Search Results (33)

Parkinson’s disease (PD) is a neurodegenerative disorder and always results in balance loss. Although studies in lower-extremity exoskeleton robots are ample, applications with a lower-extremity exoskeleton robot for PD patients are still challenging. This paper aims to develop an effective assistive control for PD patients with a lower-extremity exoskeleton robot to maintain standing balance while being subjected to external disturbances. When an external force is applied to participants to force them to lose balance, the hip strategy for balance recovery based on the zero moment point (ZMP) metrics is used to generate a reference trajectory of the hip joint, and then, a model-free linear extended state observer (LESO)-based fuzzy sliding mode control (FSMC) is synthesized to regulate the human body to recover balance. Balance recovery trials for healthy individuals and PD patients with and without exoskeleton assistance were conducted to evaluate the performance of the proposed exoskeleton robot and balance recovery strategy. Our experiments demonstrated the potential effectiveness of the proposed exoskeleton robot and controller for standing balance recovery control in PD patients. Full article

To improve the path-following performance of autonomous underwater vehicles (AUVs) under ocean currents, a control method based on line-of-sight with fuzzy controller (FLOS) guidance and the fuzzy sliding mode controller (FSMC) is proposed. This method considers multiple factors affecting guidance and adaptively determines the optimal heading angle through the fuzzy controller to enhance guidance capability. Additionally, a novel FSMC based on Lyapunov stability theory is designed to suppress the influence of model uncertainty and external disturbances on the control system. Simulations and experiments of the proposed control method demonstrate that it can maintain precise tracking under disturbances, improving path-following performance metrics by more than 15%. Full article

Addressing the challenges of significant speed overshoot, stability issues, and system oscillations associated with the sliding mode control (SMC) strategy in maximum power point tracking (MPPT) for permanent magnet synchronous wind power systems, this paper introduces a fuzzy sliding mode control (FSMC) method employing an innovative exponential convergence law. By incorporating a velocity adjustment function into the traditional exponential convergence law, a novel convergence law was designed to mitigate oscillations during the sliding phase and expedite the convergence rate. Additionally, a fuzzy controller was developed to implement a fuzzy adaptive SMC strategy, optimizing the MPPT for permanent magnet synchronous wind power generation systems. Simulation results indicated that this approach offered a faster response and superior interference rejection capabilities, compared to conventional and modified SMC strategies. The improved FSMC strategy demonstrated a swift, dynamic response and excellent steady-state performance, improving the efficiency of MPPT, thus confirming the effectiveness of the proposed method. Full article

The microbial fuel cell (MFC) is a renewable energy technology that utilizes the oxidative decomposition processes of anaerobic microorganisms to convert the chemical energy in organic matter, such as wastewater, sediments, or other biomass, into electrical power. This technology is not only applicable to wastewater treatment but can also be used for resource recovery from various organic wastes. The MFC usually requires an external controller that allows it to operate under controlled conditions to obtain a stable output voltage. Therefore, the application of a PID controller to the MFC is proposed in this paper. The design phase for this controller involves the identification of three parameters. Although the particle swarm optimization (PSO) algorithm is an advanced optimization algorithm based on swarm intelligence, it suffers from issues such as unreasonable population initialization and slow convergence speed. Therefore, this paper proposes an improved particle swarm algorithm based on the Golden Sine Strategy (GSCPSO). Using Circle chaotic mapping to make the distribution of the initial population more uniform, and then using the Golden Sine Strategy to improve the position update formula, not only improves the convergence speed of the population but also enhances convergence precision. The GSCPSO algorithm is applied to execute the described design process. The results of the simulation show that the designed control method exhibits smaller steady-state error, overshoot, and chattering compared with sliding-mode control (SMC), backstepping control, fuzzy SMC (FSMC), PSO-PID, and CPSO-PID. Full article

Multi-motor servo systems are widely used in industrial control. However, the single-core microprocessor architecture based on the microcontroller unit (MCU) and digital signal processor (DSP) is not well suited for high-performance multi-motor servo systems due to the inherent limitations in computing performance and serial execution of code. The bus-based distributed architecture formed by interconnecting multiple unit controllers increases system communication complexity, reduces system integration, and incurs additional hardware and software costs. Field programmable gate array (FPGA) possesses the characteristics of high real-time performance, parallel processing, and modularity. A single FPGA can integrate multiple motor servo controllers. This research uses MCU + FPGA as the core to realize high-precision multi-axis real-time control, combining the powerful performance of the MCU processor and the high-speed parallelism of FPGA. The MCU serves as the central processor and facilitates data interaction with the host computer through the controller area network (CAN). After data parsing and efficient computation, MCU communicates with the FPGA through flexible static memory controller (FSMC). A motor servo controller intellectual property (IP) core is designed and packaged for easy reuse within the FPGA. A 38-axis micro direct current (DC) motor control system is constructed to test the performance of the IP core and the heterogeneous embedded platforms. The experimental results show that the designed IP core exhibits robust functionality and scalability. The system exhibits high real-time performance and reliability. Full article

Background and Objective: Pregnancy in mothers with multiple sclerosis (MS) commonly results in significant changes in disease activity and changes in clinical care, including the discontinuation of disease modifying therapy (DMT). This study aimed at understanding the clinical and patient-reported outcomes (PROs) before, during and 1-year after delivery. Materials and Methods: A total of 30 pregnant mothers with MS were recruited as part of the study. Clinical (relapse activity and disability changes), PRO information and MRI outcomes were collected on four separate visits: one baseline visit—0–30 days post-delivery; and 3 follow-up visits at week 24, week 36 and week 52 from the baseline. PRO was assessed using a validated questionnaire called the Fatigue Scale for Motor and Cognitive Function (FSMC). The MRI scans were analyzed, and the count of new T2 lesions and/or contrast-enhancing lesions was determined. Results: The average time between delivery and the start of DMT was 142.5 days. Relapse activity before the pregnancy was numerically linked with the activity during the pregnancy, where up to 57.1% of the activity during pregnancy occurred in pwMS with previously active disease before conception (statistically trending with p = 0.073). The relapse activity after the pregnancy occurred twice as often in pwMS whose MS was clinically active before conception. All five pwMS who experienced a relapse prior to the pregnancy experienced worsening in their physical PRO domain. Conclusions: Pre-pregnancy activity is crucial in the screening of mothers with MS at risk for post-partum relapses, worsening of clinical disability and/or PRO measures. A post-partum MS period may benefit from the routine PRO utilization and screening for its worsening. The inflammatory activity during pregnancy was not associated with short-term disease progression. Full article

The shearer is an important component of the smart mining workface, and its effective control is a key aspect that guarantees safe and high-efficient production in coal mines. To address the issue of autonomous height adjustment during the shearer’s cutting process, a self-adaptive speed control method driven by digital twin technology is proposed. A digital twin-based control architecture for the shearer is first established, which consists of physical and the corresponding virtual entities, as well as reality–virtual interaction between them. Based on the mathematic model formulated for height adjustment system of the shearer, an adaptive fuzzy sliding mode controller (AFSMC) with the displacement estimation is designed for the virtual entity, with the purpose of guiding the operation of the corresponding physical entity. Simulation experiments on MATLAB compares the control performance among the proposed method and four comparative ones, including PID controller, integral sliding mode controller (ISMC), feedback linearization controller (FLC), and fuzzy sliding mode controller (FSMC). The experimental results confirm the effectiveness of the proposed AFSMC. More specifically, its steady-state error is 0.024, the maximum absolute control input is 8.43, and the settling time is 1.74 s. This also proves that the digital twin-based control method enables the precise adaptive height adjustment of the shearer, providing potential reference for the intelligent development of a smart mining workface. Full article

Evolutionary economics has been instrumental in explaining the nature of innovation processes and providing valuable heuristics for applied research. However, quantitative tests in this field remain scarce. A significant challenge is accurately estimating the fitness of companies. We propose the estimation of the financial fitness of a company by its market capitalization (MC) time series using Malthusian fitness and the selection equation of evolutionary biology. This definition of fitness implies that all companies, regardless of their industry, compete for investors’ money through their stocks. The resulting fluctuating selection from market capitalization (FSMC) formula allows forecasting companies’ shares of total MC through this selection equation. We validate the method using the daily MC of public-owned Fortune 100 companies over the period 2000–2021. Full article

Three years after the SARS-CoV-19 pandemic, a chronic post-COVID syndrome “LONG COVID” persists, causing fatigue and shortness of breath, along with distress, anxiety, and depression. Aim: To assess the impact of physical activity on the management and rehabilitation of LONG COVID, as well as to investigate the persistence of LONG COVID symptomatology in individuals over 40 years, beyond the pandemic. Methods: A total of 1004 participants (aged 53.45 ± 11.35) were recruited through an online snowball sampling strategy to complete a web-based survey. The following questionnaires were administered: Physical Activity Scale for Elderly (PASE), Shortness of Breath Questionnaire (SOBQ), Patient Health Questionnaire-9 item (PHQ-9), Generalized Anxiety Disorder 7-item (GAD-7), and Fatigue Scale for Motor and Cognitive Functions (FSMC). Results: Significant gender differences were discovered, with women reporting higher symptoms than men (p < 0.001). Significant age differences were also found, with participants under 55 showing higher values than those over 55 (p < 0.001). No significant differences were found between aerobic and mixed physical activity (p > 0.05) while significant results emerged between physical activity groups and the no activity group (p < 0.001). The low-frequency group reported higher symptoms than the high-frequency group (all ps < 0.001). Conclusion: Regardless of the type of physical activity performed, our survey identified the frequency of training as a crucial factor to overcome LONG COVID symptoms; the challenge lies in overcoming the difficulties due to the persistent feelings of inefficiency and fatigue typical of those who have contracted the infection. Full article

Time-varying nonlinear external disturbances, as well as uncertainties in model and hydrodynamic parameters, make remotely operated vehicles (ROVs) trajectory tracking control complex and difficult. To solve this problem, this paper proposes a fast sliding mode controller with a fixed-time disturbance observer (FSMC-FDO), which consists of a sliding mode controller based on a fast reaching law and a novel fixed-time disturbance observer. The FSMC can solve the contradiction between system response time and chatter amplitude in sliding mode control. The FDO can compensate for time-varying external disturbances. The Lyapunov theory is used to prove the stability of the entire control scheme. Simulation results show that FSMC-FDO exhibits a good trajectory tracking performance with a better robustness than the conventional sliding mode control (CSMC) on the basis of exponential reaching law (ERL), while significantly reducing chatter. Full article

This paper focuses on the speed control of a permanent magnet synchronous motor (PMSM) for electric drives with model uncertainties and external disturbances. Conventional sliding mode control (CSMC) can only converge asymptotically in the infinite domain and will cause unacceptable sliding mode chattering. To improve the performance of the PMSM speed loop in terms of response speed, tracking accuracy, and robustness, a hybrid control strategy for a fixed-time-convergent sliding mode controller (FSMC) with a fixed-time-convergent sliding mode observer (FSMO) is proposed for PMSM speed regulation using the fixed-time control theory. Firstly, the FSMC is proposed to improve the convergence speed and robustness of the speed loop, which can converge to the origin within a fixed time independent of the initial conditions. Then, the FSMO is used as a compensator to further enhance the robustness of the speed loop and attenuate sliding mode chattering. Finally, simulation and experimental results show that the proposed method can effectively improve the dynamic performance and robustness of the PMSM speed control system. Full article

In order to improve the efficiency of agricultural machinery operations and reduce production costs, this article proposes a path planning algorithm based on the improved A* algorithm (IA*) and a tracking controller based on fuzzy sliding mode variable structure control (F-SMC) to meet the operation requirements of tracked agricultural machinery. Firstly, we introduce a heuristic function with variable weights, a penalty, and a fifth-order Bezier curve to make the generated path smoother. On this basis, the ant colony algorithm is introduced to further optimize the obtained path. Subsequently, based on fuzzy control theory and sliding mode variable structure control theory, we established a kinematic model for tracked agricultural machinery as the control object, designed a fuzzy sliding mode approaching law, and preprocessed it to reduce the time required for sliding mode control to reach the chosen stage. The simulation experiment of path planning shows that compared with A*, the average reduction rate of the path length for IA* is 5.51%, and the average reduction rate of the number of turning points is 39.01%. The path tracking simulation experiment shows that when the driving speed is set to 0.2 m/s, the adjustment time of the F-SMC controller is reduced by 0.99 s and 1.42 s compared to the FUZZY controller and PID controller, respectively. The variance analysis of the adjustment angle shows that the minimum variance of the F-SMC controller is 0.086, and the error converges to 0, proving that the vehicle trajectory is smoother and ultimately achieves path tracking. The field test results indicate that the path generated by the IA* algorithm can be tracked by the F-SMC controller in the actual environment. Compared to the A* algorithm and FUZZY controller, the path tracking time reduction rate of IA* and F-SMC is 29.34%, and the fuel consumption rate is reduced by 2.75%. This study is aimed at providing a feasible approach for improving the efficiency of tracked agricultural machinery operations, reducing emissions and operating costs. Full article

The cortical silent period (CSP), assessed with transcranial magnetic stimulation (TMS), provides insights into motor cortex excitability. Alterations in the CSP have been observed in multiple sclerosis (MS), although a comparison of the sometimes contradictory results is difficult due to methodological differences. The aim of this study is to provide a more profound neurophysiological understanding of fatigue’s pathophysiology and its relationship to the CSP. Twenty-three patients with MS, along with a matched control group, underwent comprehensive CSP measurements at four intensities (125, 150, 175, and 200% resting motor threshold), while their fatigue levels were assessed using the Fatigue Scale for Motor and Cognitive Functions (FSMC) and its motor and cognitive subscore. MS patients exhibited a significantly increased CSP duration compared to controls (p = 0.02), but CSP duration was not associated with the total FSMC, or the motor or cognitive subscore. Our data suggest a systematic difference in MS patients compared to healthy controls in the CSP but no association with fatigue when measured with the FSMC. Based on these results, and considering the heterogeneous literature in the field, our study highlights the need for a more standardized approach to neurophysiological data collection and validation. This standardization is crucial for exploring the link between TMS and clinical impairments in diseases like MS. Full article

The shift towards sustainable energy sources is gaining momentum due to their environmental cleanliness, abundant availability, and eco-friendly characteristics. Solar energy, specifically harnessed through photovoltaic (PV) systems, emerges as a clean, abundant, and environmentally friendly alternative. However, the efficacy of PV systems is subjective depending on two critical factors: irradiance and temperature. To optimize power output, maximum power point tracking (MPPT) strategies are essential, allowing operation at the system’s optimal point. In the presence of partial shading, the power–voltage curve exhibits multiple peaks, yet only one global maximum power point (GMPP) can be identified. Existing algorithms for GMPP tracking often encounter challenges, including overshooting during transient periods and chattering during steady states. This study proposes the utilization of fuzzy sliding mode controllers (FSMC) and fuzzy proportional-integral (FPI) control to enhance global MPPT reference tracking under partial shading conditions. Additionally, the system’s performance is evaluated considering potential sensor malfunctions. The proposed techniques ensure precise tracking of the reference voltage and maximum power in partial shading scenarios, facilitating rapid convergence, improved system stability during transitions, and reduced chattering during steady states. The usefulness of the proposed scheme is confirmed through the use of performance indices. FSMC has the lowest integral absolute error (IAE) of 946.94, followed closely by FPI (947.21), in comparison to the sliding mode controller (SMC) (1241.6) and perturb and observe (P&O) (2433.1). Similarly, in integral time absolute error (ITAE), FSMC (56.84) and FPI (57.06) excel over SMC (91.03) and P&O (635.50). Full article

This paper suggests a hierarchical coordination control strategy to enhance the stability of distributed drive electric bus. First, an observer based on sliding mode observer (SMO) and adaptive neural fuzzy inference system (ANFIS) was designed to estimate the vehicle state parameters. Then the upper layer of the strategy primarily focuses on coordinating active front steering (AFS) and direct yaw moment control (DYC). The phase plane method is utilized in this layer to provide an assessment basis for the switching control safety of AFS and DYC. The lower layer of the strategy designs an integral terminal sliding mode controller (ITSMC) and a non-singular fast terminal sliding mode controller (NFTSMC) to obtain the optimal additional front wheel steering angle to improve handling performance. A fuzzy sliding mode controller (FSMC) is also proposed to obtain additional yaw moment to ameliorate yaw stability. Finally, the strategy proposed in this paper is subjected to simulation testing and compared with the performance of AFS and DYC systems. The proposed strategy is also evaluated for tracking errors in sideslip angle and yaw rate under two conditions. The results demonstrate that the proposed strategy can effectively adapt to various extreme environments and improve the maneuvering and yaw stability of the bus. Full article