Search Results (1,237)

Deoxyribonucleic acid (DNA)-based biosensors are rapid, cost-effective, and portable devices for monitoring crop pathogens. However, their on-field operations rely on a laboratory-bound heating block, which controls temperature during sample preparation. This study aimed to develop a field-deployable heating block to assist in the DNA hybridization protocol of DNA-based biosensors. It should maintain $95 °\mathrm{C}$, $55 °\mathrm{C}$, and $20 °\mathrm{C}$ for 5, 10, and 5 min, respectively. It had aluminum bars, positive thermal coefficient ceramic heaters, a Peltier thermoelectric module, and DS18B20 thermistors, serving twelve 0.2 mL polymerase chain reaction (PCR) tubes. An Arduino microcontroller employing a proportional–integral–derivative (PID) algorithm with a solid-state relay was utilized. Machine performance for distilled water-filled PCR tubes showed a maximum $10 °\mathrm{C}$ thermal variation. The machine maintained $(96.00\pm 0.97) °\mathrm{C}$, $(55.15\pm 2.17) °\mathrm{C}$, and $(17.75\pm 0.71) °\mathrm{C}$ with root mean square errors (RMSEs) of $1.40 °\mathrm{C}$, $2.18 °\mathrm{C}$, and $2.36 °\mathrm{C}$, respectively. The average thermal rates were $(0.16\pm 0.11) °\mathrm{C}/\mathrm{s}$, $(0.29\pm 0.11) °\mathrm{C}/\mathrm{s}$, and $(0.14\pm 0.07) °\mathrm{C}/\mathrm{s}$ from ambient to $95 °\mathrm{C}$, $95 °\mathrm{C}$ to $55 °\mathrm{C}$, and $55 °\mathrm{C}$ to $20 °\mathrm{C}$, respectively. Overall, the low standard deviations and RMSEs demonstrate thermostable results and robust temperature control. Full article

Constrained by fixed frame dimensions, conventional drones usually demonstrate insufficient capabilities to accommodate complex environments. However, the reconfigurable drone can address this limitation through its deformable frame equipped with actuators or passive interaction mechanisms. Nevertheless, these additional components may introduce an excessive weight burden, which conflicts with the lightweight objective in aircraft design. In this work, we propose a novel reconfigurable quadrotor inspired by the swimming morphology of jellyfish, with only one actuator placed at the centre of the frame to achieve significant morphological reconfiguration. In the design of the morphing mechanism, three telescopic sleeves are driven by the actuator, enabling arms’ rotation to achieve a maximum projected area reduction of 55%. The nested design of sleeves ensures a sufficient morphing range while maintaining structural compactness in the fully deployed mode. Furthermore, key structural dimensions are optimized, reducing the central motor load by up to 65% across configurations. After deriving parameter variations during morphing, Proportion–Integration–Differentiation (PID) controllers are implemented and flight simulations are conducted in MATLAB. Results confirm the drone’s sustained controllability during and after reconfiguration, with an “8”-shaped trajectory tracking root mean square error (RMSE) of 0.109 m and successful traversal through long narrow slits, reducing mission duration under certain conditions. Full article

Recently, various forms and purposes of autonomous mobility have been widely developed and commercialized. To control the various iterations of shaped and purposeful mobility, control technology that can adapt to the dynamic characteristics of the mobility and environmental changes is essential. This study presents an adaptive proportional–integral–derivative (PID) controller for longitudinal velocity and yaw rate tracking in autonomous mobility, addressing the aforementioned issue. To design the adaptive PID controller, error dynamics have been designed using error and control input with two coefficients. It is designed that the two coefficients are estimated in real time by recursive least squares with multiple constraints and forgetting factors. The estimated coefficients are used to compute PI gains based on the Lyapunov direct method with constant derivative gain. Multiple constraints, such as value and rate limits, have been incorporated into the RLS algorithm to enhance the control stability. The performance evaluation is conducted through the co-simulation of MATLAB/Simulink and CarMaker under integrated control scenarios, such as longitudinal velocity and yaw rate tracking, for mobility. Full article

Virtual commands serve as the essential framework for establishing interaction between the virtual pilot and the MCP in autopilot scenarios. Conventional proportional-integral-derivative (PID) controllers are insufficient to ensure accurate flight trajectories due to system hysteresis. To overcome this limitation, a quaternary correlation prediction compensation PID (QCPC-PID) approach is introduced for computing virtual heading commands in autopilot tasks. The method integrates multi-feature statistics, entropy-based predictive compensation, and quaternary correlations. First, flight trajectory error statistics are dynamically calculated using signed error distances to assess deviation levels. Second, a predictive structure based on information entropy is applied to enhance PID compensation. Third, quaternary correlation dependence is established to generate virtual heading commands. The findings confirm the effectiveness of the method in improving flight convergence. The incorporation of predictive structures and quaternary correlations is critical for achieving predictive compensation during PID tuning, thereby reducing flight trajectory deviations. The quaternary correlation prediction compensation method ensures superior performance of PID control in modeling heading adjustment behavior under autopilot conditions. Full article

Adaptive Equivalent Consumption Minimization Strategies (A-ECMSs) are one of the best methodologies to optimize fuel consumption of plug-in hybrid vehicles (PHEVs) coupled with low computational requirements. In this paper, a review of A-ECMSs is proposed. Starting from an economic-environmental contextualization, hybrid vehicles are presented and classified, together with their modeling methodologies and the physical-mathematical representation of their components. Next, the control theory for hybrid vehicles is introduced and classified, deriving the A-ECMS approach. Several works accounting for different A-ECMS implementations, based on technology integration, time horizon, adaptivity mechanism, and technique, are addressed. The literature analysis shows a broad coverage of possibilities: the simple proportional-integral (PI) rule for equivalence factor adaptivity is often used, imposing a given battery state-of-charge (SoC); it is possible to optimally plan the battery SoC trajectory through offline optimization with optimal algorithms or by predicting ahead conditions with model predictive control (MPC) or neural networks (NNs); the integration with emerging technologies such as Vehicle-To-Everything (V2X) can be helpful, accounting also for car-following data and GPS information. Moreover, speed prediction is another common technique to optimally plan the battery SoC trajectory. Depending on available on-board computational power and data, it is possible to choose the best A-ECMS according to its application. Full article

This paper introduces an autonomous vision-based tracking system for a quadrotor unmanned aerial vehicle (UAV) equipped with an onboard camera, designed to track a maneuvering target without external localization sensors or GPS. Accurate capture of dynamic aerial targets is essential to ensure real-time tracking and effective management. The system employs a robust and computationally efficient visual tracking method that combines HSV filter detection with a shape detection algorithm. Target states are estimated using an enhanced extended Kalman filter (EKF), providing precise state predictions. Furthermore, a closed-loop Proportional-Integral-Derivative (PID) controller, based on the estimated states, is implemented to enable the UAV to autonomously follow the moving target. Extensive simulation and experimental results validate the system’s ability to efficiently and reliably track a dynamic target, demonstrating robustness against noise, light reflections, or illumination interference, and ensure stable and rapid tracking using low-cost components. Full article

Understanding the effectiveness of engineering measures in mitigating surface erosion is crucial for sustainable land management. However, studies explicitly quantifying the combined effects of large-scale engineering measures and environmental factors remain limited. In this study, multisource remote sensing data were integrated with interpretable machine learning to quantify and analyze the regional influence of erosion control measures. We constructed a comprehensive indicator system encompassing spectral, textural, and topographic variables derived from high-resolution satellite imagery and DEM data. To address model transparency and enhance the interpretability of the results, we employed an interpretable machine learning framework capable of both accurate prediction and explicit attribution of feature importance. The results indicate that the implementation of engineering measures substantially reduces erosion intensity across the study area. Spatial heterogeneity in erosion mitigation effectiveness was closely associated with the distribution patterns of engineering measures and site-specific environmental conditions. Basins with a high proportion of check dams showed average elevation gains of up to 2.5 m compared with those without check dams, and terraces contributed to elevation increases of ~1.9 m in typical loess hilly regions. The interpretable machine learning model achieved R² = 0.62 at Basin 1 (average area ~100 km²) and R² = 0.73 at Basin 2 (~600 km²), demonstrating reliable predictive capability. The findings not only validate the role of engineering interventions in erosion mitigation but also provide a transparent analytical framework that connects remote sensing analytics with process-based geomorphological understanding. Full article

Ensuring reliable power system control demands innovative architectural solutions. This research introduces a fault-tolerant hybrid parallel compensator architecture for load frequency control (LFC), combining a Proportional–Integral–Derivative with Filter (PIDF) compensator with a Fuzzy Fractional-Order PI-PD (Fuzzy FOPI–FOPD) module. Particle Swarm Optimization (PSO) determines optimal PID gains, while the Catch Fish Optimization Algorithm (CFOA) tunes the Fuzzy FOPI–FOPD parameters—both minimizing the Integral Time Absolute Error (ITAE) index. The parallel compensator structure guarantees continuous operation during subsystem faults, substantially boosting grid reliability. Rigorous partial failure tests confirm uncompromised performance-controlled degradation. Benchmark comparisons against contemporary controllers reveal the proposed architecture’s superiority, quantifiable through transient metric enhancements: undershoot suppression (−9.57 × 10⁻⁵ p.u. to −1.17 × 10⁻⁷ p.u.), settling time improvement (8.8000 s to 3.1511 s), and ITAE reduction (0.0007891 to 0.0000001608), verifying precision and stability gains. Resilience analyses across parameter drift and step load scenarios, simulated in MATLAB/Simulink, demonstrate superior disturbance attenuation and operational stability. These outcomes confirm the solution’s robustness, dependability, and field readiness. Overall, this study introduces a transformative LFC strategy with high practical viability for modern power networks. Full article

This paper presents a hybrid reinforcement learning framework for trajectory tracking control of a 5-degree-of-freedom (DOF) Mitsubishi RV-2AJ robotic arm by integrating model-free deep reinforcement learning (DRL) algorithms with classical control strategies. A novel hybrid PID + TD3 agent is proposed, combining a Proportional–Integral–Derivative (PID) controller with the Twin Delayed Deep Deterministic Policy Gradient (TD3) algorithm, and is compared against standalone TD3 and PID controllers. In this architecture, the PID controller provides baseline stability and deterministic disturbance rejection, while the TD3 agent learns residual corrections to enhance tracking accuracy, robustness, and control smoothness. The robotic system is modeled in MATLAB/Simulink with Simscape Multibody, and the agents are trained using a reward function inspired by artificial potential fields, promoting energy-efficient and precise motion. Extensive simulations are performed under internal disturbances (e.g., joint friction variations, payload changes) and external disturbances (e.g., unexpected forces, environmental interactions). Results demonstrate that the hybrid PID + TD3 approach outperforms both standalone TD3 and PID controllers in convergence speed, tracking precision, and disturbance rejection. This study highlights the effectiveness of combining reinforcement learning with classical control for intelligent, robust, and resilient robotic manipulation in uncertain environments. Full article

To resolve the inherent coupling conflict between trajectory tracking and lateral stability in distributed electric drive buses, this paper proposes a hierarchical cooperative control framework. A simplified two-degree-of-freedom (2-DOF) vehicle model is first established, and kinematically derived reference states for stable motion are computed. At the upper level, a model predictive controller (MPC) generates real-time steering commands while explicitly minimizing lateral tracking error. At the lower level, a proportional integral derivative (PID)-based roll moment controller and a linear quadratic regulator (LQR)-based direct yaw moment controller are designed, with four-wheel torque distribution achieved via quadratic programming subject to friction circle and vertical load constraints. Co-simulation results using TruckSim and MATLAB/Simulink demonstrate that, during high-speed single-lane-change maneuvers, peak lateral error is reduced by 11.59–18.09%, and root-mean-square (RMS) error by 8.67–14.77%. Under medium-speed double-lane-change conditions, corresponding reductions of 3.85–12.16% and 4.48–11.33% are achieved, respectively. These results fully validate the effectiveness of the proposed strategy. Compared with the existing MPC–direct yaw moment control (DYC) decoupled control framework, the coordinated control strategy proposed in this paper achieves the optimal trade-off between trajectory tracking and lateral stability while maintaining the quadratic programming solution delay below 0.5 milliseconds. Full article

The convergence of Industrial Internet of Things (IIoT) and digital twin technology offers new paradigms for process automation and control. This paper presents an integrated IIoT and digital twin framework for intelligent control of a gas–liquid separation unit with interacting flow, pressure, and differential pressure loops. A comprehensive dynamic model of the three-loop separator process is developed, linearized, and validated. Classical stability analyses using the Routh–Hurwitz criterion and Nyquist plots are employed to ensure stability of the control system. Decentralized multi-loop proportional–integral–derivative (PID) controllers are designed and optimized using the Integral Absolute Error (IAE) performance index. A digital twin of the separator is implemented to run in parallel with the physical process, synchronized via a Kalman filter to real-time sensor data for state estimation and anomaly detection. The digital twin also incorporates structured singular value ($\mu$) analysis to assess robust stability under model uncertainties. The system architecture is realized with low-cost hardware (Arduino Mega 2560, MicroMotion Coriolis flowmeter, pneumatic control valves, DAC104S085 digital-to-analog converter, and ENC28J60 Ethernet module) and software tools (Proteus VSM 8.4 for simulation, VB.Net 2022 version based human–machine interface, and ML.Net 2022 version for predictive analytics). Experimental results demonstrate improved control performance with reduced overshoot and faster settling times, confirming the effectiveness of the IIoT–digital twin integration in handling loop interactions and disturbances. The discussion includes a comparative analysis with conventional control and outlines how advanced strategies such as model predictive control (MPC) can further augment the proposed approach. This work provides a practical pathway for applying IIoT and digital twins to industrial process control, with implications for enhanced autonomy, reliability, and efficiency in oil and gas operations. Full article

Hemodynamic management is extremely important in cardiac patients undergoing surgery. Traditionally, the approach towards hemodynamic stabilization included the control of both mean arterial pressure (MAP) and cardiac output (CO) using Sodium Nitroprusside and Dopamine. More efficient and safer drugs have been introduced, such as Norepinephrine. The focus of this manuscript is to provide some preliminary results regarding the closed loop control of MAP using Norepinephrine. However, to design a dedicated control system, a mathematical model describing the effect of Norepinephrine on mean arterial pressure is required. Only a handful of papers describe a pharmacokinetic–pharmacodynamic (PK-PD) model. In this paper, a simplified model suitable for designing a controller is determined based on PK-PD insights and existing clinical data. Existing closed loop controllers are based on the simple proportional integral derivative (PID) controller, with limited robustness to patient variability. In this paper, two advanced control strategies are proposed to replace PID. The closed loop simulation results include reference tracking and disturbance rejection and show the efficiency and robustness of the proposed control algorithms. The preliminary results set the background for further research in this area. Full article

The incorporation of bioactive natural compounds into biomedical applications offers a promising route to enhance therapeutic efficacy while supporting sustainability. In this study, we investigated the synergistic potential of Sericin, a silk-derived biopolymer, and Chelidonium majus L. (C. majus), a medicinal plant with a diverse phenolic profile, in relation to biological activities relevant for wound care and infection control. A combined experimental strategy was applied, integrating detailed chemical characterization of C. majus extracts with antimicrobial and cytocompatibility assays across different Sericin–plant extract ratios (1:1, 1:2, 2:2, and 2:1). Phytochemical analysis identified and quantified 57 phenolic compounds, including high levels of flavonoids (quercetin, kaempferol, isorhamnetin) and phenolic acids (caffeic and ferulic acid). Salicylic acid (123.6 µg/g), feruloyltyramine (111.8 µg/g), and pinocembrin (98.4 µg/g) were particularly abundant, compounds previously reported to disrupt microbial membranes and impair bacterial viability. These metabolites correlated with the strong antimicrobial activity of C. majus against Gram-positive strains (MIC = 5–10 mg/mL). In combination with Sericin, antimicrobial performance was ratio-dependent, with higher proportions of C. majus (2:1) retaining partial inhibitory effects. Cytocompatibility assays with HFF1 fibroblasts demonstrated low antiproliferative activity across most formulations (GI₅₀ > 400 µg/mL), supporting their potential safety in topical applications. Collectively, the results indicate a concentration-dependent interaction between C. majus phenolics and the Sericin protein matrix, reinforcing their suitability as candidates for natural-based wound healing materials. Importantly, the valorization of Sericin, an underutilized byproduct of the silk industry, together with a widely accessible medicinal plant, underscores the ecological and economic sustainability of this approach. Overall, this work supports the exploration of the development of biomaterials with potential for advancing tissue repair and wound management. Full article

Microgrids with high renewable energy penetration face critical challenges in frequency stability due to reduced system inertia and the presence of parameter uncertainties. This study introduces a novel adaptive virtual inertia control strategy utilizing a combination of the Walrus Optimization Algorithm (WaOA), a recent metaheuristic optimization technique, and Proportional–Integral–Derivative (PID) controllers (WaOA-PID) to improve frequency regulation in islanded microgrids under diverse operating conditions. The proposed method is evaluated across three scenarios: medium inertia, low inertia, and parametric uncertainty. Comparative analyses with conventional, IMC-tuned PID and H∞ Vector Internal Controllers (VIC) reveal that the WaOA-PID controller achieves the lowest overshoot, undershoot, and rate of change of frequency (RoCoF), while maintaining acceptable settling times in all cases. At an estimated load deviation of 0.18, the demand is varied from 200 MW to 250 MW to evaluate the system’s performance. The proposed technique yields an Integral Time Absolute Error (ITAE) of 0.000576, with PID gains of Ki = 0.9994, Kd = 0.185, and Kp = 0.774. Compared to traditional methods, the proposed controller demonstrates high reliability and efficiency in maintaining load frequency control and enhancing power system management, validating its suitability for real-time renewable energy-integrated microgrid applications. Full article

Groundwater chemical composition often exhibits complex characteristics under the combined influence of anthropogenic activities and natural geological conditions. Accurately distinguishing between human-derived and naturally occurring constituents is crucial for formulating effective pollution control strategies and ensuring sustainable groundwater resource management. However, conventional hydrogeochemical analytical methods often face challenges in quantitatively differentiating these overlapping influences. In this study, 66 groundwater samples were collected from the midstream section of the Dawen River Basin, an area subject to significant anthropogenic pressure. An integrated approach combining hydrogeochemical analysis, Self-Organizing Map (SOM) clustering, and Positive Matrix Factorization (PMF) receptor modeling was employed to identify sources of chemical constituents and quantify the proportional contributions of various factors. The results indicate that: (1) The predominant groundwater types in the study area were Cl·SO₄·Ca. (2) SOM clustering classified the groundwater samples into five distinct groups, each reflecting a dominant influence: (i) natural geological processes—samples distributed within the central geological mining area; (ii) agricultural activities—samples located in intensively cultivated zones along both banks of the Dawen River; (iii) hydrogeochemical evolution—samples concentrated in areas with impermeable surfaces on the eastern and western sides of the study region; (iv) mining operations—samples predominantly found in industrial zones at the periphery; (v) domestic wastewater discharge—samples scattered relatively uniformly throughout the area. (3) PMF results demonstrated that natural geological conditions constituted the largest contribution (29.0%), followed by agricultural activities (26.8%), consistent with the region’s extensive farming practices. Additional contributions arose from water–rock interactions (23.9%), mining operations (13.6%), and domestic wastewater (6.7%). This study establishes a methodological framework for quantitatively assessing natural and anthropogenic impacts on groundwater quality, thereby providing a scientific basis for the development of protection measures and sustainable management strategies for regional groundwater resources. Full article