A Data-Driven Model Predictive Control for Quadruped Robot Steering on Slippery Surfaces

It is key index of air-jet texturing yarn quality such as air-jet texturing yarn strength and so on. It can well control air-jet texturing yarn quality by predicting yarn strength and so on. Generally, it is normal used to predict yarn strength such as Multiple Linear Regression (MLR), Support Vector Regression (SVR) and shallow Artificial Neural Network (ANN). Because the processing of air-jet texturing yarn production has time sequence, the paper proposes a new deep neural network, it is Long Short-Term Memory neural network (LSTM). It used 1800 sets of data to train LSTM, SVR and ANN. It tested LSTM, MLR, SVR and ANN with 200 sets of data. Experimental results show that LSTM neural network is the best accuracy among these four algorithms.

Energy and power demands for military operations continue to rise as autonomous air, land, and sea platforms are developed and deployed with increasingly energetic weapon systems. The primary limiting capability hindering full integration of such systems is the need to effectively and efficiently manage, generate, and transmit energy across the battlefield. Energy efficiency is primarily dictated by the number of dissimilar energy conversion processes in the system. After combustion, a Compression Ignition (CI) engine must periodically continue to inject fuel to produce mechanical energy, simultaneously generating thermal, acoustic, and fluid energy (in the form of unburnt hydrocarbons, engine coolant, and engine oil). In this paper, we present multiple sets of Shallow Artificial Neural Networks (SANNs), Convolutional Neural Network (CNNs), and K-th Nearest Neighbor (KNN) classifiers, capable of approximating the in-cylinder conditions and informing future optimization and control efforts. The neural networks provide outstanding predictive capabilities of the variables of interest and improve understanding of the energy and power management of a CI engine, leading to improved awareness, efficiency, and resilience at the device and system level.

In this article, multi-input multi-output (MIMO) linear model predictive controller (LMPC) based on state space model and nonlinear model predictive controller based on neural network (NNMPC) are applied on a continuous stirred tank reactor (CSTR). The idea is to have a good control system that will be able to give optimal performance, reject high load disturbance, and track set point change. In order to study the performance of the two model predictive controllers, MIMO Proportional-Integral-Derivative controller (PID) strategy is used as benchmark. The LMPC, NNMPC, and PID strategies are used for controlling the residual concentration (CA) and reactor temperature (T). NNMPC control shows a superior performance over the LMPC and PID controllers by presenting a smaller overshoot and shorter settling time.

Evaluating historical simulations from global climate models (GCMs) remains an important exercise for better understanding future projections of climate change and variability in rapidly warming regions, such as the Arctic. As an alternative approach for comparing climate models and observations, we set up a machine learning classification task using a shallow artificial neural network (ANN). Specifically, we train an ANN on maps of annual mean near‐surface temperature in the Arctic from a multi‐model large ensemble archive in order to classify which GCM produced each temperature map. After training our ANN on data from the large ensembles, we input annual mean maps of Arctic temperature from observational reanalysis and sort the prediction output according to increasing values of the ANN's confidence for each GCM class. To attempt to understand how the ANN is classifying each temperature map with a GCM, we leverage a feature attribution method from explainable artificial intelligence. By comparing composites from the attribution method for every GCM classification, we find that the ANN is learning regional temperature patterns in the Arctic that are unique to each GCM relative to the multi‐model mean ensemble. In agreement with recent studies, we show that ANNs can be useful tools for extracting regional climate signals in GCMs and observations.

This study aims to investigate the effectiveness of two machine learning methods for the prediction of the mechanical and fracture properties of Cenosphere-reinforced lightweight thermoset polyurethane composites. To evaluate the effectiveness of the models, datasets from our experimental study of composites made of five different volume fractions (0% to 40%) of Cenospheres (hollow Aluminum Silicate particles) in increments of 10% are fabricated. Experiments are conducted to determine the effect of the volume fraction of Cenospheres on Young’s modulus (both in tension and compression), percentage elongation at break, tensile strength, specific tensile strength, and fracture toughness of the composites. Two machine learning models, shallow artificial neural network (ANN) and the non-linear deep neural network (DNN), are employed to predict the above properties. A parametric study was performed for each model and optimized parameters were identified and later used to predict the properties beyond 40% volume fraction of Cenospheres. The predictions of non-linear DNN demonstrated less slope than shallow ANN and, for mass density, the non-linear DNN had unexpected predictions of increasing mass density with the addition of lighter Cenospheres. Hence, a double-hidden-layer DNN is used to predict the mass density beyond 40%, which provides the expected behavior.

An important feature of linear model predictive control (MPC) is the ability to provide offset-free control through integral action. Linear MPC can utilize a steady-state target optimizer (SSTO) in conjunction with a dynamic optimization in order to manage systems that are non-square, have integrating modes, or encounter infeasible setpoints. Integral action does not ensure that the feasible steady-state target is closest to the true optimum when the desired setpoint is infeasible. This paper describes the modifications necessary to linear state-space MPC algorithms in order to address this problem (assuming systems with no integrating modes). The solution employs features of the integrated system optimization and parameter estimation (ISOPE) algorithm: the SSTO cost is modified by a term that results in matching of the true plant and model conditions necessary for optimality. This work combines well with prior work which has determined the situations where the modification is actually necessary.

Purpose In order to analyze the text complexity of Chinese and foreign academic English writings, the artificial neural network (ANN) under deep learning (DL) is applied to the study of text complexity. Firstly, the research status and existing problems of text complexity are introduced based on DL. Secondly, based on Back Propagation Neural Network (BPNN) algorithm, analyzation is made on the text complexity of Chinese and foreign academic English writings. And the research establishes a BPNN syntactic complexity evaluation system. Thirdly, MATLAB2013b is used for simulation analysis of the model. The proposed model algorithm BPANN is compared with other classical algorithms, and the weight value of each index and the model training effect are further analyzed by statistical methods. Finally, L2 Syntactic Complexity Analyzer (L2SCA) is used to calculate the syntactic complexity of the two libraries, and Mann–Whitney U test is used to compare the syntactic complexity of Chinese English learners and native English speakers. The experimental results show that compared with the shallow neural network, the deep neural network algorithm has more hidden layers and richer features, and better performance of feature extraction. BPNN algorithm shows excellent performance in the training process, and the actual output value is very close to the expected value. Meantime, the error of sample test is analyzed, and it is found that the evaluation error of BPNN algorithm is less than 1.8%, of high accuracy. However, there are significant differences in grammatical complexity among students with different English writing proficiency. Some measurement methods cannot effectively reflect the types and characteristics of written language, or may have a negative relationship with writing quality. In addition, the research also finds that the measurement of syntactic complexity is more sensitive to the language ability of writing. Therefore, BPNN algorithm can effectively analyze the text complexity of academic English writing. The results of the research provide reference for improving the evaluation system of text complexity of academic paper writing. Design/methodology/approach In order to analyze the text complexity of Chinese and foreign academic English writings, the artificial neural network (ANN) under deep learning (DL) is applied to the study of text complexity. Firstly, the research status and existing problems of text complexity are introduced based on DL. Secondly, based on Back Propagation Neural Network (BPNN) algorithm, analyzation is made on the text complexity of Chinese and foreign academic English writings. And the research establishes a BPNN syntactic complexity evaluation system. Thirdly, MATLAB2013b is used for simulation analysis of the model. The proposed model algorithm BPANN is compared with other classical algorithms, and the weight value of each index and the model training effect are further analyzed by statistical methods. Finally, L2 Syntactic Complexity Analyzer (L2SCA) is used to calculate the syntactic complexity of the two libraries, and Mann–Whitney U test is used to compare the syntactic complexity of Chinese English learners and native English speakers. The experimental results show that compared with the shallow neural network, the deep neural network algorithm has more hidden layers and richer features, and better performance of feature extraction. BPNN algorithm shows excellent performance in the training process, and the actual output value is very close to the expected value. Meantime, the error of sample test is analyzed, and it is found that the evaluation error of BPNN algorithm is less than 1.8%, of high accuracy. However, there are significant differences in grammatical complexity among students with different English writing proficiency. Some measurement methods cannot effectively reflect the types and characteristics of written language, or may have a negative relationship with writing quality. In addition, the research also finds that the measurement of syntactic complexity is more sensitive to the language ability of writing. Therefore, BPNN algorithm can effectively analyze the text complexity of academic English writing. The results of the research provide reference for improving the evaluation system of text complexity of academic paper writing. Findings In order to analyze the text complexity of Chinese and foreign academic English writings, the artificial neural network (ANN) under deep learning (DL) is applied to the study of text complexity. Firstly, the research status and existing problems of text complexity are introduced based on DL. Secondly, based on Back Propagation Neural Network (BPNN) algorithm, analyzation is made on the text complexity of Chinese and foreign academic English writings. And the research establishes a BPNN syntactic complexity evaluation system. Thirdly, MATLAB2013b is used for simulation analysis of the model. The proposed model algorithm BPANN is compared with other classical algorithms, and the weight value of each index and the model training effect are further analyzed by statistical methods. Finally, L2 Syntactic Complexity Analyzer (L2SCA) is used to calculate the syntactic complexity of the two libraries, and Mann–Whitney U test is used to compare the syntactic complexity of Chinese English learners and native English speakers. The experimental results show that compared with the shallow neural network, the deep neural network algorithm has more hidden layers and richer features, and better performance of feature extraction. BPNN algorithm shows excellent performance in the training process, and the actual output value is very close to the expected value. Meantime, the error of sample test is analyzed, and it is found that the evaluation error of BPNN algorithm is less than 1.8%, of high accuracy. However, there are significant differences in grammatical complexity among students with different English writing proficiency. Some measurement methods cannot effectively reflect the types and characteristics of written language, or may have a negative relationship with writing quality. In addition, the research also finds that the measurement of syntactic complexity is more sensitive to the language ability of writing. Therefore, BPNN algorithm can effectively analyze the text complexity of academic English writing. The results of the research provide reference for improving the evaluation system of text complexity of academic paper writing. Originality/value In order to analyze the text complexity of Chinese and foreign academic English writings, the artificial neural network (ANN) under deep learning (DL) is applied to the study of text complexity. Firstly, the research status and existing problems of text complexity are introduced based on DL. Secondly, based on Back Propagation Neural Network (BPNN) algorithm, analyzation is made on the text complexity of Chinese and foreign academic English writings. And the research establishes a BPNN syntactic complexity evaluation system. Thirdly, MATLAB2013b is used for simulation analysis of the model. The proposed model algorithm BPANN is compared with other classical algorithms, and the weight value of each index and the model training effect are further analyzed by statistical methods. Finally, L2 Syntactic Complexity Analyzer (L2SCA) is used to calculate the syntactic complexity of the two libraries, and Mann–Whitney U test is used to compare the syntactic complexity of Chinese English learners and native English speakers. The experimental results show that compared with the shallow neural network, the deep neural network algorithm has more hidden layers and richer features, and better performance of feature extraction. BPNN algorithm shows excellent performance in the training process, and the actual output value is very close to the expected value. Meantime, the error of sample test is analyzed, and it is found that the evaluation error of BPNN algorithm is less than 1.8%, of high accuracy. However, there are significant differences in grammatical complexity among students with different English writing proficiency. Some measurement methods cannot effectively reflect the types and characteristics of written language, or may have a negative relationship with writing quality. In addition, the research also finds that the measurement of syntactic complexity is more sensitive to the language ability of writing. Therefore, BPNN algorithm can effectively analyze the text complexity of academic English writing. The results of the research provide reference for improving the evaluation system of text complexity of academic paper writing.

When the linear Model Predictive Control (MPC) algorithm is used for trajectory tracking control of autonomous vehicles in high-speed turning conditions, the tracking accuracy is usually decreased due to the low fidelity of the predictive model. To deal with this problem, a trajectory tracking controller based on Neural Network Predictive Control (NNPC) is designed in this paper. The data collected from driving simulation experiments is used for the Back Propagation Neural Network (BPNN) training process to obtain the vehicle state predictive models. To reduce the iteration times of the rolling optimization module of NNPC, Particle Swarm Optimization (PSO) with Fitness Allocating Inertia Weights (PSO-FAIW) algorithm is proposed, which can allocate inertia weights in light of the distance between each particle’s fitness and the best fitness of the swarm. Finally, the performance of the controller designed in this paper is verified based on MATLAB /Simulink. The simulation results demonstrate that the controller proposed in this paper can give consideration to tracking accuracy and real-time performance.

Real-time model predictive line following control for underactuated marine vehicles

A challenge while applying latching control on a wave energy converter (WEC) is to find a reliable and robust control strategy working in irregular waves and handling the non-ideal behavior of real WECs. In this paper, a robust and model-free collaborative learning approach for latchable WECs in an array is presented. A machine learning algorithm with a shallow artificial neural network (ANN) is used to find optimal latching times. The applied strategy is compared to a latching time that is linearly correlated with the mean wave period: It is remarkable that the ANN-based WEC achieved a similar power absorption as the WEC applying a linear latching time, by applying only two different latching times. The strategy was tested in a numerical simulation, where for some sea states it absorbed more than twice the power compared to the uncontrolled WEC and over 30% more power than a WEC with constant latching. In wave tank tests with a 1:10 physical scale model the advantage decreased to +3% compared to the best tested constant latching WEC, which is explained by the lower advantage of the latching strategy caused by the non-ideal latching of the physical power take-off model.

This paper presents a novel function of energy-optimal adaptive cruise control (EACC) for electric vehicles based on model predictive control (MPC), which optimally plans the host car's speed trajectory for higher energy efficiency through taking the surrounding traffic information and the road conditions ahead into account. To cope with the nonlinearity of the system dynamics, nonlinear MPC (NMPC) is designed in this paper. Afterwards, the nonlinear equality constraints are relaxed so that the optimization problem has a convex feasible set. Moreover, it is proven that the nonlinear problem can be recast as a second-order cone programming (SOCP) problem. The performance of NMPC is evaluated in the real driving condition and compared to both linear MPC and receding horizon dynamic programming (RH-DP). In order to enable real-time control, the interior point method is used to solve both linear and nonlinear MPC problems and the computation time is investigated in this paper.

In a previous research effort by this group, pseudo engine dynamometer data in multi-dimensional arrays were combined with dynamic equations to form a crank angle resolved engine model compatible with a real-time simulator. The combination of the real-time simulator and external targets enabled the development of a software-in-the-loop (SIL) environment that enabled near-real-time development of AI/ML and real-time deployment of the resulting AI/ML. Military applications, in particular, are unlikely to possess large quantities of non-sparse operational data that span the full operational range of the system, stove-piping the ability to develop and deploy AI/ML which is sufficient for near-real-time or real-time control. AI/ML has been shown to be well suited for predicting highly non-linear mathematical phenomena and thus military systems could potentially benefit from the development and deployment of AI/ML acting as soft sensors. Given the non-sparse nature of the data, it becomes exceedingly important that AI/ML be developed and deployed in near-real-time or real-time in parallel to a real-time system to overcome the inadequacy of applicable data. This research effort used parallel processing to reduce the training duration of the shallow artificial neural networks (SANN) and forest algorithms forming ensemble models. This research is novel in that the SIL environment enables pre-developed AI/ML to be adapted in near-real-time or develop AI/ML in response to changes within the operation of the applied system, different load torques, engine speeds, and atmospheric conditions to name a few. Over time it is expected that the continued adaptation of the algorithms will lead to the development of AI/ML that is suitable for real-time control and energy management.

This paper presents a linearization method for the vehicle and tire models under the model predictive control (MPC) scheme, and proposes a linear model-based MPC path-tracking steering controller for autonomous vehicles. The steering controller is designed to minimize lateral path-tracking deviation at high speeds. The vehicle model is linearized by a sequence of supposed steering angles, which are obtained by assuming the vehicle can reach the desired path at the end of the MPC prediction horizon and stay in a steady-state condition. The lateral force of the front tire is directly used as the control input of the model, and the rear tire’s lateral force is linearized by an equivalent cornering stiffness. The course-direction deviation, which is the angle between the velocity vector and the path heading, is chosen as a control reference state. The linearization model is validated through the simulation, and the results show high prediction accuracy even in regions of large steering angle. This steering controller is tested through simulations on the CarSim-Simulink platform (R2013b, MathWorks, Natick, MA, USA), showing the improved performance of the present controller at high speeds.

Applied mathematical modeling of the various energy resources has contributed widely in their design and operation improvements. Among renewable energy sources, wind energy systems have gained a significant attention for their rapid and continuous growth, which resulted from their cost effectiveness and clean power generation. However, research effort on the industry and university levels is still needed to enhance the characteristics of existing wind turbines and allow larger amounts of their share. This thesis presents an accurate model of a wind turbine (TWT-1.65) system for time-based dynamic simulations. The parameters of the power coefficient have been identified, calibrated and verified using different meta-heuristic optimization techniques, which are the Wild Horse Optimizer (WHO), Whale Optimizer (WO), and Genetic Algorithm (GA) to enhance the model accuracy over the previously related studies. The new version of the parameters has resulted in a higher accuracy while being practically meaningful, with the best achieved MSE of 0.006. The system model has been then integrated with two predictive controllers which are the linear Model Predictive Control (MPC) and Neural Network Predictive Control (NNPC) to regulate the pitch angle trends for the target of maximum energy harvesting. With proper selection of the controllers’ parameters, off-line simulation studies have shown improved production trends of the power output with constrained and safe trajectory of the pitch angle, which can be translated to be an improve in the total average harvested power of 34% and 44.5% over the complete time window of 5760 min using NNPC and Linear MPC respectively.

Factory automation is advanced in industrial field, and then higher speed drive and performance are desired for an AGV (automated guided vehicle). A new steering control of AGV by fuzzy control has been proposed instead of the PI control. However, it is necessary much time to investigate the rules and to adjust the scaling factors for excellent performance in the fuzzy control. Thus, this is the matter to be solved.In this paper, a new steering control of AGV based on the neural network using the back propargation method is proposed. The good steering control results by the fuzzy control is adopted for the teaching signal of neural network. At the first step, the effect of the number of learning and the learning errors on the steering control results are discussed by the computer simulation using the AGV model. Further, the ability of generalization in the turning radius and the traveling speed is also investigated. It becomes clear that the AGV can travel along the traveling course provided that the neural network learns both of the right and left turning at the maximum traveling speed and the minimum turning radius. Then, it is proved by the experiment using the AGV built as a trial that the proposed steering control method is very available.