Search Results (723)

A prescribed-performance-based sliding mode control method with feed-forward inverse compensation is proposed in this study to improve the micropositioning accuracy and convergence speed of a piezoelectric actuator (PEA). Firstly, the piezo-actuated micropositioning system is described by a Hammerstein structure model, and an inverse Prandtl–Ishlinskii (PI) model was employed to compensate for its hysteresis characteristics. Then, considering modelling errors, inverse compensation errors, and external disturbances, a new prescribed performance function (PPF) with an exponential dynamic decay rate was developed to describe the constrained region of the errors. We then transformed the error into an unconstrained form by constructing a monotonic function, and the sliding variables were obtained by using the transformation error. Based on this, a sliding mode controller with a prescribed performance function (SMC-PPF) was designed to improve the control accuracy of PEAs. Furthermore, we demonstrated that the error can converge to the constrained region and the sliding variables are stable within the switching band. Finally, experiments were conducted to verify the speed and accuracy of the controller. The step-response experiment results indicated that the time taken for SMC-PPC to enter the error window was 8.1 and 2.2 ms faster than that of sliding mode control (SMC) and PID, respectively. The ability of SMC-PPF to improve accuracy was verified using four different reference inputs. These results showed that, for these different inputs, the root mean square error of the SMC-PPF was reduced by over $39.6\%$ and $52.5\%$, compared with the SMC and PID, respectively. Full article

We investigate hybrid quantum–classical solvers for nonlinear boundary value problems using Chebyshev spectral collocation. Unlike prior methods such as H–DES, which repeatedly recompile circuits and encode the entire spectral basis on the quantum processor, our framework offloads only the residual minimisation to a quantum backend while retaining classical enforcement of boundary conditions. Two paradigms are considered: (i) gate-based residual minimisation on CUDA-Q using variational circuits to evaluate a Cubic Unconstrained Binary Optimisation (CUBO) cost, which naturally arises from the discretisation, and (ii) a Quadratic Unconstrained Binary Optimisation (QUBO) reformulation, which is required for execution on a quantum annealer, executed via a classical–quantum mapping. We further explore a CUBO extension on CUDA-Q and direct residual-to-energy mapping on annealers. Benchmarks confirm that the classical solver reproduces the analytic solution with spectral accuracy; among quantum-enhanced methods, the annealer-based QUBO yields the closest approximation. The gate-based CUBO solver improves upon a legacy variational baseline but exhibits a small interior bias due to limited circuit depth and precision. These findings underscore the complementary roles of annealers and gate-based devices in hybrid scientific computing and demonstrate a feasible workflow for the NISQ era rather than a speedup over classical methods. Recent progress in quantum algorithms for differential equations signals a rapidly maturing field with significant potential for practical quantum advantage. Full article

The widespread adoption of mobile devices has made secure and user-friendly biometric authentication critical. However, widely used modalities such as fingerprint and facial recognition show limited robustness under uncontrolled illumination and on heterogeneous devices. In contrast, palmprint recognition offers strong potential because of its rich textural patterns and high discriminative power. This study addresses the limitations of laboratory-based datasets that fail to capture real-world challenges. We introduce MPW-180, a novel dataset comprising videos of 180 participants recorded on their own smartphones in everyday environments. By systematically incorporating diverse illumination conditions (with and without flash) and natural free-hand movements, MPW-180 is the first dataset to adopt a bring-your-own-device paradigm, providing a realistic benchmark for evaluating generalization in mobile biometric models. In addition, we propose PalmWildNet, an SE-block-enhanced deep learning architecture trained with Triplet Loss and a cross-illumination sampling strategy. The experimental results show that conventional methods suffer over 50% performance degradation under cross-illumination conditions. In contrast, our method reduces the Equal Error Rate to 1–2% while maintaining an accuracy above 97%. These findings demonstrate that the proposed framework not only tolerates illumination variability but also learns robust illumination-invariant representations, making it well-suited for mobile biometric authentication. Full article

Multi-view inverse synthetic aperture radar (ISAR) image sequences provide multi-dimensional observation information about space targets, enabling precise attitude estimation that is fundamental to both non-cooperative target monitoring and critical space operations including active debris removal and space collision avoidance. However, directly utilizing all images within an ISAR sequence for attitude estimation can result in a substantial data preprocessing workload and reduced algorithm efficiency. Given the inherent overlap and redundancy in the target information provided by these ISAR images, this paper proposes a novel space target attitude estimation method based on the selection of multi-view ISAR image sequences. The proposed method begins by establishing an ISAR imaging projection model, then characterizing the target information differences through variations in imaging plane normal, and proposing an image selection method based on the uniform sampling across elevation and azimuth angles of the imaging plane normal. On this basis, the method utilizes a high-resolution network (HRNet) to extract the feature points of typical components of the space target. This method enables simultaneous feature point extraction and matching association within ISAR images. The attitude estimation problem is subsequently modeled as an unconstrained optimization problem. Finally, the particle swarm optimization (PSO) algorithm is employed to solve this optimization problem, thereby achieving accurate attitude estimation of the space target. Experimental results demonstrate that the proposed methodology effectively filters image data, significantly reducing the number of images required while maintaining high attitude estimation accuracy. The method provides a more informative sequence than conventional selection strategies, and the tailored HRNet + PSO estimator resists performance degradation in sparse-data conditions, thereby ensuring robust overall performance. Full article

Aiming at the challenges of design complexity and parameter adjustment difficulties in existing distributed controllers, a novel power flow sensitivity-based distributed cooperative control approach is proposed for voltage regulation and power sharing in droop-controlled DC distribution networks (DCDNs). Firstly, based on the power flow model of droop-controlled DCDNs, a comprehensive sensitivity model is established that correlates bus voltages, voltage source converter (VSC) loading rates, and VSC reference power adjustments. Leveraging the sensitivity model, a discrete-time linear state-space model is developed for DCDNs, using all VSC reference power as control variables, along with the weighted sum of the voltage deviation at the VSC connection point and the loading rate deviation of adjacent VSCs as state variables. A distributed consensus controller is then designed to alleviate the communication burden. The feedback gain design problem is formulated as an unconstrained multi-objective optimization model, which simultaneously enhances dynamic response speed, suppresses overshoot and oscillation, and ensures stability. The model can be efficiently solved by global optimization algorithms such as the genetic algorithm, and the feedback gains can be designed in a systematic and principled manner. The simulation results on a typical four-terminal DCDN under large power disturbances demonstrate that the proposed distributed control method achieves rapid voltage recovery and converter load sharing under a sparse communication network. The design complexity and parameter adjustment difficulties are greatly reduced without losing the control performance. Full article

Lattice structures produced by additive manufacturing are increasingly used in lightweight, load-bearing applications, yet their mechanical performance is strongly influenced by geometry, process parameters, and boundary conditions. This study investigates the compressive behavior of body-centered cubic (BCC) 316L stainless steel lattices fabricated by laser powder bed fusion (LPBF). Four relative densities (20%, 40%, 60%, and 80%) were achieved by varying the strut diameter, and specimens were built in both vertical and horizontal orientations. Quasi-static compression tests characterized the elastic modulus, yield strength, energy absorption, and mean force, while finite element simulations reproduced the deformation and hardening behavior. The experimental results showed a direct correlation between density and mechanical properties, with vertically built specimens performing slightly better due to reduced processing defects. Simulations quantified the effect of strut–joint rounding and the need for multi-cell configurations to closely match the experimental curves. Regardless of the boundary conditions, for a density of 20%, simulating a single cell underestimated stiffness because of unconstrained strut buckling. For higher densities and thicker struts, this sensitivity to boundary conditions strongly decreased, indicating the possibility of using a single cell for shorter simulations—a point rarely discussed in the literature. Both experiments and simulations confirmed Gibson–Ashby scaling for elastic modulus and yield strength, while the tangent modulus was highly sensitive to boundary conditions. The combined experimental and numerical results provide a framework for the reliable modeling and design of metallic lattices for energy absorption, biomedical, and lightweight structural applications. Full article

With buildings accounting for 40% of global energy consumption, heating, ventilation, and air conditioning (HVAC) systems represent the single largest opportunity for emissions reduction, consuming up to 60% of commercial building energy while maintaining occupant comfort. This critical balance between energy efficiency and human comfort has traditionally relied on rule-based and model predictive control strategies. Given the multi-objective nature and complexity of modern HVAC systems, these approaches fall short in satisfying both objectives. Recently, reinforcement learning (RL) has emerged as a method capable of learning optimal control policies directly from system interactions without requiring explicit models. However, standard RL approaches frequently violate comfort constraints during exploration, making them unsuitable for real-world deployment where occupant comfort cannot be compromised. This paper addresses two fundamental challenges in HVAC control: the difficulty of constrained optimization in RL and the challenge of defining appropriate comfort constraints across diverse conditions. We adopt a safe RL with a neural barrier certificate framework that (1) transforms the constrained HVAC problem into an unconstrained optimization and (2) constructs these certificates in a data-driven manner using neural networks, adapting to building-specific comfort patterns without manual threshold setting. This approach enables the agent to almost guarantee solutions that improve energy efficiency and ensure defined comfort limits. We validate our approach through seven experiments spanning residential and commercial buildings, from single-zone heat pump control to five-zone variable air volume (VAV) systems. Our safe RL framework achieves energy reduction compared to baseline operation while maintaining higher comfort compliance than unconstrained RL. The data-driven barrier construction discovers building-specific comfort patterns, enabling context-aware optimization impossible with fixed thresholds. While neural approximation prevents absolute safety guarantees, reducing catastrophic safety failures compared to unconstrained RL while maintaining adaptability positions this approach as a developmental bridge between RL theory and real-world building automation, though the considerable gap in both safety and energy performance relative to rule-based control indicates the method requires substantial improvement for practical deployment. Full article

Accumulative rolling bonding (ARB) Cu/Nb nanolaminates have been widely observed to exhibit unique and large numbers of interface-based plasticity mechanisms, and these have been associated with the many extraordinary properties of the material system, especially resistances in extreme engineering environments (mechanical/pressure, thermal, irradiation, etc.) and ability to self-heal defects (microstructural, as well as radiation-induced). Recently, anisotropy in the interface shearing mechanisms in the material system has been observed and much discussed. The Cu/Nb nanolaminates appear to shear on the interface planes to a much larger extent in the transverse direction (TD) than in the rolling direction (RD). Related to that, in this present study we observe interface rotation in Cu/Nb ARB nanolaminates under constrained and unconstrained loading conditions. Although the primary driving force for interface shearing was expected only in the RD, additional shearing in the TD was observed. This is significant as it represents an interface rotation, while there was no external rotational driving force. First, we observed interface rotation in in situ rectangular micropillar compression experiments, where the interface is simply sheared in one particular direction only, i.e., in the RD. This is rather unexpected as, in rectangular micropillar compression, there is no possibility of extra shearing or driving force in the perpendicular direction due to the loading conditions. This motivated us to subsequently perform in situ microbeam bending experiments (microbeam with a pre-made notch) to verify if similar interface rotation could also be observed in other loading modes. In the beam bending mode, the notch area was primarily under tensile stress in the direction of the beam longitudinal axis, with interfacial shear also in the same direction. Hence, we expect interface shearing only in that direction. We then found that interface rotation was also evident and repeatable under certain circumstances, such as under an offset loading. As this behaviour was consistently observed under two distinct loading modes, we propose that it is an intrinsic characteristic of Cu/Nb interfaces (or FCC/BCC interfaces with specific orientation relationships). This interface rotation represents another interface-based or interface-mediated plasticity mechanism at the nanoscale with important potential implications especially for design of metallic thin films with extreme stretchability and other emerging applications. Full article

We investigate how simultaneous mass and radius measurements of massive neutron stars can help constrain the properties of dark matter possibly admixed in them. Within a fermionic dark matter model that interacts only through gravitation, along with a well-constrained nuclear matter equation of state, we show that the simultaneous mass and radius measurement of PSRJ0740+6620 reduces the uncertainty of dark matter central energy density by more than 50% compared to the results obtained from using the two observables independently, while other dark matter parameters remain unconstrained. Additionally, we find that the dark matter fraction $f_D$ should be smaller than 2% when constrained by the observed neutron star maximum mass alone, and it could be even smaller than 0.3% with the simultaneous measurement of mass and radius, supporting the conclusion that only a small amount of dark matter exists in dark matter admixed neutron stars (DANSs). Full article

In this article, we present density functional theory (DFT) calculations for $Z{n}_{(1-x)}{M}_{x}O$, where M represents one of the following substitutional metallic impurities: Ga, Cd, Cu, Pd, Ag, In, or Sn. Our study is based on the wurtzite structure of pristine ZnO. We employ the Quantum Espresso package, using a fully unconstrained implementation of the generalized gradient approximation (GGA) with an additional U correction for exchange and correlation effects. We analyze the density of states, energy gaps, and absorption spectra for these doped systems, considering the limitations of a finite-size cell approximation. Rather than focusing on precise numerical values, we highlight the following two key aspects: the location of impurity-induced electronic states and the overall trends in optical properties across the eight systems, including pristine ZnO. Our results indicate that certain dopants introduce electronic levels within the band gap, which enhance optical absorption in the visible, near-infrared, and near-ultraviolet regions. For instance, Sn-doped ZnO shows a pronounced absorption peak at ∼2.5 eV, which is in the middle of the visible spectrum. In the case of Ag and Pd impurities, they lead to increased electromagnetic radiation absorption at the near ultra-violet spectrum. This represents a promising performance for efficient solar radiation absorption, both at the Earth’s surface and in outer space. Furthermore, Ga- and In-doped ZnO present bandgaps of ∼0.9 eV, promising an interesting performance in the near infrared region. These findings suggest potential applications in solar energy harvesting and selective sensors. Full article

Face recognition systems typically face actual challenges like facial pose, illumination, occlusion, and ageing that significantly impact the recognition accuracy. In this paper, a robust face recognition system that uses Multi-task Cascaded Convolutional Networks (MTCNN) for face detection and face alignment with an enhanced FaceNet for facial embedding extraction is presented. The enhanced FaceNet uses attention mechanisms to achieve more discriminative facial embeddings, especially in challenging scenarios. In addition, an Adaptive Feature Fusion module synthetically combines identity-specific embeddings with context information such as pose, lighting, and presence of masks, hence enhancing robustness and accuracy. Training takes place using the CelebA dataset, and the test is conducted independently on LFW and IJB-C to enable subject-disjoint evaluation. CelebA has over 200,000 faces of 10,177 individuals, LFW consists of 13,000+ faces of 5749 individuals in unconstrained conditions, and IJB-C has 31,000 faces and 117,000 video frames with extreme pose and occlusion changes. The system introduced here achieves 99.6% on CelebA, 94.2% on LFW, and 91.5% on IJB-C and outperforms baselines such as simple MTCNN-FaceNet, AFF-Net, and state-of-the-art models such as ArcFace, CosFace, and AdaCos. These findings demonstrate that the proposed framework generalizes effectively between datasets and is resilient in real-world scenarios. Full article

Pipeline systems are essential across various industries for transporting fluids over various ranges of distances. A notable application is natural circulation through thermo-syphoning, driven by temperature-induced density variations that generate fluid flow in closed loops. This passive mechanism is widely employed in sectors such as process engineering, oil and gas, geothermal energy, solar water heaters, fertilizers, etc. Natural Circulation Loops eliminate the need for mechanical pumps. While this passive mechanism reduces energy consumption and maintenance costs, maintaining stability and efficiency under varying operating conditions remains a challenge. This study investigates thermo-syphoning in a rectangular closed-loop system and develops optimal control strategies like using a Linear Quadratic Regulator (LQR) and Model Predictive Control (MPC) to ensure stable and efficient heat removal while explicitly addressing physical constraints. The results demonstrate that MPC improves system stability and reduces energy usage through optimized control actions by nearly one-third in the initial energy requirement. Compared to the LQR and unconstrained MPC, MPC with active constraints effectively manages input limitations, ensuring safer and more practical operation. With its predictive capability and adaptability, the proposed MPC framework offers a robust, scalable solution for real-time industrial applications, supporting the development of sustainable and adaptive natural circulation pipeline systems. Full article

Natural and unconstrained locomotion remains a fundamental challenge in creating truly immersive virtual reality (VR) experiences. This paper presents the design and control of a novel robotic omnidirectional treadmill (ODT) based on the bilateral symmetry of two cooperative five-bar planar mechanisms designed to replicate realistic walking mechanics. The central contribution is a human in the loop control strategy designed to achieve stable walking in place. This framework employs a specific control strategy that actively repositions the footplates along a dynamically defined ‘Line of Movement’ (LoM), compensating for the user’s motion to ensure the midpoint between the feet remains stabilized and symmetrical at the platform’s geometric center. A comprehensive dynamic model of both the ODT and a coupled humanoid robot was developed to validate the system. Numerical simulations demonstrate robust performance across various gaits, including turning and catwalks, maintaining the user’s locomotion center with a maximum resultant drift error of 11.65 cm, a peak value that occurred momentarily during a turning motion and remained well within the ODT’s safe operational boundaries, with peak errors along any single axis remaining below 9 cm. The system operated with notable efficiency, requiring RMS torques below 22 Nm for the primary actuators. This work establishes a viable dynamic and control architecture for foot-tracking ODTs, paving the way for future enhancements such as haptic terrain feedback and elevation simulation. Full article

In recent years, most conventional emotion recognition approaches have concentrated primarily on facial cues, often overlooking complementary sources of information such as body posture and contextual background. This limitation reduces their effectiveness in complex, real-world environments. In this work, we present a multi-branch emotion recognition framework that separately processes facial, bodily, and contextual information using three dedicated neural networks. To better capture contextual cues, we intentionally mask the face and body of the main subject within the scene, prompting the model to explore alternative visual elements that may convey emotional states. To further enhance the quality of the extracted features, we integrate both channel and spatial attention mechanisms into the network architecture. Evaluated on the challenging NCAER-S dataset, our model achieves an accuracy of 56.42%, surpassing the state-of-the-art GLAMOUR-Net. These results highlight the effectiveness of combining multi-cue representation and attention-guided feature extraction for robust emotion recognition in unconstrained settings. The findings also highlight the importance of accurate emotion recognition for human–computer interaction, where affect detection enables systems to adapt to users and deliver more effective experiences. Full article

This paper presents three simple and efficient advanced optimization algorithms, namely the best–worst–random (BWR), best–mean–random (BMR), and best–mean–worst–random (BMWR) algorithms designed to address unconstrained and constrained single- and multi-objective optimization tasks of the metal casting processes. The effectiveness of the algorithms is demonstrated through real case studies, including (i) optimization of a lost foam casting process for producing a fifth wheel coupling shell from EN-GJS-400-18 ductile iron, (ii) optimization of process parameters of die casting of A360 Al-alloy, (iii) optimization of wear rate in AA7178 alloy reinforced with nano-SiC particles fabricated via the stir-casting process, (iv) two-objectives optimization of a low-pressure casting process using a sand mold for producing A356 engine block, and (v) four-objectives optimization of a squeeze casting process for LM20 material. Results demonstrate that the proposed algorithms consistently achieve faster convergence, superior solution quality, and reduced function evaluations compared to simulation software (ProCAST, CAE, and FEA) and established metaheuristics (ABC, Rao-1, PSO, NSGA-II, and GA). For single-objective problems, BWR, BMR, and BMWR yield nearly identical solutions, whereas in multi-objective tasks, their behaviors diverge, offering well-distributed Pareto fronts and improved convergence. These findings establish BWR, BMR, and BMWR as efficient and robust optimizers, positioning them as promising decision support tools for industrial metal casting. Full article