In communication networks, the most significant impediment to reliable communication between end users is the congestion of packets. Many approaches have been tried to resolve the congestion problem. In this regard, w...In communication networks, the most significant impediment to reliable communication between end users is the congestion of packets. Many approaches have been tried to resolve the congestion problem. In this regard, we have proposed a routing algorithm with chaotic neurodynamics. By using a refractory effect, which is the most important effect of chaotic neurons, the routing algorithm shows better performance than the shortest path approach. In addition, we have further improved the routing algorithm by combining information of the shortest paths and the waiting times at adjacent nodes. We confirm that the routing algorithm using chaotic neurodynamics is the most effective approach to alleviate congestion of packets in a communication network. In previous works, the chaotic routing algorithm has been evaluated for ideal communication networks in which every node has the same transmission capability for routing the packets and the same buffer size for storing the packets. To check whether the chaotic routing algorithm is practically applicable, it is important to evaluate its performance under realistic conditions. In 2007, M. Hu et al. proposed a practicable communication network in which the largest storage capacity and processing capability were introduced. New-man et al. proposed scale-free networks with community structures;these networks effectively extract communities from the real complex network using the shortest path betweenness. In addition, the scale-free networks have common structures in real complex networks such as collaboration networks or communication networks. Thus, in this paper, we evaluate the chaotic routing algorithm for communication networks to which realistic conditions are introduced. Owing to the effective alleviation of packets, the proposed routing algorithm shows a higher arrival rate of packets than the conventional routing algorithms. Further, we confirmed that the chaotic routing algorithm can possibly be applied to real communication networks.展开更多
Deep neural networks are increasingly exposed to attack threats,and at the same time,the need for privacy protection is growing.As a result,the challenge of developing neural networks that are both robust and capable ...Deep neural networks are increasingly exposed to attack threats,and at the same time,the need for privacy protection is growing.As a result,the challenge of developing neural networks that are both robust and capable of strong generalization while maintaining privacy becomes pressing.Training neural networks under privacy constraints is one way to minimize privacy leakage,and one way to do this is to add noise to the data or model.However,noise may cause gradient directions to deviate from the optimal trajectory during training,leading to unstable parameter updates,slow convergence,and reduced model generalization capability.To overcome these challenges,we propose an optimization algorithm based on double-integral coevolutionary neurodynamics(DICND),designed to accelerate convergence and improve generalization in noisy conditions.Theoretical analysis proves the global convergence of the DICND algorithm and demonstrates its ability to converge to near-global minima efficiently under noisy conditions.Numerical simulations and image classification experiments further confirm the DICND algorithm's significant advantages in enhancing generalization performance.展开更多
BACKGROUND The therapeutic role of neurodynamic mobilization in improving lower limb function in patients with mild post-traumatic knee osteoarthritis remains poorly understood.AIM To further elucidate the role of neu...BACKGROUND The therapeutic role of neurodynamic mobilization in improving lower limb function in patients with mild post-traumatic knee osteoarthritis remains poorly understood.AIM To further elucidate the role of neurodynamic mobilization in facilitating knee joint functional recovery.METHODS Thirty-two patients with post-traumatic knee osteoarthritis treated at Chonghua Hospital of Traditional Chinese Medicine(Guilin)from March 2024 to August 2025 were randomly assigned to a control group(n=16)or an intervention group(n=16).Both groups received eight weeks of conventional treatment;and the intervention group additionally underwent neurodynamic mobilization.Outcomes including pain assessed by the visual analogue scale,active range of motion,Lysholm score,stork stand test,single hop test,and Y-balance test were assessed before and after the intervention.RESULTS There were no significant differences between the two groups in baseline characteristics,including gender,age,body mass index,or surgical side(P>0.05).Two-way repeated-measures analysis of variance demonstrated significant time×group interaction effects for the visual analogue scale score(F=13.364,P<0.05),Lysholm knee score(F=20.385,P<0.05),stork stand test(F=103.756,P<0.05),and Y-balance test score(F=8.089,P<0.05).CONCLUSION Neurodynamic mobilization effectively reduces pain,improves knee function,and enhances lower limb balance in patients with mild post-traumatic knee osteoarthritis.展开更多
Spherical mobile robot has compact structure, remarkable stability, and flexible motion,which make it have many advantages over traditional mobile robots when applied in those unmanned environments, such as outer plan...Spherical mobile robot has compact structure, remarkable stability, and flexible motion,which make it have many advantages over traditional mobile robots when applied in those unmanned environments, such as outer planets. However, spherical mobile robot is a special highly under-actuated nonholonomic system, which cannot be transformed to the classic chained form. At present, there has not been a kinematics-based trajectory tracking controller which could track both the position states and the attitude states of a spherical mobile robot. In this paper, the four-state(two position states and two attitude states) trajectory tracking control of a type of spherical mobile robot driven by a 2-DOF pendulum was studied. A controller based on the shunting model of neurodynamics and the kinematic model was deduced, and its stability was demonstrated with Lyapunov’s direct method. The control priorities of the four states were allocated according to the magnification of each state tracking error in order to firstly ensure the correct tracking of the position states. The outputs(motor speeds) of the controller were regulated according to the maximum speeds and the maximum accelerations of the actuation motors in order to solve the speed jump problem caused by initial state errors, and continuous and bounded outputs were obtained. The effectiveness including the anti-interference ability of the proposed trajectory tracking controller was verified through MATLAB simulations.展开更多
This paper addresses a major issue in planning the trajectories of under-actuated autonomous vehicles based on neurodynamic optimization.A receding-horizon vehicle trajectory planning task is formulated as a sequentia...This paper addresses a major issue in planning the trajectories of under-actuated autonomous vehicles based on neurodynamic optimization.A receding-horizon vehicle trajectory planning task is formulated as a sequential global optimization problem with weighted quadratic navigation functions and obstacle avoidance constraints based on given vehicle goal configurations.The feasibility of the formulated optimization problem is guaranteed under derived conditions.The optimization problem is sequentially solved via collaborative neurodynamic optimization in a neurodynamics-driven trajectory planning method/procedure.Simulation results with under-actuated unmanned wheeled vehicles and autonomous surface vehicles are elaborated to substantiate the efficacy of the neurodynamics-driven trajectory planning method.展开更多
The Nesterov accelerated dynamical approach serves as an essential tool for addressing convex optimization problems with accelerated convergence rates.Most previous studies in this field have primarily concentrated on...The Nesterov accelerated dynamical approach serves as an essential tool for addressing convex optimization problems with accelerated convergence rates.Most previous studies in this field have primarily concentrated on unconstrained smooth con-vex optimization problems.In this paper,on the basis of primal-dual dynamical approach,Nesterov accelerated dynamical approach,projection operator and directional gradient,we present two accelerated primal-dual projection neurodynamic approaches with time scaling to address convex optimization problems with smooth and nonsmooth objective functions subject to linear and set constraints,which consist of a second-order ODE(ordinary differential equation)or differential conclusion system for the primal variables and a first-order ODE for the dual vari-ables.By satisfying specific conditions for time scaling,we demonstrate that the proposed approaches have a faster conver-gence rate.This only requires assuming convexity of the objective function.We validate the effectiveness of our proposed two accel-erated primal-dual projection neurodynamic approaches through numerical experiments.展开更多
In the rapidly evolving landscape of today’s digital economy,Financial Technology(Fintech)emerges as a trans-formative force,propelled by the dynamic synergy between Artificial Intelligence(AI)and Algorithmic Trading...In the rapidly evolving landscape of today’s digital economy,Financial Technology(Fintech)emerges as a trans-formative force,propelled by the dynamic synergy between Artificial Intelligence(AI)and Algorithmic Trading.Our in-depth investigation delves into the intricacies of merging Multi-Agent Reinforcement Learning(MARL)and Explainable AI(XAI)within Fintech,aiming to refine Algorithmic Trading strategies.Through meticulous examination,we uncover the nuanced interactions of AI-driven agents as they collaborate and compete within the financial realm,employing sophisticated deep learning techniques to enhance the clarity and adaptability of trading decisions.These AI-infused Fintech platforms harness collective intelligence to unearth trends,mitigate risks,and provide tailored financial guidance,fostering benefits for individuals and enterprises navigating the digital landscape.Our research holds the potential to revolutionize finance,opening doors to fresh avenues for investment and asset management in the digital age.Additionally,our statistical evaluation yields encouraging results,with metrics such as Accuracy=0.85,Precision=0.88,and F1 Score=0.86,reaffirming the efficacy of our approach within Fintech and emphasizing its reliability and innovative prowess.展开更多
We propose a novel inverse-free neurodynamic approach (NIFNA) for solving absolute value equations (AVE). The NIFNA guarantees global convergence and notably improves convergence speed by achieving fixed-time converge...We propose a novel inverse-free neurodynamic approach (NIFNA) for solving absolute value equations (AVE). The NIFNA guarantees global convergence and notably improves convergence speed by achieving fixed-time convergence. To validate the theoretical findings, numerical simulations are conducted, demonstrating the effectiveness and efficiency of the proposed NIFNA.展开更多
The regulation of signal transmission speed is one of the most important capabilities of the biological nervous system.This study explores the mechanisms and methods for regulating signal transmission speed among nonm...The regulation of signal transmission speed is one of the most important capabilities of the biological nervous system.This study explores the mechanisms and methods for regulating signal transmission speed among nonmyelinated neurons within the same brain region,starting from spike-timing-dependent plasticity(STDP)of synapses.Building upon the Hodgkin-Huxley model,the dynamic behavior of synapses is incorporated,and the adaptive growth neuron(AGN)model is proposed.Artificial synaptic structures and neuronal physical nodes are also designed.The artificial synaptic structure exhibits unidirectionality,memory capacity,and STDP,enabling it to connect neuronal physical nodes through branching and merging structures.Furthermore,the artificial synapse can adjust signal transmission speed,regulate functional competition between different regions of the neuromorphic network,and promote information interaction.The findings of this study endow neuromorphic networks with the ability to regulate signal transmission speed over the long term,providing new insights into the development of neuromorphic networks.展开更多
This paper addresses the parallel control of autonomous surface vehicles subject to external disturbances,state constraints,and input constraints in complex ocean environments with multiple obstacles.A safety-certifie...This paper addresses the parallel control of autonomous surface vehicles subject to external disturbances,state constraints,and input constraints in complex ocean environments with multiple obstacles.A safety-certified parallel model predictive control scheme with collision-avoiding capability is proposed for autonomous surface vehicles in the framework of parallel control.Specifically,an extended state observer is designed by leveraging historical and real-time data for concurrent learning to map the motion of autonomous surface vehicles from its physical system to its artificial counterpart.A parallel model predictive control law is developed on the basis of the artificial system for both physical and artificial autonomous surface vehicles to realize virtual-physical tracking control of vehicles subject to state and input constraints.To ensure safety,highorder discrete control barrier functions are encoded in the parallel model predictive control law as safety constraints such that collision avoidance with obstacles can be achieved.A recedinghorizon constrained optimization problem is constructed with the safety constraints encoded by control barrier functions for parallel model predictive control of autonomous surface vehicles and solved via neurodynamic optimization with projection neural networks.The effectiveness and characteristics of the proposed method are demonstrated via simulations for the safe trajectory tracking and automatic berthing of autonomous surface vehicles.展开更多
This paper investigates the path-guided distributed formation control of networked autonomous surface vehicles(ASVs)subject to model uncertainties and environmental disturbances.A safety-certified path-guided coordina...This paper investigates the path-guided distributed formation control of networked autonomous surface vehicles(ASVs)subject to model uncertainties and environmental disturbances.A safety-certified path-guided coordinated control method is proposed for multiple ASVs to achieve a distributed formation in obstacle environments.Specifically,a neural predictor with a high-order tuner is presented to approximate unknown nonlinearities with accelerated learning performance.Subsequently,control Lyapunov functions(CLFs)and control barrier functions(CBFs)are constructed for mapping stability constraints and safety constraints on states to control inputs.A quadratic optimization problem is constructed with the norm of control inputs as the objective function,CLFs and CBFs as constraints.Neurodynamic optimization is used to deal with the quadratic programming problem and generate the optimal kinetic control signals,thereby attaining the desired safe formation.Unlike the high-order CBF,a CBF backstepping method is proposed to establish safety constraints such that repeated time derivatives of system nonlinearities can be avoided.The multi-ASVs system is ensured to be input-to-state safe irrespective of high-order relative degree.Through the Lyapunov theory,the multi-ASVs system is proven to be input-to-state stable.Finally,simulation results are presented to validate the efficacy of the presented safety-certified distributed formation control for networked ASVs.展开更多
In view of the high energy consumption and low response speed of the traditional hydraulic system for an injection molding machine,a servo motor driven constant pump hydraulic system is designed for a precision inject...In view of the high energy consumption and low response speed of the traditional hydraulic system for an injection molding machine,a servo motor driven constant pump hydraulic system is designed for a precision injection molding process,which uses a servo motor,a constant pump,and a pressure sensor,instead of a common motor,a constant pump,a pressure proportion valve,and a flow proportion valve.A model predictive control strategy based on neurodynamic optimization is proposed to control this new hydraulic system in the injection molding process.Simulation results showed that this control method has good control precision and quick response.展开更多
This paper investigates two distributed accelerated primal-dual neurodynamic approaches over undirected connected graphs for resource allocation problems(RAP)where the objective functions are generally convex.With the...This paper investigates two distributed accelerated primal-dual neurodynamic approaches over undirected connected graphs for resource allocation problems(RAP)where the objective functions are generally convex.With the help of projection operators,a primal-dual framework,and Nesterov's accelerated method,we first design a distributed accelerated primal-dual projection neurodynamic approach(DAPDP),and its convergence rate of the primal-dual gap is O(1/(t^(2)))by selecting appropriate parameters and initial values.Then,when the local closed convex sets are convex inequalities which have no closed-form solutions of their projection operators,we further propose a distributed accelerated penalty primal-dual neurodynamic approach(DAPPD)on the strength of the penalty method,primal-dual framework,and Nesterov's accelerated method.Based on the above analysis,we prove that DAPPD also has a convergence rate O(1/(t^(2)))of the primal-dual gap.Compared with the distributed dynamical approaches based on the classical primal-dual framework,our proposed distributed accelerated neurodynamic approaches have faster convergence rates.Numerical simulations demonstrate that our proposed neurodynamic approaches are feasible and effective.展开更多
A neurodynamic method(NdM)for convex optimization is proposed in this paper with an equality constraint.The method utilizes a neurodynamic system(NdS)that converges to the optimal solution of a convex optimization pro...A neurodynamic method(NdM)for convex optimization is proposed in this paper with an equality constraint.The method utilizes a neurodynamic system(NdS)that converges to the optimal solution of a convex optimization problem in a fixed time.Due to its mathematical simplicity,it can also be combined with reinforcement learning(RL)to solve a class of nonconvex optimization problems.To maintain the mathematical simplicity of NdS,zero-sum initial constraints are introduced to reduce the number of auxiliary multipliers.First,the initial sum of the state variables must satisfy the equality constraint.Second,the sum of their derivatives is designed to remain zero.In order to apply the proposed convex optimization algorithm to nonconvex optimization with mixed constraints,the virtual actions in RL are redefined to avoid the use of NdS inequality constrained multipliers.The proposed NdM plays an effective search tool in constrained nonconvex optimization algorithms.Numerical examples demonstrate the effectiveness of the proposed algorithm.展开更多
文摘In communication networks, the most significant impediment to reliable communication between end users is the congestion of packets. Many approaches have been tried to resolve the congestion problem. In this regard, we have proposed a routing algorithm with chaotic neurodynamics. By using a refractory effect, which is the most important effect of chaotic neurons, the routing algorithm shows better performance than the shortest path approach. In addition, we have further improved the routing algorithm by combining information of the shortest paths and the waiting times at adjacent nodes. We confirm that the routing algorithm using chaotic neurodynamics is the most effective approach to alleviate congestion of packets in a communication network. In previous works, the chaotic routing algorithm has been evaluated for ideal communication networks in which every node has the same transmission capability for routing the packets and the same buffer size for storing the packets. To check whether the chaotic routing algorithm is practically applicable, it is important to evaluate its performance under realistic conditions. In 2007, M. Hu et al. proposed a practicable communication network in which the largest storage capacity and processing capability were introduced. New-man et al. proposed scale-free networks with community structures;these networks effectively extract communities from the real complex network using the shortest path betweenness. In addition, the scale-free networks have common structures in real complex networks such as collaboration networks or communication networks. Thus, in this paper, we evaluate the chaotic routing algorithm for communication networks to which realistic conditions are introduced. Owing to the effective alleviation of packets, the proposed routing algorithm shows a higher arrival rate of packets than the conventional routing algorithms. Further, we confirmed that the chaotic routing algorithm can possibly be applied to real communication networks.
基金supported by the National Natural Science Foundation of China(62394340,62394345,62473383).This work was carried out in part using computing resources at the High Performance Computing Center of Central South University。
文摘Deep neural networks are increasingly exposed to attack threats,and at the same time,the need for privacy protection is growing.As a result,the challenge of developing neural networks that are both robust and capable of strong generalization while maintaining privacy becomes pressing.Training neural networks under privacy constraints is one way to minimize privacy leakage,and one way to do this is to add noise to the data or model.However,noise may cause gradient directions to deviate from the optimal trajectory during training,leading to unstable parameter updates,slow convergence,and reduced model generalization capability.To overcome these challenges,we propose an optimization algorithm based on double-integral coevolutionary neurodynamics(DICND),designed to accelerate convergence and improve generalization in noisy conditions.Theoretical analysis proves the global convergence of the DICND algorithm and demonstrates its ability to converge to near-global minima efficiently under noisy conditions.Numerical simulations and image classification experiments further confirm the DICND algorithm's significant advantages in enhancing generalization performance.
基金Supported by the Central Guided Local Science and Technology Development Fund Project for Science and Technology Innovation Base Construction,No.Guike ZY24212046National Natural Science Foundation of China,No.U22A2092+3 种基金Guangxi Education Science“the 14th Five-Year Plan”2024 Special Project“Research on Steam Education Practice in Rehabilitation Engineering”,No.2024ZJY304the Research Basic Ability Enhancement Program for Young and Middle-aged Teachers of Guangxi,No.2025KY2255the Innovation Project of GUET Graduate Education,No.2025YCXB010Natural Science Research Project of Guilin Life and Health Career Technical College,No.2025GKKY04.
文摘BACKGROUND The therapeutic role of neurodynamic mobilization in improving lower limb function in patients with mild post-traumatic knee osteoarthritis remains poorly understood.AIM To further elucidate the role of neurodynamic mobilization in facilitating knee joint functional recovery.METHODS Thirty-two patients with post-traumatic knee osteoarthritis treated at Chonghua Hospital of Traditional Chinese Medicine(Guilin)from March 2024 to August 2025 were randomly assigned to a control group(n=16)or an intervention group(n=16).Both groups received eight weeks of conventional treatment;and the intervention group additionally underwent neurodynamic mobilization.Outcomes including pain assessed by the visual analogue scale,active range of motion,Lysholm score,stork stand test,single hop test,and Y-balance test were assessed before and after the intervention.RESULTS There were no significant differences between the two groups in baseline characteristics,including gender,age,body mass index,or surgical side(P>0.05).Two-way repeated-measures analysis of variance demonstrated significant time×group interaction effects for the visual analogue scale score(F=13.364,P<0.05),Lysholm knee score(F=20.385,P<0.05),stork stand test(F=103.756,P<0.05),and Y-balance test score(F=8.089,P<0.05).CONCLUSION Neurodynamic mobilization effectively reduces pain,improves knee function,and enhances lower limb balance in patients with mild post-traumatic knee osteoarthritis.
文摘Spherical mobile robot has compact structure, remarkable stability, and flexible motion,which make it have many advantages over traditional mobile robots when applied in those unmanned environments, such as outer planets. However, spherical mobile robot is a special highly under-actuated nonholonomic system, which cannot be transformed to the classic chained form. At present, there has not been a kinematics-based trajectory tracking controller which could track both the position states and the attitude states of a spherical mobile robot. In this paper, the four-state(two position states and two attitude states) trajectory tracking control of a type of spherical mobile robot driven by a 2-DOF pendulum was studied. A controller based on the shunting model of neurodynamics and the kinematic model was deduced, and its stability was demonstrated with Lyapunov’s direct method. The control priorities of the four states were allocated according to the magnification of each state tracking error in order to firstly ensure the correct tracking of the position states. The outputs(motor speeds) of the controller were regulated according to the maximum speeds and the maximum accelerations of the actuation motors in order to solve the speed jump problem caused by initial state errors, and continuous and bounded outputs were obtained. The effectiveness including the anti-interference ability of the proposed trajectory tracking controller was verified through MATLAB simulations.
基金supported in part by the Research Grants Council of the Hong Kong Special Administrative Region of China(11202318,11203721)the Australian Research Council(DP200100700)。
文摘This paper addresses a major issue in planning the trajectories of under-actuated autonomous vehicles based on neurodynamic optimization.A receding-horizon vehicle trajectory planning task is formulated as a sequential global optimization problem with weighted quadratic navigation functions and obstacle avoidance constraints based on given vehicle goal configurations.The feasibility of the formulated optimization problem is guaranteed under derived conditions.The optimization problem is sequentially solved via collaborative neurodynamic optimization in a neurodynamics-driven trajectory planning method/procedure.Simulation results with under-actuated unmanned wheeled vehicles and autonomous surface vehicles are elaborated to substantiate the efficacy of the neurodynamics-driven trajectory planning method.
基金supported by the National Natural Science Foundation of China(62176218,62176027)the Fundamental Research Funds for the Central Universities(XDJK2020TY003)the Funds for Chongqing Talent Plan(cstc2024ycjh-bgzxm0082)。
文摘The Nesterov accelerated dynamical approach serves as an essential tool for addressing convex optimization problems with accelerated convergence rates.Most previous studies in this field have primarily concentrated on unconstrained smooth con-vex optimization problems.In this paper,on the basis of primal-dual dynamical approach,Nesterov accelerated dynamical approach,projection operator and directional gradient,we present two accelerated primal-dual projection neurodynamic approaches with time scaling to address convex optimization problems with smooth and nonsmooth objective functions subject to linear and set constraints,which consist of a second-order ODE(ordinary differential equation)or differential conclusion system for the primal variables and a first-order ODE for the dual vari-ables.By satisfying specific conditions for time scaling,we demonstrate that the proposed approaches have a faster conver-gence rate.This only requires assuming convexity of the objective function.We validate the effectiveness of our proposed two accel-erated primal-dual projection neurodynamic approaches through numerical experiments.
基金This project was funded by Deanship of Scientific Research(DSR)at King Abdulaziz University,Jeddah underGrant No.(IFPIP-1127-611-1443)the authors,therefore,acknowledge with thanks DSR technical and financial support.
文摘In the rapidly evolving landscape of today’s digital economy,Financial Technology(Fintech)emerges as a trans-formative force,propelled by the dynamic synergy between Artificial Intelligence(AI)and Algorithmic Trading.Our in-depth investigation delves into the intricacies of merging Multi-Agent Reinforcement Learning(MARL)and Explainable AI(XAI)within Fintech,aiming to refine Algorithmic Trading strategies.Through meticulous examination,we uncover the nuanced interactions of AI-driven agents as they collaborate and compete within the financial realm,employing sophisticated deep learning techniques to enhance the clarity and adaptability of trading decisions.These AI-infused Fintech platforms harness collective intelligence to unearth trends,mitigate risks,and provide tailored financial guidance,fostering benefits for individuals and enterprises navigating the digital landscape.Our research holds the potential to revolutionize finance,opening doors to fresh avenues for investment and asset management in the digital age.Additionally,our statistical evaluation yields encouraging results,with metrics such as Accuracy=0.85,Precision=0.88,and F1 Score=0.86,reaffirming the efficacy of our approach within Fintech and emphasizing its reliability and innovative prowess.
文摘We propose a novel inverse-free neurodynamic approach (NIFNA) for solving absolute value equations (AVE). The NIFNA guarantees global convergence and notably improves convergence speed by achieving fixed-time convergence. To validate the theoretical findings, numerical simulations are conducted, demonstrating the effectiveness and efficiency of the proposed NIFNA.
基金supported by the National Natural Science Foundation of China(Grant No.62171182)the Natural Scienceof Hunan Province(Grant No.2025JJ50345)the Postgraduate Scientific Research Innovation Project of Hunan Province(Grant No.CX20240452)。
文摘The regulation of signal transmission speed is one of the most important capabilities of the biological nervous system.This study explores the mechanisms and methods for regulating signal transmission speed among nonmyelinated neurons within the same brain region,starting from spike-timing-dependent plasticity(STDP)of synapses.Building upon the Hodgkin-Huxley model,the dynamic behavior of synapses is incorporated,and the adaptive growth neuron(AGN)model is proposed.Artificial synaptic structures and neuronal physical nodes are also designed.The artificial synaptic structure exhibits unidirectionality,memory capacity,and STDP,enabling it to connect neuronal physical nodes through branching and merging structures.Furthermore,the artificial synapse can adjust signal transmission speed,regulate functional competition between different regions of the neuromorphic network,and promote information interaction.The findings of this study endow neuromorphic networks with the ability to regulate signal transmission speed over the long term,providing new insights into the development of neuromorphic networks.
基金supported in part by the National Science and Technology Major Project(2022ZD0119902)the National Natural Science Foundation of China(52471372,623B2018,62203015,62233001)+4 种基金the Liaoning Revitalization Leading Talents Program(XLYC2402054)the Key Basic Research of Dalian(2023JJ11CG008)the Fundamental Research Funds for the Central Universities(3132023508)the Collaborative Research Fund of Hong Kong Research Grants Council(C1013-24G)the Cultivation Program for the Excellent Doctoral Dissertation of Dalian Maritime University(2023YBPY005).
文摘This paper addresses the parallel control of autonomous surface vehicles subject to external disturbances,state constraints,and input constraints in complex ocean environments with multiple obstacles.A safety-certified parallel model predictive control scheme with collision-avoiding capability is proposed for autonomous surface vehicles in the framework of parallel control.Specifically,an extended state observer is designed by leveraging historical and real-time data for concurrent learning to map the motion of autonomous surface vehicles from its physical system to its artificial counterpart.A parallel model predictive control law is developed on the basis of the artificial system for both physical and artificial autonomous surface vehicles to realize virtual-physical tracking control of vehicles subject to state and input constraints.To ensure safety,highorder discrete control barrier functions are encoded in the parallel model predictive control law as safety constraints such that collision avoidance with obstacles can be achieved.A recedinghorizon constrained optimization problem is constructed with the safety constraints encoded by control barrier functions for parallel model predictive control of autonomous surface vehicles and solved via neurodynamic optimization with projection neural networks.The effectiveness and characteristics of the proposed method are demonstrated via simulations for the safe trajectory tracking and automatic berthing of autonomous surface vehicles.
基金supported in part by the National Natural Science Foundation of China under Grant No.52471372in part by the Key Basic Research of Dalian under Grant No.2023JJ11CG008+3 种基金in part by the Doctoral Scientific Research Foundation of Liaoning Province under Grant Nos.2024-BS-012 and 2023-BS-077in part by the Postdoctoral Research Foundation of China under Grant No.2024M751980in part by the Bolian Research Funds of Dalian Maritime University and the Fundamental Research Funds for the Central Universities under Grant Nos.3132024601,3132023508in part by the Open Project of State Key Laboratory of Maritime Technology and Safety under Grant No.SKLMTA-DMU2024Y3。
文摘This paper investigates the path-guided distributed formation control of networked autonomous surface vehicles(ASVs)subject to model uncertainties and environmental disturbances.A safety-certified path-guided coordinated control method is proposed for multiple ASVs to achieve a distributed formation in obstacle environments.Specifically,a neural predictor with a high-order tuner is presented to approximate unknown nonlinearities with accelerated learning performance.Subsequently,control Lyapunov functions(CLFs)and control barrier functions(CBFs)are constructed for mapping stability constraints and safety constraints on states to control inputs.A quadratic optimization problem is constructed with the norm of control inputs as the objective function,CLFs and CBFs as constraints.Neurodynamic optimization is used to deal with the quadratic programming problem and generate the optimal kinetic control signals,thereby attaining the desired safe formation.Unlike the high-order CBF,a CBF backstepping method is proposed to establish safety constraints such that repeated time derivatives of system nonlinearities can be avoided.The multi-ASVs system is ensured to be input-to-state safe irrespective of high-order relative degree.Through the Lyapunov theory,the multi-ASVs system is proven to be input-to-state stable.Finally,simulation results are presented to validate the efficacy of the presented safety-certified distributed formation control for networked ASVs.
基金Project supported by the National Natural Science Foundation of China(No.61203299)the Fundamental Research Funds for the Central Universities(No.2013QNA4021)+1 种基金the Natural Science Foundation of Zhejiang Province(Nos.Y1110135 and LY12F03018)the Qianjiang Talents Program of Zhejiang Province,China(No.2013R10047)
文摘In view of the high energy consumption and low response speed of the traditional hydraulic system for an injection molding machine,a servo motor driven constant pump hydraulic system is designed for a precision injection molding process,which uses a servo motor,a constant pump,and a pressure sensor,instead of a common motor,a constant pump,a pressure proportion valve,and a flow proportion valve.A model predictive control strategy based on neurodynamic optimization is proposed to control this new hydraulic system in the injection molding process.Simulation results showed that this control method has good control precision and quick response.
基金supported by the National Natural Science Foundation of China (Grant No.62176218)the Fundamental Research Funds for the Central Universities (Grant No.XDJK2020TY003)。
文摘This paper investigates two distributed accelerated primal-dual neurodynamic approaches over undirected connected graphs for resource allocation problems(RAP)where the objective functions are generally convex.With the help of projection operators,a primal-dual framework,and Nesterov's accelerated method,we first design a distributed accelerated primal-dual projection neurodynamic approach(DAPDP),and its convergence rate of the primal-dual gap is O(1/(t^(2)))by selecting appropriate parameters and initial values.Then,when the local closed convex sets are convex inequalities which have no closed-form solutions of their projection operators,we further propose a distributed accelerated penalty primal-dual neurodynamic approach(DAPPD)on the strength of the penalty method,primal-dual framework,and Nesterov's accelerated method.Based on the above analysis,we prove that DAPPD also has a convergence rate O(1/(t^(2)))of the primal-dual gap.Compared with the distributed dynamical approaches based on the classical primal-dual framework,our proposed distributed accelerated neurodynamic approaches have faster convergence rates.Numerical simulations demonstrate that our proposed neurodynamic approaches are feasible and effective.
基金supported by the National Natural Science Foundation of China(Nos.61973070 and 62373089)the Nature Science Foundation of Liaoning Province,China(No.2022JH25/10100008)the SAPI Fundamental Research Funds,China(No.2018ZCX22).
文摘A neurodynamic method(NdM)for convex optimization is proposed in this paper with an equality constraint.The method utilizes a neurodynamic system(NdS)that converges to the optimal solution of a convex optimization problem in a fixed time.Due to its mathematical simplicity,it can also be combined with reinforcement learning(RL)to solve a class of nonconvex optimization problems.To maintain the mathematical simplicity of NdS,zero-sum initial constraints are introduced to reduce the number of auxiliary multipliers.First,the initial sum of the state variables must satisfy the equality constraint.Second,the sum of their derivatives is designed to remain zero.In order to apply the proposed convex optimization algorithm to nonconvex optimization with mixed constraints,the virtual actions in RL are redefined to avoid the use of NdS inequality constrained multipliers.The proposed NdM plays an effective search tool in constrained nonconvex optimization algorithms.Numerical examples demonstrate the effectiveness of the proposed algorithm.
