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Swarm-Based Dynamic Coverage of Multi-ASV systems in the Presence of Measurement Noises

IEEE Transactions on Vehicular technology 2025年第5期74卷 7237-7250页

作者： Liu, Lu Jiao, Shijian Han, Bing Li, Tieshan Peng, Zhouhua Dalian Maritime University School of Marine Electrical Engineering Dalian116026 China Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships Dalian116026 China State Key Laboratory of Maritime Technology and Safety Dalian116026 China Shanghai Ship and Shipping Research Institute National Engineering Research Center of Ship & Shipping Control System Shanghai200135 China University of Electronic Science and Technology of China School of Automation Engineering Chengdu611731 China

This paper is concerned with the dynamic coverage of multiple autonomous surface vehicles (ASVs) in the presence of static and dynamic obstacles, limited communication distance, and measurement noises. A modular control method including planning, guidance, and control is proposed. At the planning level, a swarm-based dynamic coverage strategy is developed to achieve the coverage of a given domain. Both the collision avoidance and connectivity preservation issues are solved by using artificial potential fields. At the kinematic level, novel adaptive line-of-sight guidance laws are presented based on cascade extended state observers (CESOs), such that accurate guidance signals are given by compensating for time-varying sideslip angle and suppressing measurement noises. At the kinetic level, two CESOs are developed to estimate the internal model uncertainties and external environmental disturbance, and antidisturbance kinetic control laws are designed subsequently. The proposed CESOs overcome the noises sensitivity problem of classical observers, and thus facilitate the practical implementation under measurement noises. The input-to-state stability of the closed-loop system is confirmed by the Lyapunov theory and cascade stability theory. Simulation and hardware-in-the-loop experiment results are provided to demonstrate the effectiveness of the proposed swarm-based dynamic coverage method. © 1967-2012 IEEE.

关键词： Velocity measurement

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An improved dandelion algorithm-based mathematical model generation method for maximizing thrust of ship wind sails

An improved dandelion algorithm-based mathematical model gen...

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3rd International Conference on Smart Energy and Electrical engineering, SEEE 2024

作者： Song, Jian Zhang, Lanyong Liu, Sheng Tan, Yinchao College of Intelligent Systems Science and Engineering Harbin Engineering University Heilongjiang Harbin150001 China Research Centre of Ship Control Engineering and Intelligent Systems Engineering Technology Weihai Ocean Vocational College Shandong Weihai264300 China

Wind-assisted ships provide thrust for navigation through the ship's sails. Under different winds, the ship's sails get the maximum thrust along the course by turning to a specific azimuth. To provide the decision basis for azimuth control of ship sails and exert the effect of energy saving, this paper establishes a mathematical model of the maximum thrust of ship sails comprehensively. According to the aerodynamics of ship sails, a variety of modes are established to calculate sail thrust. An improved dandelion optimization algorithm is designed to meet the maximum thrust search requirement of ship sails. A quasi-adversarial model based on quantum computing is designed to improve initial population diversity, and an adaptive t-distribution function is introduced to improve balanced exploration and exploitation. Simulation results demonstrate the accuracy and speed of the proposed method for searching the maximum thrust. The increase in modeling accuracy has improved the energy-saving effect of sails. © 2025 Institute of Physics Publishing. All rights reserved.

关键词： Energy efficiency

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Artificial Intelligence Revolutionising the Automotive Sector:A Comprehensive Review of Current Insights, Challenges, and Future Scope

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Computers, Materials & Continua 2025年第3期82卷 3643-3692页

作者： Md Naeem Hossain MdAbdur Rahim Md Mustafizur Rahman Devarajan Ramasamy Faculty of Mechanical and Automotive Engineering Technology Universiti Malaysia Pahang Al-Sultan AbdullahPekan26600Malaysia Institute for Intelligent Systems Research and Innovation(ISSRI) Deakin UniversityWarun PondsVIC3216Australia Automotive Engineering Centre Universiti Malaysia Pahang Al-Sultan AbdullahPekan26600Malaysia

The automotive sector is crucial in modern society,facilitating essential transportation needs across personal,commercial,and logistical domains while significantly contributing to national economic development and employment *** transformative impact of Artificial Intelligence(AI)has revolutionised multiple facets of the automotive industry,encompassing intelligent manufacturing processes,diagnostic systems,control mechanisms,supply chain operations,customer service platforms,and traffic management *** extensive research exists on the above aspects of AI applications in automotive contexts,there is a compelling need to synthesise this knowledge comprehensively to guide and inspire future *** review introduces a novel taxonomic framework that provides a holistic perspective on AI integration into the automotive sector,focusing on next-generation AI methods and their critical implementation ***,the proposed conceptual framework for real-time condition monitoring of electric vehicle subsystems delivers actionable maintenance recommendations to stakeholders,addressing a critical gap in the *** review highlights that AI has significantly expedited the development of autonomous vehicles regarding navigation,decision-making,and safety features through the use of advanced algorithms and deep learning ***,it identifies advanced driver assistance systems,vehicle health monitoring,and predictive maintenance as the most impactful AI applications,transforming operational safety and maintenance efficiency in modern automotive *** work is beneficial to understanding the various use cases of AI in the different automotive domains,where AI maintains a state-of-the-art for sector-specific applications,providing a strong foundation for meeting Industry 4.0 needs and encouraging AI use among more nascent industry *** current work is intended to consolidate previous works while shedding som

关键词： Artificial intelligence AI techniques automotive sector autonomous vehicle decision-making VHMS

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Adaptive Artificial Potential Field ship Motion Planning Based on DDPG

Adaptive Artificial Potential Field Ship Motion Planning Bas...

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International Conference on Artificial Intelligence and Autonomous Transportation, AIAT 2024

作者： Chen, Huimin Liu, Chenguang He, Zhibo Zhang, Guoqing Han, Bing State Key Laboratory of Maritime Technology and Safety Wuhan University of Technology Wuhan430063 China Intelligent Transportation Systems Research Center Wuhan University of Technology Wuhan430063 China School of Transportation and Logistics Engineering Wuhan University of Technology Wuhan430063 China Navigation College Dalian Maritime University Dalian116026 China State Key Laboratory of Maritime Technology and Safety Dalian116026 China National Engineering Research Center of Ship & Shipping Control System Shanghai200134 China

ISBN: (纸本)9789819639601

The paper presents a ship motion planning method that adjusts the attractive and repulsive gain parameters of the artificial potential field (APF) algorithm using the deep deterministic policy gradient (DDPG) algorithm, to address the challenges of parameter design and limited adaptability of traditional APF algorithms. This approach leverages the speed advantage of the APF planning algorithm and the exploration capability of the DDPG reinforcement learning algorithm. By optimizing the parameters of APF with DDPG, the local optima problem can be alleviated in complex obstacle environments. Simulation results demonstrate that the proposed motion planning algorithm can generate reasonable trajectories and exhibit strong adaptability in complex obstacle scenarios. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Motion planning

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Design and Development of a Fixed-Wing Tail-Sitter Tethered VTOL Drone with Custom Autopilot and Robust control Techniques 16th

Design and Development of a Fixed-Wing Tail-Sitter Tether...

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16th APCA International Conference on Automatic control and Soft Computing, controlO 2024

作者： Safaee, Ahmad Aguiar, A. Pedro Santos, Filipe Neves Moreira, Antonio Paulo SYSTEC-ARISE Research Center for Systems and Technologies Faculty of Engineering University of Porto Porto4200-465 Portugal INESC-TEC-Institute for Systems and Computer Engineering Technology and Science CRIIS-Centre for Robotics in Industry and Intelligent Systems Porto4200-465 Portugal INESC-TEC-Institute for Systems and Computer Engineering and DEEC/FEUP - Department of Electrical and Computer Engineering Faculty of Engineering of the University of Porto Porto4200-465 Portugal

ISBN: (纸本)9783031817236

The need for aerial platforms capable of sustained operation is critical in fields such as surveillance, agricultural monitoring, disaster response, and temporary telecommunication systems. Traditional unmanned aerial vehicles (UAVs) are hampered by limited battery capacity and inefficient energy utilization. This paper introduces an autonomous vertical flight drone tethered to a ground-based platform, which overcomes these limitations. The drone is designed to optimize its position and energy usage by harnessing wind currents, functioning similarly to a kite when conditions permit. This is enabled by a custom-designed autopilot system comprising both hardware and software tailored for this application. We detail the model identification process for three vertical take-off and landing (VTOL) drone systems, employing authentic data that measures lateral positional errors from the tether. Robust mixed sensitivity controllers are developed and implemented. The effectiveness of these controllers is validated through simulations showing their capability to handle uncertainties. Furthermore, the practical application and robust performance of the system are confirmed by a real-world case study, highlighting its potential in real operational environments. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： VTOL/STOL aircraft

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Fault Localization and State Estimation of Power Grid under Parallel Cyber-Physical Attacks

arXiv

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arXiv 2025年

作者： Ren, Junhao Zhao, Kai Zhang, Guangxiao Liu, Xinghua Zhai, Chao Xiao, Gaoxi School of Electrical and Electronic Engineering Nanyang Technological University Singapore639798 Singapore Institute of Catastrophe Risk Management Nanyang Technological University Singapore639798 Singapore Future Resilient Systems Singapore-ETH Centre Singapore138602 Singapore School of Electrical Engineering Xi’an University of Technology Xi’an710048 China Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems The Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China

Parallel cyber-physical attacks (PCPA) refer to those attacks on power grids by disturbing/cutting off physical transmission lines and meanwhile blocking transmission of measurement data to dwarf or delay the system protection and recovery actions. Such fierce hostile attacks impose critical threats to the modern power grids when there is a fusion of power grids and telecommunication technologies. In this paper, we investigate the fault diagnosis problem of faulty transmission lines under a broader spectrum of PCPA for a linearized (or DC) power flow model. The physical attack mechanism of PCPA includes not only disconnection but also admittance value modification on transmission lines, for example, by invading distributed flexible AC transmission system (D-FACTS). To tackle the problem, we first recover the information of voltage phase angles within the attacked area. Using the information of voltage phase angle and power injection of buses, a graph attention network-based fault localization (GAT-FL) algorithm is proposed to find the locations of the physical attacks. By capitalizing on the feature extraction capability of the GAT on graph data, the fault localization algorithm outperforms the existing results when under cyber attacks, e.g., denial of service (DoS) attacks. A line state identification algorithm is then developed to identify the states of the transmission lines within the attacked area. Specifically, the algorithm restores the power injection of buses within the attacked area and then identities the state of all the transmission lines within the attacked area by solving a linear programming (LP) problem. Experimental simulations are conducted on IEEE 30/118 bus standard test cases to demonstrate the effectiveness of the proposed fault diagnosis algorithms. Copyright © 2025, The Authors. All rights reserved.

关键词： Cyber attacks

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Frequency stabilization of a sophisticated multi-area interconnected hybrid power system considering non-inertia sources

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International Journal of Electrical Power and Energy systems 2025年 169卷

作者： Gawad, Diaa M. Magdy, Gaber Ebrahim, M.A. Petlenkov, Eduard Electrical Engineering Department Faculty of Engineering at Shoubra Benha University Cairo Egypt National Energy Control Center Ministry of Electricity and Renewable Energy Cairo Egypt Department of Electrical Engineering Faculty of Energy Engineering Aswan University Aswan81528 Egypt Faculty of Engineering King Salman International University El-Tor46511 Egypt Centre for Intelligent Systems Department of Computer Systems Tallinn University of Technology Tallinn19086 Estonia

This study introduces a novel interconnected power system model, which combines four real areas, integrating conventional power plants with renewable energy sources (RESs). This comprehensive system model aims to address the load frequency control (LFC) challenges that such systems face. Where the integration of RESs into power systems poses significant challenges, particularly in maintaining frequency stability. The LFC approach utilizes a proportional-integral-derivative (PID) controller, meticulously optimized through the Runge-Kutta (RUN) optimizer based on its mathematical principles. Dealing with the uncertainties of RESs and system nonlinearities poses a significant challenge for this controller. The efficacy of the proposed PID controller based on the RUN algorithm is examined by analyzing the frequency stability of the Egyptian power system (EPS), which stays interconnected with neighboring grids in Jordan, Libya, and Sudan. This study accounts for various loading scenarios and system nonlinearities to validate the algorithm's effectiveness. Furthermore, the superior performance of the RUN optimizer is verified by contrasting its results with other widely recognized optimization techniques, such as the Ant Lion optimizer (ALO) and Chernobyl disaster optimizer (CDO). Additionally, the PID controller based on the RUN optimizer is also evaluated against literature that employed a moth swarm algorithm (MSA) to design the PID controller-based LFC in the EPS. Simulation results in the MATLAB environment demonstrate the effectiveness and robustness of the proposed PID controller based on the RUN algorithm. The RUN-based PID controller outperforms other PID controllers optimized using algorithms from the literature (e.g., ALO, CDO, and MSA), achieving superior performance across various contingencies, including load variations, RES uncertainties, and system nonlinearities. The results highlight the effectiveness of the proposed controller compared to those in the l

关键词： Electric power system interconnection

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Multi-Objective Coordination and Stability control of High Proportion Wind Power System Based on K-Domain Tuning Damping 19th

Multi-Objective Coordination and Stability Control of High P...

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19th Annual Conference of China Electrotechnical Society, ACCES 2024

作者： Zhang, Qingtao Gao, Diju Zhang, Dan Cai, Haiqing Gu, Haohan Chen, Wei Wu, Wencong Chen, Zhihao Institute of Logistics Engineering Shanghai Maritime University Shanghai China Institute of Logistic Science and Engineering Shanghai Maritime University Shanghai China Guangdong Provincial Key Laboratory of Intelligent Operation and Control for New Energy Power System Guangzhou China State Key Laboratory of HVDC Electric Power Research Institute China Southern Power Grid Guangzhou China National Energy Power Grid Technology R&D Centre Guangzhou China CSG Key Laboratory for Power System Simulation Electric Power Research Institute China Southern Power Grid Guangzhou China

ISBN: (纸本)9789819608966

With the further development of "double high" characteristics of power system, the traditional stability problem dominated by synchronous generator has gradually evolved into a new stability problem dominated by power electronic equipment control. In addition, different types of failure problems can occur in wind power systems. In order to achieve multi-objective coordinated and stable operation of high proportion wind power system, a damping control method with parameters tuning is proposed, which includes the design of filtering link and proportional amplification link. Among them, the key parameters of the proportional link are adjusted. Finally, the feasibility of the proposed control method is verified by simulation tests. © Beijing Paike Culture Commu. Co., Ltd. 2025.

关键词： Electric power system stability

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Hydrodynamics of heterogeneous particle swarms in gas-liquid-solid stirred tanks with free surface studied by DEM-VOF

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Powder technology 2025年 462卷

作者： E, Dianyu Wen, Yingming Wu, Yiliu Li, Jing Sun, Weifu Liu, Yonggang Chen, Chao Cui, Jiaxin Qiu, Yinxuan Jiangxi Provincial Key Laboratory of Particle Technology Jiangxi University of Science and Technology Nanchang330013 China Research Centre for Intelligent Mineral Processing & Metallurgy International Institute for Innovation Jiangxi University of Science and Technology Nanchang330013 China ARC Research Hub for Smart Process Design and Control Department of Chemical and Biological Engineering Monash University VIC3800 Australia School of Civil Engineering Southeast University Nanjing211189 China Advanced Technology Research Institute Beijing Institute of Technology Jinan250307 China Faculty of Materials Metallurgy and Chemistry Jiangxi University of Science and Technology Ganzhou341000 China Xinyu Iron and Steel Group Co. Ltd Xinyu338001 China College of Materials Science and Engineering Taiyuan University of Technology Taiyuan030024 China School of Chemical Engineering The University of Queensland QLD4072 Australia

Stirred tanks play a pivotal role in material blending, yet there is still a lack of data on inner complex blending mechanism, especially involving heterogeneous particle swarm with different shape combinations. This study extensively develops the DEM-VOF model, in which different drag force models are applied based on the identification of particle shapes. It aims to provide an insight into the blending system dynamics of heterogeneous particle swarms through seven arranged particle schemes building upon three different shapes. The results show that the oblate-prolate ellipsoid particle scheme has the optimal suspension performance, but demonstrates high power consumption. The addition of spherical particles into the oblate-prolate ellipsoid particle scheme has significant effect on particle suspension, fluid flow and the evolution of free surface, while contributes to a reduction in power consumption. This study presents an analysis of the hydrodynamics and optimization of blending systems involving heterogeneous particle swarms in stirred tanks. © 2025 Elsevier B.V.

关键词： Flow of gases

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An efficient time domain model for hybrid floating wind-wave platforms considering multi-body constraints and mooring system

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Ocean engineering 2025年 334卷

作者： Zhang, Kai Chen, Mingsheng Zhou, Hao Chen, Nianzhong Liang, Chenyu Hallak, Thiago S. Yun, Qihao Tang, Yichang School of Civil Engineering Tianjin University Tianjin 300350 China China Ship Scientific Research Center Wuxi 214082 China School of Naval Architecture Ocean and Energy Power Engineering Wuhan University of Technology Wuhan 430063 China Sanya Science and Education Innovation Park of Wuhan University of Technology Sanya 572019 China State Key Laboratory of Hydraulic Engineering Intelligent Construction and Operation Tianjin University Tianjin 300350 China Centre for Marine Technology and Ocean Engineering (CENTEC) Instituto Superior Técnico Universidade de Lisboa Lisbon Portugal

research on multi-body hydrodynamics is of major importance within the field of ocean engineering, and it is facing rapid development mainly due to the latest technologies in Offshore Renewable Energies and Very Large Floating Structures. Given the high level of complexity intrinsic to those systems, it also faces a need for efficient analysis methodologies. In this paper, an efficient time-domain model suitable for multi-body floating structures is developed based on Cummins formulation and multi-body hydrodynamics theory, where the convolution terms are replaced by a state space model, greatly improving the calculation efficiency, also coupled with a lumped-mass dynamic mooring model. The hydrodynamic behaviour of a hinged double barge is used for verification. Then, the model is applied to a semi-submersible floating wind turbine coupled with surge flaps. It is found that the proposed model has a high level of accuracy with computational efficiency one order of magnitude higher than another state-of-the-art method. It is also demonstrated that, the hybrid platform presents higher motion amplitudes in surge, heave and pitch in the low frequency wave band when compared to the stand-alone floating wind turbine in the surge and pitch DOF, also, that a significant amount of wave energy is absorbed near the flaps’ natural frequencies. © 2025 Elsevier Ltd

关键词： Floating wind-wave platform Mooring dynamics Multi-body hydrodynamics State space model Time domain simulation

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