the evolution patterns of the microporous structures and their multifractal spectral parameters were systematically revealed, and the underlying control mechanisms were explored. Results indicate that micropore volume (PV) and specific surface area (SSA) first exhibit a decrease and then increase as Rₒ_,max increases, with the trough occurring during the second coalification jump at Rₒ_,max = 1.2–1.4%. The pore sizes exhibit bimodal distributions, with the primary peak occurring in the range of 0.45–0.65 nm and the secondary peak occurring in the range of 0.8–0.9 nm. All microporous structures possess pronounced multifractal characteristics. The generalized dimension spectrum width (ΔD) and singularity spectrum width (Δα) exhibit an increasing–decreasing–increasing trend with Rₒ_,max, whereas the Hurst exponent (H) follows an inverted parabolic curve, first increases then decreases. This contrasts with the trends in PV and SSA, indicating that the evolution of pore-space heterogeneity and connectivity is independent of and lags the changes in micropore quantity. These patterns are governed by a structural phase transition within the coal macromolecular network. Marked by the second coalification jump, the microporous system shifts from a flexible degradation–polycondensation paradigm to a rigid ordering–construction paradigm. This transition drives the asynchronous, synergistic evolutions of pore quantity, spatial heterogeneity (ΔD and Δα), and topological connectivity (H). This research provides a theoretical basis for quantitatively evaluating pore heterogeneity in coal reservoirs. Full article

Fractional calculus and distribution theory share a common conceptual origin in the symbolic interpretation of differentiation and integration. Despite this connection, most developments in fractional calculus have traditionally been formulated within the framework of ordinary functions, while the systematic use of distributions remains limited. In this work, a novel distributional framework is developed by constructing a fractional Taylor representation of the product of Euler gamma and Riemann zeta functions in terms of fractional derivatives of the Dirac delta distribution. The proposed formulation enables the derivation of new fractional identities via Laplace transformation and facilitates the analytical solution of fractional differential equations containing such functions. Closed-form solutions are obtained in both classical and generalized distributional senses, allowing the extension of solutions from the positive real axis to the entire real line. Furthermore, the framework is applied to fractional operators of Erdélyi–Kober type, yielding new integral and derivative transforms. Fractional differential and integral equations with singular terms arise naturally in several engineering models involving memory effects, impulsive responses, and anomalous transport phenomena. However, the presence of nonremovable singularities—such as those associated with Euler gamma and Riemann zeta functions—significantly restricts the applicability of classical analytical methods. Overall, the proposed distributional framework bridges the gap between abstract fractional calculus and practical engineering models by enabling analytical solutions of fractional systems with singular memory kernels that were previously inaccessible using classical methods. Full article

The classical Neumann–Kelvin (NK) theory of potential flow around a free-surface-piercing ship that steadily advances in calm water or through regular waves is considered. Specifically, this study presents an elementary ‘no-equation interpretation’ of the rigid-waterplane linear flow model and the related modification of the NK theory recently presented by the authors and complements the detailed mathematical analysis given in that earlier study. Specifically, the NN (Neumann–Noblesse) integral equation obtained in that previous study by applying Green’s fundamental identity to an alternative linear flow model called the rigid-waterplane flow model, in which an open free-surface-piercing ship hull is closed by a rigid waterplane slightly submerged under the free surface, is interpreted in light of Saint-Venant’s principle. Briefly, the present study argues that the NK integral equation obtained in the classical NK theory of potential flow around a ship contains a singularity at the ship waterline and that this singularity is removed—in the spirit of the classical Saint-Venant principle—in the rigid-waterplane flow model and the related weakly-singular NN integral equation, which can then be viewed as a ‘regularization’ of the NK integral equation. This study also presents variants of the NN integral equation in which a function defined in terms of the ship hull surface geometry by an integral over the ship waterplane or an integral around the ship waterline is expressed as equivalent integrals over the ship hull surface. Like the NN integral equation given previously, the equivalent variants of the weakly-singular NN integral equation obtained in this study do not involve a waterline integral and hold for a ship that steadily advances in calm water or through regular waves, as well as for an offshore structure or a moored ship in regular waves. Full article

We study axial perturbations of Reissner–Nordström black holes within the general framework of parity-violating modified gravity theories. We derive the governing equations for a class of frame-dragging perturbations, focusing on the symmetry structure and radial dependence of the perturbed metric component, describing its behavior across three distinct regions: near the singularity ($r\to 0$), between the inner and outer Reissner–Nordström horizons ($r_{-}<r<r_{+}$), and in the asymptotic exterior regime ($r\to \infty$). Using a combination of analytical and numerical methods, we analyze the solutions for varying black hole charge-to-mass ratios ($Q/M$) and angular momentum parameters (l). Key findings include the suppression of perturbations by the electromagnetic field for higher $Q/M$; the emergence of radial resonance-like behavior for specific l values; and a high degree of symmetry for solutions in the extremal limit ($Q/M\sim 1$), attributed to the AdS₂$\times S^2$ near-horizon geometry. The WKB approximation is employed to study the high-l regime, revealing quantized radial resonance modes and singular behavior in the extremal limit. Additionally, we explore the role of boundary conditions and the possibility of a Chern–Simons field $\mathsf{\Theta }$ as the source of the parity violation, showing that consistency and the behavior of the perturbations under time reversal demand a constant field (and thus no actually observable Chern–Simons effects) at leading order. These results provide a basis for further analysis of the stability and dynamical properties of charged black holes in parity-violating theories, with potential experimental signatures in gravitational wave observations. Full article

Doubly periodic tangles, or DP tangles, are embeddings of curves in the thickened plane that are periodically repeated in two directions. They are defined as universal covers of their generating cells, the flat motifs, which represent knots and links in the thickened torus, and which can be chosen in infinitely many ways. DP tangles are used in modeling materials and physical systems of entangled filaments. In this paper, we establish the complete mathematical framework of the topological theory of DP tangles. We present an exhaustive analysis of DP tangle isotopies. These are distinguished in local isotopies and global isotopies. Our analysis yields the characterization of DP isotopy as an equivalence relation on the level of their (flat) motifs, called DP tangle equivalence. Along the way, we also discuss motif minimality. We further generalize our results to other diagrammatic categories, namely framed, virtual, welded, singular, pseudo, tied and bonded DP tangles, which could be used in novel applications. Full article

A conceptually consistent understanding is sought for the interactions sampled by the imaginary cubic oscillator with potential $V^{\left(ICO\right)}\left(x\right)=\mathrm{i}{x}^3$, which is by itself not acceptable as a meaningful quantum model due to a combination of its non-Hermiticity, unboundedness, and most of all the Riesz-basis non-diagonalizability of the Hamiltonian, known as its intrinsic exceptional point (IEP) feature. For the purposes of a perturbation-theory-based simulation of the emergence of such a singular system, a simplified (though not too strictly related) toy-model Hamiltonian is proposed. It combines an $N-$point discretization of the real line of coordinates with an ad hoc interaction in a two-parametric N-by-N-matrix Hamiltonian $H=H^{\left(N\right)}(A,B)$. After such a simplification, one can still encounter a somewhat weaker form of non-diagonalizability at the conventional Kato’s exceptional-point (EP) limit of parameters $(A,B)\to (A^{\left(EP\right)},B^{\left(EP\right)})$. The IEP-non-diagonalizability phenomenon itself appears mimicked by the less enigmatic EP degeneracy of the discrete toy model, especially at large $N\gg 1$. What we gain is that, in contrast to the IEP case, the regularization of the simplified toy model in vicinity to the black conventional EP becomes feasible. Full article

Tight sandstone reservoirs are characterized by highly heterogeneous pore structures, in which multiscale pore–throat systems jointly control the shapes of capillary pressure curves and relative permeability, thereby exerting a fundamental influence on water production behavior and the overall development performance of gas reservoirs. The Ordos Basin is generally characterized by the development of tight sandstone. The tight sandstones exhibit porosities of 2–13% and permeabilities of 0.01–10 × 10⁻³ μm². To quantitatively elucidate the controlling mechanisms of multiscale pore structure on capillary pressure curve morphology and relative permeability, this study systematically investigates the fractal and multifractal characteristics of pore structures in tight sandstones based on high-pressure mercury intrusion (MICP) and nuclear magnetic resonance (NMR) experimental data, and establishes a quantitative relationship between fractal parameters and the capillary pressure curve shape parameter λ. First, capillary pressure curves were fitted using the Brooks–Corey model within the effective saturation interval to extract the shape parameter λ, which characterizes the concentration degree of pore-size distribution and the drainage behavior. Subsequently, based on NMR T₂ spectra, the small-pore fractal dimension D₁, large-pore fractal dimension D₂, and the multifractal singularity spectrum width Δα were extracted to quantitatively describe the geometric complexity of pore structures at different scales. On this basis, the correlations between λ and D₁, D₂, and Δα were systematically analyzed, and the predictive performance of λ under different parameter combinations was compared. The results indicate that: (1) the pore structures of tight sandstones exhibit pronounced fractal and multifractal characteristics at the NMR T₂ scale, with significant differences among samples; (2) λ shows an overall negative correlation with fractal parameters, among which the correlations with the large-pore fractal dimension D₂ and the multifractal spectrum width Δα are the most significant; (3) compared with models using a single fractal dimension, the multiparameter model incorporating Δα provides a more comprehensive characterization of multiscale pore heterogeneity, leading to a substantial improvement in the accuracy and stability of λ prediction; and (4) λ exerts a clear control on the shape of relative permeability curves, where a larger λ corresponds to earlier initiation and forward-shifted rising segments of water-phase flow, while a smaller λ results in overall flatter relative permeability curves. From the perspectives of fractal and multifractal theory, this study establishes an intrinsic linkage among pore structure, capillary pressure curve shape parameters, and relative permeability, providing a novel quantitative framework for constraining relative permeability curve morphology in tight sandstones under conditions where systematic relative permeability experiments are unavailable. Full article