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H∞ state estimation for delayed neural networks via variable-augmented-based free-weighting matrices method

Journal of the Franklin Institute 2025年第7期362卷

作者： Chang, Xu-Kang He, Yong School of Automation China University of Geosciences Wuhan430074 China Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

The issue of H∞ state estimation for neural networks with time-varying delays is investigated in this study. Firstly, an augmented Lyapunov-Krasovskii functional (LKF) with two delay-product-type terms is constructed to enhance the consideration of system state, delay, and delay derivative information. Furthermore, for taking into account more effective information, the LKF is augmented with both single and double integral variables. Accordingly, the LKF derivative becomes a higher-order term that exhibits nonlinear characteristics of the time delay. To solve the nonlinear problem, a variable-augmented-based free-weighting-matrices (VAFWMs) approach is employed to transform the nonlinear term into a linear form and provides more freedom in obtaining less-conservative results. Consequently, two improved H∞ state estimation criteria are derived. Lastly, a numerical example is provided to demonstrate the merits and effectiveness of the presented methods. Meanwhile, to prove the practical viability of the presented methods, this study extends the methods to a real-world quadruple-tank process system. © 2025 The Franklin Institute

关键词： Lyapunov functions

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Analysis of multi-field cavitation structure and dynamic mode decomposition based on a separated venturi cavitation generator

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European Journal of Mechanics, B/Fluids 2025年 113卷

作者： Wang, Xiaoyu Wang, Tian Ma, Junqi Sun, Qiang Lv, WanYu School of Mechanical Engineering and Automation Northeastern University Shenyang110819 China Key Laboratory of Vibration and Control of Aero-Propulsion System Ministry of Education Northeastern University Shenyang110819 China AECC Shenyang Engine Research Institute Shenyang110015 China

Cavitation is generated due to the reduction of fluid pressure, which will cause instability and erosion inside the pipeline, valve or pump etc. In this paper, based on the improved venturi cavitation generator, the cavitation under several different flow conditions is studied, and a high-speed camera is used to capture the dynamic process of cavitation at the venturi throat. The flow field simulation data have been analysed using the dynamic mode decomposition method, and the coherent structures of sheet cavitation, transition zone cavitation, and cloud cavitation and their displacements with cycle time have been investigated. The periodic variation of cavitation is analysed using a combination of experimental and numerical simulations, and the state of cavitation in the flow field is investigated in detail using data-driven tools. The results show that periodic changes in the cavitation structure can be observed intuitively through the improved venturi generator and agrees well with the results of simulation. Cavitation intensity is continuously enhanced with the increase of inlet velocity. At flow velocity of 4.68 m/s, the cavitation is manifested as a piecewise cavitation that can only be observed at the throat position, since then the length of the cavitation cloud continues to increase, finally the detachment of a bubble cloud and localized vortex cavitation are observed at velocity of 6.08 m/s. The frequency and growth characteristics of individual flow modes can be accurately captured using the dynamic modal decomposition of the flow field. © 2025

关键词： High speed cameras

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Stability and Stabilization of T-S Fuzzy systems with Sampled-Data controller: A Fuzzy-Related Matrix Injection Method

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IEEE Transactions on Fuzzy systems 2025年

作者： Xiong, Du Zhang, Chuan-Ke Jin, Li Fan, Yu-Long He, Yong China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China

This paper addresses the stability and stabilization issues of Takagi-Sugeno (T-S) fuzzy systems under sampled-data control. In this paper, efforts are dedicated to developing a stability criterion and control strategy with high accuracy and low complexity, leveraging an improved looped functional and a fuzzy-related matrix injection method. First, an improved looped function containing quadratic information about the sampling sawtooth characteristic is employed to include as much system state information as possible in a simple form. In response to the nonlinear terms encountered in the functional derivatives, a fuzzy-related matrix injection method is proposed on the basis of linearization transformation. This method enables the unified treatment of reciprocally convex and quadratic terms, which is conducive to reducing estimation gaps. Based on the aforementioned techniques, stability and stabilization criteria for T-S fuzzy systems are derived. The efficacy and superiority of the proposed method are substantiated through rigorous theoretical analysis and illustrative instances. © 1993-2012 IEEE.

关键词： Sampled data control systems

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Neural-LAFC: A Neural Learning Adaptive Flight controller for Tailless Flapping-Wing Robots Under Uncertain Wind Disturbance Conditions

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IEEE Transactions on Aerospace and Electronic systems 2025年

作者： Guo, Qingcheng Zhang, Yichen Mou, Jiawang Liu, Wu Wu, Xiaosheng Lu, Jun-Guo Shanghai Jiao Tong University Department of Automation China Key Laboratory of System Control and Information Processing Ministry of Education of China China National Key Laboratory of Advanced Micro and Nano Manufacture Technology Shanghai200240 China Shanghai Jiao Tong University National Key Laboratory of Advanced Micro and Nano Manufacture Technology China Shanghai Jiao Tong University Department of Micro/Nano Electronics School of Electronic Information and Electrical Engineering Shanghai200240 China Designing Institute of Hubei Space Technology Academy Wuhan China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China

Enabling bio-inspired flapping-wing robots (FWRs) to maintain stable flight in windy environments, similar to real flying creatures, is of significant importance. In this work, a neural learning-based adaptive flight controller (Neural-LAFC) is proposed for the attitude and position control of a tailless FWR under uncertain wind conditions. The key approach involves employing a deep neural network (DNN) that incorporates not only attitude information but also instantaneous flapping angles of the wings to learn the aerodynamic torques that cannot be accurately modeled. The training data are obtained from flight experiments conducted with the FWR in a wind tunnel environment. Subsequently, a composite adaptive law is presented to update a set of linear coefficients. These linear coefficients are utilized to blend the pre-trained basis functions to represent the aerodynamic torques. The tracking errors are shown to exponentially converge to a bounded region, as guaranteed by a Lyapunov function. Based on the learning-based attitude controller, we also develop an adaptive controller for position control. Notably, apart from the training phase, the FWR operates without prior knowledge of wind speed. Experimental results demonstrate that the Neural-LAFC successfully achieves the desired attitude stabilization, target point tracking, and path tracking of the FWR in windy conditions. The proposed control scheme also outperforms baseline controllers in wind disturbance suppression, reducing the root mean square position errors by more than 40% when the FWR is subjected to a horizontal wind within the speed of 180 {cm s{-1}}. © 1965-2011 IEEE.

关键词： Wind tunnels

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UW-DNeRF: Deformable Soft Tissue Reconstruction with Uncertainty-Guided Depth Supervision and Local Information Integration

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IEEE Transactions on Medical Imaging 2025年 PP卷 PP页

作者： Shan, Jiwei Zhang, Zixin Li, Hao Hsieh, Cheng-Tai Li, Yirui Wu, Wenhua Wang, Hesheng School of Electronic Information and Electrical Engineering of Shanghai Jiao Tong University Shanghai200240 China Shanghai Jiao Tong University School of Mechanical Engineering Shanghai200240 China Shanghai Jiao Tong University State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China

Reconstructing deformable soft tissues from endoscopic videos is a critical yet challenging task. Leveraging depth priors, deformable implicit neural representations have seen significant advancements in this field. However, depth priors from pre-Trained depth estimation models are often coarse, and inaccurate depth supervision can severely impair the performance of these neural networks. Moreover, existing methods overlook local similarities in input sequences, which restricts their effectiveness in capturing local details and tissue deformations. In this paper, we introduce UW-DNeRF, a novel approach utilizing neural radiance fields for high-quality reconstruction of deformable tissues. We propose an uncertainty-guided depth supervision strategy to mitigate the impact of inaccurate depth information. This strategy relaxes hard depth constraints and unlocks the potential of implicit neural representations. In addition, we design a local window-based information sharing scheme. This scheme employs local window and keyframe deformation networks to construct deformations with local awareness and enhances the model's ability to capture fine details. We demonstrate the superiority of our method over state-of-The-Art approaches on synthetic and in-vivo endoscopic datasets. Code is available at: https://***/IRMVLab/UW-DNeRF. © 2025 IEEE.

关键词： Endoscopy

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Load Balancing Routing Algorithm for LEO Satellite Networks Based on Ant Colony Optimization

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Internet Technology Letters 2025年第3期8卷

作者： Zhi, Ruxin Wang, Jiahui Xu, Zhan Key Laboratory of Information and Communication Systems Ministry of Information Industry Beijing Information Science and Technology University Beijing China Key Laboratory of Modern Measurement and Control Technology Ministry of Education Beijing Information Science and Technology University Beijing China School of Information and Communication Engineering Beijing Information Science and Technology University Beijing China

To address the problem of the unbalanced load and optimize the traffic distribution of large-scale low earth orbit (LEO) satellite networks, this paper proposes a load-balancing routing algorithm for LEO satellite networks based on ant colony optimization. The algorithm establishes the global optimal initial path through the improved ant colony algorithm to bypass the network bottleneck, makes local adjustments to cope with burst traffic changes to avoid congestion, and optimizes the "inferior" paths through regular rerouting to improve the overall network performance. The results show that the algorithm performs well in terms of packet loss rate, throughput, and load balancing, which can effectively alleviate the link utilization imbalance problem and provide a more stable and efficient service for the satellite network. Among them, the packet loss rate is reduced by 7.8%, and the load distribution index is improved by 30%. © 2025 The Author(s). Internet Technology Letters published by John Wiley & Sons Ltd.

关键词： Ant colony optimization

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Operation Improvement of Garbage Power Plants - via control Technology 16th

Operation Improvement of Garbage Power Plants - via Contro...

引用

16th International Conference on Modelling, Identification and control, ICMIC 2024

作者： Cao, Guizhou Xia, Dawei Meng, Kai Zhu, Zheran Yuan, Jie Wu, Zhenlong State Grid Henan Electric Power Company Electric Power Research Institute Zhengzhou450052 China State Grid Shangqiu Electric Power Company Shangqiu476002 China State Grid Henan Electric Power Company Zhengzhou450018 China Key Laboratory of Measurement and Control of CSE Ministry of Education School of Automation Southeast University Nanjing210096 China School of Electrical and Information Engineering Zhengzhou University Zhengzhou450001 China State Key Laboratory of Intelligent Agricultural Power Equipment Zhengzhou University Luoyang471000 China

ISBN: (纸本)9789819617760

This paper focuses on the operation improvement of garbage power plants, which are a key disposal technology for household waste, construction waste, etc. However, the low of the furnace temperature can cause a sharp increase in dioxins and result in consequences of severe environmental pollution. To enhance the control performance of the combustion system for garbage power plants, proportional-integral-derivative based on predictive (PID-predictive) and proportional-integral based on predictive (PI-predictive) controllers are designed for the combustion system, which is dominated by time delay. By equaling the desired dynamic characteristics and the closed-loop system combined with the combustion system and controller, the PID-predictive and PI-predictive can be designed. The comprehensive comparison of the tracking performance, disturbance rejection ability, measurement noise rejection performance and ability to handle system uncertainties is carried out with PI, active disturbance rejection control, delay active disturbance rejection control and Smith predictor active disturbance rejection control. Simulation results show that PID-predictive and PI-predictive obtain similar control performance, and have a faster tracking speed than other comparative controllers. The disturbance rejection ability of PID-predictive and PI-predictive is weaker than delay active disturbance rejection control and Smith predictor active disturbance rejection control, and is stronger than PI and active disturbance rejection control. When the controlled process has system uncertainties, PID-predictive and PI-predictive still obtain satisfactory control performance. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Disturbance rejection

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ColorDynamic: Generalizable, Scalable, Real-time, End-to-end Local Planner for Unstructured and Dynamic Environments

arXiv

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arXiv 2025年

作者： Xin, Jinghao Liang, Zhichao Zhang, Zihuan Wang, Peng Li, Ning Department of Automation Shanghai Jiao Tong University Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China

Deep Reinforcement Learning (DRL) has demonstrated potential in addressing robotic local planning problems, yet its efficacy remains constrained in highly unstructured and dynamic environments. To address these challenges, this study proposes the ColorDynamic framework. First, an end-to-end DRL formulation is established, which maps raw sensor data directly to control commands, thereby ensuring compatibility with unstructured environments. Under this formulation, a novel network, Transqer, is introduced. The Transqer enables online DRL learning from temporal transitions, substantially enhancing decision-making in dynamic scenarios. To facilitate scalable training of Transqer with diverse data, an efficient simulation platform E-Sparrow, along with a data augmentation technique leveraging symmetric invariance, are developed. Comparative evaluations against state-of-the-art methods, alongside assessments of generalizability, scalability, and real-time performance, were conducted to validate the effectiveness of ColorDynamic. Results indicate that our approach achieves a success rate exceeding 90% while exhibiting real-time capacity (1.2–1.3 ms per planning). Additionally, ablation studies were performed to corroborate the contributions of individual components. Building on this, the OkayPlan-ColorDynamic (OPCD) navigation system is presented, with simulated and real-world experiments demonstrating its superiority and applicability in complex scenarios. The codebase and experimental demonstrations have been open-sourced on our website1 to facilitate reproducibility and further research. Copyright © 2025, The Authors. All rights reserved.

关键词： Decision making

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3D bioprinting of a dermal scaffold for full-thickness skin tissue regeneration

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Bio-Design and Manufacturing 2025年第1期8卷 68-84,I0039-I0041页

作者： Lu Han Zixian Liu Meng Li Zhizhong Shen Jianming Wang Shengbo Sang Shanxi Key Laboratory of Micro Nano Sensors&Artificial Intelligence Perception College of Electronic Information and Optical EngineeringTaiyuan University of TechnologyTaiyuan 030024China Key Laboratory of Advanced Transducers and Intelligent Control System of the Ministry of Education Taiyuan University of TechnologyTaiyuan 030024China Shanxi-Zheda Institute of Advanced Materials and Chemical Engineering Taiyuan 030024China Shanxi Research Institute of 6D Artificial Intelligence Biomedical Science Taiyuan 030031China General Hospital of TISCO Taiyuan 030809China

Dermal substitutes have provided a template for the regeneration and reconstruction of the ***,the healed skin tissue often exhibits abnormal morphology and functionality,including scarring and *** this study,a composite bioink composed of methacrylated gelatin(GelMA)and chitosan oligosaccharide(COS)was proposed for printing a dermal scaffold using digital light processing(DLP)*** GelMA/COS bioink exhibited suitable porosity,swelling,degradation rate,and mechanical *** inclusion of COS demonstrated antibacterial effects against both Gram positive and Gram-negative bacteria,while simultaneously fostering the proliferation of human dermal fibroblasts(HDFs).Additionally,the application of COS could effectively reduce the expression levels of fibrosis-related genes,such as collagen I,collagen III,and fibronectin *** three-dimensionally printed cell-laden dermal scaffold exhibited excellent shape fidelity and high cellular viability,facilitating the extension of HDFs along the scaffold and the simultaneous secretion of extracellular matrix ***,the HDF-laden dermal scaffold transplanted into full-thickness skin defect sites in nude mice was shown to accelerate wound closure,reduce inflammation,and improve wound ***,the DLP-printed dermal scaffold provides an appealing approach for effectively treating full-thickness skin defects in clinical settings.

关键词： 3D printing Dermal scaffold Photo-cross-linking Skin tissue regeneration

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Water and sediment characteristics in pressurized pipelines under complex terrain conditions

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Physics of Fluids 2025年第2期37卷

作者： Nan, Junhu Li, Wei Tao, Ran College of Energy and Power Engineering Lanzhou University of Technology Lanzhou730050 China Key Laboratory of Advanced Pumps Valves and Fluid Control System of the Ministry of Education Lanzhou University of Technology Lanzhou730050 China China Communications Hydraulic Engineering Company Limited Nanjing210012 China

This study selects the pipelines of the SGN as the research object and combines the experimental study with numerical simulation to investigate the water and sediment characteristics in pressurized pipelines under complex terrain conditions and determine the critical non-silting velocity under different flow rates. The results show that the sediment concentration and particle size gradually settle along the length of the pipeline, and the sediment particle size at the sampling position is 0.724-180 μm, with a sediment concentration ranging 1.09-6.28 kg/m3. The sediment in the inverted siphon pipeline is susceptible to siltation mainly at the bend below the rising section and the rising section. The sediment concentration in the radial direction of the pipeline is smaller at the upper layer and larger at the lower layer. As the flow rate increases, the sediment concentration in the lower layer of the horizontal section of the inverted siphon gradually decreases, while that in the lower layer of the descending and ascending sections gradually increases. Excess sediment concentration at the bottom of the pipeline under low flow conditions makes the high-velocity zone move upward. The flow velocity decreases in the lower layer and increases in the middle and upper layers. The critical non-silting velocity of sediment in the pipeline under sediment particle size of 1-500 μm is 1.20 m/s. The time-averaged pressure in the pipeline under water-sediment conditions is slightly greater than that under clear water conditions. The increase in sediment concentration at the bottom of the pipeline causes the fluctuation frequency and amplitude of pulsation pressure at the section center of the pipeline to be uneven and the frequency more dispersed. The research results may provide reference for the operation and design of similar projects. © 2025 Author(s).

关键词： Siphons

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