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Frequency-domain approach to automated and efficient multivariate kernel density estimation for probabilistic modeling 用于概率建模的多变量核密度估计的频域方法
IF 11 1区 工程技术 Q1 ENGINEERING, INDUSTRIAL Pub Date : 2026-09-01 Epub Date: 2026-02-04 DOI: 10.1016/j.ress.2026.112351
Futai Zhang , Jun Xu , Dan Wang
Accurate estimation of probability density functions is essential for probabilistic modeling but remains a major challenge, particularly for large-scale, multidimensional datasets. Kernel Density Estimation (KDE), one of the most widely used nonparametric methods, has been extensively studied. However, for such datasets, KDE is limited by high computational cost, suboptimal bandwidth selection, and density leakage. To address these limitations, we propose a method that reformulates bandwidth selection as a gradient-based optimization task in the frequency domain, thereby simultaneously resolving these three shortcomings. In this framework, the data are discretized and transformed using the discrete cosine transform, which decouples computational complexity from dataset size. We then construct a differentiable objective function that integrates a frequency-domain fidelity loss with a regularization penalty and stabilize it with a normalization scheme. The optimal bandwidth vector is obtained by minimizing this function with the Adam optimizer and its analytical gradient. This approach outperforms classical and transformation-based estimators, as well as Copula models, in both efficiency and accuracy, while achieving results comparable to specialized asymmetric product kernels at a much lower computational cost. Overall, the proposed method provides a reliable solution for one to multi-dimensional data-driven density estimation.
准确估计概率密度函数对于概率建模至关重要,但仍然是一个主要挑战,特别是对于大规模,多维数据集。核密度估计(KDE)作为一种应用最广泛的非参数估计方法,得到了广泛的研究。然而,对于这样的数据集,KDE受到高计算成本、次优带宽选择和密度泄漏的限制。为了解决这些限制,我们提出了一种在频域将带宽选择重新定义为基于梯度的优化任务的方法,从而同时解决了这三个缺点。在该框架中,数据被离散化并使用离散余弦变换进行转换,从而将计算复杂度与数据集大小解耦。然后,我们构造了一个可微的目标函数,该函数集成了频域保真度损失和正则化惩罚,并用一种归一化方案来稳定它。利用Adam优化器及其解析梯度最小化该函数,得到最优带宽向量。这种方法在效率和准确性上都优于经典和基于变换的估计器,以及Copula模型,同时以更低的计算成本获得与专门的非对称乘积核相当的结果。总体而言,该方法为一维到多维数据驱动的密度估计提供了可靠的解决方案。
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引用次数: 0
A pressure-chlorine driven approach to design effective district metered areas (DMA) configurations in water distribution systems 一种压力-氯驱动的方法来设计供水系统中有效的区域计量区域(DMA)配置
IF 11 1区 工程技术 Q1 ENGINEERING, INDUSTRIAL Pub Date : 2026-09-01 Epub Date: 2026-02-09 DOI: 10.1016/j.ress.2026.112382
Pedram Jazayeri, Ramtin Moeini
To address the limitations of conventional Graph Theory (GT) techniques, in this study, an effective approach, named the Graph Theory-based Pressure and Chlorine Quantities (GT-PCQ) method, is proposed inspired by Girvan–Newman (GN) algorithm. Here, the nodal pressure and chlorine concentration values are directly integrated into the network partitioning process. Three performance indices—Hydraulic Reliability Index (HRI), Quality Reliability Index (QRI), and Hydraulic–Quality Reliability Index (HQRI)—are employed to evaluate the performance of the resulting configurations. The GT-PCQ method is applied to a large-scale, real-world Water Distribution System (WDS) in Najaf Abad, Isfahan, Iran, using a 24-hour Extended Period Simulation (EPS) combined with Pressure-Dependent Analysis (PDA) modeling for both hot and cold day scenarios. Three models are developed to assess the influence of system quantities, including (i) simultaneous consideration of pressure and chlorine concentration, (ii) pressure-only, and (iii) chlorine-only. Results indicate that, compared to the GN algorithm, the GT-PCQ method substantially reduces computational time (CT) and improves average network pressure () and chlorine concentration (CL), ultimately leading to improved reliability across all indices.
为了解决传统图论(GT)技术的局限性,在本研究中,受Girvan-Newman (GN)算法的启发,提出了一种有效的方法,称为基于图论的压力和氯量(GT- pcq)方法。在这里,节点压力和氯浓度值直接集成到网络划分过程中。采用液压可靠性指数(HRI)、质量可靠性指数(QRI)和液压-质量可靠性指数(HQRI)三个性能指标来评价最终配置的性能。GT-PCQ方法应用于位于伊朗伊斯法罕Najaf Abad的大型现实水分配系统(WDS),使用24小时延长周期模拟(EPS)结合压力相关分析(PDA)建模,用于冷热天气场景。开发了三个模型来评估系统数量的影响,包括(i)同时考虑压力和氯浓度,(ii)仅压力和(iii)仅氯。结果表明,与GN算法相比,GT-PCQ方法大大减少了计算时间(CT),提高了平均网络压力(P′s)和氯浓度(CL′s),最终提高了所有指标的可靠性。
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引用次数: 0
Dynamic coupling reliability assessment of smart wind-photovoltaic-storage cyber-physical systems under multi-source uncertain information 多源不确定信息下智能风-光-储网络物理系统动态耦合可靠性评估
IF 11 1区 工程技术 Q1 ENGINEERING, INDUSTRIAL Pub Date : 2026-09-01 Epub Date: 2026-02-06 DOI: 10.1016/j.ress.2026.112368
Hongyan Dui , Rukun Wang , Wanyun Xia , Liudong Xing
With the increasing integration of wind, photovoltaic (PV), and energy storage systems, modern distributed energy systems rely on sensing, communication, and control infrastructures, evolving into smart cyber-physical systems. Under multi-source uncertainties including renewable variability, load fluctuations, communication degradation, and cyber attacks, existing methods struggle to capture coupled power–information dynamics and their joint reliability impacts. This study proposes a dynamic coupling reliability assessment framework for Wind-PV-Storage Cyber-Physical Systems (WPS-CPSs). A heterogeneous directed network is constructed to model structural relationships among generation, load, storage, and cyber components. Based on this model, a Power Flow Reliability Index (PFRI) and an Information Flow Reliability Index (IFRI) are developed to characterize physical-layer and cyber-layer performance, respectively. These indices are integrated via a coupling penalty mechanism to form the Dynamic Coupling Reliability Index (DCRI), enabling evaluation of cross-layer interactions. The framework is validated on a benchmark integrating a modified IEEE 14-bus system with engineering data from the Yancheng National Renewable Energy Demonstration Base. Results indicate that energy storage improves the lower reliability bound, Denial-of-Service and False Data Injection attacks cause distinct IFRI degradation, and DCRI captures coupling-penalty variations revealing both the benefits and risks of cyber-physical integration, offering guidance for resilient renewable-rich microgrids.
随着风能、光伏(PV)和储能系统的日益融合,现代分布式能源系统依赖于传感、通信和控制基础设施,向智能网络物理系统发展。在包括可再生可变性、负荷波动、通信退化和网络攻击在内的多源不确定性下,现有方法难以捕捉耦合的电力信息动态及其联合可靠性影响。本文提出了风电-光伏-储能网络物理系统(wps - cps)的动态耦合可靠性评估框架。构建了一个异构定向网络来模拟生成、负载、存储和网络组件之间的结构关系。在此模型的基础上,分别建立了描述物理层和网络层性能的潮流可靠性指标(PFRI)和信息流可靠性指标(IFRI)。这些指标通过耦合惩罚机制集成,形成动态耦合可靠性指数(DCRI),从而能够评估跨层相互作用。结合改进的IEEE 14总线系统和盐城国家可再生能源示范基地的工程数据,对该框架进行了基准验证。结果表明,储能提高了低可靠性界限,拒绝服务和虚假数据注入攻击导致明显的IFRI退化,DCRI捕获耦合惩罚变化,揭示了网络物理集成的好处和风险,为弹性可再生资源丰富的微电网提供了指导。
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引用次数: 0
Research on risk prevention and control of coal mine gas explosion using bayesian network and system dynamics: An optimization model for safety investment decision-making 基于贝叶斯网络和系统动力学的煤矿瓦斯爆炸风险防控研究——安全投资决策的优化模型
IF 11 1区 工程技术 Q1 ENGINEERING, INDUSTRIAL Pub Date : 2026-09-01 Epub Date: 2026-01-26 DOI: 10.1016/j.ress.2026.112298
Zhijun Lin , Shengwu Qin , Shan He , Shiliang Shi , Tingwei Chen , Baijian Zhu
To mitigate catastrophic coal mine gas explosion (CMGE) accidents, enhance overall safety performance, and achieve an efficient allocation of safety-related resources, this study proposes an optimization framework for safety investment decision-making by integrating System Dynamics (SD) with Bayesian Network (BN). First, based on a sensitivity analysis of 298 major CMGE accidents that occurred between 2000 and 2022, the key causal factors are identified. Second, an optimal safety investment portfolio is formulated to maximize safety outcomes under limited investment resources. The simulation results indicate that the shorter the expected time required to achieve a given safety level, the higher the minimum initial total safety investment needed. Safety management has the most significant influence on coal mine safety, followed sequentially by safety technology, training, and facilities, emphasizing the priority areas for allocating resources. Finally, a case study validated the proposed model, demonstrating its practical applicability and potential for real-world implementation.
为了缓解煤矿巨灾瓦斯爆炸事故,提高煤矿整体安全绩效,实现安全资源的有效配置,本文提出了一种将系统动力学(SD)与贝叶斯网络(BN)相结合的安全投资决策优化框架。首先,通过对2000年至2022年间发生的298起CMGE重大事故的敏感性分析,确定了关键原因。其次,在有限的投资资源条件下,构建最优安全投资组合,使安全收益最大化。仿真结果表明,达到给定安全水平所需的预期时间越短,所需的最小初始总安全投资就越高。安全管理对煤矿安全的影响最大,其次是安全技术、培训和设施,强调资源配置的优先领域。最后,一个案例研究验证了所提出的模型,展示了其实际适用性和在现实世界中实现的潜力。
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引用次数: 0
Temporal causal graph-based attention gated recurrent unit for interpretable fault diagnosis in nuclear power plants 基于时间因果图的核电厂可解释故障诊断注意门控循环单元
IF 11 1区 工程技术 Q1 ENGINEERING, INDUSTRIAL Pub Date : 2026-09-01 Epub Date: 2026-01-31 DOI: 10.1016/j.ress.2026.112332
Jie Liu , Kai Pan , Enrico Zio , Yuantao Yao
Intelligent fault diagnosis is crucial for safe operation of nuclear power plants (NPPs), yet challenges remain due to complex architectures and dynamic time-series data. Besides, the black-box nature of conventional data-driven models also hinders their practical deployment in fault diagnosis scenarios. To address these issues, this paper proposes a novel temporal causal graph-based gated recurrent unit with cell-level graph attention (GraphAttGRU-Cell) network for interpretable and efficient system-level fault diagnosis in NPPs. A temporal causal discovery method integrating domain expertise with data is first adopted to learn stable and credible temporal causal graph that incorporate both instantaneous and lagged dependencies from multivariate sensor data. The proposed GraphAttGRU-Cell Network is designed from the bottom up at the cell level, in which the attention and gated mechanisms can capture spatial and temporal features within the graph. The proposed method is validated by a simulated Gen-IV NPP simulation accident dataset. Experimental results demonstrate that the proposed method significantly outperforms state-of-the-art baselines in accuracy and interpretability, offering a robust and explainable tool for NPP maintenance decision-making.
智能故障诊断对于核电厂的安全运行至关重要,但由于复杂的结构和动态的时间序列数据,仍然存在挑战。此外,传统数据驱动模型的黑箱特性也阻碍了其在故障诊断场景中的实际部署。为了解决这些问题,本文提出了一种新的基于时间因果图的门控循环单元,具有细胞级图关注(GraphAttGRU-Cell)网络,用于核电厂可解释和有效的系统级故障诊断。首先采用一种将领域专业知识与数据相结合的时间因果发现方法,从多变量传感器数据中学习稳定可信的包含瞬时依赖关系和滞后依赖关系的时间因果图。所提出的GraphAttGRU-Cell网络是在cell级别自下而上设计的,其中注意和门控机制可以捕获图中的空间和时间特征。通过第四代核电站模拟事故数据集验证了该方法的有效性。实验结果表明,该方法在准确性和可解释性方面明显优于最先进的基线,为核电厂维护决策提供了一个强大且可解释的工具。
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引用次数: 0
Wear and rolling contact fatigue problems of locomotive wheels: Mechanisms and countermeasures 机车车轮的磨损与滚动接触疲劳问题:机理与对策
IF 11 1区 工程技术 Q1 ENGINEERING, INDUSTRIAL Pub Date : 2026-09-01 Epub Date: 2026-01-23 DOI: 10.1016/j.ress.2026.112244
Yunfan Yang , Xuancheng Yuan , Ruichen Wang , Wai Kei Ao , Liang Ling , Paul Allen
Wear and rolling contact fatigue (RCF) severely deteriorate the tribology behaviour and material integrity of railway wheels, posing significant challenges to their health management. Hence, a deeper mechanistic understanding and the development of effective mitigation strategies are urgently required. In this study, a long-term locomotive wheel wear and RCF evolution prediction model were developed that incorporates the fully nonlinear dynamics of heavy-haul locomotive-track coupled system, the non-Hertzian wheel-rail frictional contact behaviour, and iterative updates of the evolving wear and RCF distributions. The numerical investigations indicated that wear and RCF growth of locomotive wheels are primarily caused by the prominent wheel/rail stresses during curving operations, and particularly aggravated at sharp curves. Subsequent numerical and field investigations verified two effective strategies for mitigating locomotive wheel wear and RCF development: (ⅰ) optimisation design of wheel profile using an innovative constrained multi-object optimisation (CMOO) method, and (ⅱ) enhancement of the Wheel Slide Protection (WSP) controller. The findings further suggested that these two countermeasures can substantially mitigate locomotive wheel wear and RCF progression by lowering wheel-rail tribological interaction and contact stress levels. Overall, this study provides valuable insight into the mechanisms governing wheel wear and RCF evolutions, and supports the enhancement of heavy-haul operational reliability through scientifically informed maintenance practices.
磨损和滚动接触疲劳(RCF)严重恶化了铁路车轮的摩擦学性能和材料完整性,对其健康管理提出了重大挑战。因此,迫切需要更深入的机理理解和制定有效的缓解战略。在本研究中,建立了一个长期机车车轮磨损和RCF演变预测模型,该模型结合了重载机车-轨道耦合系统的完全非线性动力学,非赫兹轮轨摩擦接触行为,以及不断变化的磨损和RCF分布的迭代更新。数值研究表明,机车车轮的磨损和RCF增长主要是由于弯道工况下轮轨应力的突出引起的,在急转弯工况下尤为严重。随后的数值和现场调查验证了两种缓解机车车轮磨损和RCF发展的有效策略:(ⅰ)使用创新的约束多目标优化(CMOO)方法优化车轮轮廓设计,以及(ⅱ)增强车轮滑动保护(WSP)控制器。研究结果进一步表明,这两种对策可以通过降低轮轨摩擦相互作用和接触应力水平,显著缓解机车车轮磨损和RCF进展。总的来说,这项研究为车轮磨损和RCF演变的控制机制提供了有价值的见解,并通过科学的维护实践支持了重载运行可靠性的提高。
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引用次数: 0
Network recovery for UAV-assisted IoTs after cascading failures with heterogeneous graph neural networks 基于异构图神经网络的无人机辅助物联网级联故障网络恢复
IF 11 1区 工程技术 Q1 ENGINEERING, INDUSTRIAL Pub Date : 2026-09-01 Epub Date: 2026-01-30 DOI: 10.1016/j.ress.2026.112320
Xiaodian Zhuang , Xiuwen Fu , Liudong Xing , Rui Peng
With the growing adoption of unmanned aerial vehicle (UAV)-assisted Internet of Things (IoT), its resilience against cascading failures has garnered significant attention. Cascading failures can severely compromise the topological integrity of such networks, making efficient recovery a significant challenge. To address this challenge, a Network Recovery scheme with Heterogeneous Graph neural network (NRHG) is proposed. The proposed scheme employs a Heterogeneous Graph Neural Network (HGNN), which includes graph perception layers processing local observations from individual UAVs, and graph communication layers enabling information exchange among UAVs. A multi-agent reinforcement learning (MARL) framework is further employed to enable collaborative action decisions for UAVs. Experimental results demonstrate that the proposed NRHG scheme can efficiently schedule surviving UAVs to cover the network blind spots caused by cascading failures. Compared to other schemes, the proposed scheme shows superior performance in both network coverage recovery and system throughput restoration.
随着无人机(UAV)辅助物联网(IoT)的日益普及,其抗级联故障的弹性已经引起了人们的广泛关注。级联故障会严重损害此类网络的拓扑完整性,使高效恢复成为一项重大挑战。针对这一挑战,提出了一种基于异构图神经网络(NRHG)的网络恢复方案。该方案采用异构图神经网络(HGNN),其中包括处理单个无人机局部观测的图感知层和实现无人机间信息交换的图通信层。进一步采用多智能体强化学习(MARL)框架实现无人机协同行动决策。实验结果表明,所提出的NRHG方案能够有效地调度幸存的无人机,覆盖由级联故障引起的网络盲点。与其他方案相比,该方案在网络覆盖恢复和系统吞吐量恢复方面都具有较好的性能。
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引用次数: 0
Cause analysis and evolution characteristics of different types of railway accidents based on system dynamics theory 基于系统动力学理论的不同类型铁路事故成因分析及演变特征
IF 11 1区 工程技术 Q1 ENGINEERING, INDUSTRIAL Pub Date : 2026-09-01 Epub Date: 2026-01-31 DOI: 10.1016/j.ress.2026.112334
Taowei Liu , Mingyi Chen , Chengde Wang
Railway accidents occur frequently worldwide and pose serious risks. On the basis of 547 railway accidents that occurred in the USA, Germany, Japan, and the UK between 2013 and 2023, the key causes and accident evolution characteristics of the railway operation accidents are analyzed using the System Dynamics method. First, the high-frequency accident chains and high-hazard accident chains for the different accidents are determined, and the causal loop diagram and stock–flow diagram of different accidents are established by the system dynamics method. Railway conflict, derailment, and train collision accidents are associated with “human–machine coupling failures”, whereas fire and explosion accidents are related to the operational failures of railway equipment and facilities. Moreover, on the basis of the constructed stock–flow diagram, the evolution of railway accidents can be divided into latent, acceleration, critical and outbreak periods, and each period has unique dominant effects. Finally, a “false safety period” term is defined to reflect the impact of the delayed implementation of control measures on the accumulation of system risks and the evolution of different accidents. The evolution of railway conflict accidents is least affected by the delay effect, whereas that of derailment accidents is most strongly affected.
铁路事故在世界范围内频繁发生,具有严重的危险性。以2013 - 2023年美国、德国、日本和英国发生的547起铁路运营事故为基础,运用系统动力学方法分析了铁路运营事故的关键原因和事故演变特征。首先,确定了不同事故的高频事故链和高危事故链,并利用系统动力学方法建立了不同事故的因果环图和存量流图。铁路冲突、脱轨、列车碰撞事故与“人机耦合故障”有关,火灾、爆炸事故与铁路设备设施运行故障有关。在构建的车流图的基础上,将铁路事故的演变划分为潜伏期、加速期、关键期和爆发期,每个时期都具有独特的主导作用。最后,定义了“假安全期”一词,以反映控制措施延迟实施对系统风险积累和不同事故演变的影响。铁路冲突事故的演化受延迟效应的影响最小,而脱轨事故的演化受延迟效应的影响最大。
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引用次数: 0
A multimodal full-cycle risk perception and early warning model for mine water inrush disasters 矿井突水灾害多模式全周期风险感知与预警模型
IF 11 1区 工程技术 Q1 ENGINEERING, INDUSTRIAL Pub Date : 2026-09-01 Epub Date: 2026-02-04 DOI: 10.1016/j.ress.2026.112362
Junwei Shi , Ziyan Zhang , Liangning Li
Mine water inrush is highly nonlinear and sudden; failure to perceive and warn of its risk in time may lead to severe safety accidents. Existing early-warning methods often rely on single hydrological or geological parameters, making it difficult to capture the full-process dynamic evolution of inrush events and leading to delayed or false alarms. To address this issue, this study proposes a multi-modal full-cycle risk perception and early-warning model. In the early perception stage, a rock seepage expansion visual detection network (VDRS-Net) and an abnormal fissure flow acoustic network (AFG-Net) are established to capture multi-source precursor signals. In the mid-to-late stage, a multi-modal time-series prediction model (MTWNet) integrating WOA, VMD, and LSTM-Attention is developed for adaptive optimization, feature decomposition, and long-range dependency modeling. Field validation in typical coal mines of Qitaihe City shows that VDRS-Net and AFG-Net achieve accuracies of 95.3% and 92.7%, improving recognition by 21.4% in early perception; the model achieves over 91% overall prediction accuracy, with RMSE and MAE reduced by 30∼50% and the false-alarm rate lowered from 18.7% to 1.2%, the warning response time is advanced by 63 minutes, which demonstrates its high reliability, precision, and engineering adaptability for disaster prevention.
矿井突水具有高度的非线性和突发性;如果不能及时发现和预警其风险,可能会导致严重的安全事故。现有的预警方法往往依赖于单一的水文或地质参数,难以捕捉涌流事件的全过程动态演变,导致延迟或误报。针对这一问题,本研究提出了一个多模态全周期风险感知与预警模型。在早期感知阶段,建立了岩石渗流扩展视觉检测网络(VDRS-Net)和异常裂隙流动声学网络(AFG-Net),捕获多源前兆信号。在中后期,开发了WOA、VMD和LSTM-Attention相结合的多模态时间序列预测模型(MTWNet),用于自适应优化、特征分解和远程依赖建模。在七台河市典型煤矿现场验证表明,VDRS-Net和AFG-Net的识别准确率分别达到95.3%和92.7%,早期感知识别率提高21.4%;模型总体预测精度达到91%以上,RMSE和MAE降低30 ~ 50%,误报率从18.7%降低到1.2%,预警响应时间提前63分钟,具有较高的可靠性、精度和工程适应性。
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引用次数: 0
Empirical reliability enhancement in series elastic actuators using fractional-order finite-time robust control 基于分数阶有限时间鲁棒控制的串联弹性执行器可靠性经验增强
IF 11 1区 工程技术 Q1 ENGINEERING, INDUSTRIAL Pub Date : 2026-09-01 Epub Date: 2026-01-30 DOI: 10.1016/j.ress.2026.112330
Seyed Ali Moafi , Ebrahim Abbaszadeh , Seyed Hossein Rouhani , Saleh Mobayen , Farid Najafi
This paper presents a novel fractional-order control strategy aimed at enhancing the reliability, safety, and efficiency of the series elastic actuators in robotic systems, with practical reliability approximated through empirical metrics such as failure probability and mean time to failure. The proposed method optimizes control signal constraints, thereby improving the performance and reliability of series elastic actuator-driven robots in assistive human-robot interaction tasks. Leveraging fractional calculus, the proposed approach provides a more accurate model of dynamic interactions between robots and flexible environments, addressing these complexities more precisely than traditional integer-order models. The proposed strategy accounts for controller effort saturation, offering robust finite-time convergence and ensuring superior resilience to disturbances and uncertainties, critical for mission success in real-world applications. The adaptive capability of the system in low- and high-stiffness environments further enhances its versatility and maintainability in diverse operational scenarios. Various experiments demonstrate the superior performance of the method compared to integer-order terminal sliding mode techniques, particularly in accurately modeling failure dynamics and enhancing system safety. The findings underscore the potential of fractional-order control to substantially improve the reliability of series elastic actuator-driven robots, advancing the development of safe, human-centric robotic systems for deployment in unpredictable and dynamic environments.
本文提出了一种新的分数阶控制策略,旨在提高机器人系统中串联弹性作动器的可靠性、安全性和效率,并通过故障概率和平均故障时间等经验度量来逼近实际可靠性。该方法优化了控制信号约束,从而提高了串联弹性作动器驱动机器人在辅助人机交互任务中的性能和可靠性。利用分数阶微积分,所提出的方法提供了一个更准确的机器人与灵活环境之间动态相互作用的模型,比传统的整阶模型更精确地解决了这些复杂性。所提出的策略考虑了控制器的努力饱和,提供了鲁棒的有限时间收敛性,并确保了对干扰和不确定性的卓越弹性,这对现实应用中的任务成功至关重要。系统在低刚度和高刚度环境下的自适应能力进一步增强了系统在不同作战场景下的通用性和可维护性。各种实验表明,与整阶终端滑模技术相比,该方法具有优越的性能,特别是在准确建模故障动力学和提高系统安全性方面。研究结果强调了分数阶控制的潜力,可以大大提高串联弹性驱动器驱动机器人的可靠性,促进在不可预测和动态环境中部署的安全,以人为中心的机器人系统的发展。
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引用次数: 0
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