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Higher energy conversion efficiency of internal combustion engine can be achieved with optimal control of unsteady in-cylinder flow fields inside a direct-injection (DI) engine. However, it remains a daunting task to predict the nonlinear and transient in-cylinder flow motion because they are highly complex which change both in space and time. Recently, machine learning methods have demonstrated great promises to infer relatively simple temporal flow field development. This paper aims to feature a physics-guided machine learning approach to realize high accuracy and generalization prediction for complex swirl-induced flow field motions.

To achieve high-fidelity time-series prediction of unsteady engine flow fields, this work features an automated machine learning framework with the following objectives: (1) The spatiotemporal physical constraint of the flow field structure is transferred to machine learning structure. (2) The ML inputs and targets are efficiently designed that ensure high model convergence with limited sets of experiments. (3) The prediction results are optimized by ensemble learning mechanism within the automated machine learning framework.

The proposed data-driven framework is proven effective in different time periods and different extent of unsteadiness of the flow dynamics, and the predicted flow fields are highly similar to the target field under various complex flow patterns. Among the described framework designs, the utilization of spatial flow field structure is the featured improvement to the time-series flow field prediction process.

The proposed flow field prediction framework could be generalized to different crank angle periods, cycles and swirl ratio conditions, which could greatly promote real-time flow control and reduce experiments on in-cylinder flow field measurement and diagnostics.

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.

This paper aims to study almost Ricci–Yamabe soliton in the context of certain contact metric manifolds.

The paper is designed as follows: In Section 3, a complete contact metric manifold with the Reeb vector field ξ as an eigenvector of the Ricci operator admitting almost Ricci–Yamabe soliton is considered. In Section 4, a complete K-contact manifold admits gradient Ricci–Yamabe soliton is studied. Then in Section 5, gradient almost Ricci–Yamabe soliton in non-Sasakian (k, μ)-contact metric manifold is assumed. Moreover, the obtained result is verified by constructing an example.

We prove that if the metric g admits an almost (α, β)-Ricci–Yamabe soliton with α ≠ 0 and potential vector field collinear with the Reeb vector field ξ on a complete contact metric manifold with the Reeb vector field ξ as an eigenvector of the Ricci operator, then the manifold is compact Einstein Sasakian and the potential vector field is a constant multiple of the Reeb vector field ξ. For the case of complete K-contact, we found that it is isometric to unit sphere S²ⁿ⁺¹ and in the case of (k, μ)-contact metric manifold, it is flat in three-dimension and locally isometric to Eⁿ⁺¹ × Sⁿ(4) in higher dimension.

All results are novel and generalizations of previously obtained results.

Magnetic hysteresis holds significant technical and physical importance in the design of electromagnetic components. Despite extensive research in this area, modeling magnetic hysteresis remains a challenging task that is yet to be fully resolved. The purpose of this paper is to study vector hysteresis play models for anisotropic ferromagnetic materials in a physical, thermodynamical approach.

In this work, hysteresis play models are implemented to interpret magnetic properties, drawing upon classical rate-independent plasticity principles derived from continuum mechanics theory. By conducting qualitative and quantitative verification and validation, various aspects of ferromagnetic vector hysteresis were thoroughly examined. By directly incorporating the hysteresis play models into the primal formulations using fixed point method, the proposed model is validated with measurements in a finite element (FE) environments.

The proposed vector hysteresis play model is verified with fundamental properties of hysteresis effects. Numerical analysis is performed in an FE environment. Measured data from a rotational single sheet tester (RSST) are validated to the simulated results.

The results of this work demonstrates that the essential properties of the hysteresis effects by electrical steel sheets can be represented by the proposed vector hysteresis play models. By incorporation of hysteresis play models into the weak formulations of the magnetostatic problem in the h-based magnetic scalar potential form, magnetic properties of electrical steel sheets can be locally analyzed and represented.

Aim to the limitations of grey relational analysis of interval grey number, based on the generalized greyness of interval grey number, this paper tries to construct a grey angle cosine relational degree model from the perspective of proximity and similarity.

Firstly, the algorithms of the generalized greyness of interval grey number and interval grey number vector are given, and its properties are analyzed. Then, based on the grey relational theory, the grey angle cosine relational model is proposed based on the generalized greyness of interval grey number, and the relationship between the classical cosine similarity model and the grey angle cosine relational model is analyzed. Finally, the validity of the model in this paper is illustrated by the calculation examples and an application example of related factor analysis of maize yield.

The results show that the grey angle cosine relational degree model has strict theoretical basis, convenient calculation and is easy to program, which can not only fully utilize the information of interval grey numbers but also overcome the shortcomings of greyness relational degree model. The grey angle cosine relational degree is an extended form of cosine similarity degree of real numbers. The calculation examples and the related factor analysis of maize yield show that the model proposed in this paper is feasible and valid.

The research results not only further enrich the grey system theory and method but also provide a basis for the grey relational analysis of the sequences in which the interval grey numbers coexist with the real numbers.

The paper succeeds in realizing the algorithms of the generalized greyness of interval grey number and interval grey number vector, and the grey angle cosine relational degree, which provide a new method for grey relational analysis.

In response to the issue of traditional algorithms often falling into local minima or failing to find feasible solutions in manipulator path planning. The purpose of this paper is to propose a 3D artificial moment method (3D-AMM) for obstacle avoidance for the robotic arm's end-effector.

A new method for constructing temporary attractive points in 3D has been introduced using the vector triple product approach, which generates the attractive moments that attract the end-effector to move toward it. Second, distance weight factorization and spatial projection methods are introduced to improve the solution of repulsive moments in multiobstacle scenarios. Third, a novel motion vector-solving mechanism is proposed to provide nonzero velocity for the end-effector to solve the problem of limiting the solution of the motion vector to a fixed coordinate plane due to dimensionality constraints.

A comparative analysis was conducted between the proposed algorithm and the existing methods, the improved artificial potential field method and the rapidly-random tree method under identical simulation conditions. The results indicate that the 3D-AMM method successfully plans paths with smoother trajectories and reduces the path length by 20.03% to 36.9%. Additionally, the experimental comparison outcomes affirm the feasibility and effectiveness of this method for obstacle avoidance in industrial scenarios.

This paper proposes a 3D-AMM algorithm for manipulator path planning in Cartesian space with multiple obstacles. This method effectively solves the problem of the artificial potential field method easily falling into local minimum points and the low path planning success rate of the rapidly-exploring random tree method.

The paper uncovers a mathematical error in George Spencer-Brown's genesis of re-entry. It distinguishes between the two interpretations of re-entry presented in “Laws of Form”: recursive versus sequential. The Indeterminacy inferred by George Spencer-Brown from his recursive genesis of re-entry is refuted in three different ways. The calculation of the Modulator from “Laws of Form” demonstrates that only the sequential interpretation of re-entry is reasonable. This contributes to the demystification of re-entry and enables a deeper understanding. Finally, six differences between the concept of form from “Laws of Form” and Niklas Luhmann's sociological systems theory are presented.

Methodologically, the paper uses the ternary logic of discrete mathematics, which extends {0, 1} by “don't care” to {0, 1, -}. George Spencer-Brown's Indeterminicy is refuted by using three different methods: complete induction, Theorems 14 and 15 and the software XBOOLE. For the calculation of the Modulator, the only practical application of re-entry in “Laws of Form”, techniques from automata theory are used.

The paper reveals a mathematical error in George Spencer-Brown's genesis of the re-entry of “Laws of Form” and refutes the assumption of Indeterminicy. The analysis of the only practical application of re-entry presented by George Spencer-Brown shows that the functioning of this Modulator can only be described correctly with the sequential interpretation of re-entry.

The paper emphasizes the interdisciplinary potential of sociology and information technology and provides methods and tools of discrete mathematics for use in the analysis of the works of George Spencer-Brown and Niklas Luhmann.

GraphQL is a new Open API specification that allows clients to send queries and obtain data flexibly according to their needs. However, a high-complexity GraphQL query may lead to an excessive data volume of the query result, which causes problems such as resource overload of the API server. Therefore, this paper aims to address this issue by predicting the response data volume of a GraphQL query statement.

This paper proposes a GraphQL response data volume prediction approach based on Code2Vec and AutoML. First, a GraphQL query statement is transformed into a path collection of an abstract syntax tree based on the idea of Code2Vec, and then the query is aggregated into a vector with the fixed length. Finally, the response result data volume is predicted by a fully connected neural network. To further improve the prediction accuracy, the prediction results of embedded features are combined with the field features and summary features of the query statement to predict the final response data volume by the AutoML model.

Experiments on two public GraphQL API data sets, GitHub and Yelp, show that the accuracy of the proposed approach is 15.85% and 50.31% higher than existing GraphQL response volume prediction approaches based on machine learning techniques, respectively.

This paper proposes an approach that combines Code2Vec and AutoML for GraphQL query response data volume prediction with higher accuracy.

The explosion of data due to the sophistication of information and communication technology makes it simple for prospective tourists to learn about previous hotel guests' experiences. They prioritize the rating score when selecting a hotel. However, rating scores are less reliable for suggesting a personalized preference for each aspect, especially when they are in a limited number. This study aims to recommend ratings and personalized preference hotels using cross-domain and aspect-based features.

We propose an aspect-based cross-domain personalized recommendation (AsCDPR), a novel framework for rating prediction and personalized customer preference recommendations. We incorporate a cross-domain personalized approach and aspect-based features of items from the review text. We extracted aspect-based feature vectors from two domains using bidirectional long short-term memory and then mapped them by a multilayer perceptron (MLP). The cross-domain recommendation module trains MLP to analyze sentiment and predict item ratings and the polarities of the aspect based on user preferences.

Expanded by its synonyms, aspect-based features significantly improve the performance of sentiment analysis on accuracy and the F1-score matrix. With relatively low mean absolute error and root mean square error values, AsCDPR outperforms matrix factorization, collaborative matrix factorization, EMCDPR and Personalized transfer of user preferences for cross-domain recommendation. These values are 1.3657 and 1.6682, respectively.

This study assists users in recommending hotels based on their priority preferences. Users do not need to read other people's reviews to capture the key aspects of items. This model could enhance system reliability in the hospitality industry by providing personalized recommendations.

This study introduces a new approach that embeds aspect-based features of items in a cross-domain personalized recommendation. AsCDPR predicts ratings and provides recommendations based on priority aspects of each user's preferences.

Twin support vector machine (TSVM) is an effective machine learning technique. However, the TSVM model does not consider the influence of different data samples on the optimal hyperplane, which results in its sensitivity to noise. To solve this problem, this study proposes a twin support vector machine model based on fuzzy systems (FSTSVM).

This study designs an effective fuzzy membership assignment strategy based on fuzzy systems. It describes the relationship between the three inputs and the fuzzy membership of the sample by defining fuzzy inference rules and then exports the fuzzy membership of the sample. Combining this strategy with TSVM, the FSTSVM is proposed. Moreover, to speed up the model training, this study employs a coordinate descent strategy with shrinking by active set. To evaluate the performance of FSTSVM, this study conducts experiments designed on artificial data sets and UCI data sets.

The experimental results affirm the effectiveness of FSTSVM in addressing binary classification problems with noise, demonstrating its superior robustness and generalization performance compared to existing learning models. This can be attributed to the proposed fuzzy membership assignment strategy based on fuzzy systems, which effectively mitigates the adverse effects of noise.

This study designs a fuzzy membership assignment strategy based on fuzzy systems that effectively reduces the negative impact caused by noise and then proposes the noise-robust FSTSVM model. Moreover, the model employs a coordinate descent strategy with shrinking by active set to accelerate the training speed of the model.