A Fractional-Order Ultra-Local Model-Based Adaptive Neural Network Sliding Mode Control of n-DOF Upper-Limb Exoskeleton With Input Deadzone

This paper proposes an adaptive neural network sliding mode control based on fractional-order ultra-local model for n-DOF upper-limb exoskeleton in presence of uncertainties,external disturbances and input deadzone.Considering the model complexity and input deadzone,a fractional-order ultra-local model is proposed to formulate the original dynamic system for simple controller design.Firstly,the control gain of ultra-local model is considered as a constant.The fractional-order sliding mode technique is designed to stabilize the closed-loop system,while fractional-order time-delay estimation is combined with neural network to estimate the lumped disturbance.Correspondingly,a fractional-order ultra-local model-based neural network sliding mode controller(FO-NNSMC) is proposed.Secondly,to avoid disadvantageous effect of improper gain selection on the control performance,the control gain of ultra-local model is considered as an unknown parameter.Then,the Nussbaum technique is introduced into the FO-NNSMC to deal with the stability problem with unknown gain.Correspondingly,a fractional-order ultra-local model-based adaptive neural network sliding mode controller(FO-ANNSMC) is proposed.Moreover,the stability analysis of the closed-loop system with the proposed method is presented by using the Lyapunov theory.Finally,with the co-simulations on virtual prototype of 7-DOF iReHave upper-limb exoskeleton and experiments on 2-DOF upper-limb exoskeleton,the obtained compared results illustrate the effectiveness and superiority of the proposed method.

Noise-tolerate and adaptive coefficient zeroing neural network for solving dynamic matrix square root

The solving of dynamic matrix square root(DMSR)problems is frequently encountered in many scientific and engineering fields.Although the original zeroing neural network is powerful for solving the DMSR,it cannot vanish the influence of the noise perturbations,and its constant-coefficient design scheme cannot accelerate the convergence speed.Therefore,a noise-tolerate and adaptive coefficient zeroing neural network(NTACZNN)is raised to enhance the robust noise immunity performance and accelerate the conver-gence speed simultaneously.Then,the global convergence and robustness of the pro-posed NTACZNN are theoretically analysed under an ideal environment and noise-perturbed circumstances.Furthermore,some illustrative simulation examples are designed and performed in order to substantiate the efficacy and advantage of the NTACZNN for the DMSR problem solution.Compared with some existing ZNNs,the proposed NTACZNN possesses advanced performance in terms of noise tolerance,solution accuracy,and convergence rate.

TCAS-PINN:Physics-informed neural networks with a novel temporal causality-based adaptive sampling method

Physics-informed neural networks(PINNs)have become an attractive machine learning framework for obtaining solutions to partial differential equations(PDEs).PINNs embed initial,boundary,and PDE constraints into the loss function.The performance of PINNs is generally affected by both training and sampling.Specifically,training methods focus on how to overcome the training difficulties caused by the special PDE residual loss of PINNs,and sampling methods are concerned with the location and distribution of the sampling points upon which evaluations of PDE residual loss are accomplished.However,a common problem among these original PINNs is that they omit special temporal information utilization during the training or sampling stages when dealing with an important PDE category,namely,time-dependent PDEs,where temporal information plays a key role in the algorithms used.There is one method,called Causal PINN,that considers temporal causality at the training level but not special temporal utilization at the sampling level.Incorporating temporal knowledge into sampling remains to be studied.To fill this gap,we propose a novel temporal causality-based adaptive sampling method that dynamically determines the sampling ratio according to both PDE residual and temporal causality.By designing a sampling ratio determined by both residual loss and temporal causality to control the number and location of sampled points in each temporal sub-domain,we provide a practical solution by incorporating temporal information into sampling.Numerical experiments of several nonlinear time-dependent PDEs,including the Cahn–Hilliard,Korteweg–de Vries,Allen–Cahn and wave equations,show that our proposed sampling method can improve the performance.We demonstrate that using such a relatively simple sampling method can improve prediction performance by up to two orders of magnitude compared with the results from other methods,especially when points are limited.

A Spectral Convolutional Neural Network Model Based on Adaptive Fick’s Law for Hyperspectral Image Classification

Hyperspectral image classification stands as a pivotal task within the field of remote sensing,yet achieving highprecision classification remains a significant challenge.In response to this challenge,a Spectral Convolutional Neural Network model based on Adaptive Fick’s Law Algorithm(AFLA-SCNN)is proposed.The Adaptive Fick’s Law Algorithm(AFLA)constitutes a novel metaheuristic algorithm introduced herein,encompassing three new strategies:Adaptive weight factor,Gaussian mutation,and probability update policy.With adaptive weight factor,the algorithmcan adjust theweights according to the change in the number of iterations to improve the performance of the algorithm.Gaussianmutation helps the algorithm avoid falling into local optimal solutions and improves the searchability of the algorithm.The probability update strategy helps to improve the exploitability and adaptability of the algorithm.Within the AFLA-SCNN model,AFLA is employed to optimize two hyperparameters in the SCNN model,namely,“numEpochs”and“miniBatchSize”,to attain their optimal values.AFLA’s performance is initially validated across 28 functions in 10D,30D,and 50D for CEC2013 and 29 functions in 10D,30D,and 50D for CEC2017.Experimental results indicate AFLA’s marked performance superiority over nine other prominent optimization algorithms.Subsequently,the AFLA-SCNN model was compared with the Spectral Convolutional Neural Network model based on Fick’s Law Algorithm(FLA-SCNN),Spectral Convolutional Neural Network model based on Harris Hawks Optimization(HHO-SCNN),Spectral Convolutional Neural Network model based onDifferential Evolution(DE-SCNN),SpectralConvolutionalNeuralNetwork(SCNN)model,and SupportVector Machines(SVM)model using the Indian Pines dataset and PaviaUniversity dataset.The experimental results show that the AFLA-SCNN model outperforms other models in terms of Accuracy,Precision,Recall,and F1-score on Indian Pines and Pavia University.Among them,the Accuracy of the AFLA-SCNN model on Indian Pines reached 99.875%,and the Accuracy on PaviaUniversity reached 98.022%.In conclusion,our proposed AFLA-SCNN model is deemed to significantly enhance the precision of hyperspectral image classification.

Recent Progress in Reinforcement Learning and Adaptive Dynamic Programming for Advanced Control Applications

Reinforcement learning(RL) has roots in dynamic programming and it is called adaptive/approximate dynamic programming(ADP) within the control community. This paper reviews recent developments in ADP along with RL and its applications to various advanced control fields. First, the background of the development of ADP is described, emphasizing the significance of regulation and tracking control problems. Some effective offline and online algorithms for ADP/adaptive critic control are displayed, where the main results towards discrete-time systems and continuous-time systems are surveyed, respectively.Then, the research progress on adaptive critic control based on the event-triggered framework and under uncertain environment is discussed, respectively, where event-based design, robust stabilization, and game design are reviewed. Moreover, the extensions of ADP for addressing control problems under complex environment attract enormous attention. The ADP architecture is revisited under the perspective of data-driven and RL frameworks,showing how they promote ADP formulation significantly.Finally, several typical control applications with respect to RL and ADP are summarized, particularly in the fields of wastewater treatment processes and power systems, followed by some general prospects for future research. Overall, the comprehensive survey on ADP and RL for advanced control applications has d emonstrated its remarkable potential within the artificial intelligence era. In addition, it also plays a vital role in promoting environmental protection and industrial intelligence.

Neurogenesis dynamics in the olfactory bulb:deciphering circuitry organization, function, and adaptive plasticity

Adult neurogenesis persists after birth in the subventricular zone, with new neurons migrating to the granule cell layer and glomerular layers of the olfactory bulb, where they integrate into existing circuitry as inhibitory interneurons. The generation of these new neurons in the olfactory bulb supports both structural and functional plasticity, aiding in circuit remodeling triggered by memory and learning processes. However, the presence of these neurons, coupled with the cellular diversity within the olfactory bulb, presents an ongoing challenge in understanding its network organization and function. Moreover,the continuous integration of new neurons in the olfactory bulb plays a pivotal role in regulating olfactory information processing. This adaptive process responds to changes in epithelial composition and contributes to the formation of olfactory memories by modulating cellular connectivity within the olfactory bulb and interacting intricately with higher-order brain regions. The role of adult neurogenesis in olfactory bulb functions remains a topic of debate. Nevertheless, the functionality of the olfactory bulb is intricately linked to the organization of granule cells around mitral and tufted cells. This organizational pattern significantly impacts output, network behavior, and synaptic plasticity, which are crucial for olfactory perception and memory. Additionally, this organization is further shaped by axon terminals originating from cortical and subcortical regions. Despite the crucial role of olfactory bulb in brain functions and behaviors related to olfaction, these complex and highly interconnected processes have not been comprehensively studied as a whole. Therefore, this manuscript aims to discuss our current understanding and explore how neural plasticity and olfactory neurogenesis contribute to enhancing the adaptability of the olfactory system. These mechanisms are thought to support olfactory learning and memory, potentially through increased complexity and restructuring of neural network structures, as well as the addition of new granule granule cells that aid in olfactory adaptation. Additionally, the manuscript underscores the importance of employing precise methodologies to elucidate the specific roles of adult neurogenesis amidst conflicting data and varying experimental paradigms. Understanding these processes is essential for gaining insights into the complexities of olfactory function and behavior.

Unveiling the adaptation strategies of woody plants in remnant forest patches to spatiotemporal urban expansion through leaf trait networks

Background:With the expansion of urban areas,the remnants of forested areas play a crucial role in preserving biodiversity in urban environments.This study aimed to explore the impact of spatiotemporal urban expansion on the networks of leaf traits in woody plants within remnant forest patches,thereby enhancing our understanding of plant adaptive strategies and contributing to the conservation of urban biodiversity.Methods:Our study examined woody plants within 120 sample plots across 15 remnant forest patches in Guiyang,China.We constructed leaf trait networks (LTNs) based on 26 anatomical,structural,and compositional leaf traits and assessed the effects of the spatiotemporal dynamics of urban expansion on these LTNs.Results and conclusions:Our results indicate that shrubs within these patches have greater average path lengths and diameters than trees.With increasing urban expansion intensity,we observed a rise in the edge density of the LTN-shrubs.Additionally,modularity within the networks of shrubs decreased as road density and urban expansion intensity increased,and increases in the average path length and average clustering coefficient for shrubs were observed with a rise in the composite terrain complexity index.Notably,patches subjected to‘leapfrog’expansion exhibited greater average patch length and diameter than those experiencing edge growth.Stomatal traits were found to have high degree centrality within these networks,signifying their substantial contribution to multiple functions.In urban remnant forests,shrubs bolster their resilience to variable environmental pressures by augmenting the complexity of their leaf trait networks.

Physics-informed neural networks with residual/gradient-based adaptive sampling methods for solving partial differential equations with sharp solutions

We consider solving the forward and inverse partial differential equations(PDEs)which have sharp solutions with physics-informed neural networks(PINNs)in this work.In particular,to better capture the sharpness of the solution,we propose the adaptive sampling methods(ASMs)based on the residual and the gradient of the solution.We first present a residual only-based ASM denoted by ASMⅠ.In this approach,we first train the neural network using a small number of residual points and divide the computational domain into a certain number of sub-domains,then we add new residual points in the sub-domain which has the largest mean absolute value of the residual,and those points which have the largest absolute values of the residual in this sub-domain as new residual points.We further develop a second type of ASM(denoted by ASMⅡ)based on both the residual and the gradient of the solution due to the fact that only the residual may not be able to efficiently capture the sharpness of the solution.The procedure of ASMⅡis almost the same as that of ASMⅠ,and we add new residual points which have not only large residuals but also large gradients.To demonstrate the effectiveness of the present methods,we use both ASMⅠand ASMⅡto solve a number of PDEs,including the Burger equation,the compressible Euler equation,the Poisson equation over an Lshape domain as well as the high-dimensional Poisson equation.It has been shown from the numerical results that the sharp solutions can be well approximated by using either ASMⅠor ASMⅡ,and both methods deliver much more accurate solutions than the original PINNs with the same number of residual points.Moreover,the ASMⅡalgorithm has better performance in terms of accuracy,efficiency,and stability compared with the ASMⅠalgorithm.This means that the gradient of the solution improves the stability and efficiency of the adaptive sampling procedure as well as the accuracy of the solution.Furthermore,we also employ the similar adaptive sampling technique for the data points of boundary conditions(BCs)if the sharpness of the solution is near the boundary.The result of the L-shape Poisson problem indicates that the present method can significantly improve the efficiency,stability,and accuracy.

Adaptive Fixed-Time Synchronization of Delayed Memristor-Based Neural Networks with Discontinuous Activations

Fixed-time synchronization(FTS)of delayed memristor-based neural networks(MNNs)with discontinuous activations is studied in this paper.Both continuous and discontinuous activations are considered forMNNs.And the mixed delays which are closer to reality are taken into the system.Besides,two kinds of control schemes are proposed,including feedback and adaptive control strategies.Based on some lemmas,mathematical inequalities and the designed controllers,a few synchronization criteria are acquired.Moreover,the upper bound of settling time(ST)which is independent of the initial values is given.Finally,the feasibility of our theory is attested by simulation examples.

Adaptive Graph Convolutional Recurrent Neural Networks for System-Level Mobile Traffic Forecasting

Accurate traffic pattern prediction in largescale networks is of great importance for intelligent system management and automatic resource allocation.System-level mobile traffic forecasting has significant challenges due to the tremendous temporal and spatial dynamics introduced by diverse Internet user behaviors and frequent traffic migration.Spatialtemporal graph modeling is an efficient approach for analyzing the spatial relations and temporal trends of mobile traffic in a large system.Previous research may not reflect the optimal dependency by ignoring inter-base station dependency or pre-determining the explicit geological distance as the interrelationship of base stations.To overcome the limitations of graph structure,this study proposes an adaptive graph convolutional network(AGCN)that captures the latent spatial dependency by developing self-adaptive dependency matrices and acquires temporal dependency using recurrent neural networks.Evaluated on two mobile network datasets,the experimental results demonstrate that this method outperforms other baselines and reduces the mean absolute error by 3.7%and 5.6%compared to time-series based approaches.

Scale adaptive fitness evaluation‐based particle swarm optimisation for hyperparameter and architecture optimisation in neural networks and deep learning

Research into automatically searching for an optimal neural network(NN)by optimi-sation algorithms is a significant research topic in deep learning and artificial intelligence.However,this is still challenging due to two issues:Both the hyperparameter and ar-chitecture should be optimised and the optimisation process is computationally expen-sive.To tackle these two issues,this paper focusses on solving the hyperparameter and architecture optimization problem for the NN and proposes a novel light‐weight scale‐adaptive fitness evaluation‐based particle swarm optimisation(SAFE‐PSO)approach.Firstly,the SAFE‐PSO algorithm considers the hyperparameters and architectures together in the optimisation problem and therefore can find their optimal combination for the globally best NN.Secondly,the computational cost can be reduced by using multi‐scale accuracy evaluation methods to evaluate candidates.Thirdly,a stagnation‐based switch strategy is proposed to adaptively switch different evaluation methods to better balance the search performance and computational cost.The SAFE‐PSO algorithm is tested on two widely used datasets:The 10‐category(i.e.,CIFAR10)and the 100−cate-gory(i.e.,CIFAR100).The experimental results show that SAFE‐PSO is very effective and efficient,which can not only find a promising NN automatically but also find a better NN than compared algorithms at the same computational cost.

Adaptive Butterfly Optimization Algorithm(ABOA)Based Feature Selection and Deep Neural Network(DNN)for Detection of Distributed Denial-of-Service(DDoS)Attacks in Cloud

Cloud computing technology provides flexible,on-demand,and completely controlled computing resources and services are highly desirable.Despite this,with its distributed and dynamic nature and shortcomings in virtualization deployment,the cloud environment is exposed to a wide variety of cyber-attacks and security difficulties.The Intrusion Detection System(IDS)is a specialized security tool that network professionals use for the safety and security of the networks against attacks launched from various sources.DDoS attacks are becoming more frequent and powerful,and their attack pathways are continually changing,which requiring the development of new detection methods.Here the purpose of the study is to improve detection accuracy.Feature Selection(FS)is critical.At the same time,the IDS’s computational problem is limited by focusing on the most relevant elements,and its performance and accuracy increase.In this research work,the suggested Adaptive butterfly optimization algorithm(ABOA)framework is used to assess the effectiveness of a reduced feature subset during the feature selection phase,that was motivated by this motive Candidates.Accurate classification is not compromised by using an ABOA technique.The design of Deep Neural Networks(DNN)has simplified the categorization of network traffic into normal and DDoS threat traffic.DNN’s parameters can be finetuned to detect DDoS attacks better using specially built algorithms.Reduced reconstruction error,no exploding or vanishing gradients,and reduced network are all benefits of the changes outlined in this paper.When it comes to performance criteria like accuracy,precision,recall,and F1-Score are the performance measures that show the suggested architecture outperforms the other existing approaches.Hence the proposed ABOA+DNN is an excellent method for obtaining accurate predictions,with an improved accuracy rate of 99.05%compared to other existing approaches.

Adaptive Stochastic Synchronization of Uncertain Delayed Neural Networks

This paper considers adaptive synchronization of uncertain neural networks with time delays and stochastic perturbation. A general adaptive controller is designed to deal with the difficulties deduced by uncertain parameters and stochastic perturbations, in which the controller is less conservative and optimal since its control gains can be automatically adjusted according to some designed update laws. Based on Lyapunov stability theory and Barbalat lemma, sufficient condition is obtained for synchronization of delayed neural networks by strict mathematical proof. Moreover, the obtained results of this paper are more general than most existing results of certainly neural networks with or without stochastic disturbances. Finally, numerical simulations are presented to substantiate our theoretical results.

Adaptive recurrent neural network for uncertainties estimation in feedback control system

In this paper,a recurrent neural network(RNN)is used to estimate uncertainties and implement feedback control for nonlinear dynamic systems.The neural network approximates the uncertainties related to unmodeled dynamics,parametric variations,and external disturbances.The RNN has a single hidden layer and uses the tracking error and the output as feedback to estimate the disturbance.The RNN weights are online adapted,and the adaptation laws are developed from the stability analysis of the controlled system with the RNN estimation.The used activation function,at the hidden layer,has an expression that simplifies the adaptation laws from the stability analysis.It is found that the adaptive RNN enhances the tracking performance of the feedback controller at the transient and steady state responses.The proposed RNN based feedback control is applied to a DC–DC converter for current regulation.Simulation and experimental results are provided to show its effectiveness.Compared to the feedforward neural network and the conventional feedback control,the RNN based feedback control provides good tracking performance.

Adaptive Multi-Step Evaluation Design With Stability Guarantee for Discrete-Time Optimal Learning Control

This paper is concerned with a novel integrated multi-step heuristic dynamic programming(MsHDP)algorithm for solving optimal control problems.It is shown that,initialized by the zero cost function,MsHDP can converge to the optimal solution of the Hamilton-Jacobi-Bellman(HJB)equation.Then,the stability of the system is analyzed using control policies generated by MsHDP.Also,a general stability criterion is designed to determine the admissibility of the current control policy.That is,the criterion is applicable not only to traditional value iteration and policy iteration but also to MsHDP.Further,based on the convergence and the stability criterion,the integrated MsHDP algorithm using immature control policies is developed to accelerate learning efficiency greatly.Besides,actor-critic is utilized to implement the integrated MsHDP scheme,where neural networks are used to evaluate and improve the iterative policy as the parameter architecture.Finally,two simulation examples are given to demonstrate that the learning effectiveness of the integrated MsHDP scheme surpasses those of other fixed or integrated methods.

Multivariate adaptive regression splines and neural network models for prediction of pile drivability

Piles are long, slender structural elements used to transfer the loads from the superstructure through weak strata onto stiffer soils or rocks. For driven piles, the impact of the piling hammer induces compression and tension stresses in the piles. Hence, an important design consideration is to check that the strength of the pile is sufficient to resist the stresses caused by the impact of the pile hammer. Due to its complexity, pile drivability lacks a precise analytical solution with regard to the phenomena involved.In situations where measured data or numerical hypothetical results are available, neural networks stand out in mapping the nonlinear interactions and relationships between the system’s predictors and dependent responses. In addition, unlike most computational tools, no mathematical relationship assumption between the dependent and independent variables has to be made. Nevertheless, neural networks have been criticized for their long trial-and-error training process since the optimal configuration is not known a priori. This paper investigates the use of a fairly simple nonparametric regression algorithm known as multivariate adaptive regression splines（MARS）, as an alternative to neural networks, to approximate the relationship between the inputs and dependent response, and to mathematically interpret the relationship between the various parameters. In this paper, the Back propagation neural network（BPNN） and MARS models are developed for assessing pile drivability in relation to the prediction of the Maximum compressive stresses（MCS）, Maximum tensile stresses（MTS）, and Blow per foot（BPF）. A database of more than four thousand piles is utilized for model development and comparative performance between BPNN and MARS predictions.

An Adaptive Routing Algorithm for Integrated Information Networks

The integrated information network is a large capacity information network that integrates various communication platforms on the ground, at sea, in the air and in the deep air through the inter-satellite and satellite-ground links to acquire information accurately, process it quickly, and transmit it efficiently. The satellite communication, as an important part of integrated information networks, is one of main approaches to acquire, process and distribute communication information and resources. In this paper, based on current researches of the satellite communication network, we put forward a 3-layer satellite communication network model based on the Software Defined Network (SDN). Meanwhile, to improve current routing policies of the Low Earth Orbit (LEO) satellite communication network, we put forward an Adaptive Routing Algorithm (ARA) to sustain the shortest satellite communication link. Experiment results show that the proposed method can effectively reduce link distance and communication delay, and realize adaptive path planning.

Neural Network-Based Adaptive Motion Control for a Mobile Robot with Unknown Longitudinal Slipping

When the mobile robot performs certain motion tasks in complex environment, wheel slipping inevitably occurs due to the wet or icy road and other reasons, thus directly influences the motion control accuracy. To address unknown wheel longitudinal slipping problem for mobile robot, a RBF neural network approach based on whole model approximation is presented. The real-time data acquisition of inertial measure unit(IMU), encoders and other sensors is employed to get the mobile robot’s position and orientation in the movement, which is applied to compensate the unknown bounds of the longitudinal slipping using the adaptive technique. Both the simulation and experimental results prove that the control scheme possesses good practical performance and realize the motion control with unknown longitudinal slipping.

Adaptive Control Based on Neural Networks for an Uncertain 2-DOF Helicopter System With Input Deadzone and Output Constraints

In this paper, a study of control for an uncertain2-degree of freedom(DOF) helicopter system is given. The2-DOF helicopter is subject to input deadzone and output constraints. In order to cope with system uncertainties and input deadzone, the neural network technique is introduced because of its capability in approximation. In order to update the weights of the neural network, an adaptive control method is utilized to improve the system adaptability. Furthermore, the integral barrier Lyapunov function(IBLF) is adopt in control design to guarantee the condition of output constraints and boundedness of the corresponding tracking errors. The Lyapunov direct method is applied in the control design to analyze system stability and convergence. Finally, numerical simulations are conducted to prove the feasibility and effectiveness of the proposed control based on the model of Quanser's 2-DOF helicopter.