Pub Date : 2025-04-23DOI: 10.1109/tie.2025.3559971
Manuel R Arahal, Manuel G Satue, Federico Barrero, Juana Martinez-Heredia
{"title":"Model Reference Adaptive Predictive Current Control of Six-Phase Induction Machine","authors":"Manuel R Arahal, Manuel G Satue, Federico Barrero, Juana Martinez-Heredia","doi":"10.1109/tie.2025.3559971","DOIUrl":"https://doi.org/10.1109/tie.2025.3559971","url":null,"abstract":"","PeriodicalId":13402,"journal":{"name":"IEEE Transactions on Industrial Electronics","volume":"154 1","pages":""},"PeriodicalIF":7.7,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143866750","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-04-23DOI: 10.1109/tcomm.2025.3563682
Jintao Shen, Yao Zhang, Yongxu Zhu, Dongming Wang, Longxiang Yang
{"title":"Synergistic Superiorities of Employing IRS and RSMA in Downlink Cell-Free Massive MIMO Systems Under Finite Blocklength Regime","authors":"Jintao Shen, Yao Zhang, Yongxu Zhu, Dongming Wang, Longxiang Yang","doi":"10.1109/tcomm.2025.3563682","DOIUrl":"https://doi.org/10.1109/tcomm.2025.3563682","url":null,"abstract":"","PeriodicalId":13041,"journal":{"name":"IEEE Transactions on Communications","volume":"68 1","pages":""},"PeriodicalIF":8.3,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143866961","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-04-23DOI: 10.1007/s10489-025-06570-7
Huarong Zheng, Jianpeng Tian, Anqing Wang, Dongfang Ma
Archipelagic areas are in urgent need of efficient logistics systems to replace the limited bridges and fixed liners. This paper addresses the dynamic pickup and delivery challenge in inter-island logistics by utilizing waterborne autonomous guided vessels (AGVs). Specifically, the waterborne inter-island logistics problem is precisely expressed as a mixed integer programming (MIP) model. The model considers a variety of practical system constraints that could arise for the waterborne AGVs, e.g., capacity, time windows, berth allocation, and loading constraints. Moreover, in order to solve the possible large-scale scheduling problem dynamically and efficiently, we design an improved variable neighborhood search heuristic method. The approach is featured with four local search strategies and an effective perturbation heuristic to deal with the local minima issue. Extensive comparison experiments are carried out using real-world datasets. The results demonstrate that our algorithm outperforms baseline algorithms in 98% of cases, achieving improvements of over 10% compared to greedy rule-based methods and more than 5% over state-of-the-art heuristic algorithms, such as VNSME. These findings highlight the substantial benefits of the proposed technique, offering significant cost savings when effectively implemented. Comprehensive ablation experiments and parameter sensitivity analyses also demonstrate that the proposed algorithm has superior capabilities in space exploration and exploitation, provided that the step size operator is properly set. The proposed modeling and solution algorithms show great potential in enhancing the efficiency of the inter-island logistics systems.
{"title":"Real-time pickup and delivery scheduling for inter-island logistics using waterborne AGVs","authors":"Huarong Zheng, Jianpeng Tian, Anqing Wang, Dongfang Ma","doi":"10.1007/s10489-025-06570-7","DOIUrl":"10.1007/s10489-025-06570-7","url":null,"abstract":"<div><p>Archipelagic areas are in urgent need of efficient logistics systems to replace the limited bridges and fixed liners. This paper addresses the dynamic pickup and delivery challenge in inter-island logistics by utilizing waterborne autonomous guided vessels (AGVs). Specifically, the waterborne inter-island logistics problem is precisely expressed as a mixed integer programming (MIP) model. The model considers a variety of practical system constraints that could arise for the waterborne AGVs, e.g., capacity, time windows, berth allocation, and loading constraints. Moreover, in order to solve the possible large-scale scheduling problem dynamically and efficiently, we design an improved variable neighborhood search heuristic method. The approach is featured with four local search strategies and an effective perturbation heuristic to deal with the local minima issue. Extensive comparison experiments are carried out using real-world datasets. The results demonstrate that our algorithm outperforms baseline algorithms in 98% of cases, achieving improvements of over 10% compared to greedy rule-based methods and more than 5% over state-of-the-art heuristic algorithms, such as VNSME. These findings highlight the substantial benefits of the proposed technique, offering significant cost savings when effectively implemented. Comprehensive ablation experiments and parameter sensitivity analyses also demonstrate that the proposed algorithm has superior capabilities in space exploration and exploitation, provided that the step size operator is properly set. The proposed modeling and solution algorithms show great potential in enhancing the efficiency of the inter-island logistics systems.</p></div>","PeriodicalId":8041,"journal":{"name":"Applied Intelligence","volume":"55 7","pages":""},"PeriodicalIF":3.4,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143861314","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-04-23DOI: 10.1016/j.automatica.2025.112332
Jinyu Ni , Yongduan Song , Xiucai Huang , Yulin Wang
This paper explores the distributed tracking control problem for networked multi-input multi-output (MIMO) strict-feedback nonlinear systems under the influence of unpredictable reversed control direction faults. Based on an intentionally imposed and more lenient controllability condition, we establish a novel hierarchical prescribed performance control (PPC) design framework, comprising two layers: (1) a first-order reference estimator design layer that addresses the distributed control problem by generating the reference signal for each agent; and (2) a reference tracking controller design layer that tracks the reference signals produced by the estimator. Both designs are implemented within a low complexity prescribed performance architecture, thereby enhancing the design flexibility and practical applicability. Notably, several Nussbaum functions are introduced into the reference tracking controller design and a novel recursive method is employed to tackle the challenges posed by reversing faults in stability analysis. Additionally, all closed-loop signals are proven to be globally uniformly ultimately bounded (GUUB). A simulation study demonstrates the efficacy of this method.
{"title":"Leader–follower consensus control with hierarchical prescribed performance for nonlinear multi-agent systems under reversing actuator faults","authors":"Jinyu Ni , Yongduan Song , Xiucai Huang , Yulin Wang","doi":"10.1016/j.automatica.2025.112332","DOIUrl":"10.1016/j.automatica.2025.112332","url":null,"abstract":"<div><div>This paper explores the distributed tracking control problem for networked multi-input multi-output (MIMO) strict-feedback nonlinear systems under the influence of unpredictable reversed control direction faults. Based on an intentionally imposed and more lenient controllability condition, we establish a novel hierarchical prescribed performance control (PPC) design framework, comprising two layers: (1) a first-order reference estimator design layer that addresses the distributed control problem by generating the reference signal for each agent; and (2) a reference tracking controller design layer that tracks the reference signals produced by the estimator. Both designs are implemented within a low complexity prescribed performance architecture, thereby enhancing the design flexibility and practical applicability. Notably, several Nussbaum functions are introduced into the reference tracking controller design and a novel recursive method is employed to tackle the challenges posed by reversing faults in stability analysis. Additionally, all closed-loop signals are proven to be globally uniformly ultimately bounded (GUUB). A simulation study demonstrates the efficacy of this method.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112332"},"PeriodicalIF":4.8,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143864612","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Yang Gao, Siqi Lu, Yongjuan Wang, Haopeng Fan, Qingdi Han, Jingsheng Li
Contemporary program protection methods focus on safeguarding either program generation, storage, or execution; however, no unified protection strategy exists for ensuring the security of a full program lifecycle. In this study, we combine the static security of program generation with the dynamic security of process execution and propose a novel program logic consistency security property. An encryption core processing (ECP) architecture is presented that provides coprocessor solutions to protect the program logic consistency at the granularity of instructions and data flows. The new authenticated encryption mode in the architecture uses the offset value of the program's instructions and data in relation to the segment-based address as its encryption parameters. Lightweight cryptographic primitives are adopted to ensure that the hardware burden added by the ECP is limited, especially under 64 architectures. We prove that the proposed scheme in the ECP architecture satisfies indistinguishability under chosen plaintext attack and demonstrate the effectiveness of the architecture against various attacks. Additionally, a theoretical performance analysis is provided for estimating the overhead introduced by the ECP architecture.
{"title":"ECP: Coprocessor Architecture to Protect Program Logic Consistency","authors":"Yang Gao, Siqi Lu, Yongjuan Wang, Haopeng Fan, Qingdi Han, Jingsheng Li","doi":"10.1002/smr.70023","DOIUrl":"https://doi.org/10.1002/smr.70023","url":null,"abstract":"<div>\u0000 \u0000 <p>Contemporary program protection methods focus on safeguarding either program generation, storage, or execution; however, no unified protection strategy exists for ensuring the security of a full program lifecycle. In this study, we combine the static security of program generation with the dynamic security of process execution and propose a novel program logic consistency security property. An encryption core processing (ECP) architecture is presented that provides coprocessor solutions to protect the program logic consistency at the granularity of instructions and data flows. The new authenticated encryption mode in the architecture uses the offset value of the program's instructions and data in relation to the segment-based address as its encryption parameters. Lightweight cryptographic primitives are adopted to ensure that the hardware burden added by the ECP is limited, especially under <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <mo>×</mo>\u0000 </mrow>\u0000 <annotation>$$ times $$</annotation>\u0000 </semantics></math>64 architectures. We prove that the proposed scheme in the ECP architecture satisfies indistinguishability under chosen plaintext attack and demonstrate the effectiveness of the architecture against various attacks. Additionally, a theoretical performance analysis is provided for estimating the overhead introduced by the ECP architecture.</p>\u0000 </div>","PeriodicalId":48898,"journal":{"name":"Journal of Software-Evolution and Process","volume":"37 4","pages":""},"PeriodicalIF":1.7,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143865784","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-04-23DOI: 10.1126/scirobotics.adq3121
Sunny Kumar, Ishant Tiwari, Victor M. Ortega-Jimenez, Adler R. Dillman, Dongjing He, Yuhang Hu, Saad Bhamla
Entomopathogenic nematodes (EPNs) exhibit a bending-elastic instability, or kink, before becoming airborne, a feature previously hypothesized but not substantiated to enhance jumping performance. Here, we provide the evidence that this kink is crucial for improving launch performance. We demonstrate that EPNs actively modulate their aspect ratio, forming a liquid-latched α-shaped loop over a slow timescale (1 second), and then rapidly open it (10 microseconds), achieving heights of 20 body lengths and generating power of ∼104 watts per kilogram. Using a bioinspired physical model [termed the soft jumping model (SoftJM)], we explored the mechanisms and implications of this kink. EPNs control their takeoff direction by adjusting their head position and center of mass, a mechanism verified through phase maps of jump directions in numerical simulations and SoftJM experiments. Our findings reveal that the reversible kink instability at the point of highest curvature on the ventral side enhances energy storage using the nematode’s limited muscular force. We investigated the effect of the aspect ratio on kink instability and jumping performance using SoftJM and quantified EPN cuticle stiffness with atomic force microscopy measurements, comparing these findings with those of Caenorhabditis elegans. This investigation led to a stiffness-modified SoftJM design with a carbon fiber backbone, achieving jumps of ∼25 body lengths. Our study reveals how harnessing kink instabilities, a typical failure mode, enables bidirectional jumping in soft robots on complex substrates like sand, offering an approach for designing limbless robots for controlled jumping, locomotion, and even planetary exploration.
{"title":"Reversible kink instability drives ultrafast jumping in nematodes and soft robots","authors":"Sunny Kumar, Ishant Tiwari, Victor M. Ortega-Jimenez, Adler R. Dillman, Dongjing He, Yuhang Hu, Saad Bhamla","doi":"10.1126/scirobotics.adq3121","DOIUrl":"10.1126/scirobotics.adq3121","url":null,"abstract":"<div >Entomopathogenic nematodes (EPNs) exhibit a bending-elastic instability, or kink, before becoming airborne, a feature previously hypothesized but not substantiated to enhance jumping performance. Here, we provide the evidence that this kink is crucial for improving launch performance. We demonstrate that EPNs actively modulate their aspect ratio, forming a liquid-latched α-shaped loop over a slow timescale <span><math><mrow><mi>O</mi></mrow></math></span> (1 second), and then rapidly open it <span><math><mrow><mi>O</mi></mrow></math></span> (10 microseconds), achieving heights of 20 body lengths and generating power of ∼10<sup>4</sup> watts per kilogram. Using a bioinspired physical model [termed the soft jumping model (SoftJM)], we explored the mechanisms and implications of this kink. EPNs control their takeoff direction by adjusting their head position and center of mass, a mechanism verified through phase maps of jump directions in numerical simulations and SoftJM experiments. Our findings reveal that the reversible kink instability at the point of highest curvature on the ventral side enhances energy storage using the nematode’s limited muscular force. We investigated the effect of the aspect ratio on kink instability and jumping performance using SoftJM and quantified EPN cuticle stiffness with atomic force microscopy measurements, comparing these findings with those of <i>Caenorhabditis elegans</i>. This investigation led to a stiffness-modified SoftJM design with a carbon fiber backbone, achieving jumps of ∼25 body lengths. Our study reveals how harnessing kink instabilities, a typical failure mode, enables bidirectional jumping in soft robots on complex substrates like sand, offering an approach for designing limbless robots for controlled jumping, locomotion, and even planetary exploration.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"10 101","pages":""},"PeriodicalIF":26.1,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143866081","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-04-23DOI: 10.1016/j.automatica.2025.112335
Tong Ma , Xuwen Zhu
This article proposes a closed-form adaptive tracking control approach for linear heat equations with unknown parameters to achieve full temperature profile tracking by leveraging Fourier regularization and bi-orthogonal series. A state predictor which copies the plant with state partial derivatives and unknown parameters replaced by their estimates is built and an adaptive law is designed to estimate the unknown parameters. The state predictor is decomposed into two subsystems for tracking control synthesis: the first subsystem involves terms from the original heat equation, while the second subsystem is simpler and can be reformulated as a standard heat equation. Specifically, the first subsystem is regarded as an unforced PDE whose terminal states always follow the desired temperature profile such that its initial condition can be calculated by solving the backward heat equation at every time step. To address the blow-up issue in backward calculation, a Fourier regularization scheme is explored to cut off the higher-order Fourier modes and an appropriate tradeoff between approximation accuracy and robustness is achieved. Given the solutions from the first subsystem, the initial condition for the second subsystem can be subsequently calculated. We propose a numerical algorithm to calculate a set of bi-orthogonal series online and employ them to compute the boundary control function that drives the second subsystem to zero at every time step. Combining these two subsystems, it guarantees that the overall system follows the desired temperature profile. We demonstrate that the proposed closed-form adaptive tracking control algorithm achieves full temperature profile tracking with around 5% error averaged over the entire space, that is, norm over time.
{"title":"Closed-form adaptive tracking control of heat equations aided by Fourier regularization and bi-orthogonal series","authors":"Tong Ma , Xuwen Zhu","doi":"10.1016/j.automatica.2025.112335","DOIUrl":"10.1016/j.automatica.2025.112335","url":null,"abstract":"<div><div>This article proposes a closed-form adaptive tracking control approach for linear heat equations with unknown parameters to achieve full temperature profile tracking by leveraging Fourier regularization and bi-orthogonal series. A state predictor which copies the plant with state partial derivatives and unknown parameters replaced by their estimates is built and an adaptive law is designed to estimate the unknown parameters. The state predictor is decomposed into two subsystems for tracking control synthesis: the first subsystem involves terms from the original heat equation, while the second subsystem is simpler and can be reformulated as a standard heat equation. Specifically, the first subsystem is regarded as an unforced PDE whose terminal states always follow the desired temperature profile such that its initial condition can be calculated by solving the backward heat equation at every time step. To address the blow-up issue in backward calculation, a Fourier regularization scheme is explored to cut off the higher-order Fourier modes and an appropriate tradeoff between approximation accuracy and robustness is achieved. Given the solutions from the first subsystem, the initial condition for the second subsystem can be subsequently calculated. We propose a numerical algorithm to calculate a set of bi-orthogonal series online and employ them to compute the boundary control function that drives the second subsystem to zero at every time step. Combining these two subsystems, it guarantees that the overall system follows the desired temperature profile. We demonstrate that the proposed closed-form adaptive tracking control algorithm achieves full temperature profile tracking with around 5% error averaged over the entire space, that is, <span><math><msub><mrow><mi>L</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span> norm over time.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112335"},"PeriodicalIF":4.8,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143859457","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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