Search Results (42,642)

This paper presents the simulation and controller optimization of a quadrotor Unmanned Aerial Vehicle (UAV) system. The quadrotor model is derived adopting the Newton-Euler approach, and is intended to be constituted by four three-phase Permanent Magnet Synchronous Motors (PMSM) controlled with a velocity control loop-based Field Oriented Control (FOC) technique. The Particle Swarm Optimization (PSO) algorithm is used to tune the parameters of the PID controllers of quadrotor height, quadrotor attitude angles, and PMSMs’ rotational speeds, which represent the eight critical parameters of the PMSM-quadrotor UAV system. The PSO algorithm is designed to optimize eight Square Error (SE) cost functions which quantify the error dynamics of the controlled variables. For each stabilization task, the PID tuning is divided in two phases. Firstly, the PSO optimizes the error dynamics of altitude and attitude angles of the quadrotor UAV. Secondly, the desired steady-state rotational speeds of the PMSMs are derived, and the PSO is used to optimize the motors’ dynamics. Finally, the complete PMSM-Quadrotor UAV system is simulated for stabilization during the target task. The study is carried out by means of simulations in MATLAB/Simulink^®. Full article

This study presents a system for precisely measuring pulsed magnetic fields with high amplitude and microsecond duration with minimal interference. The system comprises a probe with an advanced magnetic field sensor and a measurement unit for signal conversion, analysis, and digitization. The sensor uses a thin nanostructured manganite La-Sr-Mn-O film exhibiting colossal magnetoresistance, which enables precise magnetic field measurement independent of its orientation. Films with different compositions were optimized and tested in pulsed magnetic fields. The measurement unit includes a pulsed voltage generator, an ADC, a microcontroller, and an amplifier unit. Two versions of the measurement unit were developed: one with a separate amplifier unit configured for the sensor positioned more than 1 m away from the measurement unit, and the other with an integrated amplifier for the sensor positioned at a distance of less than 0.5 m. A bipolar pulsed voltage supplying the sensor minimized the parasitic effects of the electromotive force induced in the probe circuit. The data were transmitted via a fiber optic cable to a PC equipped with a special software for processing and recording. Tests with 20–30 μs pulses up to 15 T confirmed the effectiveness of the system for measuring high pulsed magnetic fields. Full article

Learning high-dimensional chaos is a complex and challenging problem because of its initial value-sensitive dependence. Based on an echo state network (ESN), we introduce homotopy transformation in topological theory to learn high-dimensional chaos. On the premise of maintaining the basic topological properties, our model can obtain the key features of chaos for learning through the continuous transformation between different activation functions, achieving an optimal balance between nonlinearity and linearity to enhance the generalization capability of the model. In the experimental part, we choose the Lorenz system, Mackey–Glass (MG) system, and Kuramoto–Sivashinsky (KS) system as examples, and we verify the superiority of our model by comparing it with other models. For some systems, the prediction error can be reduced by two orders of magnitude. The results show that the addition of homotopy transformation can improve the modeling ability of complex spatiotemporal chaotic systems, and this demonstrates the potential application of the model in dynamic time series analysis. Full article

This paper addresses the features and limits of the principles and means that provide and support the design of motion control for industrial stationary articulated robots and their involvement in cyber-physical factories as part of the Industry 4.0 concept. The proposed methods are presented herein, from the modelling of kinematics and dynamics considering ideal rigid bodies and principles of classical mechanics, to their application in the design of conventional cascade control and advanced model-based control and use within commercial software tools. The paper demonstrates the modelling principles adapted for control design where a specific novel hierarchical control configuration is outlined. There is an introduction of possible software tools such as Simscape, Robotics Systems Toolbox, RT Toolbox, CIROS and others. It includes the specific aim of the rapid prototyping of robot motion control, which is intended for user development and tuning. In conjunction with conveyor belts, robots-manipulators are essential for cyber-physical factories built on the concept of Industry 4.0. The concept of Industry 4.0 is discussed in respect to the proposed algorithms and software means. Full article

The multivariate Vasicek model is commonly used to capture mean-reverting dynamics typical for short rates, asset price stochastic log-volatilities, etc. Reparametrizing the discretized problem as a VAR(1) model, the parameters are oftentimes estimated using the multivariate least squares (MLS) method, which can be susceptible to outliers. To account for potential model violations, a maximum trimmed likelihood estimation (MTLE) approach is utilized to derive a system of nonlinear estimating equations, and an iterative procedure is developed to solve the latter. In addition to robustness, our new technique allows for reliable recovery of the long-term mean, unlike existing methodologies. A set of simulation studies across multiple dimensions, sample sizes and robustness configurations are performed. MTLE outcomes are compared to those of multivariate least trimmed squares (MLTS), MLE and MLS. Empirical results suggest that MTLE not only maintains good relative efficiency for uncontaminated data but significantly improves overall estimation quality in the presence of data irregularities. Additionally, real data examples containing daily log-volatilities of six common assets (commodities and currencies) and US/Euro short rates are also analyzed. The results indicate that MTLE provides an attractive instrument for interest rate forecasting, stochastic volatility modeling, risk management and other applications requiring statistical robustness in complex economic and financial environments. Full article

The building sector accounts for one-third of global greenhouse gas emissions, representing a significant environmental challenge in the 21st century. Green supply chain management is considered an effective approach to achieving green transformation in the construction industry. However, the green building supply chain (GBSC) involves multiple stakeholders, necessitating integrated consideration of various participants to ensure efficient GBSC implementation. In this context, and accounting for consumer green preferences, this paper identifies the government, enterprises, and consumers as key stakeholders. A tripartite evolutionary game model is established, and the influence of the participants’ strategic choices on the system equilibrium is analyzed. The model’s validity was assessed through sensitivity analysis and by comparing its outputs with findings from the existing literature. The findings show that: (1) Significant interdependence exists among GBSC participants. (2) The system will eventually tend toward an equilibrium characterized by active enterprise implementation and consumer green consumption, reducing the need for government intervention. (3) The sensitivity analysis shows that green consumption is significantly affected by the extra cost and perceived environmental benefits. These conclusions suggest that governments should build a collaborative governance system, implement dynamic and precise supervision of enterprises in stages, and optimize the incentive design for consumers to promote the implementation of the green building supply chain. Full article

We investigate the evolution of a set of viscous rings, solving a diffusion-like evolution equation in the (Keplerian disk) Newtonian regime. The Lynden-Bell and Pringle approach for a single disk regime is applied to a disk with a ring profile mimicking a set of orbiting viscous rings. We discuss the time evolution of the disk, adopting different initial wavy (ringed) density profiles. Four different stages of the ring-cluster evolution are distinguished. In the second part of this analysis, we also explore the general relativistic framework by investigating the time evolution of composed systems of general relativistic co-rotating and counter-rotating equatorial disks orbiting a central Kerr black hole for faster spinning and slowly spinning black holes. In the sideline of this analysis, we consider a modified viscosity prescription mimicking an effective viscosity in the general relativistic ring interspace acting in the early phases of the rings’ evolutions, exploring the double system dynamics. Each ring of the separate sequence spreads inside the cluster modifying its inner structure following the rings merging. As the original ringed structure disappears, a single disk appears. The final configuration has a (well-defined) density peak, and its evolution turns in the final stages are dominated by its activity at the inner edge. Full article

Bedding rock landslides, characterized by their distinct geological structure, are widely distributed and highly susceptible to sliding under external disturbances, resulting in catastrophic events. This study aims to unravel the geomechanical mechanisms governing rainfall-induced instability through an integrated investigation of a representative landslide in Xing’an Village, Chongqing. Employing multidisciplinary approaches, including field monitoring, geotechnical testing, and dynamic numerical modeling, we systematically revealed two critical failure zones: a front failure zone and a rear potential instability zone. Under rainstorm conditions, the safety factor for both zones was 1.02, indicating a marginally unstable state. The DAN-W simulations indicate that the potential instability zone at the rear of the landslide experienced complete failure within 12 s under heavy rainfall, with a maximum run-out distance of 20 m, a maximum velocity of 4.32 m/s, and a maximum deposition thickness of 8.3 m, which could potentially bury the buildings at the toe of the landslide. The low strength and permeability of the mudstone-dominated Badong Formation, characterized by interbedded mudstone, siltstone, and sandstone within the Middle Triassic geological system, provides a fundamental prerequisite for the landslide. Rainwater infiltration into the mudstone layers degraded its mechanical properties, and excavation at the slope base ultimately triggered the landslide initiation. These findings can provide theoretical support for preventing and managing similar bedding rock landslides with similar geological backgrounds. Full article

Modular multilevel converters have emerged as a common solution in high-voltage and medium-voltage applications due to their scalability and modularity. However, these advantages come at the cost of increased control complexity, particularly when compared to other multilevel converter topologies. This paper proposes a new combined control strategy based on virtual synchronous generator (VSG) control and capacitor voltage balancing (CVB) method. The VSG control is applied for power sharing and inertia emulation to increase the dynamic response and improve system stability while the CVB method is used to redistribute the energy stored in the capacitors of the submodules (SMs) in order to ensure uniform voltage levels and equalize the voltage across the capacitors. The simulation results as well as experimental ones confirm the feasibility and effectiveness of the proposed method, enhancing the performance of the energy conversion system. Full article

Low Earth Orbit (LEO) constellations support the transmission of various communication services and have been widely applied in fields such as global Internet access, the Internet of Things, remote sensing monitoring, and emergency communication. With the surge in traffic volume, the quality of user services has faced unprecedented challenges. Achieving accurate low Earth orbit constellation network traffic prediction can optimize resource allocation, enhance the performance of LEO constellation networks, reduce unnecessary costs in operation management, and enable the system to adapt to the development of future services. Ground networks often adopt methods such as machine learning (support vector machine, SVM) or deep learning (convolutional neural network, CNN; generative adversarial network, GAN) to predict future short- and long-term traffic information, aiming to optimize network performance and ensure service quality. However, these methods lack an understanding of the high-dynamics of LEO satellites and are not applicable to LEO constellations. Therefore, designing an intelligent traffic prediction model that can accurately predict multi-service scenarios in LEO constellations remains an unsolved challenge. In this paper, in light of the characteristics of high-dynamics and the high-frequency data streams of LEO constellation traffic, the authors propose a DST-LEO satellite-traffic prediction model (a dynamic spatio-temporal low Earth orbit satellite traffic prediction model). This model captures the implicit features among satellite nodes through multiple attention mechanism modules and processes the traffic volume and traffic connection/disconnection data of inter-satellite links via a multi-source data separation and fusion strategy, respectively. After splicing and fusing at a specific scale, the model performs prediction through the attention mechanism. The model proposed by the authors achieved a short-term prediction RMSE of 0.0028 and an MAE of 0.0018 on the Abilene dataset. For long-term prediction on the Abilene dataset, the RMSE was 0.0054 and the MAE was 0.0039. The RMSE of the short-term prediction on the dataset simulated by the internal low Earth orbit constellation business simulation system was 0.0034, and the MAE was 0.0026. For the long-term prediction, the RMSE reached 0.0029 and the MAE reached 0.0022. Compared with other time series prediction models, it decreased by 22.3% in terms of the mean squared error and 18.0% in terms of the mean absolute error. The authors validated the functions of each module within the model through ablation experiments and further analyzed the effectiveness of this model in the task of LEO constellation network traffic prediction. Full article

Emotion recognition in video aims to estimate human emotions using acoustic, visual, and linguistic information. This problem is considered multimodal and requires learning different modalities, such as visual, verbal, and vocal cues. Although previous studies have focused on developing sophisticated deep learning models, this work proposes a different approach using dynamic restrained adaptive loss inspired by multitask learning to understand multimodal inputs jointly. This training strategy allows predictions from one modality to enhance the accuracy of predictions from other modalities, mirroring the concept of multitask learning, where the results of one task can improve the performance of related tasks. Furthermore, this work introduces the extended multimodal bottleneck transformer, an efficient and effective mid-fusion method designed for problems involving more than two modalities to enhance the performance of emotion recognition systems. The proposed method significantly improves results compared to other end-to-end multimodal fusion techniques on three multimodal benchmarks—Interactive Emotional Dyadic Motion Capture (IEMOCAP), Carnegie Mellon University Multimodal Opinion Sentiment and Emotion Intensity (CMU-MOSEI), and the Chinese Multimodal Sentiment Analysis dataset with independent unimodal annotations (CH-SIMS). Full article

This study examines the application of Geographic Information Systems (GIS) in tourism planning and sustainable destination management, using Gelnica, Slovakia, as a case study. The research highlights a key challenge—the absence of systematic visitor data collection—which hinders tourism market analysis, demand assessment, and strategic decision-making. The study integrates alternative data sources, including the Google Places API, to address this gap to analyse Points of Interest (POIs) based on user-generated reviews, ratings, and spatial attributes. The methodological framework combines data acquisition, spatial analysis, and GIS-based visualisation, employing thematic and heat maps to assess tourism resources and visitor behaviour. The findings reveal critical spatial patterns and tourism dynamics, identifying high-demand zones and underutilised locations. Results underscore the potential of GIS to optimise tourism infrastructure, enhance visitor management, and inform evidence-based decision-making. This study advocates for systematically integrating GIS technologies with visitor monitoring and digital tools to improve destination competitiveness and sustainability. The proposed GIS-driven approach offers a scalable and transferable model for data-informed tourism planning in similar historic and environmentally sensitive regions. Full article

Robots are essential for carrying out tasks, for example, in a nuclear industry, where direct human involvement is limited. However, present-day nuclear robots are not versatile due to limited autonomy and higher costs. This research presents a merely teleoperated Dexter^TM nuclear robot’s transformation into an autonomous manipulator for nuclear sort and segregation tasks. The Dexter^TM system comprises a arm client manipulator designed to operate in extreme radiation environments and a similar single/dual-arm local manipulator. In this paper, initially, a kinematic model and convex optimization-based dynamic model identification of a single-arm Dexter^TM manipulator is presented. This model is used for autonomous Dexter^TM control through Robot Operating System (ROS). A new integration framework incorporating vision, AI-based grasp generation and an intelligent radiological surveying method for enhancing the performance of autonomous Dexter^TM is presented. The efficacy of the framework is demonstrated on a mock-up nuclear waste test-bed using similar waste materials found in the nuclear industry. The experiments performed show potency, generality and applicability of the proposed framework in overcoming the entry barriers for autonomous systems in regulated domains like the nuclear industry. Full article

Accurate predictions of Initial Public Offerings (IPOs) aftermarket performance are essential for making informed investment decisions in the financial sector. This paper attempts to predict IPO short-term underperformance during a month post-listing. The current research landscape lacks modern models that address the needs of small and imbalanced datasets relevant to emerging markets, as well as the risk preferences of investors. To fill this gap, we present a practical framework utilizing tree-based ensemble learning, including Bagging Classifier (BC), Random Forest (RF), AdaBoost (Ada), Gradient Boosting (GB), XGBoost (XG), Stacking Classifier (SC), and Extra Trees (ET), with Decision Tree (DT) as a base estimator. The framework leverages data-driven methodologies to optimize decision-making in complex financial systems, integrating ANOVA F-value for feature selection, Randomized Search for hyperparameter optimization, and SMOTE for class balance. The framework’s effectiveness is assessed using a hand-collected dataset that includes features from both pre-IPO prospectus and firm-specific financial data. We thoroughly evaluate the results using single-split evaluation and 10-fold cross-validation analysis. For the single-split validation, ET achieves the highest accuracy of 86%, while for the 10-fold validation, BC achieves the highest accuracy of 70%. Additionally, we compare the results of the proposed framework with deep-learning models such as MLP, TabNet, and ANN to assess their effectiveness in handling IPO underperformance predictions. These results demonstrate the framework’s capability to enable robust data-driven decision-making processes in complex and dynamic financial environments, even with limited and imbalanced datasets. The framework also proposes a dynamic methodology named Investor Preference Prediction Framework (IPPF) to match tree-based ensemble models to investors’ risk preferences when predicting IPO underperformance. It concludes that different models may be suitable for various risk profiles. For the dataset at hand, ET and Ada are more appropriate for risk-averse investors, while BC is suitable for risk-tolerant investors. The results underscore the framework’s importance in improving IPO underperformance predictions, which can better inform investment strategies and decision-making processes. Full article

Despite its interpretability and excellence in time series forecasting, the fuzzy time series forecasting model (FTSFM) faces significant challenges when handling non-stationary time series. This paper proposes a novel hybrid non-stationary FTSFM that integrates time-variant FTSFM, Bayesian network (BN), and non-stationary fuzzy sets. We first apply first-order differencing to extract the fluctuation information of the time series while reducing non-stationarity. A novel time-variant FTSFM updating method is proposed to effectively merge historical knowledge with new observations, enhancing model stability while maintaining sensitivity to time series changes. The updating of fuzzy sets is achieved by incorporating non-stationary fuzzy sets and prediction residuals. Based on updated fuzzy sets, the system reconstructs fuzzy logical relationship groups by combining historical and new data. This approach implements dynamic quantitative modeling of fuzzy relationships between historical and predicted moments, integrating valuable historical temporal fuzzy patterns with emerging temporal fuzzy characteristics. This paper further develops an adaptive BN structure learning method with an adaptive scoring function to update temporal dependence relationships between any two moments while building upon existing dependence relationships. Experimental results indicate that the proposed model significantly outperforms benchmark algorithms. Full article