The bipartite containment control problem for heterogeneous nonlinear multi-agent systems(HNMASs)within multi-group networks under signed digraphs is investigated,where the first-order and second-order nonlinear dynam...The bipartite containment control problem for heterogeneous nonlinear multi-agent systems(HNMASs)within multi-group networks under signed digraphs is investigated,where the first-order and second-order nonlinear dynamic agents belong to distinct groups.Interactions are cooperative-antagonistic within each group and sign-in-degree balanced across the inter-groups.Firstly,a state feedback control protocol is designed to ensure that the trajectories of followers in diverse groups can converge to distinct convex hulls formed by their corresponding leaders,respectively.As an extension,the bipartite control problem with time-variant formation for the multi-agent system(MAS)is also considered,and a corresponding control protocol with formation compensation vectors is given.Finally,in view of Lyapunov stability theory and matrix inequality,the sufficient conditions for realizing the bipartite containment control are obtained,and several simulations are provided to verify the validity of the above methods.展开更多
In this paper,a new study concerning the usage of artificial neural networks in the control application is given.It is shown,that the data gathered during proper operation of a given control plant can be used in the l...In this paper,a new study concerning the usage of artificial neural networks in the control application is given.It is shown,that the data gathered during proper operation of a given control plant can be used in the learning process to fully embrace the control pattern.Interestingly,the instances driven by neural networks have the ability to outperform the original analytically driven scenarios.Three different control schemes,namely perfect,linear-quadratic,and generalized predictive controllers were used in the theoretical study.In addition,the nonlinear recurrent neural network-based generalized predictive controller with the radial basis function-originated predictor was obtained to exemplify the main results of the paper regarding the real-world application.展开更多
In order to enhance the control performance of piezo-positioning system,the influence of hysteresis characteristics and its compensation method are studied.Hammerstein model is used to represent the dynamic hysteresis...In order to enhance the control performance of piezo-positioning system,the influence of hysteresis characteristics and its compensation method are studied.Hammerstein model is used to represent the dynamic hysteresis nonlinear characteristics of piezo-positioning actuator.The static nonlinear part and dynamic linear part of the Hammerstein model are represented by models obtained through the Prandtl-Ishlinskii(PI)model and Hankel matrix system identification method,respectively.This model demonstrates good generalization capability for typical input frequencies below 200 Hz.A sliding mode inverse compensation tracking control strategy based on P-I inverse model and integral augmentation is proposed.Experimental results show that compared with PID inverse compensation control and sliding mode control without inverse compensation,the sliding mode inverse compensation control has a more ideal step response and no overshoot,moreover,the settling time is only 6.2 ms.In the frequency domain,the system closed-loop tracking bandwidth reaches 119.9 Hz,and the disturbance rejection bandwidth reaches 86.2 Hz.The proposed control strategy can effectively compensate the hysteresis nonlinearity,and improve the tracking accuracy and antidisturbance capability of piezo-positioning system.展开更多
The increasing interconnection of modern industrial control systems(ICSs)with the Internet has enhanced operational efficiency,but alsomade these systemsmore vulnerable to cyberattacks.This heightened exposure has dri...The increasing interconnection of modern industrial control systems(ICSs)with the Internet has enhanced operational efficiency,but alsomade these systemsmore vulnerable to cyberattacks.This heightened exposure has driven a growing need for robust ICS security measures.Among the key defences,intrusion detection technology is critical in identifying threats to ICS networks.This paper provides an overview of the distinctive characteristics of ICS network security,highlighting standard attack methods.It then examines various intrusion detection methods,including those based on misuse detection,anomaly detection,machine learning,and specialised requirements.This paper concludes by exploring future directions for developing intrusion detection systems to advance research and ensure the continued security and reliability of ICS operations.展开更多
In this paper,we propose a new privacy-aware transmission scheduling algorithm for 6G ad hoc networks.This system enables end nodes to select the optimum time and scheme to transmit private data safely.In 6G dynamic h...In this paper,we propose a new privacy-aware transmission scheduling algorithm for 6G ad hoc networks.This system enables end nodes to select the optimum time and scheme to transmit private data safely.In 6G dynamic heterogeneous infrastructures,unstable links and non-uniform hardware capabilities create critical issues regarding security and privacy.Traditional protocols are often too computationally heavy to allow 6G services to achieve their expected Quality-of-Service(QoS).As the transport network is built of ad hoc nodes,there is no guarantee about their trustworthiness or behavior,and transversal functionalities are delegated to the extreme nodes.However,while security can be guaranteed in extreme-to-extreme solutions,privacy cannot,as all intermediate nodes still have to handle the data packets they are transporting.Besides,traditional schemes for private anonymous ad hoc communications are vulnerable against modern intelligent attacks based on learning models.The proposed scheme fulfills this gap.Findings show the probability of a successful intelligent attack reduces by up to 65%compared to ad hoc networks with no privacy protection strategy when used the proposed technology.While congestion probability can remain below 0.001%,as required in 6G services.展开更多
Graph neural networks(GNN)have shown strong performance in node classification tasks,yet most existing models rely on uniform or shared weight aggregation,lacking flexibility in modeling the varying strength of relati...Graph neural networks(GNN)have shown strong performance in node classification tasks,yet most existing models rely on uniform or shared weight aggregation,lacking flexibility in modeling the varying strength of relationships among nodes.This paper proposes a novel graph coupling convolutional model that introduces an adaptive weighting mechanism to assign distinct importance to neighboring nodes based on their similarity to the central node.Unlike traditional methods,the proposed coupling strategy enhances the interpretability of node interactions while maintaining competitive classification performance.The model operates in the spatial domain,utilizing adjacency list structures for efficient convolution and addressing the limitations of weight sharing through a coupling-based similarity computation.Extensive experiments are conducted on five graph-structured datasets,including Cora,Citeseer,PubMed,Reddit,and BlogCatalog,as well as a custom topology dataset constructed from the Open University Learning Analytics Dataset(OULAD)educational platform.Results demonstrate that the proposed model achieves good classification accuracy,while significantly reducing training time through direct second-order neighbor fusion and data preprocessing.Moreover,analysis of neighborhood order reveals that considering third-order neighbors offers limited accuracy gains but introduces considerable computational overhead,confirming the efficiency of first-and second-order convolution in practical applications.Overall,the proposed graph coupling model offers a lightweight,interpretable,and effective framework for multi-label node classification in complex networks.展开更多
Large-scale new energy grid connection leads to the weakening of the system frequency regulation capability,and the system frequency stability is facing unprecedented challenges.In order to solve rapid frequency fluct...Large-scale new energy grid connection leads to the weakening of the system frequency regulation capability,and the system frequency stability is facing unprecedented challenges.In order to solve rapid frequency fluctuation caused by new energy units,this paper proposes a new energy power system frequency regulation strategy with multiple units including the doubly-fed pumped storage unit(DFPSU).Firstly,based on the model predictive control(MPC)theory,the state space equations are established by considering the operating characteristics of the units and the dynamic behavior of the system;secondly,the proportional-differential control link is introduced to minimize the frequency deviation to further optimize the frequency modulation(FM)output of the DFPSU and inhibit the rapid fluctuation of the frequency;lastly,it is verified on theMatlab/Simulink simulation platform,and the results show that the model predictive control with proportional-differential control link can further release the FM potential of the DFPSU,increase the depth of its FM,effectively reduce the frequency deviation of the system and its rate of change,realize the optimization of the active output of the DFPSU and that of other units,and improve the frequency response capability of the system.展开更多
This article presents an adaptive intelligent control strategy applied to a lumped-parameter evaporator model,i.e.,a simplified dynamic representation treating the evaporator as a single thermal node with uniform temp...This article presents an adaptive intelligent control strategy applied to a lumped-parameter evaporator model,i.e.,a simplified dynamic representation treating the evaporator as a single thermal node with uniform temperature distribution,suitable for control design due to its balance between physical fidelity and computational simplicity.The controller uses a wavelet-based neural proportional,integral,derivative(PID)controller with IIR filtering(infinite impulse response).The dynamic model captures the essential heat and mass transfer phenomena through a nonlinear energy balance,where the cooling capacity“Qevap”is expressed as a non-linear function of the compressor frequency and the temperature difference,specifically,Q_(evap)=k_(1)u(T_(in)−T_(e))with u as compressor frequency,Te evaporator temperature,and Tin inlet fluid temperature.The operating conditions of the system,in general terms,focus on the following variables,the overall thermal capacity is 1000 J/K,typical for small-capacity heat exchangers,The mass flow is 0.05 kg/s,typical for secondary liquid cooling circuits,the overall loss coefficient of 50 W/K that corresponds to small evaporators with partial insulation,the temperatures(inlet)of 10℃and the temperature of environment of 25℃,thermal load of 200 W that corresponds to a small-scaled air conditioning applications.To handle system nonlinearities and improve control performance,aMorlet wavelet-based neural network(Wavenet)is used to dynamically adjust the PID gains online.An IIR filter is incorporated to smooth the adaptive gains,improving stability and reducing oscillations.In contrast to prior wavelet-or neural-adaptive PID controllers in HVAC applications,which typically adjust gains without explicit filtering or not tailored to evaporator dynamics,this work introduces the first PID–Wavenet scheme augmented with an IIR-based stabilization layer,specifically designed to address the combined challenges of nonlinear evaporator behavior,gain oscillation,and real-time implementability.The proposed controller(PID-Wavenet+IIR)is implemented and validated inMATLAB/Simulink,demonstrating superior performance compared to a conventional PID tuned using Simulink’s auto-tuning function.Key results include a reduction in settling time from 13.3 to 8.2 s,a reduction in overshoot from 3.5%to 0.8%,a reduction in steady-state error from 0.12℃ to 0.02℃and a 13%reduction in energy overall consumption.The controller also exhibits greater robustness and adaptability under varying thermal loads.This explicit integration of wavelet-driven adaptation with IIR-filtered gain shaping constitutes the main methodological contribution and novelty of the work.These findings validate the effectiveness of the wavelet-based adaptive approach for advanced thermal management in refrigeration and HVAC systems,with potential applications in controlling variable-speed compressors,liquid chillers,and compact cooling units.展开更多
Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advance...Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advancements have trans-formed their capabilities through novel designs inspired by biological systems,advanced modeling frameworks,sophisti-cated control strategies,and integration into diverse real-world applications.Recent innovations in multifunctional mate-rials and emerging actuation technologies have markedly expanded manipulator performance,reliability,and dexterity.Concurrently,developments in modeling have progressed from simplified geometric methods toward highly accurate physics-based and hybrid data-driven approaches,substantially improving real-time prediction and controllability.Coupled with these developments,adaptive and robust control strategies-including learning-based techniques-have enabled unprec-edented autonomy and precision in challenging application domains such as Minimally Invasive Surgery(MIS),precision agriculture,deep-sea exploration,disaster recovery,and space missions.Despite these remarkable strides,key challenges remain,notably regarding scalability,long-term material durability,robust integrated sensing,and standardized evaluation procedures.This review comprehensively synthesizes recent advances,critically evaluates state-of-the-art methodologies,and systematically identifies existing gaps to provide a clear roadmap and targeted research directions,guiding future developments toward the broader adoption and optimal utilization of soft robotic manipulators.展开更多
Theauthor proposes a dual layer source grid load storage collaborative planning model based on Benders decomposition to optimize the low-carbon and economic performance of the distribution network.The model plans the ...Theauthor proposes a dual layer source grid load storage collaborative planning model based on Benders decomposition to optimize the low-carbon and economic performance of the distribution network.The model plans the configuration of photovoltaic(3.8 MW),wind power(2.5 MW),energy storage(2.2 MWh),and SVC(1.2 Mvar)through interaction between upper and lower layers,and modifies lines 2–3,8–9,etc.to improve transmission capacity and voltage stability.The author uses normal distribution and Monte Carlo method to model load uncertainty,and combines Weibull distribution to describe wind speed characteristics.Compared to the traditional three-layer model(TLM),Benders decomposition-based two-layer model(BLBD)has a 58.1%reduction in convergence time(5.36 vs.12.78 h),a 51.1%reduction in iteration times(23 vs.47 times),a 8.07%reduction in total cost(12.436 vs.13.528 million yuan),and a 9.62%reduction in carbon emissions(12,456 vs.13,782 t).After optimization,the peak valley difference decreased from4.1 to 2.9MW,the renewable energy consumption rate reached 93.4%,and the energy storage efficiency was 87.6%.Themodel has been validated in the IEEE 33 node system,demonstrating its superiority in terms of economy,low-carbon,and reliability.展开更多
Embodied intelligent systems integrate perception,control,and decision-making within physical agents,and have become a cornerstone of modern aerospace,autonomous driving,and cooperative robotic applications.When opera...Embodied intelligent systems integrate perception,control,and decision-making within physical agents,and have become a cornerstone of modern aerospace,autonomous driving,and cooperative robotic applications.When operating in uncertain and dynamic environments,such systems must address challenges arising from incomplete sensing,unpredictable maneuvers,communication constraints,disturbances,and evolving network structures.展开更多
Dear Editor,In this letter,a constrained networked predictive control strategy is proposed for the optimal control problem of complex nonlinear highorder fully actuated(HOFA)systems with noises.The method can effectiv...Dear Editor,In this letter,a constrained networked predictive control strategy is proposed for the optimal control problem of complex nonlinear highorder fully actuated(HOFA)systems with noises.The method can effectively deal with nonlinearities,constraints,and noises in the system,optimize the performance metric,and present an upper bound on the stable output of the system.展开更多
It is well known that aluminum and copper exhibit structural phase transformations in quasi-static and dynamic measurements,including shock wave loading.However,the dependence of phase transformations in a wide range ...It is well known that aluminum and copper exhibit structural phase transformations in quasi-static and dynamic measurements,including shock wave loading.However,the dependence of phase transformations in a wide range of crystallographic directions of shock loading has not been revealed.In this work,we calculated the shock Hugoniot for aluminum and copper in different crystallographic directions([100],[110],[111],[112],[102],[114],[123],[134],[221]and[401])of shock compression using molecular dynamics(MD)simulations.The results showed a high pressure(>160 GPa for Cu and>40 GPa for Al)of the FCC-to-BCC transition.In copper,different characteristics of the phase transition are observed depending on the loading direction with the[100]compression direction being the weakest.The FCC-to-BCC transition for copper is in the range of 150–220 GPa,which is consistent with the existing experimental data.Due to the high transition pressure,the BCC phase transition in copper competes with melting.In aluminum,the FCC-to-BCC transition is observed for all studied directions at pressures between 40 and 50 GPa far beyond the melting.In all considered cases we observe the coexistence of HCP and BCC phases during the FCC-to-BCC transition,which is consistent with the experimental data and atomistic calculations;this HCP phase forms in the course of accompanying plastic deformation with dislocation activity in the parent FCC phase.The plasticity incipience is also anisotropic in bothmetals,which is due to the difference in the projections of stress on the slip plane for different orientations of the FCC crystal.MD modeling results demonstrate a strong dependence of the FCC-to-BCC transition on the crystallographic direction,in which the material is loaded in the copper crystals.However,MD simulations data can only be obtained for specific points in the stereographic direction space;therefore,for more comprehensive understanding of the phase transition process,a feed-forward neural network was trained using MD modeling data.The trained machine learning model allowed us to construct continuous stereographic maps of phase transitions as a function of stress in the shock-compressed state of metal.Due to appearance and growth of multiple centers of new phase,the FCC-to-BCC transition leads to formation of a polycrystalline structure from the parent single crystal.展开更多
Owing to intensified globalization and informatization,the structures of the urban scale hierarchy and urban networks between cities have become increasingly intertwined,resulting in different spatial effects.Therefor...Owing to intensified globalization and informatization,the structures of the urban scale hierarchy and urban networks between cities have become increasingly intertwined,resulting in different spatial effects.Therefore,this paper analyzes the spatial interaction between urban scale hierarchy and urban networks in China from 2019 to 2023,drawing on Baidu migration data and employing a spatial simultaneous equation model.The results reveal a significant positive spatial correlation between cities with higher hierarchy and those with greater network centrality.Within a static framework,we identify a positive interaction between urban scale hierarchy and urban network centrality,while their spatial cross-effects manifest as negative neighborhood interactions based on geographical distance and positive cross-scale interactions shaped by network connections.Within a dynamic framework,changes in urban scale hierarchy and urban networks are mutually reinforcing,thereby widening disparities within the urban hierarchy.Furthermore,an increase in a city’s network centrality had a dampening effect on the population growth of neighboring cities and network-connected cities.This study enhances understanding of the spatial organisation of urban systems and offers insights for coordinated regional development.展开更多
A composite anti-disturbance predictive control strategy employing a Multi-dimensional Taylor Network(MTN)is presented for unmanned systems subject to time-delay and multi-source disturbances.First,the multi-source di...A composite anti-disturbance predictive control strategy employing a Multi-dimensional Taylor Network(MTN)is presented for unmanned systems subject to time-delay and multi-source disturbances.First,the multi-source disturbances are addressed according to their specific characteristics as follows:(A)an MTN data-driven model,which is used for uncertainty description,is designed accompanied with the mechanism model to represent the unmanned systems;(B)an adaptive MTN filter is used to remove the influence of the internal disturbance;(C)an MTN disturbance observer is constructed to estimate and compensate for the influence of the external disturbance;(D)the Extended Kalman Filter(EKF)algorithm is utilized as the learning mechanism for MTNs.Second,to address the time-delay effect,a recursiveτstep-ahead MTN predictive model is designed utilizing recursive technology,aiming to mitigate the impact of time-delay,and the EKF algorithm is employed as its learning mechanism.Then,the MTN predictive control law is designed based on the quadratic performance index.By implementing the proposed composite controller to unmanned systems,simultaneous feedforward compensation and feedback suppression to the multi-source disturbances are conducted.Finally,the convergence of the MTN and the stability of the closed-loop system are established utilizing the Lyapunov theorem.Two exemplary applications of unmanned systems involving unmanned vehicle and rigid spacecraft are presented to validate the effectiveness of the proposed approach.展开更多
In this study,artificial neural networks(ANNs)were implemented to determine design parameters for an impressed current cathodic protection(ICCP)prototype.An ASTM A36 steel plate was tested in 3.5%NaCl solution,seawate...In this study,artificial neural networks(ANNs)were implemented to determine design parameters for an impressed current cathodic protection(ICCP)prototype.An ASTM A36 steel plate was tested in 3.5%NaCl solution,seawater,and NS4 using electrochemical impedance spectroscopy(EIS)to monitor the evolution of the substrate surface,which affects the current required to reach the protection potential(Eprot).Experimental data were collected as training datasets and analyzed using statistical methods,including box plots and correlation matrices.Subsequently,ANNs were applied to predict the current demand at different exposure times,enabling the estimation of electrochemical parameters(limiting voltage values)that can be used to optimize a self-regulating ICCP system.The obtained electrochemical parameters were then used,through Particle Swarm Optimization(PSO),to fine-tune an ANN-based proportional-integral-derivative(PID)controller for the ICCP system.展开更多
Projective synchronization problems of a drive system and a particular response network were investigated,where the drive system is an arbitrary system with n+1 dimensions;it may be a linear or nonlinear system,and ev...Projective synchronization problems of a drive system and a particular response network were investigated,where the drive system is an arbitrary system with n+1 dimensions;it may be a linear or nonlinear system,and even a chaotic or hyperchaotic system,the response network is complex system coupled by N nodes,and every node is showed by the approximately linear part of the drive system.Only controlling any one node of the response network by designed controller can achieve the projective synchronization.Some numerical examples were employed to verify the effectiveness and correctness of the designed controller.展开更多
Quantum optimal control(QOC)relies on accurately modeling system dynamics and is often challenged by unknown or inaccessible interactions in real systems.Taking an unknown collective spin system as an example,this wor...Quantum optimal control(QOC)relies on accurately modeling system dynamics and is often challenged by unknown or inaccessible interactions in real systems.Taking an unknown collective spin system as an example,this work introduces a machine-learning-based,data-driven scheme to overcome the challenges encountered,with a trained neural network(NN)assuming the role of a surrogate model that captures the system’s dynamics and subsequently enables QOC to be performed on the NN instead of on the real system.The trained NN surrogate proves effective for practical QOC tasks and is further demonstrated to be adaptable to different experimental conditions,remaining robust across varying system sizes and pulse durations.展开更多
The topology structure of the artificial neural network is an intelligent control model,which is used for the intelligent vehicle control system and household sweeping robot.When setting the intelligent control system...The topology structure of the artificial neural network is an intelligent control model,which is used for the intelligent vehicle control system and household sweeping robot.When setting the intelligent control system,the connection point of each network is regarded as a neuron in the nervous system,and each connection point has input and output functions.Only when the input of nodes reaches a certain threshold can the output function of nodes be stimulated.Using the networking mode of the artificial neural network model,the mobile node can output in multiple directions.If the input direction of a certain path is the same as that of other nodes,it can choose to avoid and choose another path.The weighted value of each path between nodes is different,which means that the influence of the front node on the current node varies.The control method based on the artificial neural network model can be applied to vehicle control,household sweeping robots,and other fields,and a relatively optimized scheme can be obtained from the aspect of time and energy consumption.展开更多
This paper investigates a new SEIQR(susceptible–exposed–infected–quarantined–recovered) epidemic model with quarantine mechanism on heterogeneous complex networks. Firstly, the nonlinear SEIQR epidemic spreading d...This paper investigates a new SEIQR(susceptible–exposed–infected–quarantined–recovered) epidemic model with quarantine mechanism on heterogeneous complex networks. Firstly, the nonlinear SEIQR epidemic spreading dynamic differential coupling model is proposed. Then, by using mean-field theory and the next-generation matrix method, the equilibriums and basic reproduction number are derived. Theoretical results indicate that the basic reproduction number significantly relies on model parameters and topology of the underlying networks. In addition, the globally asymptotic stability of equilibrium and the permanence of the disease are proved in detail by the Routh–Hurwitz criterion, Lyapunov method and La Salle's invariance principle. Furthermore, we find that the quarantine mechanism, that is the quarantine rate(γ1, γ2), has a significant effect on epidemic spreading through sensitivity analysis of basic reproduction number and model parameters. Meanwhile, the optimal control model of quarantined rate and analysis method are proposed, which can optimize the government control strategies and reduce the number of infected individual. Finally, numerical simulations are given to verify the correctness of theoretical results and a practice application is proposed to predict and control the spreading of COVID-19.展开更多
基金National Natural Science Foundation of China(No.12071370)。
文摘The bipartite containment control problem for heterogeneous nonlinear multi-agent systems(HNMASs)within multi-group networks under signed digraphs is investigated,where the first-order and second-order nonlinear dynamic agents belong to distinct groups.Interactions are cooperative-antagonistic within each group and sign-in-degree balanced across the inter-groups.Firstly,a state feedback control protocol is designed to ensure that the trajectories of followers in diverse groups can converge to distinct convex hulls formed by their corresponding leaders,respectively.As an extension,the bipartite control problem with time-variant formation for the multi-agent system(MAS)is also considered,and a corresponding control protocol with formation compensation vectors is given.Finally,in view of Lyapunov stability theory and matrix inequality,the sufficient conditions for realizing the bipartite containment control are obtained,and several simulations are provided to verify the validity of the above methods.
文摘In this paper,a new study concerning the usage of artificial neural networks in the control application is given.It is shown,that the data gathered during proper operation of a given control plant can be used in the learning process to fully embrace the control pattern.Interestingly,the instances driven by neural networks have the ability to outperform the original analytically driven scenarios.Three different control schemes,namely perfect,linear-quadratic,and generalized predictive controllers were used in the theoretical study.In addition,the nonlinear recurrent neural network-based generalized predictive controller with the radial basis function-originated predictor was obtained to exemplify the main results of the paper regarding the real-world application.
文摘In order to enhance the control performance of piezo-positioning system,the influence of hysteresis characteristics and its compensation method are studied.Hammerstein model is used to represent the dynamic hysteresis nonlinear characteristics of piezo-positioning actuator.The static nonlinear part and dynamic linear part of the Hammerstein model are represented by models obtained through the Prandtl-Ishlinskii(PI)model and Hankel matrix system identification method,respectively.This model demonstrates good generalization capability for typical input frequencies below 200 Hz.A sliding mode inverse compensation tracking control strategy based on P-I inverse model and integral augmentation is proposed.Experimental results show that compared with PID inverse compensation control and sliding mode control without inverse compensation,the sliding mode inverse compensation control has a more ideal step response and no overshoot,moreover,the settling time is only 6.2 ms.In the frequency domain,the system closed-loop tracking bandwidth reaches 119.9 Hz,and the disturbance rejection bandwidth reaches 86.2 Hz.The proposed control strategy can effectively compensate the hysteresis nonlinearity,and improve the tracking accuracy and antidisturbance capability of piezo-positioning system.
文摘The increasing interconnection of modern industrial control systems(ICSs)with the Internet has enhanced operational efficiency,but alsomade these systemsmore vulnerable to cyberattacks.This heightened exposure has driven a growing need for robust ICS security measures.Among the key defences,intrusion detection technology is critical in identifying threats to ICS networks.This paper provides an overview of the distinctive characteristics of ICS network security,highlighting standard attack methods.It then examines various intrusion detection methods,including those based on misuse detection,anomaly detection,machine learning,and specialised requirements.This paper concludes by exploring future directions for developing intrusion detection systems to advance research and ensure the continued security and reliability of ICS operations.
基金funding from the European Commission by the Ruralities project(grant agreement no.101060876).
文摘In this paper,we propose a new privacy-aware transmission scheduling algorithm for 6G ad hoc networks.This system enables end nodes to select the optimum time and scheme to transmit private data safely.In 6G dynamic heterogeneous infrastructures,unstable links and non-uniform hardware capabilities create critical issues regarding security and privacy.Traditional protocols are often too computationally heavy to allow 6G services to achieve their expected Quality-of-Service(QoS).As the transport network is built of ad hoc nodes,there is no guarantee about their trustworthiness or behavior,and transversal functionalities are delegated to the extreme nodes.However,while security can be guaranteed in extreme-to-extreme solutions,privacy cannot,as all intermediate nodes still have to handle the data packets they are transporting.Besides,traditional schemes for private anonymous ad hoc communications are vulnerable against modern intelligent attacks based on learning models.The proposed scheme fulfills this gap.Findings show the probability of a successful intelligent attack reduces by up to 65%compared to ad hoc networks with no privacy protection strategy when used the proposed technology.While congestion probability can remain below 0.001%,as required in 6G services.
基金Support by Sichuan Science and Technology Program[2023YFSY0026,2023YFH0004]Guangzhou Huashang University[2024HSZD01,HS2023JYSZH01].
文摘Graph neural networks(GNN)have shown strong performance in node classification tasks,yet most existing models rely on uniform or shared weight aggregation,lacking flexibility in modeling the varying strength of relationships among nodes.This paper proposes a novel graph coupling convolutional model that introduces an adaptive weighting mechanism to assign distinct importance to neighboring nodes based on their similarity to the central node.Unlike traditional methods,the proposed coupling strategy enhances the interpretability of node interactions while maintaining competitive classification performance.The model operates in the spatial domain,utilizing adjacency list structures for efficient convolution and addressing the limitations of weight sharing through a coupling-based similarity computation.Extensive experiments are conducted on five graph-structured datasets,including Cora,Citeseer,PubMed,Reddit,and BlogCatalog,as well as a custom topology dataset constructed from the Open University Learning Analytics Dataset(OULAD)educational platform.Results demonstrate that the proposed model achieves good classification accuracy,while significantly reducing training time through direct second-order neighbor fusion and data preprocessing.Moreover,analysis of neighborhood order reveals that considering third-order neighbors offers limited accuracy gains but introduces considerable computational overhead,confirming the efficiency of first-and second-order convolution in practical applications.Overall,the proposed graph coupling model offers a lightweight,interpretable,and effective framework for multi-label node classification in complex networks.
基金supported by the National Natural Science Foundation of China(Project No.52377082)the Scientific Research Program of Jilin Provincial Department of Education(Project No.JJKH20230123KJ).
文摘Large-scale new energy grid connection leads to the weakening of the system frequency regulation capability,and the system frequency stability is facing unprecedented challenges.In order to solve rapid frequency fluctuation caused by new energy units,this paper proposes a new energy power system frequency regulation strategy with multiple units including the doubly-fed pumped storage unit(DFPSU).Firstly,based on the model predictive control(MPC)theory,the state space equations are established by considering the operating characteristics of the units and the dynamic behavior of the system;secondly,the proportional-differential control link is introduced to minimize the frequency deviation to further optimize the frequency modulation(FM)output of the DFPSU and inhibit the rapid fluctuation of the frequency;lastly,it is verified on theMatlab/Simulink simulation platform,and the results show that the model predictive control with proportional-differential control link can further release the FM potential of the DFPSU,increase the depth of its FM,effectively reduce the frequency deviation of the system and its rate of change,realize the optimization of the active output of the DFPSU and that of other units,and improve the frequency response capability of the system.
文摘This article presents an adaptive intelligent control strategy applied to a lumped-parameter evaporator model,i.e.,a simplified dynamic representation treating the evaporator as a single thermal node with uniform temperature distribution,suitable for control design due to its balance between physical fidelity and computational simplicity.The controller uses a wavelet-based neural proportional,integral,derivative(PID)controller with IIR filtering(infinite impulse response).The dynamic model captures the essential heat and mass transfer phenomena through a nonlinear energy balance,where the cooling capacity“Qevap”is expressed as a non-linear function of the compressor frequency and the temperature difference,specifically,Q_(evap)=k_(1)u(T_(in)−T_(e))with u as compressor frequency,Te evaporator temperature,and Tin inlet fluid temperature.The operating conditions of the system,in general terms,focus on the following variables,the overall thermal capacity is 1000 J/K,typical for small-capacity heat exchangers,The mass flow is 0.05 kg/s,typical for secondary liquid cooling circuits,the overall loss coefficient of 50 W/K that corresponds to small evaporators with partial insulation,the temperatures(inlet)of 10℃and the temperature of environment of 25℃,thermal load of 200 W that corresponds to a small-scaled air conditioning applications.To handle system nonlinearities and improve control performance,aMorlet wavelet-based neural network(Wavenet)is used to dynamically adjust the PID gains online.An IIR filter is incorporated to smooth the adaptive gains,improving stability and reducing oscillations.In contrast to prior wavelet-or neural-adaptive PID controllers in HVAC applications,which typically adjust gains without explicit filtering or not tailored to evaporator dynamics,this work introduces the first PID–Wavenet scheme augmented with an IIR-based stabilization layer,specifically designed to address the combined challenges of nonlinear evaporator behavior,gain oscillation,and real-time implementability.The proposed controller(PID-Wavenet+IIR)is implemented and validated inMATLAB/Simulink,demonstrating superior performance compared to a conventional PID tuned using Simulink’s auto-tuning function.Key results include a reduction in settling time from 13.3 to 8.2 s,a reduction in overshoot from 3.5%to 0.8%,a reduction in steady-state error from 0.12℃ to 0.02℃and a 13%reduction in energy overall consumption.The controller also exhibits greater robustness and adaptability under varying thermal loads.This explicit integration of wavelet-driven adaptation with IIR-filtered gain shaping constitutes the main methodological contribution and novelty of the work.These findings validate the effectiveness of the wavelet-based adaptive approach for advanced thermal management in refrigeration and HVAC systems,with potential applications in controlling variable-speed compressors,liquid chillers,and compact cooling units.
基金Open access funding provided by The Science,Technology&Innovation Funding Authority(STDF)in cooperation with The Egyptian Knowledge Bank(EKB).
文摘Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advancements have trans-formed their capabilities through novel designs inspired by biological systems,advanced modeling frameworks,sophisti-cated control strategies,and integration into diverse real-world applications.Recent innovations in multifunctional mate-rials and emerging actuation technologies have markedly expanded manipulator performance,reliability,and dexterity.Concurrently,developments in modeling have progressed from simplified geometric methods toward highly accurate physics-based and hybrid data-driven approaches,substantially improving real-time prediction and controllability.Coupled with these developments,adaptive and robust control strategies-including learning-based techniques-have enabled unprec-edented autonomy and precision in challenging application domains such as Minimally Invasive Surgery(MIS),precision agriculture,deep-sea exploration,disaster recovery,and space missions.Despite these remarkable strides,key challenges remain,notably regarding scalability,long-term material durability,robust integrated sensing,and standardized evaluation procedures.This review comprehensively synthesizes recent advances,critically evaluates state-of-the-art methodologies,and systematically identifies existing gaps to provide a clear roadmap and targeted research directions,guiding future developments toward the broader adoption and optimal utilization of soft robotic manipulators.
文摘Theauthor proposes a dual layer source grid load storage collaborative planning model based on Benders decomposition to optimize the low-carbon and economic performance of the distribution network.The model plans the configuration of photovoltaic(3.8 MW),wind power(2.5 MW),energy storage(2.2 MWh),and SVC(1.2 Mvar)through interaction between upper and lower layers,and modifies lines 2–3,8–9,etc.to improve transmission capacity and voltage stability.The author uses normal distribution and Monte Carlo method to model load uncertainty,and combines Weibull distribution to describe wind speed characteristics.Compared to the traditional three-layer model(TLM),Benders decomposition-based two-layer model(BLBD)has a 58.1%reduction in convergence time(5.36 vs.12.78 h),a 51.1%reduction in iteration times(23 vs.47 times),a 8.07%reduction in total cost(12.436 vs.13.528 million yuan),and a 9.62%reduction in carbon emissions(12,456 vs.13,782 t).After optimization,the peak valley difference decreased from4.1 to 2.9MW,the renewable energy consumption rate reached 93.4%,and the energy storage efficiency was 87.6%.Themodel has been validated in the IEEE 33 node system,demonstrating its superiority in terms of economy,low-carbon,and reliability.
文摘Embodied intelligent systems integrate perception,control,and decision-making within physical agents,and have become a cornerstone of modern aerospace,autonomous driving,and cooperative robotic applications.When operating in uncertain and dynamic environments,such systems must address challenges arising from incomplete sensing,unpredictable maneuvers,communication constraints,disturbances,and evolving network structures.
基金supported in part by the National Natural Science Foundation of China(62173255,62188101)Shenzhen Key Laboratory of Control Theory and Intelligent Systems(ZDSYS20220330161800001)
文摘Dear Editor,In this letter,a constrained networked predictive control strategy is proposed for the optimal control problem of complex nonlinear highorder fully actuated(HOFA)systems with noises.The method can effectively deal with nonlinearities,constraints,and noises in the system,optimize the performance metric,and present an upper bound on the stable output of the system.
基金founded by the Ministry of Science and Higher Education of the Russian Federation,State assignments for research,registration No.1024032600084-8-1.3.2Study of the grain growth and the formation of polycrystalline structure as a result of phase transition(Section 6)was founded by the Russian Science Foundation,Project No.24-71-00078+3 种基金https://rscf.ru/en/project/24-71-00078/(accessed on 01 December 2025).Study of the orientation dependence of the phase transition of aluminum in Section 3 was founded by the Russian Science Foundation,Project No.24-19-00684https://rscf.ru/en/project/24-19-00684/(accessed on 01 December 2025).
文摘It is well known that aluminum and copper exhibit structural phase transformations in quasi-static and dynamic measurements,including shock wave loading.However,the dependence of phase transformations in a wide range of crystallographic directions of shock loading has not been revealed.In this work,we calculated the shock Hugoniot for aluminum and copper in different crystallographic directions([100],[110],[111],[112],[102],[114],[123],[134],[221]and[401])of shock compression using molecular dynamics(MD)simulations.The results showed a high pressure(>160 GPa for Cu and>40 GPa for Al)of the FCC-to-BCC transition.In copper,different characteristics of the phase transition are observed depending on the loading direction with the[100]compression direction being the weakest.The FCC-to-BCC transition for copper is in the range of 150–220 GPa,which is consistent with the existing experimental data.Due to the high transition pressure,the BCC phase transition in copper competes with melting.In aluminum,the FCC-to-BCC transition is observed for all studied directions at pressures between 40 and 50 GPa far beyond the melting.In all considered cases we observe the coexistence of HCP and BCC phases during the FCC-to-BCC transition,which is consistent with the experimental data and atomistic calculations;this HCP phase forms in the course of accompanying plastic deformation with dislocation activity in the parent FCC phase.The plasticity incipience is also anisotropic in bothmetals,which is due to the difference in the projections of stress on the slip plane for different orientations of the FCC crystal.MD modeling results demonstrate a strong dependence of the FCC-to-BCC transition on the crystallographic direction,in which the material is loaded in the copper crystals.However,MD simulations data can only be obtained for specific points in the stereographic direction space;therefore,for more comprehensive understanding of the phase transition process,a feed-forward neural network was trained using MD modeling data.The trained machine learning model allowed us to construct continuous stereographic maps of phase transitions as a function of stress in the shock-compressed state of metal.Due to appearance and growth of multiple centers of new phase,the FCC-to-BCC transition leads to formation of a polycrystalline structure from the parent single crystal.
基金Under the auspices of the National Natural Science Foundation of China(No.42371222,41971167)Fundamental Scientific Research Funds of Central China Normal University(No.CCNU24ZZ120)。
文摘Owing to intensified globalization and informatization,the structures of the urban scale hierarchy and urban networks between cities have become increasingly intertwined,resulting in different spatial effects.Therefore,this paper analyzes the spatial interaction between urban scale hierarchy and urban networks in China from 2019 to 2023,drawing on Baidu migration data and employing a spatial simultaneous equation model.The results reveal a significant positive spatial correlation between cities with higher hierarchy and those with greater network centrality.Within a static framework,we identify a positive interaction between urban scale hierarchy and urban network centrality,while their spatial cross-effects manifest as negative neighborhood interactions based on geographical distance and positive cross-scale interactions shaped by network connections.Within a dynamic framework,changes in urban scale hierarchy and urban networks are mutually reinforcing,thereby widening disparities within the urban hierarchy.Furthermore,an increase in a city’s network centrality had a dampening effect on the population growth of neighboring cities and network-connected cities.This study enhances understanding of the spatial organisation of urban systems and offers insights for coordinated regional development.
基金co-supported by the National Key R&D Program of China(No.2023YFB4704400)the Zhejiang Provincial Natural Science Foundation of China(No.LQ24F030012)the National Natural Science Foundation of China General Project(No.62373033)。
文摘A composite anti-disturbance predictive control strategy employing a Multi-dimensional Taylor Network(MTN)is presented for unmanned systems subject to time-delay and multi-source disturbances.First,the multi-source disturbances are addressed according to their specific characteristics as follows:(A)an MTN data-driven model,which is used for uncertainty description,is designed accompanied with the mechanism model to represent the unmanned systems;(B)an adaptive MTN filter is used to remove the influence of the internal disturbance;(C)an MTN disturbance observer is constructed to estimate and compensate for the influence of the external disturbance;(D)the Extended Kalman Filter(EKF)algorithm is utilized as the learning mechanism for MTNs.Second,to address the time-delay effect,a recursiveτstep-ahead MTN predictive model is designed utilizing recursive technology,aiming to mitigate the impact of time-delay,and the EKF algorithm is employed as its learning mechanism.Then,the MTN predictive control law is designed based on the quadratic performance index.By implementing the proposed composite controller to unmanned systems,simultaneous feedforward compensation and feedback suppression to the multi-source disturbances are conducted.Finally,the convergence of the MTN and the stability of the closed-loop system are established utilizing the Lyapunov theorem.Two exemplary applications of unmanned systems involving unmanned vehicle and rigid spacecraft are presented to validate the effectiveness of the proposed approach.
文摘In this study,artificial neural networks(ANNs)were implemented to determine design parameters for an impressed current cathodic protection(ICCP)prototype.An ASTM A36 steel plate was tested in 3.5%NaCl solution,seawater,and NS4 using electrochemical impedance spectroscopy(EIS)to monitor the evolution of the substrate surface,which affects the current required to reach the protection potential(Eprot).Experimental data were collected as training datasets and analyzed using statistical methods,including box plots and correlation matrices.Subsequently,ANNs were applied to predict the current demand at different exposure times,enabling the estimation of electrochemical parameters(limiting voltage values)that can be used to optimize a self-regulating ICCP system.The obtained electrochemical parameters were then used,through Particle Swarm Optimization(PSO),to fine-tune an ANN-based proportional-integral-derivative(PID)controller for the ICCP system.
基金Supported by the National Natural Science Foundation of China (11161027)。
文摘Projective synchronization problems of a drive system and a particular response network were investigated,where the drive system is an arbitrary system with n+1 dimensions;it may be a linear or nonlinear system,and even a chaotic or hyperchaotic system,the response network is complex system coupled by N nodes,and every node is showed by the approximately linear part of the drive system.Only controlling any one node of the response network by designed controller can achieve the projective synchronization.Some numerical examples were employed to verify the effectiveness and correctness of the designed controller.
基金supported by the Innovation Program for Quantum Science and Technology(Grant No.2021ZD0302100)the National Natural Science Foundation of China(Grant Nos.12361131576,92265205,and 92476205).
文摘Quantum optimal control(QOC)relies on accurately modeling system dynamics and is often challenged by unknown or inaccessible interactions in real systems.Taking an unknown collective spin system as an example,this work introduces a machine-learning-based,data-driven scheme to overcome the challenges encountered,with a trained neural network(NN)assuming the role of a surrogate model that captures the system’s dynamics and subsequently enables QOC to be performed on the NN instead of on the real system.The trained NN surrogate proves effective for practical QOC tasks and is further demonstrated to be adaptable to different experimental conditions,remaining robust across varying system sizes and pulse durations.
文摘The topology structure of the artificial neural network is an intelligent control model,which is used for the intelligent vehicle control system and household sweeping robot.When setting the intelligent control system,the connection point of each network is regarded as a neuron in the nervous system,and each connection point has input and output functions.Only when the input of nodes reaches a certain threshold can the output function of nodes be stimulated.Using the networking mode of the artificial neural network model,the mobile node can output in multiple directions.If the input direction of a certain path is the same as that of other nodes,it can choose to avoid and choose another path.The weighted value of each path between nodes is different,which means that the influence of the front node on the current node varies.The control method based on the artificial neural network model can be applied to vehicle control,household sweeping robots,and other fields,and a relatively optimized scheme can be obtained from the aspect of time and energy consumption.
基金Project supported the Natural Science Foundation of Zhejiang Province, China (Grant No. LQN25F030011)the Fundamental Research Project of Hangzhou Dianzi University (Grant No. KYS065624391)+1 种基金the National Natural Science Foundation of China (Grant No. 61573148)the Science and Technology Planning Project of Guangdong Province, China (Grant No. 2019A050520001)。
文摘This paper investigates a new SEIQR(susceptible–exposed–infected–quarantined–recovered) epidemic model with quarantine mechanism on heterogeneous complex networks. Firstly, the nonlinear SEIQR epidemic spreading dynamic differential coupling model is proposed. Then, by using mean-field theory and the next-generation matrix method, the equilibriums and basic reproduction number are derived. Theoretical results indicate that the basic reproduction number significantly relies on model parameters and topology of the underlying networks. In addition, the globally asymptotic stability of equilibrium and the permanence of the disease are proved in detail by the Routh–Hurwitz criterion, Lyapunov method and La Salle's invariance principle. Furthermore, we find that the quarantine mechanism, that is the quarantine rate(γ1, γ2), has a significant effect on epidemic spreading through sensitivity analysis of basic reproduction number and model parameters. Meanwhile, the optimal control model of quarantined rate and analysis method are proposed, which can optimize the government control strategies and reduce the number of infected individual. Finally, numerical simulations are given to verify the correctness of theoretical results and a practice application is proposed to predict and control the spreading of COVID-19.
