Ethylene glycol(EG)plays a pivotal role as a primary raw material in the polyester industry,and the syngas-to-EG route has become a significant technical route in production.The carbon monoxide(CO)gas-phase catalytic ...Ethylene glycol(EG)plays a pivotal role as a primary raw material in the polyester industry,and the syngas-to-EG route has become a significant technical route in production.The carbon monoxide(CO)gas-phase catalytic coupling to synthesize dimethyl oxalate(DMO)is a crucial process in the syngas-to-EG route,whereby the composition of the reactor outlet exerts influence on the ultimate quality of the EG product and the energy consumption during the subsequent separation process.However,measuring product quality in real time or establishing accurate dynamic mechanism models is challenging.To effectively model the DMO synthesis process,this study proposes a hybrid modeling strategy that integrates process mechanisms and data-driven approaches.The CO gas-phase catalytic coupling mechanism model is developed based on intrinsic kinetics and material balance,while a long short-term memory(LSTM)neural network is employed to predict the macroscopic reaction rate by leveraging temporal relationships derived from archived measurements.The proposed model is trained semi-supervised to accommodate limited-label data scenarios,leveraging historical data.By integrating these predictions with the mechanism model,the hybrid modeling approach provides reliable and interpretable forecasts of mass fractions.Empirical investigations unequivocally validate the superiority of the proposed hybrid modeling approach over conventional data-driven models(DDMs)and other hybrid modeling techniques.展开更多
Spatial heterogeneity refers to the variation or differences in characteristics or features across different locations or areas in space. Spatial data refers to information that explicitly or indirectly belongs to a p...Spatial heterogeneity refers to the variation or differences in characteristics or features across different locations or areas in space. Spatial data refers to information that explicitly or indirectly belongs to a particular geographic region or location, also known as geo-spatial data or geographic information. Focusing on spatial heterogeneity, we present a hybrid machine learning model combining two competitive algorithms: the Random Forest Regressor and CNN. The model is fine-tuned using cross validation for hyper-parameter adjustment and performance evaluation, ensuring robustness and generalization. Our approach integrates Global Moran’s I for examining global autocorrelation, and local Moran’s I for assessing local spatial autocorrelation in the residuals. To validate our approach, we implemented the hybrid model on a real-world dataset and compared its performance with that of the traditional machine learning models. Results indicate superior performance with an R-squared of 0.90, outperforming RF 0.84 and CNN 0.74. This study contributed to a detailed understanding of spatial variations in data considering the geographical information (Longitude & Latitude) present in the dataset. Our results, also assessed using the Root Mean Squared Error (RMSE), indicated that the hybrid yielded lower errors, showing a deviation of 53.65% from the RF model and 63.24% from the CNN model. Additionally, the global Moran’s I index was observed to be 0.10. This study underscores that the hybrid was able to predict correctly the house prices both in clusters and in dispersed areas.展开更多
The amount of oxygen blown into the converter is one of the key parameters for the control of the converter blowing process,which directly affects the tap-to-tap time of converter. In this study, a hybrid model based ...The amount of oxygen blown into the converter is one of the key parameters for the control of the converter blowing process,which directly affects the tap-to-tap time of converter. In this study, a hybrid model based on oxygen balance mechanism (OBM) and deep neural network (DNN) was established for predicting oxygen blowing time in converter. A three-step method was utilized in the hybrid model. First, the oxygen consumption volume was predicted by the OBM model and DNN model, respectively. Second, a more accurate oxygen consumption volume was obtained by integrating the OBM model and DNN model. Finally, the converter oxygen blowing time was calculated according to the oxygen consumption volume and the oxygen supply intensity of each heat. The proposed hybrid model was verified using the actual data collected from an integrated steel plant in China, and compared with multiple linear regression model, OBM model, and neural network model including extreme learning machine, back propagation neural network, and DNN. The test results indicate that the hybrid model with a network structure of 3 hidden layer layers, 32-16-8 neurons per hidden layer, and 0.1 learning rate has the best prediction accuracy and stronger generalization ability compared with other models. The predicted hit ratio of oxygen consumption volume within the error±300 m^(3)is 96.67%;determination coefficient (R^(2)) and root mean square error (RMSE) are0.6984 and 150.03 m^(3), respectively. The oxygen blow time prediction hit ratio within the error±0.6 min is 89.50%;R2and RMSE are0.9486 and 0.3592 min, respectively. As a result, the proposed model can effectively predict the oxygen consumption volume and oxygen blowing time in the converter.展开更多
This article focuses on dynamic event-triggered mechanism(DETM)-based model predictive control(MPC) for T-S fuzzy systems.A hybrid dynamic variables-dependent DETM is carefully devised,which includes a multiplicative ...This article focuses on dynamic event-triggered mechanism(DETM)-based model predictive control(MPC) for T-S fuzzy systems.A hybrid dynamic variables-dependent DETM is carefully devised,which includes a multiplicative dynamic variable and an additive dynamic variable.The addressed DETM-based fuzzy MPC issue is described as a “min-max” optimization problem(OP).To facilitate the co-design of the MPC controller and the weighting matrix of the DETM,an auxiliary OP is proposed based on a new Lyapunov function and a new robust positive invariant(RPI) set that contain the membership functions and the hybrid dynamic variables.A dynamic event-triggered fuzzy MPC algorithm is developed accordingly,whose recursive feasibility is analysed by employing the RPI set.With the designed controller,the involved fuzzy system is ensured to be asymptotically stable.Two examples show that the new DETM and DETM-based MPC algorithm have the advantages of reducing resource consumption while yielding the anticipated performance.展开更多
Simulating the total ionizing dose(TID)of an electrical system using transistor-level models can be difficult and expensive,particularly for digital-integrated circuits(ICs).In this study,a method for modeling TID eff...Simulating the total ionizing dose(TID)of an electrical system using transistor-level models can be difficult and expensive,particularly for digital-integrated circuits(ICs).In this study,a method for modeling TID effects in complementary metaloxide semiconductor(CMOS)digital ICs based on the input/output buffer information specification(IBIS)was proposed.The digital IC was first divided into three parts based on its internal structure:the input buffer,output buffer,and functional area.Each of these three parts was separately modeled.Using the IBIS model,the transistor V-I characteristic curves of the buffers were processed,and the physical parameters were extracted and modeled using VHDL-AMS.In the functional area,logic functions were modeled in VHDL according to the data sheet.A golden digital IC model was developed by combining the input buffer,output buffer,and functional area models.Furthermore,the golden ratio was reconstructed based on TID experimental data,enabling the assessment of TID effects on the threshold voltage,carrier mobility,and time series of the digital IC.TID experiments were conducted using a CMOS non-inverting multiplexer,NC7SZ157,and the results were compared with the simulation results,which showed that the relative errors were less than 2%at each dose point.This confirms the practicality and accuracy of the proposed modeling method.The TID effect model for digital ICs developed using this modeling technique includes both the logical function of the IC and changes in electrical properties and functional degradation impacted by TID,which has potential applications in the design of radiation-hardening tolerance in digital ICs.展开更多
Forecasting river flow is crucial for optimal planning,management,and sustainability using freshwater resources.Many machine learning(ML)approaches have been enhanced to improve streamflow prediction.Hybrid techniques...Forecasting river flow is crucial for optimal planning,management,and sustainability using freshwater resources.Many machine learning(ML)approaches have been enhanced to improve streamflow prediction.Hybrid techniques have been viewed as a viable method for enhancing the accuracy of univariate streamflow estimation when compared to standalone approaches.Current researchers have also emphasised using hybrid models to improve forecast accuracy.Accordingly,this paper conducts an updated literature review of applications of hybrid models in estimating streamflow over the last five years,summarising data preprocessing,univariate machine learning modelling strategy,advantages and disadvantages of standalone ML techniques,hybrid models,and performance metrics.This study focuses on two types of hybrid models:parameter optimisation-based hybrid models(OBH)and hybridisation of parameter optimisation-based and preprocessing-based hybridmodels(HOPH).Overall,this research supports the idea thatmeta-heuristic approaches precisely improveML techniques.It’s also one of the first efforts to comprehensively examine the efficiency of various meta-heuristic approaches(classified into four primary classes)hybridised with ML techniques.This study revealed that previous research applied swarm,evolutionary,physics,and hybrid metaheuristics with 77%,61%,12%,and 12%,respectively.Finally,there is still room for improving OBH and HOPH models by examining different data pre-processing techniques and metaheuristic algorithms.展开更多
The Indian Himalayan region is frequently experiencing climate change-induced landslides.Thus,landslide susceptibility assessment assumes greater significance for lessening the impact of a landslide hazard.This paper ...The Indian Himalayan region is frequently experiencing climate change-induced landslides.Thus,landslide susceptibility assessment assumes greater significance for lessening the impact of a landslide hazard.This paper makes an attempt to assess landslide susceptibility in Shimla district of the northwest Indian Himalayan region.It examined the effectiveness of random forest(RF),multilayer perceptron(MLP),sequential minimal optimization regression(SMOreg)and bagging ensemble(B-RF,BSMOreg,B-MLP)models.A landslide inventory map comprising 1052 locations of past landslide occurrences was classified into training(70%)and testing(30%)datasets.The site-specific influencing factors were selected by employing a multicollinearity test.The relationship between past landslide occurrences and influencing factors was established using the frequency ratio method.The effectiveness of machine learning models was verified through performance assessors.The landslide susceptibility maps were validated by the area under the receiver operating characteristic curves(ROC-AUC),accuracy,precision,recall and F1-score.The key performance metrics and map validation demonstrated that the BRF model(correlation coefficient:0.988,mean absolute error:0.010,root mean square error:0.058,relative absolute error:2.964,ROC-AUC:0.947,accuracy:0.778,precision:0.819,recall:0.917 and F-1 score:0.865)outperformed the single classifiers and other bagging ensemble models for landslide susceptibility.The results show that the largest area was found under the very high susceptibility zone(33.87%),followed by the low(27.30%),high(20.68%)and moderate(18.16%)susceptibility zones.The factors,namely average annual rainfall,slope,lithology,soil texture and earthquake magnitude have been identified as the influencing factors for very high landslide susceptibility.Soil texture,lineament density and elevation have been attributed to high and moderate susceptibility.Thus,the study calls for devising suitable landslide mitigation measures in the study area.Structural measures,an immediate response system,community participation and coordination among stakeholders may help lessen the detrimental impact of landslides.The findings from this study could aid decision-makers in mitigating future catastrophes and devising suitable strategies in other geographical regions with similar geological characteristics.展开更多
Class Title:Radiological imaging method a comprehensive overview purpose.This GPT paper provides an overview of the different forms of radiological imaging and the potential diagnosis capabilities they offer as well a...Class Title:Radiological imaging method a comprehensive overview purpose.This GPT paper provides an overview of the different forms of radiological imaging and the potential diagnosis capabilities they offer as well as recent advances in the field.Materials and Methods:This paper provides an overview of conventional radiography digital radiography panoramic radiography computed tomography and cone-beam computed tomography.Additionally recent advances in radiological imaging are discussed such as imaging diagnosis and modern computer-aided diagnosis systems.Results:This paper details the differences between the imaging techniques the benefits of each and the current advances in the field to aid in the diagnosis of medical conditions.Conclusion:Radiological imaging is an extremely important tool in modern medicine to assist in medical diagnosis.This work provides an overview of the types of imaging techniques used the recent advances made and their potential applications.展开更多
A previously developed hybrid coupled model(HCM)is composed of an intermediate tropical Pacific Ocean model and a global atmospheric general circulation model(AGCM),denoted as HCMAGCM.In this study,different El Ni...A previously developed hybrid coupled model(HCM)is composed of an intermediate tropical Pacific Ocean model and a global atmospheric general circulation model(AGCM),denoted as HCMAGCM.In this study,different El Niño flavors,namely the Eastern-Pacific(EP)and Central-Pacific(CP)types,and the associated global atmospheric teleconnections are examined in a 1000-yr control simulation of the HCMAGCM.The HCMAGCM indicates profoundly different characteristics among EP and CP El Niño events in terms of related oceanic and atmospheric variables in the tropical Pacific,including the amplitude and spatial patterns of sea surface temperature(SST),zonal wind stress,and precipitation anomalies.An SST budget analysis indicates that the thermocline feedback and zonal advective feedback dominantly contribute to the growth of EP and CP El Niño events,respectively.Corresponding to the shifts in the tropical rainfall and deep convection during EP and CP El Niño events,the model also reproduces the differences in the extratropical atmospheric responses during the boreal winter.In particular,the EP El Niño tends to be dominant in exciting a poleward wave train pattern to the Northern Hemisphere,while the CP El Niño tends to preferably produce a wave train similar to the Pacific North American(PNA)pattern.As a result,different climatic impacts exist in North American regions,with a warm-north and cold-south pattern during an EP El Niño and a warm-northeast and cold-southwest pattern during a CP El Niño,respectively.This modeling result highlights the importance of internal natural processes within the tropical Pacific as they relate to the genesis of ENSO diversity because the active ocean–atmosphere coupling is allowed only in the tropical Pacific within the framework of the HCMAGCM.展开更多
Effort estimation plays a crucial role in software development projects,aiding in resource allocation,project planning,and risk management.Traditional estimation techniques often struggle to provide accurate estimates...Effort estimation plays a crucial role in software development projects,aiding in resource allocation,project planning,and risk management.Traditional estimation techniques often struggle to provide accurate estimates due to the complex nature of software projects.In recent years,machine learning approaches have shown promise in improving the accuracy of effort estimation models.This study proposes a hybrid model that combines Long Short-Term Memory(LSTM)and Random Forest(RF)algorithms to enhance software effort estimation.The proposed hybrid model takes advantage of the strengths of both LSTM and RF algorithms.To evaluate the performance of the hybrid model,an extensive set of software development projects is used as the experimental dataset.The experimental results demonstrate that the proposed hybrid model outperforms traditional estimation techniques in terms of accuracy and reliability.The integration of LSTM and RF enables the model to efficiently capture temporal dependencies and non-linear interactions in the software development data.The hybrid model enhances estimation accuracy,enabling project managers and stakeholders to make more precise predictions of effort needed for upcoming software projects.展开更多
A hybrid identification model based on multilayer artificial neural networks(ANNs) and particle swarm optimization(PSO) algorithm is developed to improve the simultaneous identification efficiency of thermal conductiv...A hybrid identification model based on multilayer artificial neural networks(ANNs) and particle swarm optimization(PSO) algorithm is developed to improve the simultaneous identification efficiency of thermal conductivity and effective absorption coefficient of semitransparent materials.For the direct model,the spherical harmonic method and the finite volume method are used to solve the coupled conduction-radiation heat transfer problem in an absorbing,emitting,and non-scattering 2D axisymmetric gray medium in the background of laser flash method.For the identification part,firstly,the temperature field and the incident radiation field in different positions are chosen as observables.Then,a traditional identification model based on PSO algorithm is established.Finally,multilayer ANNs are built to fit and replace the direct model in the traditional identification model to speed up the identification process.The results show that compared with the traditional identification model,the time cost of the hybrid identification model is reduced by about 1 000 times.Besides,the hybrid identification model remains a high level of accuracy even with measurement errors.展开更多
The paper presents our contribution to the full 3D finite element modelling of a hybrid stepping motor using COMSOL Multiphysics software. This type of four-phase motor has a permanent magnet interposed between the tw...The paper presents our contribution to the full 3D finite element modelling of a hybrid stepping motor using COMSOL Multiphysics software. This type of four-phase motor has a permanent magnet interposed between the two identical and coaxial half stators. The calculation of the field with or without current in the windings (respectively with or without permanent magnet) is done using a mixed formulation with strong coupling. In addition, the local high saturation of the ferromagnetic material and the radial and axial components of the magnetic flux are taken into account. The results obtained make it possible to clearly observe, as a function of the intensity of the bus current or the remanent induction, the saturation zones, the lines, the orientations and the magnetic flux densities. 3D finite element modelling provide more accurate numerical data on the magnetic field through multiphysics analysis. This analysis considers the actual operating conditions and leads to the design of an optimized machine structure, with or without current in the windings and/or permanent magnet.展开更多
Rail vehicles generate huge longitudinal impact loads in collisions.If unreasonable matching exists between the compressive strength of the intermediate coupler and the structural strength of the car body,the risk of ...Rail vehicles generate huge longitudinal impact loads in collisions.If unreasonable matching exists between the compressive strength of the intermediate coupler and the structural strength of the car body,the risk of car body structure damage and train derailment will increase.Herein,a four-stage rigid-flexible coupling finite element model of the coupler is established considering the coupler buckling load.The influence of the coupler buckling load on the train longitudinal-vertical-hori-zontal buckling behavior was studied,and the mechanism of the train horizontal buckling instability in train collisions was revealed.Analysis results show that an intermediate coupler should be designed to ensure that the actual buckling load is less than the compressive load when the car body structure begins to deform plastically.The actual buckling load of the coupler and the asymmetry of the structural strength of the car body in the lateral direction are two important influencing factors for the lateral buckling of a train collision.If the strength of the two sides of the car body structure in the lateral direction is asymmetrical,the deformation on the weaker side will be larger,and the end of the car body will begin to deflect under the action of the coupler force,which in turn causes the train to undergo sawtooth buckling.展开更多
In a competitive digital age where data volumes are increasing with time, the ability to extract meaningful knowledge from high-dimensional data using machine learning (ML) and data mining (DM) techniques and making d...In a competitive digital age where data volumes are increasing with time, the ability to extract meaningful knowledge from high-dimensional data using machine learning (ML) and data mining (DM) techniques and making decisions based on the extracted knowledge is becoming increasingly important in all business domains. Nevertheless, high-dimensional data remains a major challenge for classification algorithms due to its high computational cost and storage requirements. The 2016 Demographic and Health Survey of Ethiopia (EDHS 2016) used as the data source for this study which is publicly available contains several features that may not be relevant to the prediction task. In this paper, we developed a hybrid multidimensional metrics framework for predictive modeling for both model performance evaluation and feature selection to overcome the feature selection challenges and select the best model among the available models in DM and ML. The proposed hybrid metrics were used to measure the efficiency of the predictive models. Experimental results show that the decision tree algorithm is the most efficient model. The higher score of HMM (m, r) = 0.47 illustrates the overall significant model that encompasses almost all the user’s requirements, unlike the classical metrics that use a criterion to select the most appropriate model. On the other hand, the ANNs were found to be the most computationally intensive for our prediction task. Moreover, the type of data and the class size of the dataset (unbalanced data) have a significant impact on the efficiency of the model, especially on the computational cost, and the interpretability of the parameters of the model would be hampered. And the efficiency of the predictive model could be improved with other feature selection algorithms (especially hybrid metrics) considering the experts of the knowledge domain, as the understanding of the business domain has a significant impact.展开更多
In the conventional technique,in the evaluation of the severity index,clustering and loading suffer from more iteration leading to more com-putational delay.Hence this research article identifies,a novel progression f...In the conventional technique,in the evaluation of the severity index,clustering and loading suffer from more iteration leading to more com-putational delay.Hence this research article identifies,a novel progression for fast predicting the severity of the line and clustering by incorporating machine learning aspects.The polynomial load modelling or ZIP(constant impedances(Z),Constant Current(I)and Constant active power(P))is developed in the IEEE-14 and Indian 118 bus systems considered for analysis of power system security.The process of finding the severity of the line using a Hybrid Line Stability Ranking Index(HLSRI)is used for assisting the concepts of machine learning with J48 algorithm,infers the superior affected lines by adopting the IEEE standards in concern to be compensated in maintaining the power system stability.The simulation is performed in the WEKA environment and deals with the supervisor learning in order based on severity to ensure the safety of power system.The Unified Power Flow Controller(UPFC),facts devices for the purpose of compensating the losses by maintaining the voltage characteristics.The finite element analysis findings are compared with the existing procedures and numerical equations for authentications.展开更多
In order to model effectively hybrid systems,a new modeling method of extended Petri nets,which is called extended object-orient hybrid Petri net (EOHPN),is proposed.To deal with the complexity of hybrid systems, ob...In order to model effectively hybrid systems,a new modeling method of extended Petri nets,which is called extended object-orient hybrid Petri net (EOHPN),is proposed.To deal with the complexity of hybrid systems, object-oriented abstraction mechanisms such as encapsulation and classifications are merged into EOHPN models.To combine the continuous part and discrete part of hybrid systems and to reduce the complexity of hybrid systems,a hybrid Petri net is introduced and extended with object-oriented modeling technology.Development of object models is suggested on the basis of the defined EOHPN.Finally, an application-oriented case is presented to illustrate that how the proposed EOHPN is used to model hybrid systems.The resulting model validates that the EOHPNs can deal with the modeling complexity of hybrid systems.展开更多
Photovoltaic(PV) power generation is characterized by randomness and intermittency due to weather changes.Consequently, large-scale PV power connections to the grid can threaten the stable operation of the power syste...Photovoltaic(PV) power generation is characterized by randomness and intermittency due to weather changes.Consequently, large-scale PV power connections to the grid can threaten the stable operation of the power system. An effective method to resolve this problem is to accurately predict PV power. In this study, an innovative short-term hybrid prediction model(i.e., HKSL) of PV power is established. The model combines K-means++, optimal similar day approach,and long short-term memory(LSTM) network. Historical power data and meteorological factors are utilized. This model searches for the best similar day based on the results of classifying weather types. Then, the data of similar day are inputted into the LSTM network to predict PV power. The validity of the hybrid model is verified based on the datasets from a PV power station in Shandong Province, China. Four evaluation indices, mean absolute error, root mean square error(RMSE),normalized RMSE, and mean absolute deviation, are employed to assess the performance of the HKSL model. The RMSE of the proposed model compared with those of Elman, LSTM, HSE(hybrid model combining similar day approach and Elman), HSL(hybrid model combining similar day approach and LSTM), and HKSE(hybrid model combining K-means++,similar day approach, and LSTM) decreases by 66.73%, 70.22%, 65.59%, 70.51%, and 18.40%, respectively. This proves the reliability and excellent performance of the proposed hybrid model in predicting power.展开更多
This study proposes a combined hybrid energy storage system(HESS) and transmission grid(TG) model, and a corresponding time series operation simulation(TSOS) model is established to relieve the peak-shaving pressure o...This study proposes a combined hybrid energy storage system(HESS) and transmission grid(TG) model, and a corresponding time series operation simulation(TSOS) model is established to relieve the peak-shaving pressure of power systems under the integration of renewable energy. First, a linear model for the optimal operation of the HESS is established, which considers the different power-efficiency characteristics of the pumped storage system, electrochemical storage system, and a new type of liquid compressed air energy storage. Second, a TSOS simulation model for peak shaving is built to maximize the power entering the grid from the wind farms and HESS. Based on the proposed model, this study considers the transmission capacity of a TG. By adding the power-flow constraints of the TG, a TSOS-based HESS and TG combination model for peak shaving is established. Finally, the improved IEEE-39 and IEEE-118 bus systems were considered as examples to verify the effectiveness and feasibility of the proposed model.展开更多
The control problems associated with vehicle height adjustment of electronically controlled air suspension (ECAS) still pose theoretical challenges for researchers, which manifest themselves in the publications on t...The control problems associated with vehicle height adjustment of electronically controlled air suspension (ECAS) still pose theoretical challenges for researchers, which manifest themselves in the publications on this subject over the last years. This paper deals with modeling and control of a vehicle height adjustment system for ECAS, which is an example of a hybrid dynamical system due to the coexistence and coupling of continuous variables and discrete events. A mixed logical dynamical (MLD) modeling approach is chosen for capturing enough details of the vehicle height adjustment process. The hybrid dynamic model is constructed on the basis of some assumptions and piecewise linear approximation for components nonlinearities. Then, the on-off statuses of solenoid valves and the piecewise approximation process are described by propositional logic, and the hybrid system is transformed into the set of linear mixed-integer equalities and inequalities, denoted as MLD model, automatically by HYSDEL. Using this model, a hybrid model predictive controller (HMPC) is tuned based on online mixed-integer quadratic optimization (MIQP). Two different scenarios are considered in the simulation, whose results verify the height adjustment effectiveness of the proposed approach. Explicit solutions of the controller are computed to control the vehicle height adjustment system in realtime using an offline multi-parametric programming technology (MPT), thus convert the controller into an equivalent explicit piecewise affine form. Finally, bench experiments for vehicle height lifting, holding and lowering procedures are conducted, which demonstrate that the HMPC can adjust the vehicle height by controlling the on-off statuses of solenoid valves directly. This research proposes a new modeling and control method for vehicle height adjustment of ECAS, which leads to a closed-loop system with favorable dynamical properties.展开更多
In order to solve the problem of trajectory tracking for a class of novel serial-parallel hybrid humanoid arm(HHA), which has parameters uncertainty, frictions, disturbance, abrasion and pulse forces derived from mo...In order to solve the problem of trajectory tracking for a class of novel serial-parallel hybrid humanoid arm(HHA), which has parameters uncertainty, frictions, disturbance, abrasion and pulse forces derived from motors, a multistep dynamics modeling strategy is proposed and a robust controller based on neural network(NN)-adaptive algorithm is designed. At the first step of dynamics modeling, the dynamics model of the reduced HHA is established by Lagrange method. At the second step of dynamics modeling, the parameter uncertain part resulting mainly from the idealization of the HHA is learned by adaptive algorithm. In the trajectory tracking controller, the radial basis function(RBF) NN, whose optimal weights are learned online by adaptive algorithm, is used to learn the upper limit function of the total uncertainties including frictions, disturbances, abrasion and pulse forces. To a great extent, the conservatism of this robust trajectory tracking controller is reduced, and by this controller the HHA can impersonate mostly human actions. The proof and simulation results testify the validity of the adaptive strategy for parameter learning and the neural network-adaptive strategy for the trajectory tracking control.展开更多
基金supported in part by the National Key Research and Development Program of China(2022YFB3305300)the National Natural Science Foundation of China(62173178).
文摘Ethylene glycol(EG)plays a pivotal role as a primary raw material in the polyester industry,and the syngas-to-EG route has become a significant technical route in production.The carbon monoxide(CO)gas-phase catalytic coupling to synthesize dimethyl oxalate(DMO)is a crucial process in the syngas-to-EG route,whereby the composition of the reactor outlet exerts influence on the ultimate quality of the EG product and the energy consumption during the subsequent separation process.However,measuring product quality in real time or establishing accurate dynamic mechanism models is challenging.To effectively model the DMO synthesis process,this study proposes a hybrid modeling strategy that integrates process mechanisms and data-driven approaches.The CO gas-phase catalytic coupling mechanism model is developed based on intrinsic kinetics and material balance,while a long short-term memory(LSTM)neural network is employed to predict the macroscopic reaction rate by leveraging temporal relationships derived from archived measurements.The proposed model is trained semi-supervised to accommodate limited-label data scenarios,leveraging historical data.By integrating these predictions with the mechanism model,the hybrid modeling approach provides reliable and interpretable forecasts of mass fractions.Empirical investigations unequivocally validate the superiority of the proposed hybrid modeling approach over conventional data-driven models(DDMs)and other hybrid modeling techniques.
文摘Spatial heterogeneity refers to the variation or differences in characteristics or features across different locations or areas in space. Spatial data refers to information that explicitly or indirectly belongs to a particular geographic region or location, also known as geo-spatial data or geographic information. Focusing on spatial heterogeneity, we present a hybrid machine learning model combining two competitive algorithms: the Random Forest Regressor and CNN. The model is fine-tuned using cross validation for hyper-parameter adjustment and performance evaluation, ensuring robustness and generalization. Our approach integrates Global Moran’s I for examining global autocorrelation, and local Moran’s I for assessing local spatial autocorrelation in the residuals. To validate our approach, we implemented the hybrid model on a real-world dataset and compared its performance with that of the traditional machine learning models. Results indicate superior performance with an R-squared of 0.90, outperforming RF 0.84 and CNN 0.74. This study contributed to a detailed understanding of spatial variations in data considering the geographical information (Longitude & Latitude) present in the dataset. Our results, also assessed using the Root Mean Squared Error (RMSE), indicated that the hybrid yielded lower errors, showing a deviation of 53.65% from the RF model and 63.24% from the CNN model. Additionally, the global Moran’s I index was observed to be 0.10. This study underscores that the hybrid was able to predict correctly the house prices both in clusters and in dispersed areas.
基金financially supported by the National Natural Science Foundation of China (Nos.51974023 and52374321)the funding of State Key Laboratory of Advanced Metallurgy,University of Science and Technology Beijing,China (No.41620007)。
文摘The amount of oxygen blown into the converter is one of the key parameters for the control of the converter blowing process,which directly affects the tap-to-tap time of converter. In this study, a hybrid model based on oxygen balance mechanism (OBM) and deep neural network (DNN) was established for predicting oxygen blowing time in converter. A three-step method was utilized in the hybrid model. First, the oxygen consumption volume was predicted by the OBM model and DNN model, respectively. Second, a more accurate oxygen consumption volume was obtained by integrating the OBM model and DNN model. Finally, the converter oxygen blowing time was calculated according to the oxygen consumption volume and the oxygen supply intensity of each heat. The proposed hybrid model was verified using the actual data collected from an integrated steel plant in China, and compared with multiple linear regression model, OBM model, and neural network model including extreme learning machine, back propagation neural network, and DNN. The test results indicate that the hybrid model with a network structure of 3 hidden layer layers, 32-16-8 neurons per hidden layer, and 0.1 learning rate has the best prediction accuracy and stronger generalization ability compared with other models. The predicted hit ratio of oxygen consumption volume within the error±300 m^(3)is 96.67%;determination coefficient (R^(2)) and root mean square error (RMSE) are0.6984 and 150.03 m^(3), respectively. The oxygen blow time prediction hit ratio within the error±0.6 min is 89.50%;R2and RMSE are0.9486 and 0.3592 min, respectively. As a result, the proposed model can effectively predict the oxygen consumption volume and oxygen blowing time in the converter.
基金supported by the National Natural Science Foundation of China (62073303,61673356)Hubei Provincial Natural Science Foundation of China (2015CFA010)the 111 Project(B17040)。
文摘This article focuses on dynamic event-triggered mechanism(DETM)-based model predictive control(MPC) for T-S fuzzy systems.A hybrid dynamic variables-dependent DETM is carefully devised,which includes a multiplicative dynamic variable and an additive dynamic variable.The addressed DETM-based fuzzy MPC issue is described as a “min-max” optimization problem(OP).To facilitate the co-design of the MPC controller and the weighting matrix of the DETM,an auxiliary OP is proposed based on a new Lyapunov function and a new robust positive invariant(RPI) set that contain the membership functions and the hybrid dynamic variables.A dynamic event-triggered fuzzy MPC algorithm is developed accordingly,whose recursive feasibility is analysed by employing the RPI set.With the designed controller,the involved fuzzy system is ensured to be asymptotically stable.Two examples show that the new DETM and DETM-based MPC algorithm have the advantages of reducing resource consumption while yielding the anticipated performance.
基金This work was supported by the special fund of the State Key Laboratory of Intense Pulsed Radiation Simulation and Effect(No.SKLIPR2011).
文摘Simulating the total ionizing dose(TID)of an electrical system using transistor-level models can be difficult and expensive,particularly for digital-integrated circuits(ICs).In this study,a method for modeling TID effects in complementary metaloxide semiconductor(CMOS)digital ICs based on the input/output buffer information specification(IBIS)was proposed.The digital IC was first divided into three parts based on its internal structure:the input buffer,output buffer,and functional area.Each of these three parts was separately modeled.Using the IBIS model,the transistor V-I characteristic curves of the buffers were processed,and the physical parameters were extracted and modeled using VHDL-AMS.In the functional area,logic functions were modeled in VHDL according to the data sheet.A golden digital IC model was developed by combining the input buffer,output buffer,and functional area models.Furthermore,the golden ratio was reconstructed based on TID experimental data,enabling the assessment of TID effects on the threshold voltage,carrier mobility,and time series of the digital IC.TID experiments were conducted using a CMOS non-inverting multiplexer,NC7SZ157,and the results were compared with the simulation results,which showed that the relative errors were less than 2%at each dose point.This confirms the practicality and accuracy of the proposed modeling method.The TID effect model for digital ICs developed using this modeling technique includes both the logical function of the IC and changes in electrical properties and functional degradation impacted by TID,which has potential applications in the design of radiation-hardening tolerance in digital ICs.
基金This paper’s logical organisation and content quality have been enhanced,so the authors thank anonymous reviewers and journal editors for assistance.
文摘Forecasting river flow is crucial for optimal planning,management,and sustainability using freshwater resources.Many machine learning(ML)approaches have been enhanced to improve streamflow prediction.Hybrid techniques have been viewed as a viable method for enhancing the accuracy of univariate streamflow estimation when compared to standalone approaches.Current researchers have also emphasised using hybrid models to improve forecast accuracy.Accordingly,this paper conducts an updated literature review of applications of hybrid models in estimating streamflow over the last five years,summarising data preprocessing,univariate machine learning modelling strategy,advantages and disadvantages of standalone ML techniques,hybrid models,and performance metrics.This study focuses on two types of hybrid models:parameter optimisation-based hybrid models(OBH)and hybridisation of parameter optimisation-based and preprocessing-based hybridmodels(HOPH).Overall,this research supports the idea thatmeta-heuristic approaches precisely improveML techniques.It’s also one of the first efforts to comprehensively examine the efficiency of various meta-heuristic approaches(classified into four primary classes)hybridised with ML techniques.This study revealed that previous research applied swarm,evolutionary,physics,and hybrid metaheuristics with 77%,61%,12%,and 12%,respectively.Finally,there is still room for improving OBH and HOPH models by examining different data pre-processing techniques and metaheuristic algorithms.
文摘The Indian Himalayan region is frequently experiencing climate change-induced landslides.Thus,landslide susceptibility assessment assumes greater significance for lessening the impact of a landslide hazard.This paper makes an attempt to assess landslide susceptibility in Shimla district of the northwest Indian Himalayan region.It examined the effectiveness of random forest(RF),multilayer perceptron(MLP),sequential minimal optimization regression(SMOreg)and bagging ensemble(B-RF,BSMOreg,B-MLP)models.A landslide inventory map comprising 1052 locations of past landslide occurrences was classified into training(70%)and testing(30%)datasets.The site-specific influencing factors were selected by employing a multicollinearity test.The relationship between past landslide occurrences and influencing factors was established using the frequency ratio method.The effectiveness of machine learning models was verified through performance assessors.The landslide susceptibility maps were validated by the area under the receiver operating characteristic curves(ROC-AUC),accuracy,precision,recall and F1-score.The key performance metrics and map validation demonstrated that the BRF model(correlation coefficient:0.988,mean absolute error:0.010,root mean square error:0.058,relative absolute error:2.964,ROC-AUC:0.947,accuracy:0.778,precision:0.819,recall:0.917 and F-1 score:0.865)outperformed the single classifiers and other bagging ensemble models for landslide susceptibility.The results show that the largest area was found under the very high susceptibility zone(33.87%),followed by the low(27.30%),high(20.68%)and moderate(18.16%)susceptibility zones.The factors,namely average annual rainfall,slope,lithology,soil texture and earthquake magnitude have been identified as the influencing factors for very high landslide susceptibility.Soil texture,lineament density and elevation have been attributed to high and moderate susceptibility.Thus,the study calls for devising suitable landslide mitigation measures in the study area.Structural measures,an immediate response system,community participation and coordination among stakeholders may help lessen the detrimental impact of landslides.The findings from this study could aid decision-makers in mitigating future catastrophes and devising suitable strategies in other geographical regions with similar geological characteristics.
文摘Class Title:Radiological imaging method a comprehensive overview purpose.This GPT paper provides an overview of the different forms of radiological imaging and the potential diagnosis capabilities they offer as well as recent advances in the field.Materials and Methods:This paper provides an overview of conventional radiography digital radiography panoramic radiography computed tomography and cone-beam computed tomography.Additionally recent advances in radiological imaging are discussed such as imaging diagnosis and modern computer-aided diagnosis systems.Results:This paper details the differences between the imaging techniques the benefits of each and the current advances in the field to aid in the diagnosis of medical conditions.Conclusion:Radiological imaging is an extremely important tool in modern medicine to assist in medical diagnosis.This work provides an overview of the types of imaging techniques used the recent advances made and their potential applications.
基金supported by the National Natural Science Foundation of China(NSFCGrant No.42275061)+3 种基金the Strategic Priority Research Program of the Chinese Academy of Sciences(Grant No.XDB40000000)the Laoshan Laboratory(Grant No.LSKJ202202404)the NSFC(Grant No.42030410)the Startup Foundation for Introducing Talent of Nanjing University of Information Science and Technology.
文摘A previously developed hybrid coupled model(HCM)is composed of an intermediate tropical Pacific Ocean model and a global atmospheric general circulation model(AGCM),denoted as HCMAGCM.In this study,different El Niño flavors,namely the Eastern-Pacific(EP)and Central-Pacific(CP)types,and the associated global atmospheric teleconnections are examined in a 1000-yr control simulation of the HCMAGCM.The HCMAGCM indicates profoundly different characteristics among EP and CP El Niño events in terms of related oceanic and atmospheric variables in the tropical Pacific,including the amplitude and spatial patterns of sea surface temperature(SST),zonal wind stress,and precipitation anomalies.An SST budget analysis indicates that the thermocline feedback and zonal advective feedback dominantly contribute to the growth of EP and CP El Niño events,respectively.Corresponding to the shifts in the tropical rainfall and deep convection during EP and CP El Niño events,the model also reproduces the differences in the extratropical atmospheric responses during the boreal winter.In particular,the EP El Niño tends to be dominant in exciting a poleward wave train pattern to the Northern Hemisphere,while the CP El Niño tends to preferably produce a wave train similar to the Pacific North American(PNA)pattern.As a result,different climatic impacts exist in North American regions,with a warm-north and cold-south pattern during an EP El Niño and a warm-northeast and cold-southwest pattern during a CP El Niño,respectively.This modeling result highlights the importance of internal natural processes within the tropical Pacific as they relate to the genesis of ENSO diversity because the active ocean–atmosphere coupling is allowed only in the tropical Pacific within the framework of the HCMAGCM.
文摘Effort estimation plays a crucial role in software development projects,aiding in resource allocation,project planning,and risk management.Traditional estimation techniques often struggle to provide accurate estimates due to the complex nature of software projects.In recent years,machine learning approaches have shown promise in improving the accuracy of effort estimation models.This study proposes a hybrid model that combines Long Short-Term Memory(LSTM)and Random Forest(RF)algorithms to enhance software effort estimation.The proposed hybrid model takes advantage of the strengths of both LSTM and RF algorithms.To evaluate the performance of the hybrid model,an extensive set of software development projects is used as the experimental dataset.The experimental results demonstrate that the proposed hybrid model outperforms traditional estimation techniques in terms of accuracy and reliability.The integration of LSTM and RF enables the model to efficiently capture temporal dependencies and non-linear interactions in the software development data.The hybrid model enhances estimation accuracy,enabling project managers and stakeholders to make more precise predictions of effort needed for upcoming software projects.
基金supported by the Fundamental Research Funds for the Central Universities (No.3122020072)the Multi-investment Project of Tianjin Applied Basic Research(No.23JCQNJC00250)。
文摘A hybrid identification model based on multilayer artificial neural networks(ANNs) and particle swarm optimization(PSO) algorithm is developed to improve the simultaneous identification efficiency of thermal conductivity and effective absorption coefficient of semitransparent materials.For the direct model,the spherical harmonic method and the finite volume method are used to solve the coupled conduction-radiation heat transfer problem in an absorbing,emitting,and non-scattering 2D axisymmetric gray medium in the background of laser flash method.For the identification part,firstly,the temperature field and the incident radiation field in different positions are chosen as observables.Then,a traditional identification model based on PSO algorithm is established.Finally,multilayer ANNs are built to fit and replace the direct model in the traditional identification model to speed up the identification process.The results show that compared with the traditional identification model,the time cost of the hybrid identification model is reduced by about 1 000 times.Besides,the hybrid identification model remains a high level of accuracy even with measurement errors.
文摘The paper presents our contribution to the full 3D finite element modelling of a hybrid stepping motor using COMSOL Multiphysics software. This type of four-phase motor has a permanent magnet interposed between the two identical and coaxial half stators. The calculation of the field with or without current in the windings (respectively with or without permanent magnet) is done using a mixed formulation with strong coupling. In addition, the local high saturation of the ferromagnetic material and the radial and axial components of the magnetic flux are taken into account. The results obtained make it possible to clearly observe, as a function of the intensity of the bus current or the remanent induction, the saturation zones, the lines, the orientations and the magnetic flux densities. 3D finite element modelling provide more accurate numerical data on the magnetic field through multiphysics analysis. This analysis considers the actual operating conditions and leads to the design of an optimized machine structure, with or without current in the windings and/or permanent magnet.
基金This work was supported by the National Natural Science Foundation of China(No.52172409)Sichuan Outstanding Youth Fund(No.2022JDJQ0025).
文摘Rail vehicles generate huge longitudinal impact loads in collisions.If unreasonable matching exists between the compressive strength of the intermediate coupler and the structural strength of the car body,the risk of car body structure damage and train derailment will increase.Herein,a four-stage rigid-flexible coupling finite element model of the coupler is established considering the coupler buckling load.The influence of the coupler buckling load on the train longitudinal-vertical-hori-zontal buckling behavior was studied,and the mechanism of the train horizontal buckling instability in train collisions was revealed.Analysis results show that an intermediate coupler should be designed to ensure that the actual buckling load is less than the compressive load when the car body structure begins to deform plastically.The actual buckling load of the coupler and the asymmetry of the structural strength of the car body in the lateral direction are two important influencing factors for the lateral buckling of a train collision.If the strength of the two sides of the car body structure in the lateral direction is asymmetrical,the deformation on the weaker side will be larger,and the end of the car body will begin to deflect under the action of the coupler force,which in turn causes the train to undergo sawtooth buckling.
文摘In a competitive digital age where data volumes are increasing with time, the ability to extract meaningful knowledge from high-dimensional data using machine learning (ML) and data mining (DM) techniques and making decisions based on the extracted knowledge is becoming increasingly important in all business domains. Nevertheless, high-dimensional data remains a major challenge for classification algorithms due to its high computational cost and storage requirements. The 2016 Demographic and Health Survey of Ethiopia (EDHS 2016) used as the data source for this study which is publicly available contains several features that may not be relevant to the prediction task. In this paper, we developed a hybrid multidimensional metrics framework for predictive modeling for both model performance evaluation and feature selection to overcome the feature selection challenges and select the best model among the available models in DM and ML. The proposed hybrid metrics were used to measure the efficiency of the predictive models. Experimental results show that the decision tree algorithm is the most efficient model. The higher score of HMM (m, r) = 0.47 illustrates the overall significant model that encompasses almost all the user’s requirements, unlike the classical metrics that use a criterion to select the most appropriate model. On the other hand, the ANNs were found to be the most computationally intensive for our prediction task. Moreover, the type of data and the class size of the dataset (unbalanced data) have a significant impact on the efficiency of the model, especially on the computational cost, and the interpretability of the parameters of the model would be hampered. And the efficiency of the predictive model could be improved with other feature selection algorithms (especially hybrid metrics) considering the experts of the knowledge domain, as the understanding of the business domain has a significant impact.
文摘In the conventional technique,in the evaluation of the severity index,clustering and loading suffer from more iteration leading to more com-putational delay.Hence this research article identifies,a novel progression for fast predicting the severity of the line and clustering by incorporating machine learning aspects.The polynomial load modelling or ZIP(constant impedances(Z),Constant Current(I)and Constant active power(P))is developed in the IEEE-14 and Indian 118 bus systems considered for analysis of power system security.The process of finding the severity of the line using a Hybrid Line Stability Ranking Index(HLSRI)is used for assisting the concepts of machine learning with J48 algorithm,infers the superior affected lines by adopting the IEEE standards in concern to be compensated in maintaining the power system stability.The simulation is performed in the WEKA environment and deals with the supervisor learning in order based on severity to ensure the safety of power system.The Unified Power Flow Controller(UPFC),facts devices for the purpose of compensating the losses by maintaining the voltage characteristics.The finite element analysis findings are compared with the existing procedures and numerical equations for authentications.
基金The National Key Laboratory Program ( No.51458060104JW0316)the National High Technology Research and De-velopment Program of China (863 Program) (No.2003AA414120).
文摘In order to model effectively hybrid systems,a new modeling method of extended Petri nets,which is called extended object-orient hybrid Petri net (EOHPN),is proposed.To deal with the complexity of hybrid systems, object-oriented abstraction mechanisms such as encapsulation and classifications are merged into EOHPN models.To combine the continuous part and discrete part of hybrid systems and to reduce the complexity of hybrid systems,a hybrid Petri net is introduced and extended with object-oriented modeling technology.Development of object models is suggested on the basis of the defined EOHPN.Finally, an application-oriented case is presented to illustrate that how the proposed EOHPN is used to model hybrid systems.The resulting model validates that the EOHPNs can deal with the modeling complexity of hybrid systems.
基金supported by the No. 4 National Project in 2022 of the Ministry of Emergency Response (2022YJBG04)the International Clean Energy Talent Program (201904100014)。
文摘Photovoltaic(PV) power generation is characterized by randomness and intermittency due to weather changes.Consequently, large-scale PV power connections to the grid can threaten the stable operation of the power system. An effective method to resolve this problem is to accurately predict PV power. In this study, an innovative short-term hybrid prediction model(i.e., HKSL) of PV power is established. The model combines K-means++, optimal similar day approach,and long short-term memory(LSTM) network. Historical power data and meteorological factors are utilized. This model searches for the best similar day based on the results of classifying weather types. Then, the data of similar day are inputted into the LSTM network to predict PV power. The validity of the hybrid model is verified based on the datasets from a PV power station in Shandong Province, China. Four evaluation indices, mean absolute error, root mean square error(RMSE),normalized RMSE, and mean absolute deviation, are employed to assess the performance of the HKSL model. The RMSE of the proposed model compared with those of Elman, LSTM, HSE(hybrid model combining similar day approach and Elman), HSL(hybrid model combining similar day approach and LSTM), and HKSE(hybrid model combining K-means++,similar day approach, and LSTM) decreases by 66.73%, 70.22%, 65.59%, 70.51%, and 18.40%, respectively. This proves the reliability and excellent performance of the proposed hybrid model in predicting power.
基金supported by the State Grid Science and Technology Project (No.52999821N004)。
文摘This study proposes a combined hybrid energy storage system(HESS) and transmission grid(TG) model, and a corresponding time series operation simulation(TSOS) model is established to relieve the peak-shaving pressure of power systems under the integration of renewable energy. First, a linear model for the optimal operation of the HESS is established, which considers the different power-efficiency characteristics of the pumped storage system, electrochemical storage system, and a new type of liquid compressed air energy storage. Second, a TSOS simulation model for peak shaving is built to maximize the power entering the grid from the wind farms and HESS. Based on the proposed model, this study considers the transmission capacity of a TG. By adding the power-flow constraints of the TG, a TSOS-based HESS and TG combination model for peak shaving is established. Finally, the improved IEEE-39 and IEEE-118 bus systems were considered as examples to verify the effectiveness and feasibility of the proposed model.
基金Supported by National Natural Science Foundation of China(Grant No.51375212)Priority Academic Program Development(PAPD)of Jiangsu Higher Education Institutions of China+1 种基金Research Fund for the Doctoral Program of Higher Education of China(Grant No.20133227130001)China Postdoctoral Science Foundation(Grant No.2014M551518)
文摘The control problems associated with vehicle height adjustment of electronically controlled air suspension (ECAS) still pose theoretical challenges for researchers, which manifest themselves in the publications on this subject over the last years. This paper deals with modeling and control of a vehicle height adjustment system for ECAS, which is an example of a hybrid dynamical system due to the coexistence and coupling of continuous variables and discrete events. A mixed logical dynamical (MLD) modeling approach is chosen for capturing enough details of the vehicle height adjustment process. The hybrid dynamic model is constructed on the basis of some assumptions and piecewise linear approximation for components nonlinearities. Then, the on-off statuses of solenoid valves and the piecewise approximation process are described by propositional logic, and the hybrid system is transformed into the set of linear mixed-integer equalities and inequalities, denoted as MLD model, automatically by HYSDEL. Using this model, a hybrid model predictive controller (HMPC) is tuned based on online mixed-integer quadratic optimization (MIQP). Two different scenarios are considered in the simulation, whose results verify the height adjustment effectiveness of the proposed approach. Explicit solutions of the controller are computed to control the vehicle height adjustment system in realtime using an offline multi-parametric programming technology (MPT), thus convert the controller into an equivalent explicit piecewise affine form. Finally, bench experiments for vehicle height lifting, holding and lowering procedures are conducted, which demonstrate that the HMPC can adjust the vehicle height by controlling the on-off statuses of solenoid valves directly. This research proposes a new modeling and control method for vehicle height adjustment of ECAS, which leads to a closed-loop system with favorable dynamical properties.
基金supported by National Basic Research and Development Program of China (973 Program, Grant No. 2006CB705402)
文摘In order to solve the problem of trajectory tracking for a class of novel serial-parallel hybrid humanoid arm(HHA), which has parameters uncertainty, frictions, disturbance, abrasion and pulse forces derived from motors, a multistep dynamics modeling strategy is proposed and a robust controller based on neural network(NN)-adaptive algorithm is designed. At the first step of dynamics modeling, the dynamics model of the reduced HHA is established by Lagrange method. At the second step of dynamics modeling, the parameter uncertain part resulting mainly from the idealization of the HHA is learned by adaptive algorithm. In the trajectory tracking controller, the radial basis function(RBF) NN, whose optimal weights are learned online by adaptive algorithm, is used to learn the upper limit function of the total uncertainties including frictions, disturbances, abrasion and pulse forces. To a great extent, the conservatism of this robust trajectory tracking controller is reduced, and by this controller the HHA can impersonate mostly human actions. The proof and simulation results testify the validity of the adaptive strategy for parameter learning and the neural network-adaptive strategy for the trajectory tracking control.