Search Results (697)

This paper proposes a pose control scheme of for proximity maneuvering for tracking and observing noncooperative targets with unknown acceleration, which is an important prerequisite for on-orbit operations in space. It mainly consists of a finite-time extended state observer and constraint processing procedures. Firstly, relative pose-coupled kinematics and dynamics models with unknown integrated disturbances are established based on dual quaternion representations. Then, a finite-time extended state observer is designed using the super-twisting algorithm to estimate the integrated disturbances. Both observation field of view and collision avoidance pose-constrained models are constructed to ensure that the service spacecraft continuously and safely observes the target during proximity maneuvering. And the constraint models are further incorporated into the design of artificial potential function with a unique minimum. After that, the proportional–derivative-like pose-constrained tracking control law is proposed based on the estimated disturbances and the gradient of the artificial potential function. Finally, the effectiveness of the control scheme is verified through numerical simulations. Full article

Consolidation is the combined phenomenon of the compression and groundwater seepage of clay. Accurate evaluation of the consolidation characteristic is essential for the design, construction, and long-term stability of geotechnical structures. In this study, a strain-controlled non-linear finite strain model for constant rate-of-deformation (CRD) consolidation was developed for quickly and reliably predicting the consolidation behavior of clay soils. The model can account for any form of non-linear compression and permeability relationships, thus considering variations in the coefficient of consolidation. Being strain-controlled, it overcomes the limitations of stress-controlled models which require complex numerical iteration. The validity and accuracy of this model were verified through rigorous comparisons with both numerical simulations and experimental data. For normally consolidated soils, a non-linear e-lgσ′compression model was used instead of a linear compression model. For overconsolidated soils, the Harris function compression model was determined to be recommended to overcome the discontinuities in total stress and pore pressure caused by the traditional piecewise e-lgσ′ model. It was also found that determining the steady state of consolidation for normally consolidated soils should use the non-linear method, while the linear method is suggested to be adopted for overconsolidated soils. Full article

To ensure the operational safety of the automatic couplers of a rolling stock subjected to cyclic loading, reliability and residual service life must be determined. This paper involved the prediction of the durability of the automatic coupler SA3 by analytical summation of cyclic damage. During the investigation, the cyclic characteristics and damage modes of the automatic coupler material that influence the accumulation of damage are determined. The stress and strain state assessment model was developed using a 3D finite element method for the automatic coupler housing as a geometrically complex component. A methodology was used to assess damage per load cycle that is applicable to any sequence of automatic coupler load cycles. For this purpose, the authors used low-cycle stationary load dependencies that account for quasi-static and low-cycle fatigue damage. The investigation showed that a coupler may develop a crack due to accumulated quasi-static and fatigue damage. For damage summation, the dependences of low-cycle stationary stress-controlled load accounting for low-cycle, quasi-static fatigue damage are proposed in view of the variation of the load on the automatic coupler during operation depending on the weight of the rolling stock, velocity, and railway relief. The proposed methodology is applicable to the calculation of other housings under similar loading conditions. Full article

The finite-time turnpike property describes the situation in an optimal control problem where an optimal trajectory reaches the desired state before the end of the time interval and remains there. We consider a machine learning problem with a neural ordinary differential equation that can be seen as a homogenization of a deep ResNet. We show that with the appropriate scaling of the quadratic control cost and the non-smooth tracking term, the optimal control problem has the finite-time turnpike property; that is, the desired state is reached within the time interval and the optimal state remains there until the terminal time T. The time $t_0$ where the optimal trajectories reach the desired state can serve as an additional design parameter. Since ResNets can be viewed as discretizations of neural odes, the choice of $t_0$ corresponds to the choice of the number of layers; that is, the depth of the neural network. The choice of $t_0$ allows us to achieve a compromise between the depth of the network and the size of the optimal system parameters, which we hope will be useful to determine the optimal depths for neural network architectures in the future. Full article

Traditionally, 3D modeling of marine controlled-source electromagnetic (CSEM) data (in the frequency domain) involves high-memory demand, requiring solving a large linear system for each frequency. To address this problem, we propose to solve Maxwell’s equations in a fictitious dielectric medium with time-domain finite-difference methods, with the support of the correspondence principle. As an advantage of this approach, we highlight the possibility of its implementation for execution with GPU accelerators, in addition to multi-frequency data modeling with a single simulation. Furthermore, we explore using the correspondence principle to the inversion of CSEM data by calculating the gradient of the least-squares objective function employing the adjoint-state method to establish the relationship between adjoint fields in a conductive medium and their counterparts in the fictitious dielectric medium, similar to the approach used in forward modeling. We validate this method through 2D inversions of three synthetic CSEM datasets, computed for a simple model consisting of two resistors in a conductive medium, a model adapted from a CSEM modeling and inversion package, and the last one based on a reference model of turbidite reservoirs on the Brazilian continental margin. We also evaluate the differences between the results of inversions using the steepest descent method and our proposed momentum method, comparing them with the limited-memory BFGS (Broyden–Fletcher–Goldfarb–Shanno) algorithm (L-BFGS-B). In all experiments, we use smoothing by model reparameterization as a strategy for regularizing and stabilizing the iterations throughout the inversions. The results indicate that, although it requires more iterations, our modified momentum method produces the best models, which are consistent with results from the L-BFGS-B algorithm and require less storage per iteration. Full article

The paper partially covered Active Constrained Layer Damping (ACLD) cantilever beams’ dynamic modeling, active vibration control, and parameter optimization techniques as the main topic of this research. The dynamic model of the viscoelastic sandwich beam is created by merging the finite element approach with the Golla Hughes McTavish (GHM) model. The governing equation is constructed based on Hamilton’s principle. After the joint reduction of physical space and state space, the model is modified to comply with the demands of active control. The control parameters are optimized based on the Kalman filter and genetic algorithm. The effect of various ACLD coverage architectures and excitation signals on the system’s vibration is investigated. According to the research, the genetic algorithm’s optimization iteration can quickly find the best solution while achieving accurate model tracking, increasing the effectiveness and precision of active control. The Kalman filter can effectively suppress the impact of vibration and noise exposure to random excitation on the system. Full article

Joint deflection during curved pipe jacking in power tunnels poses a significant risk of structural failure due to the resulting eccentric and diagonal loading on the pipes. This study investigated the axial stress and strain characteristics of reinforced-concrete pipes under varying joint deflection angles and jacking forces, using a combined approach of experimental model testing and finite element method (FEM) numerical simulations. The experimental setup replicated curved pipe jacking conditions, allowing for the measurement of strains and deformation under controlled loading. Numerical simulations, validated against experimental data, provided detailed insights into the stress distribution patterns. The results revealed distinct stress states in different pipe sections. The pipe closest to the jacking force (3# pipe) experienced eccentric loading, leading to localized stress concentrations and inelastic strain on the inner wall at the point of eccentricity, indicating vulnerability to compressive failure. The middle pipe section (2# pipe) underwent complex diagonal loading, resulting in the development of inelastic strain on both the inner and outer walls at specific orientations, highlighting a risk of both compressive and shear failure modes. The study also demonstrated that the magnitude of the axial jacking force and the degree of joint deflection significantly influence the stress distribution and the extent of inelastic strain. These findings provide important information for optimizing the design and construction of curved pipe jacking projects in power tunnels. The identified failure mechanisms and the influence of key parameters on pipe behavior can inform strategies to mitigate the risk of structural failure, improve the resilience of pipe systems, and enhance the overall safety and reliability of underground power tunnel infrastructure. Full article

In this study, a model-free  $P{I}^{\phi }$-sliding mode control ( $P{I}^{\phi }$-SMC) methodology is proposed to synchronize a specific class of chaotic fractional-order memristive neural network systems (FOMNNSs) with delays and input saturation. The fractional-order Lyapunov stability theory is used to design a two-level  $P{I}^{\phi }$-SMC which can effectively manage the inherent chaotic behavior of delayed FOMNNSs and achieve finite-time synchronization. At the outset, an initial sliding surface is introduced. Subsequently, a robust  $P{I}^{\phi }$-sliding surface is designed as a second sliding surface, based on proportional–integral (PI) rules. The finite-time asymptotic stability of both surfaces is demonstrated. The final step involves the design of a dynamic-free control law that is robust against system uncertainties, input saturations, and delays. The independence of control rules from the functions of the system is accomplished through the application of the norm-boundedness property inherent in chaotic system states. The soft actor-critic (SAC) algorithm based deep Q-Learning is utilized to optimally adjust the coefficients embedded in the two-level  $P{I}^{\phi }$-SMC controller’s structure. By maximizing a reward signal, the optimal policy is found by the deep neural network of the SAC agent. This approach ensures that the sliding motion meets the reachability condition within a finite time. The validity of the proposed protocol is subsequently demonstrated through extensive simulation results and two numerical examples. Full article

Due to its high power-to-weight ratio, low weight, and silent operation, shape memory alloy (SMA) is widely used as a muscle-like soft actuator in intelligent bionic robot systems. However, hysteresis nonlinearity and multi-valued mapping behavior can severely impact trajectory tracking accuracy. This paper proposes an adaptive nonsingular fast terminal sliding mode control (ANFTSMC) scheme aimed at enhancing position tracking performance in SMA-actuated systems by addressing hysteresis nonlinearity, uncertain dynamics, and external disturbances. Firstly, a simplified third-order actuator model is developed and a variable gain extended state observer (VGESO) is employed to estimate unmodeled dynamics and external disturbances within finite time. Secondly, a novel nonsingular fast terminal sliding mode control (NFTSMC) law is designed to overcome singularity issues, reduce chattering, and guarantee finite-time convergence of the system states. Finally, the ANFTSMC scheme, integrating NFTSMC with VGESO, is proposed to achieve precise position tracking for the prosthetic hand. The convergence of the closed-loop control system is validated using Lyapunov’s stability theory. Experimental results demonstrate that the external pulse disturbance error of ANFTSMC is 8.19°, compared to 19.21° for the comparative method. Furthermore, the maximum absolute error for ANFTSMC is 0.63°, whereas the comparative method shows a maximum absolute error of 1.03°. These results underscore the superior performance of the proposed ANFTSMC algorithm. Full article

Cracking in concrete box girder bridges will have a significant impact on the safety and durability of the structure, and many box girder bridges which are in service have undergone varying degrees of cracking. Currently, the safety design of actual bridge projects place an emphasis on the stress or the load value of a cross section at the limit value specified in the code for safety control. This design method assumes that the member itself is of uniform and continuous material and is internally undamaged. However, the bridge structure is more or less cracked to varying degrees during the period from casting to construction to operation of the concrete members. In this paper, a finite element computational model of a three-span prestressed concrete box girder bridge with existing cracks is established based on the fracture mechanics theory, and the critical parameters of crack extension are introduced to evaluate the extension state of cracks. At the same time, the extended stability of the existing cracks of the box girder bridge is analyzed by considering the temperature effect, vehicle loading, and prestressing loss, and the sensitivity of crack extension under each working condition is investigated. The results show that, with the increase in crack length and depth, the crack expansion is promoted, but the effect is relatively small, and the maximum stress intensity factor is only 6.48 MPa mm^1/2. Under the multi-factor coupling effect, the cracks show a composite crack expansion dominated by type I cracks, the longitudinal cracks of the existing base plate are in a stable state, the maximum value of the crack expansion critical parameter of the vertical cracks of the webs reaches 1.087, and there is a tendency to expand locally. The maximum value of the critical parameter for crack extension of the vertical crack in the web plate reaches 1.087, and there is a tendency towards local expansion. The crack extension evaluation criteria proposed in this paper have a certain reference value for crack extension research on similar concrete box girder bridges and provide a scientific basis for the optimized design of similar bridges. Full article

A time-synchronized (TS) convergence control method for robotic manipulators is proposed. Adversely to finite-time control, a notion of time-synchronization convergence is introduced based on the ratio persistence property, which can ensure that all system components converge simultaneously in a finite time. Firstly, a robust disturbance observer is constructed to be compatible with the time-synchronized control framework and precisely estimate system uncertainties. Furthermore, we design a (finite) time-synchronized controller to ensure that all states of the robotic manipulator simultaneously converge to an equilibrium point, irrespective of initial conditions. Stability analysis shows the feasibility of the proposed TS control method. At last, simulations are performed with a two-link rehabilitation robotic system, and the comparison results indicate its superiority. Full article

This study delves into the convective heat transfer phenomena within a square cavity that houses a porous medium, analyzing the effects of Darcy (Da) and Rayleigh (Ra) numbers on the thermal and fluid dynamic behavior within the system. Utilizing a combination of computational fluid dynamics (CFD) and the finite element method (FEM), the research focuses on steady-state, laminar flow conditions in two dimensions. The cavity, which is impermeable at its boundaries, contains a centrally located square region filled with a porous, isotropic material. The thermal environment is controlled with insulated horizontal walls and vertically positioned walls that experience sinusoidal temperature variations. The study examines how variations in the permeability of the porous medium (Da numbers ranging from 10⁻¹ to 10⁻⁴) and the buoyancy-driven flow strength (Ra numbers spanning from 10² to 10⁵) influence the velocity fields and heat transfer rates, with results expressed through Nusselt number (Nu) distributions. The findings reveal that higher Ra numbers, particularly at 10⁵, significantly intensify convection within the cavity, thereby boosting local rates of heat transfer, especially in the central vertical section. The research identifies that optimal flow resistance in the porous medium occurs within the Da number range of 10⁻³ to 10⁻⁴. These insights are critical for advancing thermal management techniques, particularly in the natural cooling of electronic devices and improving insulation methods. Full article

Grid-connected PV inverters require sophisticated control procedures for smooth integration with the modern electrical grid. The ability of FCS-MPC to manage the discrete character of power electronic devices is highly acknowledged, since it enables direct manipulation of switching states without requiring modulation techniques. This review discusses the latest approaches in FCS-MPC methods for PV-based grid-connected inverter systems. It also classifies these methods according to control objectives, such as active and reactive power control, harmonic suppression, and voltage regulation. The application of FCS-MPC particularly emphasizing its benefits, including quick response times, resistance to changes in parameters, and the capacity to manage restrictions and nonlinearities in the system without the requirement for modulators, has been investigated in this review. Recent developments in robust and adaptive MPC strategies, which enhance system performance despite distorted grid settings and parametric uncertainties, are emphasized. This analysis classifies FCS-MPC techniques based on their control goals, optimal parameters and cost function, this paper also identifies drawbacks in these existing control methods and provide recommendation for future research in FCS-MPC for grid-connected PV-inverter systems. Full article

This paper delved into the thermal dynamics and stability of Wireless Power Transfer (WPT) systems, with a focus on the temperature effects on the coil structure. Using the Finite Element Method (FEM), this study investigated both unidirectional and bidirectional coupling field simulations, assessing their impacts on the transmission efficiency of LCL-resonant WPT systems. The boundary conditions and processes of the electromagnetic–thermal coupling field related to coil loss were analyzed, as well as the dynamic thermal balance in the bidirectional coupling field model. It was found that there is a significant temperature variation across the coil, with the highest temperatures at the central position and the lowest at the edges. This temperature rise notably changed the electrical parameters of the system, leading to variations in its operating state and a reduction in transmission efficiency. A constant coil voltage control strategy was more effective in mitigating the temperature rise compared to a constant coil current strategy, providing valuable insight for enhancing the efficiency and stability of WPT systems. Full article

This paper introduces a new variable structure controller designed for depth control of an autonomous underwater sensor platform equipped with a variable buoyancy module. To that end, the prototype linear model is presented, and a finite element-based method is used to estimate one of its parameters, the hull deformation due to pressure. To manage potential internal disturbances like hull deformation or external disturbances like weight changes, a disturbance observer is developed. An analysis of the observer steady-state estimation error in relation to input disturbances and system parameter uncertainties is developed. The locations of the observer poles according to its parameters are also identified. The variable structure controller is developed, keeping energy savings in mind. The proposed controller engages when system dynamics are unfavorable, causing the vehicle to deviate from the desired reference, and disengages when dynamics are favorable, guiding the vehicle toward the target reference. A detailed analysis determines the necessary switching control actions to ensure the system reaches the desired reference. Finally, simulations are run to compare the proposed controller’s performance with that of PID-based controllers recently developed in the literature, assessing dynamic response and energy consumption under various operating conditions. Both the VBM- and propeller-actuated vehicles were evaluated. The results demonstrate that the proposed controller achieves an average energy consumption reduction of 22% compared to the next most efficient PID-based controller for the VBM-actuated vehicle, though with some impact on control performance. Full article