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The purpose of this paper is to develop new types of direct expansion method of moments (DEMM) by using the n/3th moments for simulating nanoparticle Brownian coagulation in the free molecule regime. The feasibilities of new proposed DEMMs with n/3th moments are investigated to describe the evolution of aerosol size distribution, and some of the models will be applied to further simulation of physical processes.

The accuracy and efficiency of some kinds of methods of moments are mainly compared including the quadrature method of moments (QMOM), Taylor-expansion method of moments (TEMOM), the log-normal preserving method of moments proposed by Lee (LMM) and the derived DEMM in this paper. QMOM with 12 quadrature approximation points is taken as a reference to evaluate other methods.

The newly derived models, namely DEMM(4/3,4) and DEMM(2,6), as well as the previous DEMM(2,4), are considered to be qualified models due to their high accuracy and efficiency. They are confirmed to be valid and alternative models to describe the evolution of aerosol size distribution for particle dynamical process involving the n/3th moments.

The n/3th moments, which have clear physical interpretations when n stands for first several integers, are first introduced in the DEMM method for simulating nanoparticle Brownian coagulation in the free molecule regime.

The purpose of this paper is to improve the positioning accuracy of 6-Dof serial robot by the way of error compensation and sensitivity analysis.

In this paper, the Denavit–Hartenberg matrix is used to construct the kinematics models of the robot; the effects from individual joint and several joints on the end effector are estimated by simulation. Then, an error model based on joint clearance is proposed so that the positioning accuracy at any position of joints can be predicted for compensation. Through the simulation of the curve path, the validity of the error compensation model is verified. Finally, the experimental results show that the error compensation method can improve the positioning accuracy of a two joint exoskeleton robot by nearly 76.46%.

Through the analysis of joint error sensitivity, it is found that the first three joints, especially joint 2, contribute a lot to the positioning accuracy of the robot, which provides guidance for the accuracy allocation of the robot. In addition, this paper creatively puts forward the error model based on joint clearance, and the error compensation method which decouples the positioning accuracy into joint errors.

It provides a new idea for error modeling and error compensation of 6-Dof serial robot. Combining sensitivity analysis results with error compensation can effectively improve the positioning accuracy of the robot, and provide convenience for welding robot and other robots that need high positioning accuracy.

The purpose of this paper is to present a two-loop approach for velocity control of a permanent magnet synchronous motor (PMSM) under mechanical uncertainties.

The inner loop calculates the two-axis stator reference voltages through a feedback linearization method. The outer loop employs an RST control structure to compute the q-axis stator reference current. To increase the robustness of the proposed method, the RST controller parameters are adapted through a fractional order model reference adaptive system (FO-MRAS). The fractional order gradient and Lyapunov methods are utilized as adaptation mechanisms.

The effect of the fractional order derivative in the load disturbance rejection, transient response speed and the robustness is verified through computer simulations. The simulation results show the effectiveness of the proposed method against the external torque and mechanical parameters uncertainties.

The proposed FO-MRAS based on Lyapunov adaptation mechanism is proposed for the first time. Moreover, application of the FO-MRAS for velocity control of PMSM is presented for the first time.

Watermarking technique is one of the significant methods in which carrier signal hides digital information in the form of watermark to prevent the authenticity of the stakeholders by manipulating different coefficients as watermark in time and frequency domain to sustain trade-off in performance parameters. One challenging component among others is to maintain the robustness, to limit perceptibility with embedding information. Transform domain is more popular to achieve the required results in color image watermarking. Variants of complex Hadamard transform (CHT) have been applied for gray image watermarking, and it has been proved that it has better performance than other orthogonal transforms. This paper is aimed at analyzing the performance of spatio-chromatic complex Hadamard transform (Sp-CHT) that is proposed as an application of color image watermarking in sequency domain (SD).

In this paper, color image watermarking technique is designed and implemented in SD using spatio-chromatic – conjugate symmetric sequency – ordered CHT. The color of a pixel is represented as complex number a*+jb*, where a* and b* are chromatic components of International Commission on Illumination (CIE) La*b* color space. The embedded watermark is almost transparent to human eye although robust against common signal processing attacks.

Based on the results, bit error rate (BER) and peak signal to noise ratio are measured and discussed in comparison of CIE La*b* and hue, saturation and value color model with spatio-chromatic discrete Fourier transform (Sp-DFT), and results are also analyzed with other discrete orthogonal transforms. It is observed from BER that Sp-CHT has 8%–12% better performance than Sp-DFT. Structural similarity index has been measured at different watermark strength and it is observed that presented transform performs better than other transforms.

This work presents the details and comparative analysis of two orthogonal transforms as color image watermarking application using MATLAB software. A finding from this study demonstrates that the Complex Hadamard transform is the competent candidate that can be replaced with DFT in many signal processing applications.

This paper aims to design the fractional order sliding mode controller for highly maneuverable remote piloted unmanned aircraft with time-varying delays.

With the assumption that the time-varying delays are bounded and identical for different outputs, an observer-based control technique is implied which reformulates the state variables based on the system model and delayed outputs. The estimated state variables are fed as feedback into the controller. Based on the delayed output observer, a fractional order sliding mode controller is designed. Further, the stability of the closed-loop system is analyzed and asymptotical convergence is realized using Lyapunov–Razumikhin theorem.

The simulation is done in Matlab and Simulink. The parametric variations and trajectory tracking results are illustrated which looks propitious.

In practical operation, measurement signal is often delayed, which significantly degrade the control performance or even disturb the stability. It is emphasized to choose attitude as the evaluation indicator for unmanned aerial vehicle time delay.

A novel fractional order sliding mode control technique is designed to enhance the trajectory tracking, thus autonomous flight performance, of the aircraft system. Also, the main idea behind this novel procedure is formulated for minimizing the parametric variations in presence of time delays.

This paper aims to characterize the relationship between the interelectrode capacitance (C) of metal-oxide-semiconductor field-effect transistors (MOSFETs) and the applied bias voltage (V) by a fractional-order equivalent model.

A Riemann–Liouville-type fractional-order equivalent model is proposed for the C–V characteristic of MOSFETs, which is based on the mathematical relationship between fractional calculus and the semiconductor physical model for the interelectrode capacitance of metal oxide semiconductor structure. The C–V characteristic data of an N-channel MOSFET are obtained by Silvaco TCAD simulation. A differential evolution-based offline scheme is exploited for the parameter identification of the proposed model.

According to the results of theoretical analysis, mathematical derivation, simulation and comparison, this paper illustrates that, along with the variation of bias voltage applied, the interelectrode capacitance (C) of MOSFETs performs a fractional-order characteristic.

This work uncovers the fractional-order characteristic of MOSFETs’ interelectrode capacitance. By the proposed model, the influence of doping concentration on the gate leakage parasitic capacitance of MOSFETs can be revealed. In the pre-defined doping concentration range, the relative error of the proposed model is less than 5% for the description of C–V characteristics of metal-oxide-semiconductor field-effect transistors (MOSFETs). Compared to some existing models, the proposed model has advantages in both model accuracy and model complexity, and the variation of model parameters can directly reflect the relationship between the characteristics of MOSFETs and the doping concentration of materials. Accordingly, the proposed model can be used for the microcosmic mechanism analysis of MOSFETs. The results of the analysis produce evidence for the widespread existence of fractional-order characteristics in the physical world.

The purpose of this paper is to investigate a two dimensional problem in magneto-micropolar thermoelastic half-space with fractional order derivative in the presence of combined effects of hall current and rotation subjected to ramp-type heating.

The fractional order theory of thermoelasticity with one relaxation time derived by Sherief et al. (2010) has been used to investigate the problem. Laplace and Fourier transform technique has been used to solve the resulting non-dimensional coupled field equations to obtain displacement, stress components and temperature distribution. A numerical inversion technique has been applied to obtain the solution in the physical domain.

Numerical computed results of all the considered variables have been shown graphically to depict the combined effect of hall current and rotation. Some particular cases of interest are also deduced from the present study.

Comparison are made in the presence and absence of hall current and rotation in a magneto-micropolar thermoelastic solid with fractional order derivative.

This paper aims to present a simplified method to analyze the transient characteristics of a fractional-order very high frequency (VHF) resonant boost converter. The transient analytical solutions of state variables obtained by this method could be used as a guide for parameter design and circuit optimization.

The VHF converter is decoupled into a simplified equivalent circuit model and described by the differential equation. The solution of the simplified equivalent circuit model is taken as the main oscillation component of the transient state variable. And the equivalent small parameter method (ESPM) and Kalman filter technology are used to solve the differential equation of the converter to obtain the steady-state ripple component. Then, by superimposing the abovementioned two parts, the approximate transient analytical solution can be acquired. Finally, the influence of the fractional order of the energy storage elements on the transient process of the converter is discussed.

The results from the proposed method agree well with those from simulations, which indicates that the proposed method can effectively analyze the transient characteristic of the fractional-order VHF converter, and the analytical solution derived from the proposed mathematical model shows sufficient accuracy.

This paper proposes for the first time a method to analyze the transient characteristics of a fractional-order VHF resonant boost converter. By combining the main oscillated solution derived from the simplified equivalent circuit model with the steady-state solution based on ESPM, this method can greatly reduce the computation amount to estimate the transient solution. In addition, the discussion on the order of fractional calculus of energy storage components can provide an auxiliary guidance for the selection of circuit parameters and the study of stability.

To define the main elements of a formal calculus which deals with fractional Brownian motion (fBm), and to examine its prospects of applications in systems science.

The approach is based on a generalization of the Maruyama's notation. The key is the new Taylor's series of fractional order f(x+h)=E_α(h^αD^α)f(x), where E_α( · ) is the Mittag‐Leffler function.

As illustrative applications of this formal calculus in systems science, one considers the linear quadratic Gaussian problem with fractal noises, the analysis of the equilibrium position of a system disturbed by a local fractal time, and a model of growing which involves fractal noises. And then, one examines what happens when one applies the maximum entropy principle to systems involving fBms (or shortly fractals).

The framework of this paper is applied mathematics and engineering mathematics, and the results so obtained allow the practical analysis of stochastic dynamics subject to fractional noises.

The direct prospect of application of this approach is the analysis of some stock markets dynamics and some biological systems.

The fractional Taylor's series is new and thus so are all its implications.

This paper aimed a fractional-order sliding mode-based lateral lane-change control method that was proposed to improve the path-tracking accuracy of vehicle lateral motion.

In this paper the vehicle presighting and kinematic models were established, and a new sliding mode control isokinetic convergence law was devised based on the fractional order calculus to make the front wheel turning angle approach the desired value quickly. On this basis, a fractional gradient descent algorithm was proposed to adjust the radial basis function (RBF) neuron parameter update rules to improve the compensation speed of the neural network.

The simulation results revealed that, compared to the traditional sliding mode control strategy, the designed controller eliminated the jitter of the sliding mode control, sped up the response of the controller, reduced the overshoot of the system parameters and facilitated accurate and fast tracking of the desired path when the vehicle changed lanes at low speeds.

This paper combines the idea of fractional order calculus with gradient descent algorithm, proposed a fractional-order gradient descent method applied to RBF neural network and fast adjustment the position and width of neurons.