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Adaptive control of a Flexible Manipulator With Unknown Hysteresis and Intermittent Actuator Faults

IEEE/CAA Journal of automatica Sinica 2025年第1期12卷 148-158页

作者： Shouyan Chen Weitian He Zhijia Zhao Yun Feng Zhijie Liu Keum-Shik Hong School of Mechanical and Electrical Engineering Guangzhou University the School of Control Science and Engineering Shandong University IEEE the College of Electrical and Information Engineering Hunan University the National Engineering Research Center for Robot Visual Perception and Control Technology Hunan University the School of Intelligence Science and Technology University of Science and Technology Beijing (USTB) the Institute for Future the School of AutomationQingdao University the School of Mechanical Engineering Pusan National University

In this study, we consider a single-link flexible manipulator in the presence of an unknown Bouc-Wen type of hysteresis and intermittent actuator faults. First, an inverse hysteresis dynamics model is introduced, and then the control input is divided into an expected input and an error compensator. Second,a novel adaptive neural network-based control scheme is proposed to cancel the unknown input hysteresis. Subsequently,by modifying the adaptive laws and local control laws, a fault-tolerant control strategy is applied to address uncertain intermittent actuator faults in a flexible manipulator system. Through the direct Lyapunov theory, the proposed scheme allows the state errors to asymptotically converge to a specified interval. Finally,the effectiveness of the proposed scheme is verified through numerical simulations and experiments.

关键词： Adaptive control flexible manipulator intermittent actuator faults inverse hysteresis dynamics vibration control

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Data-driven output regulation control for constrained linear systems

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science China(Information sciences) 2025年第3期68卷 338-353页

作者： Chaoyu XIA Yi DONG Chaoli WANG Shengyuan XU Shanghai Research Institute for Intelligent Autonomous Systems Tongji University College of Electronic and Information Engineering Shanghai Research Institute for Intelligent Autonomous SystemsTongji University Department of Control Science and Engineering School of Optical-Electrical and Computer EngineeringUniversity of Shanghai for Science and Technology Department of Automation Nanjing University of Science and Technology

This study introduces a data-driven approach for state and output feedback control addressing the constrained output regulation problem in unknown linear discrete-time systems. Our method ensures effective tracking performance while satisfying the state and input constraints, even when system matrices are not available. We first establish a sufficient condition necessary for the existence of a solution pair to the regulator equation and propose a data-based approach to obtain the feedforward and feedback control gains for state feedback control using linear programming. Furthermore, we design a refined Luenberger observer to accurately estimate the system state, while keeping the estimation error within a predefined set. By combining output regulation theory, we develop an output feedback control strategy. The stability of the closed-loop system is rigorously proved to be asymptotically stable by further leveraging the concept of λ-contractive sets.

关键词： output regulation constrained system data-driven.

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Dynamic Layered Clustering Routing Protocol Based on Hybrid-Optimized Neural Networks for UWSNs

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IEEE Internet of Things Journal 2025年第11期12卷 16155-16170页

作者： Lu, Xinmiao Yang, Longyue Wu, Qiong Zhu, Yuna Zou, Yixin Shi, Yunbo Harbin University of Science and Technology School of Measurement-Control Technology and Communications Engineering Harbin150000 China Heilongjiang Network Space Research Center School of Computer Science and Technology Harbin150000 China

To address the limitations of traditional flat routing in large-scale Underwater Wireless Sensor Networks (UWSNs), and to tackle challenges such as long delays, low bandwidth, and high error rates encountered by sensor nodes in underwater environments, this paper proposes a dynamic layered clustering routing protocol based on a hybrid optimized backpropagation neural network (PSB-NN), referred to as PSBDR. The protocol introduces non-uniform vertical layering of the network based on water depth and assigns different communication and sensing radii to nodes according to their initial layer. A trained hierarchical prediction model dynamically adjusts the virtual layer assignments of nodes throughout the network's operation. Additionally, a method is implemented for isolated nodes to join clusters via relay nodes, and a priority mechanism, along with a dynamic weight update strategy, is employed to select the optimal next hop during routing. This protocol effectively balances the workload across nodes at varying depths and maximizes the utilization of residual energy in the nodes, contributing to an extending network lifetime. Simulation results demonstrate that PSBDR enhances network performance by improving load balancing, prolonging network longevity, reducing end-to-end delay, and increasing data collection reliability. © 2014 IEEE.

关键词： Network layers

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Reviewing metal supported solid oxide fuel cells for efficient electricity generation with biofuels for mobility

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Journal of Energy Chemistry 2025年第04期103卷 106-153页

作者： Fábio C.Antunes Jo?o P.J.de Oliveira Ricardo S.de Abreu Thiago Dias Bruno B.N.S.Brand?o Josué M.Gon?alves Josimar Ribeiro Julian Hunt Hudson Zanin Gustavo Doubek School of Electrical and Computer Engineering University of Campinas School of Food Engineering University of Campinas School of Chemical Engineering University of Campinas Mackenzie Institute for Research in Graphene and Nanotechnologies (Mack Graphe) Mackenzie Presbyterian Institute Electrochemistry Research and Development Laboratory (LPDE) Department of Chemistry Center of Exact Sciences Federal University of Espírito Santo Biological and Environmental Science and Engineering Division King Abdullah University of Science and Technology

Metal-Supported Solid Oxide Fuel Cells（MS-SOFCs） hold significant potential for driving the energy *** electrochemical devices represent the most advanced generation of Solid Oxide Fuel Cell（SOFCs） and can pave the way for mass production and wider adoption than Proton Exchange Membrane Fuel Cells（PEMFCs） due to their fuel flexibility,higher power density and the absence of noble metals in the fabrication *** review examines the state-of-the-art of SOFCs and MS-SOFCs,presenting perspectives and research directions for these key technological devices,highlighting novel materials,techniques,architectures,devices,and degradation mechanisms to address current challenges and future *** such as infiltration/impregnation,ex-solution catalyst synthesis,and the use of a pre-catalytic reformer layer are discussed as their impact on efficiency and prolonged *** concepts are also described and connected with well-dispersed nano particles,hindrance of coarsening,and an increased number of Triple Phase Boundaries（TPBs）.This review also describes the synergistic use of reformers with MS-SOFCs to compose solutions in energy generation from readily available ***,the End-of-Life（EoL）,recycling,and life-cycle assessments（LCAs） of the Fuel Cell Hybrid Electric Vehicles（FCHEVs） were *** comparing Fuel Cell Electric Vehicles（FCEVs）equipped with（PEMFCs） and FCHEVs equipped with MS-SOFCs,both powered with hydrogen（H2） generated by different routes were *** review aims to provide valuable insights into these key technological devices,emphasizing the importance of robust research and development to enhance performance and lifespan while reducing costs and environmental impact.

关键词： Biofuel Fuel cell Hybrid electric vehicle Metal-supported solid oxide fuel cell Powertrain systems Reform

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A Zero-Sequence Current Analysis Approach for Rotating Machinery Fault Diagnosis of Induction Motor Drivetrain Based on Sparse Learning

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IEEE Transactions on Power Electronics 2025年第7期40卷 9800-9810页

作者： Liu, Zhao-Hua Long, Jun-Jie Wei, Hua-Liang Liu, Kan Zhang, Ying-Jie Li, Xiao-Hua Hunan University of Science and Technology School of Information and Electrical Engineering Xiangtan411201 China The University of Sheffield School of Electrical and Electronic Engineering Department of Automatic Control and Systems Engineering SheffieldS1 3JD United Kingdom Hunan University College of Mechanical and Vehicle Engineering Changsha410082 China Hunan University College of Computer Science and Electronic Engineering Changsha410082 China

Fault diagnosis of rotating machinery driven by induction motors has received increasing attention. Current diagnostic methods, which can be performed on existing inverters or current transformers of three-phase induction machines, have become a more economical and reliable alternative to vibration diagnostic methods. Existing references mainly focus on the stator current analysis of single-phase, but most single-phase current analysis methods utilize only a fraction of the total information accessible in the three-phase system. Field experience shows that zero-sequence current (ZSC) has more distinctive fault characteristics compared to single-phase current, and therefore it is better to use in mechanical fault detection and diagnostic tasks. This article proposes a novel sparse learning-based method for ZSC analysis for induction rotating motor drive fault diagnosis. First, it elaborates and compares the effectiveness of ZSC in revealing fault characteristics compared with single-phase current by analyzing the fault diagnosis mechanism of ZSC. In addition, the method proposes a correlation entropy-enhanced sparse learning method for the problem of high-frequency noise and interference in the ZSC signals, so as to enhance the learning of the features of the noise-containing signals. The diagnostic efficacy of the proposed method has been verified through experiments on two real datasets. © 1986-2012 IEEE.

关键词： Induction motors

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DISTANCE BETWEEN SPECIES BY CONFUSION OPERATORS OF MULTI-CLASS CLASSIFIERS

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UPB Scientific Bulletin, Series A: Applied Mathematics and Physics 2025年第1期2025卷 171-182页

作者： Tarbă, Nicolae Irimescu, Ionela N. Pleavă, Ana M. Scarlat, Eugen N. Mihăilescu, Mona Doctoral School Computer Science and Engineering Department Faculty of Automatic Control and Computers National University of Science and Technology POLITEHNICA Bucharest Romania Applied Sciences Doctoral School National University of Science and Technology POLITEHNICA Bucharest Romania CAMPUS Research Center National University of Science and Technology POLITEHNICA Bucharest Romania Physics Dept National University of Science and Technology POLITEHNICA Bucharest Romania Physics Dept Research Center for Applied Sciences in Engineering National University of Science and Technology POLITEHNICA Bucharest Romania

We introduce a method to evaluate the similarities between classes of objects based on the confusion matrices coming from the multi-class machine learning (ML) predictors that operate in the vector space generated by the classes. Operation in the confusion domain allows us to use the distance as evaluation metric of the closeness of the relevant properties carried by the classes. We applied the method to semiquantitatively evaluate the effects of X-ray and carbon ion radiation on cultured SW1353 chondrosarcoma cells with respect to the non-irradiated reference. We prove that it is possible to draw useful information on the strength of cells nuclei changes. © 2025, Politechnica University of Bucharest. All rights reserved.

关键词： Radiation effects

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Adversarial Geometric Attacks for 3D Point Cloud Object Tracking

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IEEE Transactions on Multimedia 2025年 27卷 3144-3157页

作者： Yao, Rui Zhang, Anqi Zhou, Yong Zhao, Jiaqi Liu, Bing ElSaddik, Abdulmotaleb China University of Mining and Technology School of Computer Science and Technology Mine Digitization Engineering Research Center Ministry of Education Xuzhou221116 China University of Ottawa School of Electrical Engineering and Computer Science OttawaONK1N 6N5 Canada

3D point cloud object tracking (3D PCOT) plays a vital role in applications such as autonomous driving and robotics. Adversarial attacks offer a promising approach to enhance the robustness and security of tracking models. However, existing adversarial attack methods for 3D PCOT seldom leverage the geometric structure of point clouds and often overlook the transferability of attack strategies. To address these limitations, this paper proposes an adversarial geometric attack method tailored for 3D PCOT, which includes a point perturbation attack module (non-isometric transformation) and a rotation attack module (isometric transformation). First, we introduce a curvature-aware point perturbation attack module that enhances local transformations by applying normal perturbations to critical points identified through geometric features such as curvature and entropy. Second, we design a Thompson sampling-based rotation attack module that applies subtle global rotations to the point cloud, introducing tracking errors while maintaining imperceptibility. Additionally, we design a fused loss function to iteratively optimize the point cloud within the search region, generating adversarially perturbed samples. The proposed method is evaluated on multiple 3D PCOT models and validated through black-box tracking experiments on benchmarks. For P2B, white-box attacks on KITTI reduce the success rate from 53.3% to 29.6% and precision from 68.4% to 37.1%. On NuScenes, the success rate drops from 39.0% to 27.6%, and precision from 39.9 to 26.8%. Black-box attacks show a transferability, with BAT showing a maximum 47.0% drop in success rate and 47.2% in precision on KITTI, and a maximum 22.5% and 27.0% on NuScenes. © 1999-2012 IEEE.

关键词： Iterative methods

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Enhancing Convolutional Models for Indoor Radio Mapping via Ray Marching

Enhancing Convolutional Models for Indoor Radio Mapping via ...

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2025 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2025

作者： Wu, Mengfan Skocaj, Marco Boban, Mate Munich Research Center Huawei Technologies Germany School of Electrical Engineering and Computer Science TU Berlin Germany

ISBN: (纸本)9798350368741

In this paper, we present an enhanced convolutional model for indoor radio map generation, focusing on the integration of a novel ray-marching feature. We describe our machine learning pipeline developed for the ICASSP 2025 Signal Processing Grand Challenge, specifically the First Indoor Pathloss Radio Map Prediction Challenge. Our method incorporates a ray-marching feature that, combined with a UNet architecture enhanced by dilated convolution layers, significantly improves indoor pathloss prediction accuracy. Our approach achieved a 3rd-place ranking in the challenge with a weighted RMSE of 10.33 on the test dataset. © 2025 IEEE.

关键词： feature engineering machine learning radio maps Wireless communications

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Impact of dissolution and precipitation on pore structure in CO2 sequestration within tight sandstone reservoirs

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Petroleum science 2025年第2期22卷 868-883页

作者： Hui Gao Kai-Qing Luo Chen Wang Teng Li Zhi-Lin Cheng Liang-Bin Dou Kai Zhao Nan Zhang Yue-Liang Liu School of Petroleum Engineering Xi'an Shiyou University Engineering Research Center of Development and Management for Low to Ultra-Low Permeability Oil & Gas Reservoirs in West China Ministry of Education Xi'an Key Laboratory of Tight Oil (shale Oil) Development Department of Electrical Engineering and Computer Science University of Stavanger School of Petroleum Engineering China University of Petroleum (Beijing)

Complex physical and chemical reactions during CO2sequestration alter the microscopic pore structure of geological formations,impacting sequestration *** investigate CO2sequestration dynamics,comprehensive physical simulation experiments were conducted under varied pressures,coupled with assessments of changes in mineral composition,ion concentrations,pore morphology,permeability,and sequestration capacity before and after ***,a method using NMR T2spectra changes to measure pore volume shift and estimate CO2sequestration is *** quantifies CO2needed for mineralization of soluble ***,when CO2dissolves in crude oil,the precipitation of asphaltene compounds impairs both seepage and storage ***,the impact of dissolution and precipitation is closely associated with storage pressure,with a particularly pronounced influence on smaller *** pressure levels rise,the magnitude of pore alterations progressively *** a pressure threshold of 25 MPa,the rate of change in small pores due to dissolution reaches a maximum of 39.14%,while precipitation results in a change rate of-58.05% for small *** observed formation of dissolution pores and micro-cracks during dissolution,coupled with asphaltene precipitation,provides crucial insights for establishing CO2sequestration parameters and optimizing strategies in low permeability reservoirs.

关键词： Dissolution Precipitation Pore structure CO2 sequestration Unconventional reservoirs

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Detection of Perfect Stealthy Attacks on Cyber-Physical Systems Subject to Measurement Quantizations: A Watermark-Based Strategy

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IEEE/CAA Journal of automatica Sinica 2025年第1期12卷 114-125页

作者： Yu-Ang Wang Zidong Wang Lei Zou Bo Shen Hongli Dong the College of Information Science and Technology Donghua University the Engineering Research Center of Digitalized Textile and Fashion Technology Ministry of Education IEEE the College of Electrical Engineering and Automation Shandong University of Science and Technology the Department of Computer Science Brunel University London Uxbridge the Sanya Offshore Oil and Gas Research Institute Northeast Petroleum University the Artificial Intelligence Energy Research Institute Northeast Petroleum University Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum University

In this paper, the attack detection problem is investigated for a class of closed-loop systems subjected to unknownbutbounded noises in the presence of stealthy attacks. The measurement outputs from the sensors are quantized before transmission.A specific type of perfect stealthy attack, which meets certain rather stringent conditions, is taken into account. Such attacks could be injected by adversaries into both the sensor-toestimator and controller-to-actuator channels, with the aim of disrupting the normal data flow. For the purpose of defending against these perfect stealthy attacks, a novel scheme based on watermarks is developed. This scheme includes the injection of watermarks(applied to data prior to quantization) and the recovery of data(implemented before the data reaches the estimator).The watermark-based scheme is designed to be both timevarying and hidden from adversaries through incorporating a time-varying and bounded watermark signal. Subsequently, a watermark-based attack detection strategy is proposed which thoroughly considers the characteristics of perfect stealthy attacks,thereby ensuring that an alarm is activated upon the occurrence of such attacks. An example is provided to demonstrate the efficacy of the proposed mechanism for detecting attacks.

关键词： Attack detection cyber-physical systems (CPSs) perfect stealthy attacks watermark-based strategy

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