State Estimation Method for GNSS/INS/Visual Multi-sensor Fusion Based on Factor Graph Optimization for Unmanned System

With the development of unmanned driving technology,intelligent robots and drones,high-precision localization,navigation and state estimation technologies have also made great progress.Traditional global navigation satellite system/inertial navigation system(GNSS/INS)integrated navigation systems can provide high-precision navigation information continuously.However,when this system is applied to indoor or GNSS-denied environments,such as outdoor substations with strong electromagnetic interference and complex dense spaces,it is often unable to obtain high-precision GNSS positioning data.The positioning and orientation errors will diverge and accumulate rapidly,which cannot meet the high-precision localization requirements in large-scale and long-distance navigation scenarios.This paper proposes a method of high-precision state estimation with fusion of GNSS/INS/Vision using a nonlinear optimizer factor graph optimization as the basis for multi-source optimization.Through the collected experimental data and simulation results,this system shows good performance in the indoor environment and the environment with partial GNSS signal loss.

A Multi-Strategy-Improved Northern Goshawk Optimization Algorithm for Global Optimization and Engineering Design

Optimization algorithms play a pivotal role in enhancing the performance and efficiency of systems across various scientific and engineering disciplines.To enhance the performance and alleviate the limitations of the Northern Goshawk Optimization(NGO)algorithm,particularly its tendency towards premature convergence and entrapment in local optima during function optimization processes,this study introduces an advanced Improved Northern Goshawk Optimization(INGO)algorithm.This algorithm incorporates a multifaceted enhancement strategy to boost operational efficiency.Initially,a tent chaotic map is employed in the initialization phase to generate a diverse initial population,providing high-quality feasible solutions.Subsequently,after the first phase of the NGO’s iterative process,a whale fall strategy is introduced to prevent premature convergence into local optima.This is followed by the integration of T-distributionmutation strategies and the State Transition Algorithm(STA)after the second phase of the NGO,achieving a balanced synergy between the algorithm’s exploitation and exploration.This research evaluates the performance of INGO using 23 benchmark functions alongside the IEEE CEC 2017 benchmark functions,accompanied by a statistical analysis of the results.The experimental outcomes demonstrate INGO’s superior achievements in function optimization tasks.Furthermore,its applicability in solving engineering design problems was verified through simulations on Unmanned Aerial Vehicle(UAV)trajectory planning issues,establishing INGO’s capability in addressing complex optimization challenges.

Application of honey-bee mating optimization on state estimation of a power distribution system including distributed generators

We present a new approach based on honey-bee mating optimization to estimate the state variables in distribution networks including distributed generators. The proposed method considers practical models of electrical equipments such as static var compensators, voltage regulators, and under-load tap changer transformers, which have usually nonlinear and discrete characteristics. The feasibility of the proposed approach is demonstrated by comparison with the methods based on neural networks, ant colony optimization, and genetic algorithms for two test systems, a network with 34-bus radial test feeders and a realistic 80-bus 20 kV network.

POWER OPTIMIZATION OF FINITE STATE MACHINE BASED ON GENETIC ALGORITHM

Using state assignment to minimize power dissipation and area for finite state ma-chines is computationally hard. Most of published results show that the reduction of switchingactivity often trades with area penalty. In this paper, a new approach is proposed. Experimentalresults show a significant reduction of switching activity without area penalty compared withprevious publications.

Comparison of differential evolution, particle swarm optimization,quantum-behaved particle swarm optimization, and quantum evolutionary algorithm for preparation of quantum states

Four intelligent optimization algorithms are compared by searching for control pulses to achieve the preparation of target quantum states for closed and open quantum systems, which include differential evolution(DE), particle swarm optimization(PSO), quantum-behaved particle swarm optimization(QPSO), and quantum evolutionary algorithm(QEA).We compare their control performance and point out their differences. By sampling and learning for uncertain quantum systems, the robustness of control pulses found by these four algorithms is also demonstrated and compared. The resulting research shows that the QPSO nearly outperforms the other three algorithms for all the performance criteria considered.This conclusion provides an important reference for solving complex quantum control problems by optimization algorithms and makes the QPSO be a powerful optimization tool.

Estimation of state of health based on charging characteristics and back-propagation neural networks with improved atom search optimization algorithm

With the rapid development of new energy technologies, lithium batteries are widely used in the field of energy storage systems and electric vehicles. The accurate prediction for the state of health(SOH) has an important role in maintaining a safe and stable operation of lithium-ion batteries. To address the problems of uncertain battery discharge conditions and low SOH estimation accuracy in practical applications, this paper proposes a SOH estimation method based on constant-current battery charging section characteristics with a back-propagation neural network with an improved atom search optimization algorithm. A temperature characteristic, equal-time temperature variation(Dt_DT), is proposed by analyzing the temperature data of the battery charging section with the incremental capacity(IC) characteristics obtained from an IC analysis as an input to the data-driven prediction model. Testing and analysis of the proposed prediction model are carried out using publicly available datasets. Experimental results show that the maximum error of SOH estimation results for the proposed method in this paper is below 1.5%.

Stabilization of linear time-varying systems with state and input constraints using convex optimization

The stabilization problem of linear time-varying systems with both state and input constraints is considered. Sufficient conditions for the existence of the solution to this problem are derived and a gain-switched（gain-scheduled） state feedback control scheme is built to stabilize the constrained timevarying system. The design problem is transformed to a series of convex feasibility problems which can be solved efficiently. A design example is given to illustrate the effect of the proposed algorithm.

Estimating the State of Health for Lithium-ion Batteries:A Particle Swarm Optimization-Assisted Deep Domain Adaptation Approach

The state of health(SOH)is a critical factor in evaluating the performance of the lithium-ion batteries(LIBs).Due to various end-user behaviors,the LIBs exhibit different degradation modes,which makes it challenging to estimate the SOHs in a personalized way.In this article,we present a novel particle swarm optimization-assisted deep domain adaptation(PSO-DDA)method to estimate the SOH of LIBs in a personalized manner,where a new domain adaptation strategy is put forward to reduce cross-domain distribution discrepancy.The standard PSO algorithm is exploited to automatically adjust the chosen hyperparameters of developed DDA-based method.The proposed PSODDA method is validated by extensive experiments on two LIB datasets with different battery chemistry materials,ambient temperatures and charge-discharge configurations.Experimental results indicate that the proposed PSO-DDA method surpasses the convolutional neural network-based method and the standard DDA-based method.The Py Torch implementation of the proposed PSO-DDA method is available at https://github.com/mxt0607/PSO-DDA.

STEADY-STATE AND IDLE OPTIMIZA-TION OF INTERNAL COMBUSTION ENGINE CONTROL STRATEGIES FOR HYBRID ELECTRIC VEHICLES

A novel steady-state optimization （SSO） of internal combustion engine （ICE） strategy is proposed to maximize the efficiency of the overall powertrain for hybrid electric vehicles, in which the ICE efficiency, the efficiencies of the electric motor （EM） and the energy storage device are all explicitly taken into account. In addition, a novel idle optimization of ICE strategy is implemented to obtain the optimal idle operating point of the ICE and corresponding optimal parking generation power of the EM using the view of the novel SSO of ICE strategy. Simulations results show that potential fuel economy improvement is achieved relative to the conventional one which only optimized the ICE efficiency by the novel SSO of ICE strategy, and fuel consumption per voltage increment decreases a lot during the parking charge by the novel idle optimization of ICE strategy.

Kinematics Analysis and Optimization of the Fast Shearing-extrusion Joining Mechanism for Solid-state Metal

Dynamical Joining of the solid-state metal is the key technology to realize endless hot rolling. The heating and laser welding method both require long joining time. Based on super deformation method, a 7-bar and 2-slider mechanism was developed in Japan, and the joining time is less than 0.5 s, however the length of each bar are not reported and this mechanism is complex. A relatively simple 6-bar and 1-slider mechanism is put forward, which can realize the shearing and extrusion motion of the top and bottom blades with a speed approximately equal to the speed of the metal plates. In order to study the kinematics property of the double blades, based on complex vector method, the multi-rigid-body model is built, and the displacement and speed functions of the double blades, the joining time and joining thickness are deduced, the kinematics analysis shows that the initial parameters can＇t satisfy the joining process. Hence, optimization of this mechanism is employed using genetic algorithm（GA） and the optimization parameters of this mechanism are obtained, the kinematics analysis show that the joining time is less than 0.1 s, the joining thickness is more than 80% of the thickness of the solid-state metal, and the horizontal speeds of the blades are improved. A new mechanism is provided for the joining of the solid-state metal and a foundation is laid for the design of the device.

Optimal Static State Estimation Using hybrid Particle Swarm-Differential Evolution Based Optimization

In this paper, swarm optimization hybridized with differential evolution (PSO-DE) technique is proposed to solve static state estimation (SE) problem as a minimization problem. The proposed hybrid method is tested on IEEE 5-bus, 14-bus, 30-bus, 57-bus and 118-bus standard test systems along with 11-bus and 13-bus ill-conditioned test systems under different simulated conditions and the results are compared with the same, obtained using standard weighted least square state estimation (WLS-SE) technique and general particle swarm optimization (GPSO) based technique. The performance of the proposed optimization technique for SE, in terms of minimum value of the objective function and standard deviations of minimum values obtained in 100 runs, is found better as compared to the GPSO based technique. The statistical error analysis also shows the superiority of the proposed PSO-DE based technique over the other two techniques.

Optimal state and branch sequence based parameter estimation of continuous hidden Markov model

A parameter estimation algorithm of the continuous hidden Markov model isintroduced and the rigorous proof of its convergence is also included. The algorithm uses theViterbi algorithm instead of K-means clustering used in the segmental K-means algorithm to determineoptimal state and branch sequences. Based on the optimal sequence, parameters are estimated withmaximum-likelihood as objective functions. Comparisons with the traditional Baum-Welch and segmentalK-means algorithms on various aspects, such as optimal objectives and fundamentals, are made. Allthree algorithms are applied to face recognition. Results indicate that the proposed algorithm canreduce training time with comparable recognition rate and it is least sensitive to the training set.So its average performance exceeds the other two.

Optimization and Application of SRAM in 90nm CMOS Technology

This paper presents an optimized SRAM that is repairable and dissipates less power. To improve the yield of SRAMs per wafer,redundancy logic and an E-FUSE box are added to the SRAM and an SR SRAM is set up. In order to reduce power dissipation,power on/off states and isolation logic are introduced into the SR SRAM and an LPSR SRAM is constructed. The optimized LPSR SRAM64K × 32 is used in SoC and the testing method of the LPSR SRAM64K × 32 is also discussed. The SoC design is successfully implemented in the Chartered 90nm CMOS process. The SoC chip occupies 5. 6mm× 5. 6ram of die area and the power dissipation is 1997mW. The test results indicate that LPSR SRAM64K ×32 obtains 17. 301% power savings and the yield of the LPSR SRAM64K × 32s per wafer is improved by 13. 255%.

Output-Feedback Based Simplified Optimized Backstepping Control for Strict-Feedback Systems with Input and State Constraints

In this paper,an adaptive neural-network(NN)output feedback optimal control problem is studied for a class of strict-feedback nonlinear systems with unknown internal dynamics,input saturation and state constraints.Neural networks are used to approximate unknown internal dynamics and an adaptive NN state observer is developed to estimate immeasurable states.Under the framework of the backstepping design,by employing the actor-critic architecture and constructing the tan-type Barrier Lyapunov function(BLF),the virtual and actual optimal controllers are developed.In order to accomplish optimal control effectively,a simplified reinforcement learning(RL)algorithm is designed by deriving the updating laws from the negative gradient of a simple positive function,instead of employing existing optimal control methods.In addition,to ensure that all the signals in the closed-loop system are bounded and the output can follow the reference signal within a bounded error,all state variables are confined within their compact sets all times.Finally,a simulation example is given to illustrate the effectiveness of the proposed control strategy.

Optimal Precursors Triggering the Kuroshio Extension State Transition Obtained by the Conditional Nonlinear Optimal Perturbation Approach

In this study, the initial perturbations that are the easiest to trigger the Kuroshio Extension （KE） transition connecting a basic weak jet state and a strong, fairly stable meandering state, are investigated using a reduced-gravity shallow water ocean model and the CNOP （Conditional Nonlinear Optimal Perturbation） approach. This kind of initial perturbation is called an optimal precursor （OPR）. The spatial structures and evolutionary processes of the OPRs are analyzed in detail. The results show that most of the OPRs are in the form of negative sea surface height （SSH） anomalies mainly located in a narrow band region south of the KE jet, in basic agreement with altimetric observations. These negative SSH anomalies reduce the merid- ional SSH gradient within the KE, thus weakening the strength of the jet. The KE jet then becomes more convoluted, with a high-frequency and large-amplitude variability corresponding to a high eddy kinetic energy level; this gradually strengthens the KE jet through an inverse energy cascade. Eventually, the KE reaches a high-energy state characterized by two well defined and fairly stable anticyclonic meanders. Moreover, sensitivity experiments indicate that the spatial structures of the OPRs are not sensitive to the model parameters and to the optimization times used in the analysis.

Optimization of Culture Conditions to Produce Phytase from <i>Aspergillus tubingensis SKA</i>

The effects of nutrients and physical conditions on phytase production were investigated with a recently isolated strain of Aspergillus tubingensis SKA under solid state fermentation on wheat bran. The nutrient factors investigated included carbon source, nitrogen source, phosphate source and concentration, metal ions (salts) and the physical parameters investigated included inoculum size, pH, temperature and fermentation duration. Our investigations revealed that optimal productivity of phytase was achieved using wheat bran supplemented with: 1.5% glucose. 0.5% (NH4)2SO4, 0.1% sodium phytate. Additionally, optimal physical conditions were 1 × 105 spore/g substrate, initial pH of 5.0, temperature of fermentation 30°C and fermentation duration of 96 h. Overall, a 34% improvement in phytase activity was achieved by using the optimal conditions.

A new slope optimization design based on limit curve method

A new method is proposed for slope optimization design based on the limit curve method, where the slope is in the limit equilibrium state when the limit slope curve determined by the slip-line field theory and the slope intersect at the toe of the slope. Compared with the strength reduction (SR) method, finite element limit analysis method, and the SR method based on Davis algorithm, the new method is suitable for determining the slope stability and limit slope angle (LSA). The optimal slope shape is determined based on a series of slope heights and LSA values, which increases the LSA by 2.45°-11.14° and reduces an invalid overburden amount of rocks by 9.15%, compared with the space mechanics theory. The proposed method gives the objective quantification index of instability criterion, and results in a significant engineering economy.

Preparation and control of atomic optimal entropy squeezing states for a moving two-level atom under control of the two-mode squeezing vacuum fields

From the viewpoint of quantum information, this paper studies preparation and control of atomic optimal entropy squeezing states （AOESS） for a moving two-level atom under control of the two-mode squeezing vacuum fields. Necessary conditions of preparation of the AOESS are analysed, and numerical verification of the AOESS is finished. It shows that the AOESS can be prepared by controlling the time of the atom interaction with the field, cutting the entanglement between the atom and field, and adjusting squeezing factor of the field. An atomic optimal entropy squeezing sudden generation in different components can alternately be realized by controlling the field-mode structure parameter.

ESO-based decoupling control with multi-objective optimization for boiler-turbine unit

A model-assistant extended state observer(MESO)-based decoupling control strategy is proposed for boiler-turbine units in the presence of unknown external disturbance and model-plant mismatch. For ease of implementation, the decoupling compensator is reduced to the proportion integration(PI) decoupler with the frequency domain analysis, where the decoupling error in collusion of uncertainties and disturbances can be estimated by the proposed MESO and then compensated. To decrease the sensitivity of the dynamic error for the decoupling control and fulfill various requirements of constraints, such as safety operation, energy conservation, emission reduction, etc., the plant is transmitted through a scheduled steady state region which is achieved from the optimized reference governor in advance. Simulation results show that the proposed control strategy can well suppress various disturbances including a decoupling error, and multi-objective optimization can meet multiple requirements with the premise of safety production.

ASUBOPTIMAL DESIGN OF H∞DECENTRALIZED STATE FEEDBACK CONTROL FOR INTERCONNEC TED SYSTEMS

In the paper, the problem of H∞ decentralized state feedback control for largescale systems is described. An algorithm is proposed which uses the method of a feasible direction matrix. The algorithm only requires the solution of an algebraic Riccati equation (ARE) and makes the H∞norm of the closedloop transfer function matrix from disturbance inputs to controlled outputs less than a given constant which ensure the stability of the overall controlled system at each iteration. The given example shows that the convergence of the algorithm is satisfactory.