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Recently, various types of single valued neutrosophic (SVN) rough set models were presented based on the same inclusion relation. However, there is another SVN inclusion relation in SVN sets. In this paper, we propose a new type of SVN covering rough set model based on the new inclusion relation. Furthermore, the graph and matrix representations of the new SVN covering approximation operators are presented. Firstly, the notion of SVN β 2 -covering approximation space is proposed, which is decided by the new inclusion relation. Then, a type of SVN covering rough set model under the SVN β 2 -covering approximation space is presented. Moreover, there is a corresponding SVN relation rough set model based on a SVN relation induced by the SVN β 2 -covering, and two conditions under which the SVN β 2 -covering can induce a symmetric SVN relation are presented. Thirdly, the graph and matrix representations of the new SVN covering rough set model are investigated. Finally, we propose a novel method for decision making (DM) problems in paper defect diagnosis under the new SVN covering rough set model.

In this short paper, we extend the classical Hoffman-Meeks Halfspace Theorem [Hoffman and Meeks, 'The strong halfspace theorem for minimal surfaces', Invent. Math. 101 (1990) 373-377] to self-shrinkers, that is: Let $P$ be a hyperplane passing through the origin. The only properly immersed self-shrinker $\Sigma $ contained in one of the closed half-space determined by $P$ is $\Sigma = P$. Our proof is geometric and uses a catenoid type hypersurface discovered by Kleene-Moller [Kleene and Moller, 'Self-shrinkers with a rotational symmetry', Trans. Amer. Math. Soc. 366 (2014) 3943-3963]. Also, using a similar geometric idea, we obtain that the only self-shrinker properly immersed in an closed cylinder $ \overline {B^{k+1} (R)} \times {\mathbb R}^{n-k}\subset {\mathbb R}^{n+1}$, for some $k\in \{1, \ldots, n\}$ and radius $R$, $R \leqslant \sqrt {2k}$, is the cylinder ${\mathbb S}^k (\sqrt {2k}) \times {\mathbb R}^{n-k}$. We also extend the above results for $\lambda $-hypersurfaces.

Two definitions for the rectifiability of hypersurfaces in Heisenberg groups $\mathbb{H}^n$ have been proposed: one based on ${\mathbb{H}}$-regular surfaces and the other on Lipschitz images of subsets of codimension-$1$ vertical subgroups. The equivalence between these notions remains an open problem. Recent partial results are due to Cole–Pauls, Bigolin–Vittone, and Antonelli–Le Donne. This paper makes progress in one direction: the metric Lipschitz rectifiability of ${\mathbb{H}}$-regular surfaces. We prove that ${\mathbb{H}}$-regular surfaces in $\mathbb{H}^{n}$ with $\alpha $-Hölder continuous horizontal normal, $\alpha> 0$, are metric bilipschitz rectifiable. This improves on the work by Antonelli–Le Donne, where the same conclusion was obtained for $C^{\infty }$-surfaces. In $\mathbb{H}^{1}$, we prove a slightly stronger result: every codimension-$1$ intrinsic Lipschitz graph with an $\epsilon $ of extra regularity in the vertical direction is metric bilipschitz rectifiable. All the proofs in the paper are based on a new general criterion for finding bilipschitz maps between “big pieces” of metric spaces.

This paper discusses the finite-time stable and finite-time H ∞ control problems of affine nonlinear singular systems subject to actuator saturation. Some sufficient conditions, to guarantee the system is finite-time stable, are established for the affine nonlinear singular systems subject to actuator saturation. First, the finite-time stable problem is investigated by the state undecomposed method, and then the finite-time robust H ∞ control law is presented for the system. Finally, the effectiveness of the designed controllers is shown by an example of a nonlinear singular circuit system in this paper.

Nowadays, rich quantity of information is offered on the Net which makes it hard for the clients to detect necessary information. Programmed techniques are desirable to effectively filter and search useful data from the Net. The purpose of purported text summarization is to get satisfied content handling with information variety. The main factor of document summarization is to extract benefit feature. In this paper, we extract word feature in three group called important words. Also, we extract sentence feature depending on the extracted words. With increasing knowledge on the Internet, it turns out to be an extremely time-consuming, exhausting, and boring mission to read the whole content and papers and get the relevant information on precise topics

In this paper, the fixed-time synchronization problem for a class of memristive neural networks with discontinuous neuron activation functions and mixed time-varying delays is investigated. With the help of the fixed-time stability theory, under the framework of Filippov solution and differential inclusion theory, several new and useful sufficient criteria for fixed-time synchronization are obtained by designing two types of energy-saving and simple controllers for the considered systems. Compared with the traditional fixed-time synchronization controller, the controllers used in this paper only have one power exponent term, which is a function of the system state error rather than a constant. Moreover, some previous relevant works are especially improved. Finally, two numerical examples are given to show the correctness and the effectiveness of the obtained theoretical results.

Based on the established serial 6-DOF robot calibration experiment platform, this paper aims to analyze and compare the effects of four error compensation methods, which are pseudotarget iteration-based error compensation method with three different forms and the Newton–Raphson-based error compensation method. Firstly, the pose error model of the serial robot is established based on the M-DH model in this paper. The calibration results show that the accuracy of the Staubli TX60 robot has been greatly improved. The average comprehensive position accuracy is increased by 88.7%, and the average comprehensive attitude accuracy is increased by 56.6%. Secondly, the principles of the four error compensation methods are discussed, and the effectiveness of the four error compensation methods are compared through experiments. The results show that the four error compensation methods can achieve error compensation well. The compensation accuracy is consistent with the identification accuracy of the kinematic model. The pseudotarget iteration with differential form has the best performance by the comprehensive consideration of accuracy and computational efficiency. Error compensation determines whether the accuracy of the identified model can be achieved. This paper presents a systematic experimental validation research on the effectiveness of four error compensation methods, which provides a reliable reference for the kinematic error compensation of industrial robots.

New technologies are advancing and emerging day by day to improve the safety of humans by making use of various autonomous technologies. The continuous utilization of autonomous vehicles/systems in search and rescue (SAR) operations is a challenging research area particularly for marine-based activities. A comprehensive systematic literature review (SLR) providing an overview of improvisations that have been done in the field of autonomous technologies for search and rescue operation over the last five years has been compiled in this paper. A methodology for using autonomous vehicles in water for SAR operations has been incorporated and demonstrated. The focus of this study is to look at the various techniques and address different challenges faced for human beings’ safety during rescue operation. The comparison of results achieved for various technologies and algorithms is highlighted in this paper. This literature survey proves to be a good source of information for fellow researchers to precisely analyze the study results.

In this paper, algebraic relations among four kinds of right semi-tensor product (STP) are discussed. Firstly, this paper provides definitions of right STPs, consisting of the first right matrix-matrix STP, the second right matrix-matrix STP, the first right matrix-vector STP, and the second right matrix-vector STP. Secondly, relations among these right STPs are proposed. Finally, the main results show the convertibility of these right STPs.

Lot sizing models involve operational and tactical decisions. These decisions may entail multi-level production processes such as assembly operations with multiple plants and limited capacities. Lot sizing problems are widely recognized as NP-hard problems therefore difficult to solve, especially the ones with multiple plants and capacity constraints. The level of complexity rises to an even higher level when there is an interplant transfer between the plants. This paper presents a Genetic Algorithm (GA) based solution methodology applied to large scale multi-plant capacitated lot sizing problem with interplant transfer (MPCLSP-IT). Although the GA has been a very effective and widely accepted meta-heuristic approach used to solve large scale complex problems, it has not been employed for MPCLSP-IT problem. This paper solves the MPCLSP-IT problem in large scale instances by using a genetic algorithm, and in doing so successfully obtains a better solution in terms of computation time when compared to the results obtained by the other methods such as Lagrangian relaxation, greedy randomized adaptive search procedure (GRASP) heuristics, and GRASP-path relinking techniques used in extant literature.

Extreme learning machine is originally proposed for the learning of the single hidden layer feedforward neural network to overcome the challenges faced by the backpropagation (BP) learning algorithm and its variants. Recent studies show that ELM can be extended to the multilayered feedforward neural network in which the hidden node could be a subnetwork of nodes or a combination of other hidden nodes. Although the ELM algorithm with multiple hidden layers shows stronger nonlinear expression ability and stability in both theoretical and experimental results than the ELM algorithm with the single hidden layer, with the deepening of the network structure, the problem of parameter optimization is also highlighted, which usually requires more time for model selection and increases the computational complexity. This paper uses Cholesky factorization strategy and Givens rotation transformation to choose the hidden nodes of MELM and obtains the number of nodes more suitable for the network. First, the initial network has a large number of hidden nodes and then uses the idea of ridge regression to prune the nodes. Finally, a complete neural network can be obtained. Therefore, the ELM algorithm eliminates the need to manually set nodes and achieves complete automation. By using information from the previous generation’s connection weight matrix, it can be evitable to re-calculate the weight matrix in the network simplification process. As in the matrix factorization methods, the Cholesky factorization factor is calculated by Givens rotation transform to achieve the fast decreasing update of the current connection weight matrix, thus ensuring the numerical stability and high efficiency of the pruning process. Empirical studies on several commonly used classification benchmark problems and the real datasets collected from coal industry show that compared with the traditional ELM algorithm, the pruning multilayered ELM algorithm proposed in this paper can find the optimal number of hidden nodes automatically and has better generalization performance.

In this paper, the problem of the delay-dependent robust H ∞ control for a class of uncertain neutral systems with mixed time-varying delays is studied. Firstly, a robust delay-dependent asymptotic stability criterion is shown by linear matrix inequalities (LMIs) after introducing a new Lyapunov–Krasovskii functional (LKF). The LKF including vital terms is expected to obtain results of less conservatism by employing the technique of various efficient convex optimization algorithms and free matrices. Then, based on the obtained criterion, analyses for uncertain systems and H ∞ controller design are presented. Moreover, on the analysis of the state-feedback controller, different from the traditional method which multiplies the matrix inequality left and right by some matrix and its transpose, respectively, we can obtain the state-feedback gain directly by calculating the LMIs through the toolbox of MATLAB in this paper. Finally, the feasibility and validity of the method are illustrated by examples.

Tool design is one of the key factors that restrict the development of gear skiving technology since the design principle does not correspond to the cutting principle. The existing skiving tool cannot achieve ideal machining accuracy and reasonable cutting angles. In view of this, some research has been done in this paper. Firstly, the skiving principle is investigated essentially according to the skiving motions. Then, the principle of tool design is analyzed based on the theory of conjugate surface, and a new tool design method is proposed to match the skiving principle. For this, all the skiving patterns for various kinds of workpieces are enumerated and summarized to abstract a normalized skiving model. Based on this, the mathematical model of the conjugate surface is then derived to lay the foundation for tool design. Then, the design methods of cutting edge, rake face, and flank face are proposed. An example is presented at last, and the cutting simulation is conducted. The result proves that the proposed methods are correct and valid. The theoretical research in this paper could promote the improvement of skiving tools.

This paper aims to investigate the speed regulation problem for permanent magnet synchronous motor (PMSM) servo systems subject to unknown load torque disturbances. The proposed method utilizes sliding mode control (SMC), invariant manifold theory, and disturbance observation technique. In the PMSM servo systems, the unknown load torques will affect the control performance to a large extent, which is unmatched. In addition, compared with full-state measurement, the output-feedback framework is easy to implement and reduces the sensor costs. However, it is difficult to handle unmatched disturbance and unmeasured states simultaneously. To this end, this paper specifically combines the sliding mode control theory with the invariant manifold theory and puts forward an output-feedback disturbance rejection control method. The key idea is that the unmatched disturbance in the PMSM servo systems is transformed into matched one by taking advantage of the invariant manifold, which is different from existing results. The transformation maintains most of dynamics of the PMSM system for control design, which improves the accuracy. In addition, an extended state observer is designed to estimate the current and lumped disturbance simultaneously; then, the output-feedback SMC method is proposed by introducing the estimations. Besides, the switching gain in the proposed sliding mode controller can change with estimation errors adaptively, and the chattering reduces. Simulation results on a PMSM system validate the effectiveness of the proposed control strategy.

This paper proposes a signal timing scheme through a two-stage fuzzy logic controller. The controller first determines the signal phase and then adjusts the green time. At the first stage, the adaptive membership function of vehicle arrival rate is improved to adapt to the changing traffic flow. In addition to arrival rate and queue vehicles, a specific phase order rule is considered to avoid disordered phase selection in fuzzy control. At the second stage, the green time detection module decides whether to extend the current green time or switch phases every few seconds and the vehicle arrival rate is not required as the input to controller in real-time detection. Differential evolution algorithm with low space complexity and fast convergence is applied to optimize the fuzzy rules for avoiding artificial uncertainty. Simulation experiments are designed to compare traditional fuzzy controller, fixed-time controller, and fuzzy controller without flow prediction. Results show that the current proposed method in this paper can reduce vehicle delay significantly.

This paper focuses on the problem of cooperative game with payoff of vague value and its nucleolus. Firstly, the paper defines the score function and accuracy function of vague sets and the method for ranking of vague sets and proposes the concept of core and nucleolus of vague payoff cooperative game. Based on this, the model of vague payoff cooperative game is built. Then, the relationship between the core and the nucleolus of vague payoff cooperative game is further discussed, and the existence and unique characteristics of the nucleolus are proved. We use the ranking method defined in the paper to transform the problem of finding the nucleolus solution into a nonlinear programming problem. Finally, the paper verifies the feasibility and effectiveness of the method for finding the nucleolus with an experimental analysis.

As an essential data processing technology, cluster analysis has been widely used in various fields. In clustering, it is necessary to select appropriate measures to evaluate the similarity in the data. In this paper, firstly, a cluster center selection method based on the grey relational degree is proposed to solve the problem of sensitivity in initial cluster center selection. Secondly, combining the advantages of Euclidean distance, DTW distance, and SPDTW distance, a weighted distance measurement based on three kinds of reach is proposed. Then, it is applied to Fuzzy C-MeDOIDS and Fuzzy C-means hybrid clustering technology. Numerical experiments are carried out with the UCI datasets. The experimental results show that the accuracy of the clustering results is significantly improved by using the clustering method proposed in this paper. Besides, the method proposed in this paper is applied to the MUSIC INTO EMOTIONS and YEAST datasets. The clustering results show that the algorithm proposed in this paper can also achieve a better clustering effect when dealing with practical problems.

With the rapid development of mechatronics and robotics technology, the application of robots has been extended from the industrial field to daily life and has become an indispensable part of work and daily life. The accuracy and flexibility of the operator determine the operating efficiency of the robot. Although the level of development of the operator is constantly improving, the traditional operator has a simple structure and generally adopts parallel movement or tightening. The holding structure has poor flexibility and stability, making it difficult to achieve precise position capture and control and cannot meet the requirements of delicate tasks. In this paper, a basic force analysis of the manipulator is carried out, and the change trend of the force and driving force of each joint when the manipulator is grasping objects is obtained, so as to determine that the manipulator can grasp the object stably; then, in the strength analysis of the manipulator, it is determined that the material meets the strength requirements. This paper conducts an output voltage experiment on the static performance and coupling error of the mechanical arm wrist force sensor. Secondly, in order to study the influence of the temperature change in the space environment on the zero-point output of the mechanical arm sensor, a high and low temperature test box are used to simulate the temperature brought by the temperature change to the sensor. Experiments show that the maximum coupling error of the sensor is 1.81%, which is less than 2% of the design index. This indicates that the operator sensor is used to detect the force and torque that the space operator’s edge operator experiences when it interacts with the external environment and provides the necessary power sensing information for power control and compatible operator motion control, completing some complex; the Fine project is an important prerequisite for realizing the intelligence of space operators.

"The main object of this paper is to give sufficient conditions for the general integral operator Tn, to be univalent in the open disk U, when gi, hi, ki ∈ Gbi for all i = 1, n. This general integral operator was considered in a recent work [Barbatu, C. and Breaz, D., ˘ Classes of an univalent integral operator, Studia Univ. Babes¸-Bolyai Math., accepted]. The results derived in this paper are shown to follow upon specializing the parameters involved in our results. Several corollaries of the main results are also considered."

Connectivity is a key theory in fuzzy incidence graphs FIGs . In this paper, we introduced connectivity index CI , average connectivity index ACI , and Wiener index WI of FIGs . Three types of nodes including fuzzy incidence connectivity enhancing node FICEN , fuzzy incidence connectivity reducing node FICRN , and fuzzy incidence connectivity neutral node FICNN are also discussed in this paper. A correspondence between WI and CI of a FIG is also computed.

Based on disturbance observer, this paper develops a nonsingular terminal sliding mode control method for uncertain chaotic gyroscope system. Firstly, fuzzy logic system (FLS) is used to estimate the unknown function; then disturbance observer (DOB) is constructed to estimate the mixed disturbance, which consists of the fuzzy estimation error, external disturbance, and dead-zone input error. Subsequently, by using a nonsingular terminal sliding mode function, the control method proposed in this paper can achieve the sliding mode variable approaching a small neighborhood of zero and reduce chattering phenomenon of the tracking error and controller. Finally, comparative simulation results confirm the effectiveness of the method proposed in this paper.

During the long-term operating period, the mechanical parameters of hydraulic structures and foundation deteriorated gradually because of the environmental factors. In order to evaluate the overall safety and durability, these parameters should be calculated by some accurate analysis methods, which are hindered by slow computational efficiency and optimization performance. The improved deep Q-network (DQN) algorithm combined with the deep neural network (DNN) surrogate model was proposed in this paper to ameliorate the above problems. Through the study cases of different zoning in the dam body and the actual engineering foundation, it is shown that the improved DQN algorithm has a good application effect on inversion analysis of material mechanical parameters in this paper.

Based on fuzzy logic systems and prescribed performance technology, this paper investigated the stable tracking problem of a class of nonlinear systems with unknown dead-zone inputs. Firstly, the original system is transformed into an equivalent system. Then, a Nussbaum-type function is added in the predefined performance controller to estimate the unknown control direction, and the boundedness of all signals in the closed-loop system is guaranteed. In addition, tracking errors will always remain within the prescribed performance boundaries. Finally, a comparative simulation example shows the effectiveness of the method proposed in this paper.

In this paper, a disturbance observer-based complementary fractional-order sliding mode control (CFOSMC) scheme is proposed for the permanent magnet synchronous motor (PMSM) drive system. First, to reconstruct the load disturbance and parameter variations, a nonlinear disturbance observer is designed. Next, a disturbance observer-based fractional-order sliding mode with a saturation function control law is designed to reduce the chattering problem in the existing fractional-order sliding mode control (FOSMC) method. Furthermore, to reduce the thickness of the boundary layer, a CFOSMC scheme is designed. By using the fractional-order Lyapunov stability theorem, the existence condition and the chattering problem are analyzed. Compared with the existing FOSMC, the obtained CFOSMC law does not contain any high-order derivatives of tracking error, which is easier to implement. Finally, the numerical simulations and experimental results are provided to show the superiority of the proposed method. To improve the performance of the permanent magnet synchronous motor (PMSM) drive system in terms of tracking rapidity, accuracy, and robustness, a complementary fractional-order sliding mode control (CFOSMC) scheme with disturbance observer is proposed in this paper.

Automated Guided Vehicle (AGV) indoor autonomous cargo handling and commodity transportation are inseparable from AGV autonomous navigation, and positioning and navigation in an unknown environment are the keys of AGV technology. In this paper, the extended Kalman filter algorithm is used to match the sensor observations with the existing features in the map to determine the accurate positioning of the AGV. This paper proposes an improved joint compatibility branch and bound (JCBB) method to divide the data and then randomly extract part of the data in the divided data set, thereby reducing the data association space; then, the JCBB algorithm is used to perform data association and finally merge the associated data. This method can solve the problem of the increased computational complexity of JCBB when the amount of data to be matched is large to achieve the effect of increasing the correlation speed and not reducing the accuracy rate, thereby ensuring the real-time positioning of the AGV.

A simple and effective mechanical parts maintenance approach with lower cost is urgently needed by the cost-sensitive manufactures for traditional excavators (HE). This paper proposes maintenance strategy for hydraulic cylinders (HC) of HE with energy regeneration and recovery system (ERRS). Reliability analysis and FMEA of historical failure data are applied to make maintenance strategy. In this study, the failure data required for reliability analysis are collected from the manufacturers and users over two and a half years, Excel is used as statistical tool, Minitab is used for parameter estimation, and Kolmogorov–Smirnov test is used to reject or accept the hypothesis of the distribution model. The reliability parameters R(t), Rset, and R∗(t) are determined and parameter β∗ is the reference value for making countermeasures and maintenance policies properly for the failure modes of the new HC of HE with ERRS. The purpose of this paper is to make proper maintenance policies and to maintain a high availability level and fulfill the user’s needs for HC, which also paves the way for further reliability study about ERRS.

The optimal control of automatic transmission plays an important role in the shifting smoothness and fuel economy of heavy-duty mining trucks. In this paper, a dynamic model of the powertrain system is built to study the clutch pressure control during the shifting process. A linear-quadratic optimal regulator is used to achieve the optimum control pressure of clutches, where shifting jerk and clutch friction loss are chosen to a form quadratic performance index function. Besides, a detailed solution of the linear-quadratic problem with the disturbance matrix in the state equations is provided. This paper also carries out a software simulation and verification of the normal condition (no load without slope) and the extreme condition (full load with maximum slope). Compared with the preset reference trajectory control, the simulation results show that the proposed optimal clutch pressure control can effectively reduce jerk and friction loss during the shifting process and has good robustness to different operating conditions.

This paper proposes a novel predictive strategy based on a model predictive control (MPC) for the interior permanent magnet synchronous motors (IPMSMs) driven by a three-level simplified neutral-point clamped inverter (3L-SNPC) for electric vehicle applications (EVAs). Based on the prediction of the future behavior of the controlled variables, a predefined multiobjective cost function incorporates the control objectives which are evaluated for every sampling period to generate the optimal switching state applied directly to the inverter without the modulation stage. The control objectives in this paper are tracking current capacity, neutral-point voltage balancing, common-mode voltage control, and switching frequency reduction. The principal concepts of the novel scheme are summarized as follows: first, the delay compensation based on the long horizon of prediction is adopted by a multilevel power converter structure. Second, based on the modified Lyapunov candidate function, both stability and recursive feasibility are ensured of the proposed predictive scheme. Third, the practicability of the real-time implementation is improved by the proposed “static voltage vector” (SVV) and “single state variation” (SSV) principles. Finally, the proposed concepts are implemented in the novel predictive control formulation as additional constraints without compromising the complexity and the good performances of the predictive controller. Therefore, only the switching states that guarantee the stability and the reduction of calculation burden criteria are considered in the evaluation of cost function. The proposed predictive scheme based on the “SVV” principle has demonstrated superior performance in simulation compared with the proposed scheme with the “SSV” principle. The computational burden and switching frequency rates are reduced by 35% and 56.22%, respectively.

With the development of the economic and technology, decision-making problems are more and more complex and uncertain. Experts have difficulty in expressing evaluation information because of different research background and insufficient cognition of knowledge structure. Attribute weight information has been often incomplete in decision-making problems. Considering that nested probabilistic-numerical linguistic term sets (NPNLTSs) are flexible to express qualitative and quantitative information, in this paper, we firstly establish an optimization model based on distance measures to obtain the attribute weight. Combined with a classical decision-making method, an optimization-based TOPSIS method with NPNLTSs is proposed to deal with complex decision-making problems. After that, a case study about the river health assessment is given to show the effectiveness and practicability of the proposed method. Finally, some comparative analysis and discussion are provided from three aspects, including the impact for the results without weight optimization, the impact for the results under other uncertain environments, and the impact for the results using other decision-making methods. As a result, the proposed optimization-based TOPSIS method is effective and reliable. The optimization-based TOPSIS method proposed in this paper provides a new way to deal with uncertain and practical problems, which makes a technically sound contribution to the decision-making field.

In recent years, more and more scientists have been interested in research on driving two-wheel bicycles. The problems in two-wheel bicycle control problem are self-balancing, uncertain models, and the impact of noise. In the paper, to solve the self-balancing problem, we use the flywheel method according to the inverted pendulum principle. To overcome the effects of the uncertain model, the impact of noise, we designed the vehicle balance controller according to the robust control algorithm. However, robust controllers often have a high order, which affects the quality during real control. To simplify the robust controller, we propose the use of a model order reduction algorithm. The simulation and experimental results have proved the correctness of the solutions given in the paper.

Human action recognition is an important part for computers to understand the behavior of people in pictures or videos. In a single image, there is no context information for recognition, so its accuracy still needs to be greatly improved. In this paper, a single-image human action recognition method based on improved ResNet and skeletal keypoints is proposed, and the accuracy is improved by several methods. We improved the backbone network ResNet-50 and CPN to a certain extent and constructed a multitask network to suit the human action recognition task, which not only improves the accuracy but also balances the total number of parameters and solves the problem of large network and slow operation. In this paper, the improvement methods of ResNet-50, CPN, and whole network are tested, respectively. The results show that the single-image human action recognition based on improved ResNet and skeletal keypoints can accurately identify human action in the case of different human movements, different background light, and occlusion. Compared with the original network and the main human action recognition algorithms, the accuracy of our method has its certain advantages.

Linearized model of the system is often used in control design. It is generally believed that we can obtain the linearized model as long as the Taylor expansion method is used for the nonlinear model. This paper points out that the Taylor expansion method is only applicable to the linearization of the original nonlinear function. If the Taylor expansion is used for the derived nonlinear equation, wrong results are often obtained. Taking the linearization model of the maglev system as an example, it is shown that the linearization should be carried out with the process of equation derivation. The model is verified by nonlinear system simulation in Simulink. The method in this paper is helpful to write the linearized equation of the control system correctly.

Beam pumping unit is widely applied in the oilfield area. However, the falling process of the pumping unit horsehead causes large-amplitude variations of the motor torque and greatly reduces the efficiency of the system. This paper proposes a late-model hydraulic-electromotor hybrid system which can realize energy recovery and assist electromotor work. The hybrid system can improve the matching characteristics between the electromotor and the pumping unit. A mathematical model is built and verified by experiment studies. According to the experimental and simulation results, it can be concluded that energy recovery function of the designed hydraulic-electromotor hybrid system is demonstrated to be effective, and the electromotor can keep the output power stable. As the efficiency of the hybrid power system affects the energy-saving effect, this paper establishes the efficiency model of the system and studies the key parameters affecting the efficiency of the system through experiments and simulation. The key parameters include the minimum displacement ratio of the pump and hydraulic motor, working pressure, and transmission ratio. This paper proposes a parameter optimization design method of the hydraulic-electromotor hybrid system. Under the optimal parameter combination, the hydraulic-electromotor hybrid system efficiency can reach 92%, and the electric power transmission efficiency of the system can be raised to 75%.

This paper is focused on a kind of distributed optimal control design for a class of switched nonlinear systems with the state time delay which have a prescribed switching sequence. Firstly, we design a bounded controller to make the system stable for each mode of the nominal system. Then, a distributed optimal controller which can satisfy input constraint is designed based on the bounded stabilization controller. A sufficient condition to guarantee ultimate boundedness of the system is given based on appropriate assumption. The significance of this paper is that distributed optimal control method is applied to switched nonlinear systems with the state time delay. Finally, a simulation example is given to verify the effectiveness of the proposed method.

This paper proposes a U-model-based fault-tolerant controller design method in order to ensure the unmanned aerial vehicle (UAV) flight performance when subject to the actuator failures. Depending on the decoupled quadrotor model, this paper presents a sliding mode control method based on U-model in detail and realizes fault-tolerant control for the quadrotor UAV with the stability theory and simulation experiment verifications. The results show that the new controller designed by using the U-model method can simplify the controller design process which has good fault-tolerant characteristics when actuator faults occur compared with the traditional method.

In this paper, the wheel loader with electrohydraulic proportional control technology is used as the carrier. For the first time, the dual-angle sensor is used for intelligent operation, which allows the wheel loader working device to be precisely controlled. First, the theoretical analysis of the electrohydraulic proportional control technology on the wheel loader studied in this paper is carried out. Next, according to the feedback of the boom and bucket angle sensor signals, the electrohydraulic proportional control technology is used to initially realize the boom memory and bucket automatic levelling function of the wheel loader working device. Finally, the data acquisition equipment is connected to provide experimental verification, although the test results did not achieve precise control of the working device. After analysis, the detected problems were solved by constructing a neural network algorithm model, which successfully realizes the intelligent and precise operation of the wheel loader, reducing unnecessary energy loss.

Insolvency risk measures play important role in the theory and practice of risk management. In this paper, we provide a numerical procedure to compute vectors of their exact values and prove for them new upper and/or lower bounds which are shown to be attainable. More precisely, we investigate a general insolvency risk measure for a regime-switching Sparre Andersen model in which the distributions of claims and/or wait times are driven by a Markov chain. The measure is defined as an arbitrary increasing function of the conditional expected harm of the deficit at ruin, given the initial state of the Markov chain. A vector-valued operator L, generated by the regime-switching process, is introduced and investigated. We show a close connection between the iterations of L and the risk measure in a finite horizon. The approach assumed in the paper enables to treat in a unified way several discrete and continuous time risk models as well as a variety of important vector-valued insolvency risk measures.

In this paper, zero duality gap conditions in nonconvex optimization are investigated. It is considered that dual problems can be constructed with respect to the weak conjugate functions, and/or directly by using an augmented Lagrangian formulation. Both of these approaches and the related strong duality theorems are studied and compared in this paper. By using the weak conjugate functions approach, special cases related to the optimization problems with equality and inequality constraints are studied and the zero duality gap conditions in terms of objective and constraint functions, are established. Illustrative examples are provided.

The nonlinear time-delay dynamic absorber has a good control effect on the main system under harmonic excitation, but the control effect on the main system under complicated excitation is not obvious. In the previous study, they do not have an effective method to obtain the time-delay control parameters under different external excitations. Because of the above problems, this paper proposed an innovative method to obtain the control parameters of time-delay dynamic absorbers. For the vibration system including the nonlinear time-delay dynamic absorber, the transient time-integration method was used to solve the nonlinear delay dynamic differential equation of the system under the specific excitation. Then, the quantitative relationship was established between the time-domain responses of the vibration system, the external excitation, and time-delay control parameters. The time-delay control parameters would be obtained when the time-domain response of the main system is minimized under specific excitation using an algorithm that continuously compares the objective function that is related to the time-domain response of the main system. This paper took the two-degree-of-freedom vibration system with a nonlinear time-delay dynamic absorber as the target system to simulate the time-domain response of the main system. The simulation results show that the time-delay control parameters calculated by the new method can obtain significant vibration reduction effects for both harmonic excitation and multiharmonic excitation. The suppression performance of the nonlinear time-delay dynamic absorber is significantly improved.

In the present paper, for intelligent constructing efficient (optimal, uniformly non-dominated, unbiased, improved) statistical decisions under parametric uncertainty, a new technique of invariant embedding of sample statistics in a decision criterion and averaging this criterion over pivots’ probability distributions is proposed. This technique represents a simple and computationally attractive statistical method based on the constructive use of the invariance principle in mathematical statistics. Unlike the Bayesian approach, the technique of invariant statistical embedding and averaging via pivotal quantities (ISE&APQ) is independent of the choice of priors and represents a novelty in the theory of statistical decisions. It allows one to eliminate unknown parameters from the problem and to find the efficient statistical decision rules, which often have smaller risk than any of the well-known decision rules. The aim of the present paper is to show how the technique of ISE&APQ may be employed in the particular case of optimization, estimation, or improvement of statistical decisions under parametric uncertainty. To illustrate the proposed technique of ISE&APQ, illustrative examples of intelligent constructing exact statistical tolerance limits for prediction of future outcomes coming from log-location-scale distributions under parametric uncertainty are given

This paper proposed a cubic spline interpolation-based path planning method to maintain the smoothness of moving the robot’s path. Several path nodes were selected as control points for cubic spline interpolation. A full path was formed by interpolating on the path of the starting point, control points, and target point. In this paper, a novel chaotic adaptive particle swarm optimization (CAPSO) algorithm has been proposed to optimize the control points in cubic spline interpolation. In order to improve the global search ability of the algorithm, the position updating equation of the particle swarm optimization (PSO) is modified by the beetle foraging strategy. Then, the trigonometric function is adopted for the adaptive adjustment of the control parameters for CAPSO to weigh global and local search capabilities. At the beginning of the algorithm, particles can explore better regions in the global scope with a larger speed step to improve the searchability of the algorithm. At the later stage of the search, particles do fine search around the extremum points to accelerate the convergence speed of the algorithm. The chaotic map is also used to replace the random parameter of the PSO to improve the diversity of particle swarm and maintain the original random characteristics. Since all chaotic maps are different, the performance of six benchmark functions was tested to choose the most suitable one. The CAPSO algorithm was tested for different number of control points and various obstacles. The simulation results verified the effectiveness of the proposed algorithm compared with other algorithms. And experiments proved the feasibility of the proposed model in different dynamic environments.

It has been stated that Industry 4.0’s goal is, among others, the sustainable success in a market characterized by exigent and informed consumers demanding personalized products and services, where the level of manufacturing complexity increases with level of product customization. Even though different manufacturing complexity measures have been developed, there seems to be a lack of a comprehensive metric that address both the mass customization variety-induced complexity, and the complexity derived from the adoption of the Industry 4.0 paradigm. The main original contribution of this paper is the development of an entropy-based (entropic) formulation to address this last issue. Its validity and usefulness is put to the test via a discrete-event simulation study of a mass customization production system operating within an Industry 4.0 context. Our findings show that the entropic formulation acts as a fairly good trend indicator of the system’s performance parameter increase/decrease, but not as an estimator of the final values. A discussion of the managerial implications of the obtained results is offered at the end of the paper.

This paper is the summary and enhancement of the previous studies on dynamic output feedback robust model predictive control (MPC) for the linear parameter varying model (described in a polytope) with additive bounded disturbance. When the state is measurable and there is no bounded disturbance, the robust MPC has been developed with several paradigms and seems becoming mature. For the output feedback case for the LPV model with bounded disturbance, we have published a series of works. Anyway, it lacks a unification of these publications. This paper summarizes the existing results and exposes the ideas in a unified framework. Indeed there is a long way to go for the output feedback case for the LPV model with bounded disturbance. This paper can pave the way for further research on output feedback MPC.

The paper presents a new mathematical model of TCP (Transmission Control Protocol) link functioning in a heterogeneous (wired/wireless) channel. It represents a controllable, partially observable stochastic dynamic system. The system state describes the status of the modeled TCP link and expresses it via an unobservable controllable MJP (Markov jump process) with finite-state space. Observations are formed by low-frequency counting processes of packet losses and timeouts and a high-frequency compound Poisson process of packet acknowledgments. The information transmission through the TCP-equipped channel is considered a stochastic control problem with incomplete information. The main idea to solve it is to impose the separation principle on the problem. The paper proposes a mathematical framework and algorithmic support to implement the solution. It includes a solution to the stochastic control problem with complete information, a diffusion approximation of the high-frequency observations, a solution to the MJP state filtering problem given the observations with multiplicative noises, and a numerical scheme of the filtering algorithm. The paper also contains the results of a comparative study of the proposed state-based congestion control algorithm with the contemporary TCP versions: Illinois, CUBIC, Compound, and BBR (Bottleneck Bandwidth and RTT).

The present paper deals with a class of second-order PDE constrained controlled optimization problems with application in Lagrange–Hamilton dynamics. Concretely, we formulate and prove necessary conditions of optimality for the considered class of control problems driven by multiple integral cost functionals involving second-order partial derivatives. Moreover, an illustrative example is provided to highlight the effectiveness of the results derived in the paper. In the final part of the paper, we present an algorithm to summarize the steps for solving a control problem such as the one investigated here.

In this paper, the time-varying formation tracking problem of the general linear multi-agent system is discussed. A distributed formation tracking protocol based on Riccati inequalities with adaptive coupling weights among the follower agents and the leader agent is designed for a leader-following multi-agent system under fixed and switching topologies. The formation configuration involved in this paper is expressed as a bounded piecewise continuously differentiable vector function. The follower agents will achieve the desired formation tracking trajectory of the leader. In traditional static protocols, the coupling weights depend on the communication topology and is a constant. However, in this paper, the coupling weights are updated by the state errors among the neighboring agents. Moreover, the stability analysis of the MAS under switching topology is presented, and proves that the followers also could achieve pre-specified time-varying formation, if the communication graph is jointly connected. Two numerical simulations indicate the capabilities of the algorithms.

In decision-making process, decision-makers may make different decisions because of their different experiences and knowledge. The abnormal preference value given by the biased decision-maker (the value that is too large or too small in the original data) may affect the decision result. To make the decision fair and objective, this paper combines the advantages of the power average (PA) operator and the Bonferroni mean (BM) operator to define the generalized fuzzy soft power Bonferroni mean (GFSPBM) operator and the generalized fuzzy soft weighted power Bonferroni mean (GFSWPBM) operator. The new operator not only considers the overall balance between data and information but also considers the possible interrelationships between attributes. The excellent properties and special cases of these ensemble operators are studied. On this basis, the idea of the bidirectional projection method based on the GFSWPBM operator is introduced, and a multi-attribute decision-making method, with a correlation between attributes, is proposed. The decision method proposed in this paper is applied to a software selection problem and compared to the existing methods to verify the effectiveness and feasibility of the proposed method.

The paper is devoted to the guaranteeing estimation of parameters in the uncertain stochastic nonlinear regression. The loss function is the conditional mean square of the estimation error given the available observations. The distribution of regression parameters is partially unknown, and the uncertainty is described by a subset of probability distributions with a known compact domain. The essential feature is the usage of some additional constraints describing the conformity of the uncertain distribution to the realized observation sample. The paper contains various examples of the conformity indices. The estimation task is formulated as the minimax optimization problem, which, in turn, is solved in terms of saddle points. The paper presents the characterization of both the optimal estimator and the set of least favorable distributions. The saddle points are found via the solution to a dual finite-dimensional optimization problem, which is simpler than the initial minimax problem. The paper proposes a numerical mesh procedure of the solution to the dual optimization problem. The interconnection between the least favorable distributions under the conformity constraint, and their Pareto efficiency in the sense of a vector criterion is also indicated. The influence of various conformity constraints on the estimation performance is demonstrated by the illustrative numerical examples.

Gravity and flexibility will cause fluctuations of the rotation angle in the servo system for flexible manipulators. The fluctuation will seriously affect the motion accuracy of end-effectors. Therefore, this paper adopts a control method combining the RBF (Radial Basis Function) neural network and pole placement strategy to suppress the rotation angle fluctuations. The RBF neural network is used to identify uncertain items caused by the manipulator’s flexibility and the time-varying characteristics of dynamic parameters. Besides, the pole placement strategy is used to optimize the PD (Proportional Differential) controller’s parameters to improve the response speed and stability. Firstly, a dynamic model of flexible manipulators considering gravity is established based on the assumed mode method and Lagrange’s principle. Then, the system’s control characteristics are analyzed, and the pole placement strategy optimizes the parameters of the PD controllers. Next, the control method based on the RBF neural network is proposed, and the Lyapunov stability theory demonstrates stability. Finally, numerical analysis and control experiments prove the effectiveness of the control method proposed in this paper. The means and standard deviations of rotation angle error are reduced by the control method. The results show that the control method can effectively reduce the rotation angle error and improve motion accuracy.

The dataset distribution of actual logging is asymmetric, as most logging data are unlabeled. With the traditional classification model, it is hard to predict the oil and gas reservoir accurately. Therefore, a novel approach to the oil layer recognition model using the improved whale swarm algorithm (WOA) and semi-supervised support vector machine (S3VM) is proposed in this paper. At first, in order to overcome the shortcomings of the Whale Optimization Algorithm applied in the parameter-optimization of the S3VM model, such as falling into a local optimization and low convergence precision, an improved WOA was proposed according to the adaptive cloud strategy and the catfish effect. Then, the improved WOA was used to optimize the kernel parameters of S3VM for oil layer recognition. In this paper, the improved WOA is used to test 15 benchmark functions of CEC2005 compared with five other algorithms. The IWOA–S3VM model is used to classify the five kinds of UCI datasets compared with the other two algorithms. Finally, the IWOA–S3VM model is used for oil layer recognition. The result shows that (1) the improved WOA has better convergence speed and optimization ability than the other five algorithms, and (2) the IWOA–S3VM model has better recognition precision when the dataset contains a labeled and unlabeled dataset in oil layer recognition.