Search Results (1,124)

This paper presents a novel mechanically beam-steered antenna system for 10 GHz applications, enabled by multi-material 3D-printing technology. The proposed design eliminates the need for complex electronic circuitry by integrating a mechanically rotatable, 3D-printed hemispherical lens with a conventional rectangular patch antenna. The system comprises three main components: a 10-GHz patch antenna, a precision-fabricated hemispherical dielectric lens produced via stereolithography (SLA), and a structurally robust rotation assembly fabricated using fused deposition modeling (FDM). The mechanical rotation of the lens enables discrete beam-steering from −45° to +45° in 5° steps. Experimental results demonstrate a gain improvement from 6.21 dBi (standalone patch) to 10.47 dBi with the integrated lens, with minimal degradation across steering angles (down to 9.59 dBi). Simulations and measurements show strong agreement, with the complete system achieving 94% accuracy in beam direction. This work confirms the feasibility of integrating additive manufacturing with passive beam-steering structures to deliver a low-cost, scalable, and high-performance alternative to electronically scanned arrays. Moreover, the design is readily adaptable for motorized actuation and closed-loop control via embedded systems, enabling future development of real-time, programmable beam-steering platforms. Full article

Underactuated systems, such as rotary and double inverted pendulums, challenge traditional control due to nonlinear dynamics and limited actuation. Classical methods like state-feedback and Linear Quadratic Regulators (LQRs) are commonly used but often require high gains, leading to excessive control effort, poor energy efficiency, and reduced robustness. This article proposes a generalized state-feedback controller with its own internal dynamics, offering greater design flexibility. To automate tuning and avoid manual calibration, we apply Bayesian Optimization (BO), a data-efficient strategy for optimizing closed-loop performance. The proposed method is evaluated on two benchmark underactuated systems, including one in simulation and one in a physical setup. Compared with standard LQR designs, the BO-tuned state-feedback controller achieves a reduction of approximately 20% in control signal amplitude while maintaining comparable settling times. These results highlight the advantages of combining model-based control with automatic hyperparameter optimization, achieving efficient regulation of underactuated systems without increasing design complexity. Full article

The integration of multiple renewable and storage units in electric vehicle (EV) hybrid energy systems presents significant challenges in stability, dynamic response, and disturbance rejection, limitations often encountered with conventional sliding mode control (SMC) and super-twisting SMC (STSMC) schemes. This paper proposes a condition-based integral terminal super-twisting sliding mode control (CBITSTSMC) strategy, with gains optimally tuned using an improved gray wolf optimization (I-GWO) algorithm, for coordinated control of a multi-source DC–DC converter system comprising photovoltaic (PV) arrays, fuel cells (FCs), lithium-ion batteries, and supercapacitors. The CBITSTSMC ensures finite-time convergence, reduces chattering, and dynamically adapts to operating conditions, thereby achieving superior performance. Compared to SMC and STSMC, the proposed controller delivers substantial reductions in steady-state error, overshoot, and undershoot, while improving rise time and settling time by up to 50%. Transient stability and disturbance rejection are significantly enhanced across all subsystems. Controller-in-the-loop (CIL) validation on a Delfino C2000 platform confirms the real-time feasibility and robustness of the approach. These results establish the CBITSTSMC as a highly effective solution for next-generation EV hybrid energy management systems, enabling precise power-sharing, improved stability, and enhanced renewable energy utilization. Full article

The emergence of 6G wireless systems marks a paradigm shift toward intelligent, context-aware networks that can adapt in real-time to their environment. Within this landscape, Sensing-Assisted Communication (SAC) emerges as a key enabler, integrating perception into the communication control loop to enhance reliability, beamforming accuracy, and system responsiveness. Unlike prior surveys that treat SAC as a subfunction of Integrated Sensing and Communication (ISAC), this work offers the first dedicated review of SAC in Millimeter-Wave (mmWave) and Sub-Terahertz (Sub-THz) systems, where directional links and channel variability present core challenges. SAC encompasses a diverse set of methods that enable wireless systems to dynamically adapt to environmental changes and channel conditions in real time. Recent studies demonstrate up to 80% reduction in beam training overhead and significant gains in latency and mobility resilience. Applications include predictive beamforming, blockage mitigation, and low-latency Unmanned Aerial Vehicle (UAV) and vehicular communication. This review unifies the SAC landscape and outlines future directions in standardization, Artificial Intelligence (AI) integration, and cooperative sensing for next-generation wireless networks. Full article

Microgrid systems play a vital role in managing distributed energy resources like solar, wind, batteries, and supercapacitors. However, maintaining stable AC/DC bus voltages and minimizing grid reliance under dynamic conditions is challenging. Traditional control methods such as Sliding Mode Controllers (SMCs) suffer from issues like chattering and slow convergence, reducing practical effectiveness. This paper proposes a hybrid AC/DC microgrid that operates in both grid-connected and islanded modes while ensuring voltage stability and efficient energy use. A Conditional-Based Super-Twisting Sliding Mode Controller (CBSTSMC) is employed to address the limitations of conventional SMCs. The CBSTSMC enhances system performance by reducing chattering, improving convergence speed, and offering better tracking and disturbance rejection. To further refine controller performance, an Improved Grey Wolf Optimization (IGWO) algorithm is used for gain tuning, resulting in enhanced system robustness and precision. An Energy Management System (EMS) is integrated to intelligently regulate power flow based on renewable generation and storage availability. The proposed system is tested in real time using a Texas Instruments Delfino C2000 microcontroller through a Controller-in-the-Loop (CIL) setup. The simulation and hardware results confirm the system’s ability to maintain stability and reliability under diverse operating scenarios, proving its suitability for future smart grid applications. Full article

Brushless DC (BLDC) motors are commonly used in electric vehicles (EVs) because of their efficiency, small size and great torque-speed performance. These motors have a few benefits such as low maintenance, increased reliability and power density. Nevertheless, BLDC motors are highly nonlinear and their dynamics are very complicated, in particular, under changing load and supply conditions. The above features require the design of strong and adaptable control methods that can ensure performance over a broad spectrum of disturbances and uncertainties. In order to overcome these issues, this paper uses a Fractional-Order Proportional-Integral-Derivative (FOPID) controller that offers better control precision, better frequency response, and an extra degree of freedom in tuning by using non-integer order terms. Although it has the benefits, there are three primary drawbacks: (i) it is not real-time adaptable, (ii) it is hard to choose appropriate initial gain values, and (iii) it is sensitive to big disturbances and parameter changes. A new control framework is suggested to address these problems. First, a Reinforcement Learning (RL) approach based on Deep Deterministic Policy Gradient (DDPG) is presented to optimize the FOPID gains online so that the controller can adjust itself continuously to the variations in the system. Second, Snake Optimization (SO) algorithm is used in fine-tuning of the FOPID parameters at the initial stages to guarantee stable convergence. Lastly, cascade control structure is adopted, where FOPID controllers are used in the inner (current) and outer (speed) loops. This construction adds robustness to the system as a whole and minimizes the effect of disturbances on the performance. In addition, the cascade design also allows more coordinated and smooth control actions thus reducing stress on the power electronic switches, which reduces switching losses and the overall efficiency of the drive system. The suggested RL-enhanced cascade FOPID controller is verified by Hardware-in-the-Loop (HIL) testing, which shows better performance in the aspects of speed regulation, robustness, and adaptability to realistic conditions of operation in EV applications. Full article

Conventional fixed-gain PID controllers face inherent limitations in maintaining optimal performance across the diverse and dynamic flight phases of cruise missiles. To overcome these challenges, we propose Time-Fusion Proximal Policy Optimization (TF-PPO), a novel adaptive reinforcement learning framework designed specifically for cruise missile control. TF-PPO synergistically integrates Long Short-Term Memory (LSTM) networks for enhanced temporal state perception and phase-specific reward engineering enabling self-evolution of PID parameters. Extensive hardware-in-the-loop experiments tailored to cruise missile dynamics demonstrate that TF-PPO achieves a 36.3% improvement in control accuracy over conventional PID methods. The proposed framework provides a robust, high-precision adaptive control solution capable of enhancing the performance of cruise missile systems under varying operational. Full article

For the motion control of ships in confined and curved waterways, from broad coastal channels to narrow river bends, conventional methods often struggle to ensure both tracking accuracy and navigational safety. A key deficiency is the inability of standard algorithms to incorporate the nuanced principles of good seamanship. To address this, a novel, hierarchical adaptive control framework is proposed. The core novelty of this framework lies in its versatile and adaptive guidance rules, which embed maritime practice into the control loop for different navigating scenarios. In general maritime channels with wind and current, these rules function to ensure robust, high-fidelity route tracking. For the most challenging inland river curved channels, it is further enhanced to generate a strategic, non-centerline trajectory that replicates the crucial inland navigational practice of “holding high and taking low”. This is complemented by a reinforcement learning-based strategy at the control layer, which performs real-time tuning of PID gains to adapt to the vessel’s dynamics. The framework’s dual capabilities were systematically validated. The core adaptive algorithms proved effective for robust control in curved channels under wind and current disturbances. Furthermore, the full framework, including the seamanship-informed strategy, demonstrated superior performance in the most complex inland river scenarios. Compared to a conventional controller, the proposed method reduced the peak cross-track error by over 40% and increased the minimum safety margin from the bank by more than 49% under a strong 3 m/s cross-current. An effective solution for motion control is thus provided, bridging the gap between modern control theory and the context-dependent expertise of practical pilotage. Full article

Power converters play an important role in incorporating renewable energy sources into power systems. Among different converter designs, Buck and Boost converters are popular, as they use fewer components and deliver cost savings and high efficiency. However, Boost converters are known as non–minimum phase systems, imposing harder constraints for designing a robust converter. Developing an efficient controller for these topologies can be difficult since they exhibit nonlinearity and distortion in high frequency modes. The Lyapunov-based Adaptive Backstepping Control (ABSC) technology is used to regulate suitable outputs for these structures. This approach is an updated version of the technique that uses the stability Lyapunov function to produce increased stability and resistance to fluctuations in real-world circumstances. However, in real-time situations, disturbances with larger ranges such as supply voltage changes, parameter variations, and noise may have a negative impact on the operation of this strategy. To increase the controller’s flexibility under more difficult working settings, the most appropriate first gains must be established. To solve these concerns, the ABSC’s performance is optimized using the Reinforcement Learning (RL) adaptive technique. RL has several advantages, including lower susceptibility to error, more trustworthy findings obtained from data gathering from the environment, perfect model behavior within a certain context, and better frequency matching in real-time applications. Random exploration, on the other hand, can have disastrous effects and produce unexpected results in real-world situations. As a result, we choose the Deep Deterministic Policy Gradient (DDPG) approach, which uses a deterministic action function rather than a stochastic one. Its key advantages include effective handling of continuous action spaces, improved sample efficiency through off-policy learning, and faster convergence via its actor–critic architecture that balances value estimation and policy optimization. Furthermore, this technique uses the Grey Wolf Optimization (GWO) algorithm to improve the initial set of gains, resulting in more reliable outcomes and quicker dynamics. The GWO technique is notable for its disciplined and nature-inspired approach, which leads to faster decision-making and greater accuracy than other optimization methods. This method considers the system as a black box without its exact mathematical modeling, leading to lower complexity and computational burden. The effectiveness of this strategy is tested in both modeling and experimental scenarios utilizing the Hardware-In-Loop (HIL) framework, with considerable results and decreased error sensitivity. Full article

Background: This prospective pilot study included four participants with chronic visual impairment and assessed functional and electrophysiological recovery following visual evoked potential (VEP)-guided auditory biofeedback across diverse etiologies. Low vision affects more than two billion people worldwide and imposes a sustained personal and socioeconomic burden. Conventional rehabilitation emphasizes optical aids and environmental modification without directly stimulating the visual pathway. Emerging evidence indicates that auditory biofeedback based on real-time cortical activity can leverage adult neuroplasticity. Methods: Four men (mean age 58 ± 12 years) with chronic visual impairment attributable to occipital stroke, stage IV macular hole, end-stage open-angle glaucoma, or diabetic maculopathy completed ten 10-min monocular sessions with the Retimax Vision Trainer over three weeks (15 Hz pattern reversal, 90% contrast). Primary end points were best corrected visual acuity (BCVA, ETDRS letters) and P100 amplitude/latency. Fixation stability was recorded with MAIA microperimetry when feasible. A focused PubMed review (2010–2025) mapped current evidence and research gaps. Results: Median BCVA improved by seven letters (IQR 0–15); three of eight eyes gained ≥ 10 letters and none lost vision. Mean P100 amplitude increased from 1.0 ± 1.2 µV to 3.0 ± 1.1 µV, while latency shortened by 3.9 ms. Electrophysiological improvement paralleled behavioural gain irrespective of lesion site. No adverse events occurred. Conclusions: A concise course of VEP-guided auditory biofeedback produced concordant functional and neurophysiological gains across retinal, optic nerve, and cortical pathologies. These pilot data support integration of closed-loop biofeedback into routine low vision care and justify larger sham-controlled trials. Full article

High-performance sports cars rely on aerodynamics for stability and speed, but developing aero packages is challenging when wind tunnel testing is limited. In this study, we employed a simulation-guided design loop to maximize downforce and minimize drag on a sports car using Computational Fluid Dynamics (CFD). Thirteen aerodynamic modifications—including splitters, ducts, diffusers, and a Drag Reduction System (DRS)—were iteratively tested using CFD. To ensure numerical reliability, a mesh independence study and convergence analysis were performed, confirming stable aerodynamic predictions. The final configuration achieved an ~11× increase in downforce at 120 km/h (from about 320 N to 3588 N), meeting the design goal of roughly 2000 kg of downforce at 177 mph when scaled. This extreme downforce came with higher drag ($C_D$ ≈ 0.83), so a dual-mode approach was developed: a DRS configuration provides moderate downforce with 50% less drag ($C_D$ ≈ 0.41) for high-speed efficiency. A 1:12-scale wind tunnel test qualitatively supported the CFD predictions by visualizing wake narrowing and improved flow attachment. While quantitative force validation was not possible due to Reynolds mismatch and facility constraints, the qualitative results increased confidence in the CFD-based findings. Overall, the study demonstrates that substantial aerodynamic gains can be achieved under resource constraints, offering a practical framework for motorsport engineers and manufacturers to optimize aero kits when conventional full-scale testing is not accessible. Full article

We propose a control method that integrates adaptive fuzzy sliding-mode control (AF-SMC) with a fixed-time disturbance observer (FTDO) to address modeling errors, external disturbances, and input saturation in ship path tracking. The designed adaptive fuzzy system dynamically adjusts the SMC gain to enhance adaptability to parameter variations and modeling errors. Furthermore, the proposed method enables rapid estimation of the total uncertainty term by incorporating an FTDO, ensuring fixed-time estimation and feedforward compensation of the total matched uncertainty without requiring prior knowledge of the disturbance bound. Lyapunov stability analysis was employed to verify the bounded stability of the closed-loop system. Simulation results indicate that the proposed method provides high control accuracy and robustness. Full article

This paper proposes an iterative auto-tuning algorithm for PI controllers in permanent magnet synchronous motor (PMSM) drive systems. The controller gains are initially set using motor-parameter-based formulas derived from pole–zero cancelation, providing a theoretical first-order approximation. To address discrepancies caused by practical non-idealities such as delays, nonlinearities, and unmodeled dynamics, the proposed method iteratively refines the gains based on real-time measurements of time-domain performance indices. In each iteration, rise time, peak time, and percent overshoot are evaluated against predefined target values, and gain compensation terms are calculated accordingly. These compensations are applied to update the controller gains until all performance indices fall within the desired range, at which point the tuning process terminates automatically. The effectiveness of the proposed algorithm is validated through both MATLAB/Simulink simulations and real-time hardware experiments, demonstrating significant improvements in transient response, overshoot suppression, and closed-loop stability compared to conventional tuning approaches. Full article

Rhodopsin, the prototypical Class A G protein-coupled receptor (GPCR) and visual pigment of rod photoreceptors, has long served as a structural and mechanistic model for GPCR biology. Mutations in rhodopsin are the leading cause of autosomal dominant retinitis pigmentosa (adRP), making this receptor a critical therapeutic target. In this review, we summarize the chemical, structural, and biophysical features of small-molecule modulators of this receptor, spanning both classical retinoid analogs and emerging non-retinoid scaffolds. These ligands reveal recurrent binding modes within the orthosteric chromophore pocket as well as peripheral allosteric and bitopic sites, where they mediate folding, rescue trafficking, photocycle modulation, and mutant stabilization. We organize ligand performance into a three-tier framework linking binding affinity, cellular rescue potency, and stability gains. Chemotypes in tier 2, which show sub-micromolar to low-micromolar activity with broad mutant coverage, emerge as promising candidates for optimization into next-generation scaffolds. Across scaffolds, a recurring minimal pharmacophore is evident by a contiguous hydrophobic π-surface anchored in the β-ionone region, coupled with a strategically oriented polar handle that modulates the Lys296/Glu113 microenvironment, offering tractable design vectors for non-retinoid chemotypes. Beyond the chromophore binding pocket, we highlight opportunities to exploit extracellular loop epitopes, cytoplasmic microswitch clefts, dimer/membrane interfaces, and ion co-binding sites to engineer safer, state-biased control with fewer photochemical liabilities. By integrating rhodopsin photobiophysics with environment-aware, multi-state medicinal chemistry, and by addressing current translational challenges in drug delivery, this review outlines a rational framework for advancing rhodopsin-targeted therapeutics toward clinically credible interventions for RP and related retinal degenerations. Full article

Automatic control in biomedicine has attracted the attention of clinicians to mitigate the side effects resulting from drug overdoses administered to patients. To provide the most optimal and accurate results, the computer-controlled systems in biomedical engineering require more advanced tuning procedures that tackle patient variability and ensure the robustness of the control system. This has been enhanced over the past two decades through the replacement of standard PID controllers with fractional-order controllers. However, most of the developed fractional-order control methods address only the robustness with respect to gain variations. In this study, a novel fractional-order control algorithm that is robust to time constant variations is developed. The control algorithm is designed for second-order plus dead time systems. A graphical solution is chosen to solve the nonlinear system of equations for the proposed approach. Three biomedical applications are employed as case studies. The first one consists in the control of the bispectral index in general anesthesia, the second one refers to the blood glucose level control for diabetic patients, and finally, the third one tackles computerized control in chemotherapy. The closed-loop simulation results validate the efficiency of the tuning method according to the accepted values of the performance specifications in the scientific literature. Full article