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Uncertainty in data, whether in real-valued or integer-valued data, may result in infeasible optimal solutions or unreliable efficiency scores and ranking of decision-making units. To handle the uncertainty in integer-valued factors in data envelopment analysis (DEA) models, this study aims to propose a robust DEA model which is applicable in the presence of such factors.

This research focuses on the application of fuzzy interpretation of efficiency to a mixed-integer DEA (MIDEA) model. The robust optimization approach is used to address the uncertain integer-valued parameters in the proposed MIDEA model.

In this study, the authors proposed an MIDEA model without any equality constraint to avoid the arise problem by such constraints in the construction of the robust counterpart of the conventional MIDEA models. We have studied the characteristics and conditions for constructing the uncertainty set with uncertain integer-valued parameters and a robust MIDEA model is proposed under a combined box-polyhedral uncertainty set. The applicability of the developed models is shown in a case study of Malaysian public universities.

This study develops an MIDEA model equivalent to the conventional MIDEA model excluding any equality constraint which is crucial in robust approach to avoid restricted feasible region or infeasible solutions. This study proposes a robust DEA approach which is applicable in cases with uncertain integer-valued parameters, unlike previous studies in robust DEA field where uncertain parameters are generally assumed to be only real-valued.

In this paper, the author presents a hybrid method along with its error analysis to solve (1+2)-dimensional non-linear time-space fractional partial differential equations (FPDEs).

The proposed method is a combination of Sumudu transform and a semi-analytc technique Daftardar-Gejji and Jafari method (DGJM).

The author solves various non-trivial examples using the proposed method. Moreover, the author obtained the solutions either in exact form or in a series that converges to a closed-form solution. The proposed method is a very good tool to solve this type of equations.

The present work is original. To the best of the author's knowledge, this work is not done by anyone in the literature.

The purpose of this study is to introduce a new type of sensor which uses microwave metamaterials and direct-coupled split-ring resonators (DC-SRRs) to measure the dielectric properties of solid materials in real time. The sensor uses a transmission line with a bridge-type structure to measure the differential frequency, which can be used to calculate the dielectric constant of the material being tested. The study aims to establish an empirical relationship between the dielectric properties of the material and the frequency measurements obtained from the sensor.

In the proposed design, the opposite arm of the bridge transmission line is loaded by DC-SRRs, and the distance between DC-SRRs is optimized to minimize the mutual coupling between them. The DC-SRRs are loaded with the material under test (MUT) to perform differential permittivity sensing. When identical MUT is placed on both resonators, a single transmission zero (notch) is obtained, but non-identical MUTs exhibit two split notches. For the design of differential sensors and comparators based on symmetry disruption, frequency splitting is highly useful.

The proposed structure is demonstrated using electromagnetic simulation, and a prototype of the proposed sensor is fabricated and experimentally validated to prove the differential sensing principle. Here, the sensor is analyzed for sensitivity by using different MUTs with relative permittivity ranges from 1.006 to 10 and with a fixed dimension of 9 mm × 10 mm ×1.2 mm. It shows a very good average frequency deviation per unit change in permittivity of the MUTs, which is around 743 MHz, and it also exhibits a very high average relative sensitivity and quality factor of around 11.5% and 323, respectively.

The proposed sensor can be used for differential characterization of permittivity and also as a comparator to test the purity of solid dielectric samples. This sensor most importantly strengthens robustness to environmental conditions that cause cross-sensitivity or miscalibration. The accuracy of the measurement is enhanced as compared to conventional single- and double-notch metamaterial-based sensors.

In this paper, the authors study the nonlinear matrix equation Xp=Q±A(X-1+B)-1AT, that occurs in many applications such as in filtering, network systems, optimal control and control theory.

The authors present some theoretical results for the existence of the solution of this nonlinear matrix equation. Then the authors propose two iterative schemes without inversion to find the solution to the nonlinear matrix equation based on Newton's method and fixed-point iteration. Also the authors show that the proposed iterative schemes converge to the solution of the nonlinear matrix equation, under situations.

The efficiency indices of the proposed schemes are presented, and since the initial guesses of the proposed iterative schemes have a high cost, the authors reduce their cost by changing them. Therefore, compared to the previous scheme, the proposed schemes have superior efficiency indices.

Finally, the accuracy and effectiveness of the proposed schemes in comparison to an existing scheme are demonstrated by various numerical examples. Moreover, as an application, by using the proposed schemes, the authors can get the optimal controller state feedback of $x(t+1) = A x(t) + C v(t)$.

To provide high torques needed to move a robot’s links, electric actuators are followed by a transmission system with a high transmission rate. For instance, gear ratios of 100:1 are often used in the joints of a robotic manipulator. This results into an actuator with large mechanical impedance (also known as nonback-drivable actuator). This in turn generates high contact forces when collision of the robotic mechanism occur and can cause humans’ injury. Another disadvantage of electric actuators is that they can exhibit overheating when constant torques have to be provided. Comparing to electric actuators, pneumatic actuators have promising properties for robotic applications, due to their low weight, simple mechanical design, low cost and good power-to-weight ratio. Electropneumatically actuated robots usually have better friction properties. Moreover, because of low mechanical impedance, pneumatic robots can provide moderate interaction forces which is important for robotic surgery and rehabilitation tasks. Pneumatic actuators are also well suited for exoskeleton robots. Actuation in exoskeletons should have a fast and accurate response. While electric motors come against high mechanical impedance and the risk of causing injuries, pneumatic actuators exhibit forces and torques which stay within moderate variation ranges. Besides, unlike direct current electric motors, pneumatic actuators have an improved weight-to-power ratio and avoid overheating problems.

The aim of this paper is to analyze a nonlinear optimal control method for electropneumatically actuated robots. A two-link robotic exoskeleton with electropneumatic actuators is considered as a case study. The associated nonlinear and multivariable state-space model is formulated and its differential flatness properties are proven. The dynamic model of the electropneumatic robot is linearized at each sampling instance with the use of first-order Taylor series expansion and through the computation of the associated Jacobian matrices. Within each sampling period, the time-varying linearization point is defined by the present value of the robot’s state vector and by the last sampled value of the control inputs vector. An H-infinity controller is designed for the linearized model of the robot aiming at solving the related optimal control problem under model uncertainties and external perturbations. An algebraic Riccati equation is solved at each time-step of the control method to obtain the stabilizing feedback gains of the H-infinity controller. Through Lyapunov stability analysis, it is proven that the robot’s control scheme satisfies the H-infinity tracking performance conditions which indicate the robustness properties of the control method. Moreover, global asymptotic stability is proven for the control loop. The method achieves fast convergence of the robot’s state variables to the associated reference trajectories, and despite strong nonlinearities in the robot’s dynamics, it keeps moderate the variations of the control inputs.

In this paper, a novel solution has been proposed for the nonlinear optimal control problem of robotic exoskeletons with electropneumatic actuators. As a case study, the dynamic model of a two-link lower-limb robotic exoskeleton with electropneumatic actuators has been considered. The dynamic model of this robotic system undergoes first approximate linearization at each iteration of the control algorithm around a temporary operating point. Within each sampling period, this linearization point is defined by the present value of the robot’s state vector and by the last sampled value of the control inputs vector. The linearization process relies on first-order Taylor series expansion and on the computation of the associated Jacobian matrices. The modeling error which is due to the truncation of higher-order terms from the Taylor series is considered to be a perturbation which is asymptotically compensated by the robustness of the control algorithm. To stabilize the dynamics of the electropneumatically actuated robot and to achieve precise tracking of reference setpoints, an H-infinity (optimal) feedback controller is designed. Actually, the proposed H-infinity controller for the model of the two-link electropneumatically actuated exoskeleton achieves the solution of the associated optimal control problem under model uncertainty and external disturbances. This controller implements a min-max differential game taking place between: (i) the control inputs which try to minimize a cost function which comprises a quadratic term of the state vector’s tracking error and (ii) the model uncertainty and perturbation inputs which try to maximize this cost function. To select the stabilizing feedback gains of this H-infinity controller, an algebraic Riccati equation is being repetitively solved at each time-step of the control method. The global stability properties of the H-infinity control scheme are proven through Lyapunov analysis.

Pneumatic actuators are characterized by high nonlinearities which are due to air compressibility, thermodynamics and valves behavior and thus pneumatic robots require elaborated nonlinear control schemes to ensure their fast and precise positioning. Among the control methods which have been applied to pneumatic robots, one can distinguish differential geometric approaches (Lie algebra-based control, differential flatness theory-based control, nonlinear model predictive control [NMPC], sliding-mode control, backstepping control and multiple models-based fuzzy control). Treating nonlinearities and fault tolerance issues in the control problem of robotic manipulators with electropneumatic actuators has been a nontrivial task.

The novelty of the proposed control method is outlined as follows: preceding results on the use of H-infinity control to nonlinear dynamical systems were limited to the case of affine-in-the-input systems with drift-only dynamics. These results considered that the control inputs gain matrix is not dependent on the values of the system’s state vector. Moreover, in these approaches the linearization was performed around points of the desirable trajectory, whereas in the present paper’s control method the linearization points are related with the value of the state vector at each sampling instance as well as with the last sampled value of the control inputs vector. The Riccati equation which has been proposed for computing the feedback gains of the controller is novel, so is the presented global stability proof through Lyapunov analysis. This paper’s scientific contribution is summarized as follows: (i) the presented nonlinear optimal control method has improved or equally satisfactory performance when compared against other nonlinear control schemes that one can consider for the dynamic model of robots with electropneumatic actuators (such as Lie algebra-based control, differential flatness theory-based control, nonlinear model-based predictive control, sliding-mode control and backstepping control), (ii) it achieves fast and accurate tracking of all reference setpoints, (iii) despite strong nonlinearities in the dynamic model of the robot, it keeps moderate the variations of the control inputs and (iv) unlike the aforementioned alternative control approaches, this paper’s method is the only one that achieves solution of the optimal control problem for electropneumatic robots.

The use of electropneumatic actuation in robots exhibits certain advantages. These can be the improved weight-to-power ratio, the lower mechanical impedance and the avoidance of overheating. At the same time, precise positioning and accurate execution of tasks by electropneumatic robots requires the application of elaborated nonlinear control methods. In this paper, a new nonlinear optimal control method has been developed for electropneumatically actuated robots and has been specifically applied to the dynamic model of a two-link robotic exoskeleton. The benefit from using this paper’s results in industrial and biomedical applications is apparent.

A comparison of the proposed nonlinear optimal (H-infinity) control method against other linear and nonlinear control schemes for electropneumatically actuated robots shows the following: (1) Unlike global linearization-based control approaches, such as Lie algebra-based control and differential flatness theory-based control, the optimal control approach does not rely on complicated transformations (diffeomorphisms) of the system’s state variables. Besides, the computed control inputs are applied directly on the initial nonlinear model of the electropneumatic robot and not on its linearized equivalent. The inverse transformations which are met in global linearization-based control are avoided and consequently one does not come against the related singularity problems. (2) Unlike model predictive control (MPC) and NMPC, the proposed control method is of proven global stability. It is known that MPC is a linear control approach that if applied to the nonlinear dynamics of the electropneumatic robot, the stability of the control loop will be lost. Besides, in NMPC the convergence of its iterative search for an optimum depends on initialization and parameter values selection and consequently the global stability of this control method cannot be always assured. (3) Unlike sliding-mode control and backstepping control, the proposed optimal control method does not require the state-space description of the system to be found in a specific form. About sliding-mode control, it is known that when the controlled system is not found in the input-output linearized form the definition of the sliding surface can be an intuitive procedure. About backstepping control, it is known that it cannot be directly applied to a dynamical system if the related state-space model is not found in the triangular (backstepping integral) form. (4) Unlike PID control, the proposed nonlinear optimal control method is of proven global stability, the selection of the controller’s parameters does not rely on a heuristic tuning procedure, and the stability of the control loop is assured in the case of changes of operating points. (5) Unlike multiple local models-based control, the nonlinear optimal control method uses only one linearization point and needs the solution of only one Riccati equation so as to compute the stabilizing feedback gains of the controller. Consequently, in terms of computation load the proposed control method for the electropneumatic actuator’s dynamics is much more efficient.

Ohmic heating generates temperature with the help of electrical current and resists the flow of electricity. Also, it generates heat rapidly and uniformly in the liquid matrix. Electrically conducting biofluid flows with Ohmic heating have many biomedical and industrial applications. The purpose of this study is to provide the significance of the effects of Ohmic heating and viscous dissipation on electrically conducting Casson nanofluid flow driven by peristaltic pumping through a vertical porous channel.

In this analysis, the non-Newtonian properties of fluid will be characterized by the Casson fluid model. The long wavelength approach reduces the complexity of the governing system of coupled partial differential equations with non-linear components. Using a regular perturbation approach, the solutions for the flow quantities are established. The fascinating and essential characteristics of flow parameters such as the thermal Grashof number, nanoparticle Grashof number, magnetic parameter, Brinkmann number, permeability parameter, Reynolds number, Casson fluid parameter, thermophoresis parameter and Brownian movement parameter on the convective peristaltic pumping are presented and thoroughly addressed. Furthermore, the phenomenon of trapping is illustrated visually.

The findings indicate that intensifying the permeability and Casson fluid parameters boosts the temperature distribution. It is observed that the velocity profile is elevated by enhancing the thermal Grashof number and perturbation parameter, whereas it reduces as a function of the magnetic parameter and Reynolds number. Moreover, trapped bolus size upsurges for greater values of nanoparticle Grashof number and magnetic parameter.

There are some interesting studies in the literature to explain the nature of the peristaltic flow of non-Newtonian nanofluids under various assumptions. It is observed that there is no study in the literature as investigated in this paper.

A distinctive feature of tilt-rotor UAVs is that they can be fully actuated, whereas in fixed-angle rotor UAVs (e.g. common-type quadrotors, octorotors, etc.), the associated dynamic model is characterized by underactuation. Because of the existence of more control inputs, in tilt-rotor UAVs, there is more flexibility in the solution of the associated nonlinear control problem. On the other side, the dynamic model of the tilt-rotor UAVs remains nonlinear and multivariable and this imposes difficulty in the drone's controller design. This paper aims to achieve simultaneously precise tracking of trajectories and minimization of energy dissipation by the UAV's rotors. To this end elaborated control methods have to be developed.

A solution of the nonlinear control problem of tilt-rotor UAVs is attempted using a novel nonlinear optimal control method. This method is characterized by computational simplicity, clear implementation stages and proven global stability properties. At the first stage, approximate linearization is performed on the dynamic model of the tilt-rotor UAV with the use of first-order Taylor series expansion and through the computation of the system's Jacobian matrices. This linearization process is carried out at each sampling instance, around a temporary operating point which is defined by the present value of the tilt-rotor UAV's state vector and by the last sampled value of the control inputs vector. At the second stage, an H-infinity stabilizing controller is designed for the approximately linearized model of the tilt-rotor UAV. To find the feedback gains of the controller, an algebraic Riccati equation is repetitively solved, at each time-step of the control method. Lyapunov stability analysis is used to prove the global stability properties of the control scheme. Moreover, the H-infinity Kalman filter is used as a robust observer so as to enable state estimation-based control. The paper's nonlinear optimal control approach achieves fast and accurate tracking of reference setpoints under moderate variations of the control inputs. Finally, the nonlinear optimal control approach for UAVs with tilting rotors is compared against flatness-based control in successive loops, with the latter method to be also exhibiting satisfactory performance.

So far, nonlinear model predictive control (NMPC) methods have been of questionable performance in treating the nonlinear optimal control problem for tilt-rotor UAVs because NMPC's convergence to optimum depends often on the empirical selection of parameters while also lacking a global stability proof. In the present paper, a novel nonlinear optimal control method is proposed for solving the nonlinear optimal control problem of tilt rotor UAVs. Firstly, by following the assumption of small tilting angles, the state-space model of the UAV is formulated and conditions of differential flatness are given about it. Next, to implement the nonlinear optimal control method, the dynamic model of the tilt-rotor UAV undergoes approximate linearization at each sampling instance around a temporary operating point which is defined by the present value of the system's state vector and by the last sampled value of the control inputs vector. The linearization process is based on first-order Taylor series expansion and on the computation of the associated Jacobian matrices. The modelling error, which is due to the truncation of higher-order terms from the Taylor series, is considered to be a perturbation that is asymptotically compensated by the robustness of the control scheme. For the linearized model of the UAV, an H-infinity stabilizing feedback controller is designed. To select the feedback gains of the H-infinity controller, an algebraic Riccati equation has to be repetitively solved at each time-step of the control method. The stability properties of the control scheme are analysed with the Lyapunov method.

There are no research limitations in the nonlinear optimal control method for tilt-rotor UAVs. The proposed nonlinear optimal control method achieves fast and accurate tracking of setpoints by all state variables of the tilt-rotor UAV under moderate variations of the control inputs. Compared to past approaches for treating the nonlinear optimal (H-infinity) control problem, the paper's approach is applicable also to dynamical systems which have a non-constant control inputs gain matrix. Furthermore, it uses a new Riccati equation to compute the controller's gains and follows a novel Lyapunov analysis to prove global stability for the control loop.

There are no practical implications in the application of the nonlinear optimal control method for tilt-rotor UAVs. On the contrary, the nonlinear optimal control method is applicable to a wider class of dynamical systems than approaches based on the solution of state-dependent Riccati equations (SDRE). The SDRE approaches can be applied only to dynamical systems which can be transformed to the linear parameter varying (LPV) form. Besides, the nonlinear optimal control method performs better than nonlinear optimal control schemes which use approximation of the solution of the Hamilton–Jacobi–Bellman equation by Galerkin series expansions. The stability properties of the Galerkin series expansion-based optimal control approaches are still unproven.

The proposed nonlinear optimal control method is suitable for using in various types of robots, including robotic manipulators and autonomous vehicles. By treating nonlinear control problems for complicated robotic systems, the proposed nonlinear optimal control method can have a positive impact towards economic development. So far the method has been used successfully in (1) industrial robotics: robotic manipulators and networked robotic systems. One can note applications to fully actuated robotic manipulators, redundant manipulators, underactuated manipulators, cranes and load handling systems, time-delayed robotic systems, closed kinematic chain manipulators, flexible-link manipulators and micromanipulators and (2) transportation systems: autonomous vehicles and mobile robots. Besides, one can note applications to two-wheel and unicycle-type vehicles, four-wheel drive vehicles, four-wheel steering vehicles, articulated vehicles, truck and trailer systems, unmanned aerial vehicles, unmanned surface vessels, autonomous underwater vessels and underactuated vessels.

The proposed nonlinear optimal control method is a novel and genuine result and is used for the first time in the dynamic model of tilt-rotor UAVs. The nonlinear optimal control approach exhibits advantages against other control schemes one could have considered for the tilt-rotor UAV dynamics. For instance, (1) compared to the global linearization-based control schemes (such as Lie algebra-based control or flatness-based control), it does not require complicated changes of state variables (diffeomorphisms) and transformation of the system's state-space description. Consequently, it also avoids inverse transformations which may come against singularity problems, (2) compared to NMPC, the proposed nonlinear optimal control method is of proven global stability and the convergence of its iterative search for an optimum does not depend on initialization and controller's parametrization, (3) compared to sliding-mode control and backstepping control the application of the nonlinear optimal control method is not constrained into dynamical systems of a specific state-space form. It is known that unless the controlled system is found in the input–output linearized form, the definition of the associated sliding surfaces is an empirical procedure. Besides, unless the controlled system is found in the backstepping integral (triangular) form, the application of backstepping control is not possible, (4) compared to PID control, the nonlinear optimal control method is of proven global stability and its performance is not dependent on heuristics-based selection of parameters of the controller and (5) compared to multiple-model-based optimal control, the nonlinear optimal control method requires the computation of only one linearization point and the solution of only one Riccati equation.

Assessing inputs and outputs is a significant aspect of taking decisions while there are complex and multistage processes in many examinations. Due to the presence of interval performance measures in various real-world studies, the purpose of this study is to address the changes of interval inputs of two-stage processes for the perturbations of interval outputs of two-stage systems, given that the overall efficiency scores are maintained.

Actually, an interval inverse two-stage data envelopment analysis (DEA) model is proposed to plan resources. To illustrate, an interval two-stage network DEA model with external interval inputs and outputs and also its inverse problem are suggested to estimate the upper and lower bounds of the entire efficiency and the stages efficiency along with the variations of interval inputs.

An example from the literature and a real case study of the banking industry are applied to demonstrate the introduced approach. The results show the proposed approach is suitable to estimate the resources of two-stage systems when interval measures are presented.

To the best of the authors’ knowledge, there is no study to estimate the fluctuation of imprecise inputs related to network structures for the changes of imprecise outputs while the interval efficiency of network processes is maintained. Accordingly, this paper considers the resource planning problem when there are imprecise and interval measures in two-stage networks.

Accurate prediction of seasonal power consumption trends with impact disturbances provides a scientific basis for the flexible balance of the long timescale power system. Consequently, it fosters reasonable scheduling plans, ensuring the safety of the system and improving the economic dispatching efficiency of the power system.

First, a new seasonal grey buffer operator in the longitudinal and transverse dimensional perspectives is designed. Then, a new seasonal grey modeling approach that integrates the new operator, full real domain fractional order accumulation generation technique, grey prediction modeling tool and fruit fly optimization algorithm is proposed. Moreover, the rationality, scientificity and superiority of the new approach are verified by designing 24 seasonal electricity consumption forecasting approaches, incorporating case study and amalgamating qualitative and quantitative research.

Compared with other comparative models, the new approach has superior mean absolute percentage error and mean absolute error. Furthermore, the research results show that the new method provides a scientific and effective mathematical method for solving the seasonal trend power consumption forecasting modeling with impact disturbance.

Considering the development trend of longitudinal and transverse dimensions of seasonal data with impact disturbance and the differences in each stage, a new grey buffer operator is constructed, and a new seasonal grey modeling approach with multi-method fusion is proposed to solve the seasonal power consumption forecasting problem.

The highlights of the paper are as follows:

1. A new seasonal grey buffer operator is constructed.

2. The impact of shock perturbations on seasonal data trends is effectively mitigated.

3. A novel seasonal grey forecasting approach with multi-method fusion is proposed.

4. Seasonal electricity consumption is successfully predicted by the novel approach.

5. The way to adjust China's power system flexibility in the future is analyzed.

A new seasonal grey buffer operator is constructed.

The impact of shock perturbations on seasonal data trends is effectively mitigated.

A novel seasonal grey forecasting approach with multi-method fusion is proposed.

Seasonal electricity consumption is successfully predicted by the novel approach.

The way to adjust China's power system flexibility in the future is analyzed.

The purpose of this paper is to improve autonomous flight performance of a fixed-wing unmanned aerial vehicle (UAV) via simultaneous morphing wingtip and control system design conducted with optimization, computational fluid dynamics (CFD) and machine learning approaches.

The main wing of the UAV is redesigned with morphing wingtips capable of dihedral angle alteration by means of folding. Aircraft dynamic model is derived as equations depending only on wingtip dihedral angle via Nonlinear Least Squares regression machine learning algorithm. Data for the regression analyses are obtained by numerical (i.e. CFD) and analytical approaches. Simultaneous perturbation stochastic approximation (SPSA) is incorporated into the design process to determine the optimal wingtip dihedral angle and proportional-integral-derivative (PID) coefficients of the control system that maximizes autonomous flight performance. The performance is defined in terms of trajectory tracking quality parameters of rise time, settling time and overshoot. Obtained optimal design parameters are applied in flight simulations to test both longitudinal and lateral reference trajectory tracking.

Longitudinal and lateral autonomous flight performances of the UAV are improved by redesigning the main wing with morphing wingtips and simultaneous estimation of PID coefficients and wingtip dihedral angle with SPSA optimization.

This paper originally discusses the simultaneous design of innovative morphing wingtip and UAV flight control system for autonomous flight performance improvement. The proposed simultaneous design idea is conducted with the SPSA optimization and a machine learning algorithm as a novel approach.