System Identification and Parameter Self-Tuning Controller on Deep-Sea Mining Vehicle

System identification is a quintessential measure for real-time analysis on kinematic characteristics for deep-sea mining vehicle, and thus to enhance the control performance and testing efficiency. In this study, the system identification algorithm, recursive least square method with instrumental variables(IV-RLS), is tailored to model ‘Pioneer I’, a deep-sea mining vehicle which recently completed a 1305-meter-deep sea trial in the Xisha area of the South China Sea in August, 2021. The algorithm operates on the sensor data collected from the trial to obtain the vehicle’s kinematic model and accordingly design the parameter self-tuning controller. The performances demonstrate the accuracy of the model, and prove its generalization capability. With this model, the optimal controller has been designed, the control parameters have been self-tuned, and the response time and robustness of the system have been optimized,which validates the high efficiency on digital modelling for precision control of deep-sea mining vehicles.

Research on Anti-Fluctuation Control of Winding Tension System Based on Feedforward Compensation

In the fiber winding process,strong disturbance,uncertainty,strong coupling,and fiber friction complicate the winding constant tension control.In order to effectively reduce the influence of these problems on the tension output,this paper proposed a tension fluctuation rejection strategy based on feedforward compensation.In addition to the bias harmonic curve of the unknown state,the tension fluctuation also contains the influence of bounded noise.A tension fluctuation observer(TFO)is designed to cancel the uncertain periodic signal,in which the frequency generator is used to estimate the critical parameter information.Then,the fluctuation signal is reconstructed by a third-order auxiliary filter.The estimated signal feedforward compensates for the actual tension fluctuation.Furthermore,a time-varying parameters fractional-order PID controller(TPFOPID)is realized to attenuate the bounded noise in the fluctuation.Finally,TPFOPID is enhanced by TFO and applied to control a tension control system considering multi-source disturbances.The stability of the method is analyzed by using the Lyapunov theorem.Finally,numerical simulations verify that the proposed scheme improves the tracking ability and robustness of the system in response to tension fluctuations.

Parameter Control of Genetic Algorithms by Learning and Simulation of Bayesian Networks——A Case Study for the Optimal Ordering of Tables

Parameter setting for evolutionary algorithms is still an important issue in evolutionary computation. There are two main approaches to parameter setting： parameter tuning and parameter control. In this paper, we introduce self-adaptive parameter control of a genetic algorithm based on Bayesian network learning and simulation. The nodes of this Bayesian network are genetic algorithm parameters to be controlled. Its structure captures probabilistie conditional （in）dependence relationships between the parameters. They are learned from the best individuals, i.e., the best configurations of the genetic algorithm. Individuals are evaluated by running the genetic algorithm for the respective parameter configuration. Since all these runs are time-consuming tasks, each genetic algorithm uses a small-sized population and is stopped before convergence. In this way promising individuals should not be lost. Experiments with an optimal search problem for simultaneous row and column orderings yield the same optima as state-of-the-art methods but with a sharp reduction in computational time. Moreover, our approach can cope with as yet unsolved high-dimensional problems.

THE STUDY ON A KIND OF CONTROL SYSTEM WITH NONLINEAR PARABOLIC DISTRIBUTED PARAMETERS

The modelling of one kind of nonlinear parabolic distributed parameter control system with moving boundary, which had extensive applications was presented, Two methods were used to investigate the basic characteristics of the system: I) transforming the system it? the variable domain into that in the fixed domain; 2) transforming the distributed parameter system into the lumped parameter system. It is found that there are two critical values for the control variable : the larger one determines whether or not the boundary would move, while the smaller one determines whether or not the boundary, would atop automatically. For one-dimensional system of planar, cylindrical and spherical cases the definite solution problem can be expressed as a unified form. By means of the computer simulation the open-loop control system and close-cycle feedback control system have been investigated. Numerical results agree well with theoretical results. The computer simulation shows that the system is well posed, stable, measurable and controllable.

Self-adapting control parameters modifieddifferential evolution for trajectoryplanning of manipulators

Control parameters of original differential evolution （DE） are kept fixed throughout the entire evolutionary process. However, it is not an easy task to properly set control parameters in DE for different optiinization problems. According to the relative position of two different individual vectors selected to generate a difference vector in the searching place, a self-adapting strategy for the scale factor F of the difference vector is proposed. In terms of the convergence status of the target vector in the current population, a self-adapting crossover probability constant CR strategy is proposed. Therefore, good target vectors have a lower CFI while worse target vectors have a large CFI. At the same time, the mutation operator is modified to improve the convergence speed. The performance of these proposed approaches are studied with the use of some benchmark problems and applied to the trajectory planning of a three-joint redundant manipulator. Finally, the experiment results show that the proposed approaches can greatly improve robustness and convergence speed.

High value of controlled attenuation parameter predicts a poor antiviral response in patients with chronic hepatits B

BACKGROUND: Controlled attenuation parameter (CAP) is a non-invasive method for diagnosing hepatic steatosis based on vibration-controlled transient elastography. The objective of this study was to investigate the effect of high value of CAP on antiviral therapy in patients with chronic hepatitis B (CHB). METHODS: Patients with CHB receiving enticavir for initial antiviral therapy were studied; they were divided into the high CAP group and normal CAP group at baseline according to the CAP values. The effect of the antiviral therapy between the two groups were compared at week 12, 24 and 48. Patients with high CAP value at baseline were divided into three subgroups, mild, moderate and severe elevation; the therapeutic response were compared among patients with normal CAP and subgroups of patients with elevated CAP. RESULTS: A total of 153 patients were enrolled. Among them, 63 were in the high CAP group and 90 in the normal CAP group. Patients with high CAP had lower rates of ALT normalization and HBV DNA clearance in response to antiviral therapy compared with those with normal CAP at week 12, 24 and 48. Further analysis showed that the rate of ALT normalization in patients with mildly and moderately elevated CAP were significant lower than those with normal CAP at week 12 and 24; while the difference was not significant between the patients with normal CAP and those with severely elevated CAP. The rate of HBV DNA clearance was significantly lower in patients with severely elevated CAP compared with those with normal CAP at week 12, 24 and 48. CONCLUSION: CHB patients with high CAP had poor response to antiviral therapy.

IMPLICIT ITERATIVE METHODS WITH VARIABLE CONTROL PARAMETERS FOR ILL-POSED OPERATOR EQUATIONS

This paper discusses a kind of implicit iterative methods with some variable parameters, which are called control parameters, for solving ill-posed operator equations. The theoretical results show that the new methods always lead to optimal convergence rates and have some other important features, especially the methods can be implemented parallelly.

Determination of temperature distribution and control parameter in a two-dimensional parabolic inverse problem with overspecified data

In this paper, we present a new algorithm to solve a two-dimensional parabolic inverse problem with a source parameter, which appears in many physical phenomena. A linearized compact difference scheme for this problem is constructed using the finite difference method. The discretization accuracy is second-order in time and fourth-order in space. We obtain the unique solvability and present an alternating direction implicit algorithm to solve this difference scheme. The results of numerical experiments are presented to demonstrate the accuracy of this algorithm.

Development of a Novel Feedforward Neural Network Model Based on Controllable Parameters for Predicting Effluent Total Nitrogen

The problem of effluent total nitrogen(TN)at most of the wastewater treatment plants(WWTPs)in China is important for meeting the related water quality standards,even under the condition of high energy consumption.To achieve better prediction and control of effluent TN concentration,an efficient prediction model,based on controllable operation parameters,was constructed in a sequencing batch reactor process.Compared with previous models,this model has two main characteristics:①Superficial gas velocity and anoxic time are controllable operation parameters and are selected as the main input parameters instead of dissolved oxygen to improve the model controllability,and②the model prediction accuracy is improved on the basis of a feedforward neural network(FFNN)with algorithm optimization.The results demonstrated that the FFNN model was efficiently optimized by scaled conjugate gradient,and the performance was excellent compared with other models in terms of the correlation coefficient(R).The optimized FFNN model could provide an accurate prediction of effluent TN based on influent water parameters and key control parameters.This study revealed the possible application of the optimized FFNN model for the efficient removal of pollutants and lower energy consumption at most of the WWTPs.

Enhancing the Performance of JADE Using Two-phase Parameter Control Scheme and Its Application

The search efficiency of differential evolution （DE） algorithm is greatly impacted by its control parameters. Although many adaptation/self-adaptation techniques can automatically find suitable control parameters for the DE, most techniques are based on pop- ulation information which may be misleading in solving complex optimization problems. Therefore, a self-adaptive DE （i.e., JADE） using two-phase parameter control scheme （TPC-JADE） is proposed to enhance the performance of DE in the current study. In the TPC-JADE, an adaptation technique is utilized to generate the control parameters in the early population evolution, and a well-known empirical guideline is used to update the control parameters in the later evolution stages. The TPC-JADE is compared with four state-of-the-art DE variants on two famous test suites （i.e., IEEE CEC2005 and IEEE CEC2015）. Results indicate that the overall performance of the TPC-JADE is better than that of the other compared algorithms. In addition, the proposed algorithm is utilized to obtain optimal nutrient and inducer feeding for the Lee-Ramirez bioreactor. Experimental results show that the TPC-JADE can perform well on an actual dynamic optimization problem.

Evaluation of controlled attenuation parameter in assessing hepatic steatosis in patients with autoimmune liver diseases

BACKGROUND Hepatic steatosis commonly occurs in some chronic liver diseases and may affect disease progression.AIM To investigate the performance of controlled attenuation parameter(CAP)for the diagnosis of hepatic steatosis in patients with autoimmune liver diseases(AILDs).METHODS Patients who were suspected of having AILDs and underwent liver biopsy were consistently enrolled.Liver stiffness measurement(LSM)and CAP were performed by transient elastography.The area under the receiver operating characteristic(AUROC)curve was used to evaluate the performance of CAP for diagnosing hepatic steatosis compared with biopsy.RESULTS Among 190 patients with biopsy-proven hepatic steatosis,69 were diagnosed with autoimmune hepatitis(AIH),18 with primary biliary cholangitis(PBC),and 27 with AIH-PBC overlap syndrome.The AUROCs of CAP for the diagnosis of steatosis in AILDS were 0.878(0.791-0.965)for S1,0.764(0.676-0.853)for S2,and 0.821(0.716-0.926)for S3.The CAP value was significantly related to hepatic steatosis grade(P<0.001).Among 69 patients with AIH,the median CAP score was 205.63±47.36 dB/m for S0,258.41±42.83 dB/m for S1,293.00±37.18 dB/m for S2,and 313.60±27.89 dB/m for S3.Compared with patients with nonalcoholic fatty liver disease(NAFLD)presenting with autoimmune markers,patients with AIH concomitant with NAFLD were much older and had higher serum IgG levels and LSM values.CONCLUSION CAP can be used as a noninvasive diagnostic method to evaluate hepatic steatosis in patients with AILDs.Determination of LSM combined with CAP may help to identify patients with AIH concomitant with NAFLD from those with NAFLD with autoimmune phenomena.

Robust sliding mode control for fractional-order chaotic economical system with parameter uncertainty and external disturbance

This paper presents a modified sliding mode control for fractional-order chaotic economical systems with parameter uncertainty and external disturbance. By constructing the suitable sliding mode surface with fractional-order integral, the effective sliding mode controller is designed to realize the asymptotical stability of fractional-order chaotic economical systems. Comparing with the existing results, the main results in this paper are more practical and rigorous. Simulation results show the effectiveness and feasibility of the proposed sliding mode control method.

Optimization of control parameters for petroleum waste composting

Composting is being widely employed in the treatment of petroleum waste. The purpose of this study was to find the optimum control parameters for petroleum waste in-vessel composting. Various physical and chemical parameters were monitored to evaluate their influence on the microbial communities present in composting. The CO2 evolution and the number of microorganisms were measured as the activity of composting. The results demonstrated that the optimum temperature, pH and moisture content were 56.5 - 59.5 degreesC, 7.0 - 8.5 and 55 % - 60%, respectively. Under the optimum conditions, the removal efficiency of petroleum hydrocarbon reached 83.29% after 30 days composting.

Scaling the Microphysics Equations and Analyzing the Variability of Hydrometeor Production Rates in a Controlled Parameter Space

A set of microphysics equations is scaled based on the convective length and velocity scales. Comparisons are made among the dynamical transport and various microphysical processes. From the scaling analysis, it becomes apparent which parameterized microphysical processes present off-scaled influences in the integration of the set of microphysics equations. The variabilities of the parameterized microphysical processes are also studied using the approach of a controlled parameter space. Given macroscopic dynamic and thermodynamic conditions in different regions of convective storms, it is possible to analyze and compare vertical profiles of these processes. Bulk diabatic heating profiles for a cumulus convective updraft and downdraft are also derived from this analysis. From the two different angles, the scale analysis and the controlled-parameter space approach can both provide an insight into and an understanding of microphysics parameterizations.

Integrated Optimization of Structure and Control Parameters for the Height Control System of a Vertical Spindle Cotton Picker

Vertical picking method is a predominate method used to harvest cotton crop.However,a vertical picking method may cause spindle bending of the cotton picker if spindles collide with stones on the cotton field.Thus,how to realize a precise height control of the cotton picker is a crucial issue to be solved.The objective of this study is to design a height control system to avoid the collision.To design it,the mathematical models are established first.Then a multi-objective optimization model represented by structure parameters and control parameters is proposed to take the pressure of chamber without piston,response time and displacement error of the height control system as the opti-mization objectives.An integrated optimization approach that combines optimization via simulation,particle swarm optimization and simulated annealing is proposed to solve the model.Simulation and experimental test results show that the proposed integrated optimization approach can not only reduce the pressure of chamber without piston,but also decrease the response time and displacement error of the height control system.

Robust Adaptive Control of Nonholonomic Systems with Nonlinear Parameterization

全球适应的州的反馈控制策略与强壮的非线性的飘移和未知非线性的参数在锁住的形式为 nonholonomic 系统的一个类被介绍。一种参数分离技术被介绍把非线性的 parameterization nonholonomic 系统转变成一个象线性一样 parameterized nonholonomic 系统。然后，反馈支配设计被使用设计一个全球适应稳定控制器，切换的策略被开发消除 uncontrollability 的现象。建议控制器能保证那得到状态全球性集成到起源的所有系统，当另外的信号仍然保持围住时。模拟例子表明有效性和建议控制器的柔韧的特征。

Simulation Study on the Controllable Dielectrophoresis Parameters of Graphene

The method of using dielectrophoresis （DEP） to assemble graphene between micro-electrodes has been proven to be simple and efficient. We present an optimization method for the kinetic formula of graphene DEP, and discuss the simulation of the graphene assembly process based on the finite element method. The simulated results illustrate that the accelerated motion of graphene is in agreement with the distribution of the electric field squared gradient. We also conduct research on the controllable parameters of the DEP assembly such as the alternating current （AC） frequency, the shape of micro-electrodes, and the ratio of the gap between electrodes to the characteristic/geometric length of graphene （λ）. The simulations based on the Clausius-Mossotti factor reveal that both graphene velocity and direction are influenced by the AC frequency. When graphene is close to the electrodes, the shape of micro-electrodes will exert great influence on the velocity of graphene. Also, λ has a great influence on the velocity of graphene. Generally, the velocity of graphene would be greater when λ is in the range of 0.4 0.6. The study is of a theoretical guiding significance in improving the precision and efficiency of the graphene DEP assembly.

Parameterized design of nonlinear feedback controllers for servo positioning systems

To achieve fast, smooth and accurate set point tracking in servo positioning systems, a parameterized design of nonlinear feedback controllers is presented, based on a so-called composite nonlinear feedback （CNF） control technique. The controller designed here consists of a linear feedback part and a nonlinear part. The linear part is responsible for stability and fast response of the closed-loop system. The nonlinear part serves to increase the damping ratio of closed-loop poles as the controlled output approaches the target reference. The CNF control brings together the good points of both the small and the large damping ratio cases, by continuously scheduling the damping ratio of the dominant closed-loop poles and thus has the capability for superior transient performance, i.e. a fast output response with low overshoot. In the presence of constant disturbances, an integral action is included so as to remove the static bias. An explicitly parameterized controller is derived for servo positioning systems characterized by second-order model. Practical application in a micro hard disk drive servo system is then presented, together with some discussion of the rationale and characteristics of such design. Simulation and experimental results demonstrate the effectiveness of this control design methodology.

FBFN-based adaptive repetitive control of nonlinearly parameterized systems

An adaptive repetitive control scheme is presented for a class of nonlinearly parameterized systems based on the fuzzy basis function network （FBFN）. The parameters of the fuzzy rules are tuned with adaptive schemes. To attenuate chattering effectively, the discontinuous control term is approximated by an adaptive PI control structure. The bound of the discontinuous control term is assumed to be unknown and estimated by an adaptive mechanism. Based on the Lyapunov stability theory, an adaptive repetitive control law is proposed to guarantee the closed-loop stability and the tracking performance. By means of FBFNs, which avoid the nonlinear parameterization from entering into the adaptive repetitive control, the controller singularity problem is solved. The proposed approach does not require an exact structure of the system dynamics, and the proposed controller is utilized to control a model of permanent-magnet linear synchronous motor subject to significant disturbances and parameter uncertainties. The simulation results demonstrate the effectiveness of the proposed method.

A novel methodology for constructing a multi-wing chaotic and hyperchaotic system with a unified step function switching control

This paper aims at developing a novel method of constructing a class of multi-wing chaotic and hyperchaotic system by introducing a unified step function. In order to overcome the essential difficulties in iteratively adjusting multiple parameters of conventional multi-parameter control, this paper introduces a unified step function controlled by a single parameter for constructing various multi-wing chaotic and hyperchaotic systems. In particular, to the best of the authors＇ knowledge, this is also the first time to find a non-equilibrium multi-wing hyperchaotic system by means of the unified step function control. According to the heteroclinic loop Shilnikov theorem, some properties for multi-wing attractors and its chaos mechanism are further discussed and analyzed. A circuit for multi-wing systems is designed and implemented for demonstration, which verifies the effectiveness of the proposed approach.