Sensor Fault Reconstruction Using Robustly Adaptive Unknown-Input Observers.

Sensors are a key component in industrial automation systems. A fault or malfunction in sensors may degrade control system performance. An engineering system model is usually disturbed by input uncertainties, which brings a challenge for monitoring, diagnosis, and control. In this study, a novel estimation technique, called adaptive unknown-input observer, is proposed to simultaneously reconstruct sensor faults as well as system states. Specifically, the unknown input observer is used to decouple partial disturbances, the un-decoupled disturbances are attenuated by the optimization using linear matrix inequalities, and the adaptive technique is explored to track sensor faults. As a result, a robust reconstruction of the sensor fault as well as system states is then achieved. Furthermore, the proposed robustly adaptive fault reconstruction technique is extended to Lipschitz nonlinear systems subjected to sensor faults and unknown input uncertainties. Finally, the effectiveness of the algorithms is demonstrated using an aircraft system model and robotic arm and comparison studies.

Quantifying the mutual effects of water trading and systematic water saving in a water-scarce watershed of China.

In this study, a conjunctive water management model based on interval stochastic bi-level programming method (CM-ISBP) is proposed for planning water trading program as well as quantifying mutual effects of water trading and systematic water saving. CM-ISBP incorporates water resources assessment with soil and water assessment tool (SWAT), systematic water-saving simulation combined with water trading, and interval stochastic bi-level programming (ISBP) within a general framework. Systematic water saving involves irrigation water-saving technologies (sprinkler irrigation, micro-irrigation, low-pressure pipe irrigation), enterprise water-saving potential and water-saving subsidy. The CM-ISBP is applied to a real case of a water-scarce watershed (i.e. Dagu River watershed, China). Mutual effects of water trading and water-saving activities are simulated with model establishment and quantified through mechanism analysis. The fate of saved water under the systematic water saving is also revealed. The coexistence of the two systems would increase system benefits by [11.89, 12.19]%, and increase the water use efficiency by [40.04, 40.46]%. Thus mechanism that couples water trading and water saving is optimal and recommended according to system performance.

Frequency- and Temperature-Dependent Uncertainties in Hysteresis Measurements of a 3D-Printed FeSi wt6.5% Material.

Additive manufacturing of soft magnetic materials is a promising technology for creating topologically optimized electrical machines. High-performance electrical machines can be made from high-silicon-content FeSi alloys. Fe-6.5wt%Si material has exceptional magnetic properties; however, manufacturing this steel with the classical cold rolling methodology is not possible due to the brittleness of this material. Laser powder bed fusion technology (L-PBF) offers a solution to this problem. Finding the optimal printing parameters is a challenging task. Nevertheless, it is crucial to resolve the brittleness of the created materials so they can be used in commercial applications. The temperature dependence of magnetic hysteresis properties of Fe-6.5wt%Si materials is presented in this paper. The magnetic hysteresis properties were examined from 20 °C to 120 °C. The hysteresis measurements were made by a precision current generator-based hysteresis measurement tool, which uses fast Fourier transformation-based filtering techniques to increase the accuracy of the measurements. The details of the applied scalar hysteresis sensor and the measurement uncertainties were discussed first in the paper; then, three characteristic points of the static hysteresis curve of the ten L-PBF-manufactured identical toroidal cores were investigated and compared at different temperatures. These measurements show that, despite the volumetric ratio of the porosities being below 0.5%, the mean crack length in the samples is not significant for the examined samples. These small defects can cause a significant 5% decrement in some characteristic values of the examined hysteresis curve.

Multi-layer CNN-LSTM network with self-attention mechanism for robust estimation of nonlinear uncertain systems.

Introduction: With the help of robot technology, intelligent rehabilitation of patients with lower limb motor dysfunction caused by stroke can be realized. A key factor constraining the clinical application of rehabilitation robots is how to realize pattern recognition of human movement intentions by using the surface electromyography (sEMG) sensors to ensure unhindered human-robot interaction. Methods: A multilayer CNN-LSTM prediction network incorporating the self-attention mechanism (SAM) is proposed, in this paper, which can extract and learn the periodic and trend characteristics of the sEMG signals, and realize the accurate autoregressive prediction of the human motion information. Firstly, the multilayer CNN-LSTM network utilizes the CNN layer for initial feature extraction of data, and the LSTM network is used to improve the enhancement of the historical time-series features. Then, the SAM is used to improve the global feature extraction performance and parallel computation speed of the network. Results: In comparison with existing test is carried out using actual data from five healthy subjects as well as a clinical hemiplegic patient to verify the superiority and practicality of the proposed algorithm. The results show that most of the model's prediction R > 0.9 for different motion states of healthy subjects; in the experiments oriented to the motion characteristics of patient subjects, the angle prediction results of R > 0.99 for the untrained data on the affected side, which proves that our proposed model also has a better effect on the angle prediction of the affected side. Discussion: The main contribution of this paper is to realize continuous motion estimation of ankle joint for healthy and hemiplegic individuals under non-ideal conditions (weak sEMG signals, muscle fatigue, high muscle tension, etc.), which improves the pattern recognition accuracy and robustness of the sEMG sensor-based system.

Tolerance Considerations for MHMIC Manufacturing Process at Millimeter-Wave Band.

This paper investigates the manufacturing uncertainties at a 60 GHz millimeter-wave band for the monolithic hybrid microwave integrated circuits (MHMIC) fabrication process. It specifically deals with the implementation tolerances of thin-film gold microstrip transmission lines, titanium oxide thin-layer resistors, microstrip quarter-wavelength radial stubs, and active device implementation using the gold-bonding ribbons. The impacts of these manufacturing tolerances are assessed and experimentally quantified through prototyped MHMIC circuits. This allows us, on one hand, to identify the acceptable amount of dimensional variation enabling reasonable performances. On the other hand, it aims to establish a relationship between the manufacturing tolerances and the circuit parameters to provide more flexibility for the tolerance compensation and accuracy enhancement of the MHMIC fabrication processes.

Approximate optimal and safe coordination of nonlinear second-order multirobot systems with model uncertainties.

This paper investigates the approximate optimal coordination for nonlinear uncertain second-order multi-robot systems with guaranteed safety (collision avoidance) Through constructing novel local error signals, the collision-free control objective is formulated into an coordination optimization problem for nominal multi-robot systems. Based on approximate dynamic programming technique, the optimal value functions and control policies are learned by simplified critic-only neural networks (NNs). Then, the approximated optimal controllers are redesigned using adaptive law to handle the effects of robots' uncertain dynamics. It is shown that the NN weights estimation errors are uniformly ultimately bounded under proper conditions, and safe coordination of multiple robots can be achieved regardless of model uncertainties. Numerical simulations finally illustrate the effectiveness of the proposed controller.

A Joint State and Fault Estimation Scheme for State-Saturated System with Energy Harvesting Sensors.

In this article, the issue of joint state and fault estimation is ironed out for delayed state-saturated systems subject to energy harvesting sensors. Under the effect of energy harvesting, the sensors can harvest energy from the external environment and consume an amount of energy when transmitting measurements to the estimator. The occurrence probability of measurement loss is computed at each instant according to the probability distribution of the energy harvesting mechanism. The main objective of the addressed problem is to construct a joint state and fault estimator where the estimation error covariance is ensured in some certain sense and the estimator gain is determined to accommodate energy harvesting sensors, state saturation, as well as time delays. By virtue of a set of matrix difference equations, the derived upper bound is minimized by parameterizing the estimator gain. In addition, the performance evaluation of the designed joint estimator is conducted by analyzing the boundedness of the estimation error in the mean-squared sense. Finally, two experimental examples are employed to illustrate the feasibility of the proposed estimation scheme.

Optimum investment strategy for hydrogen-based steelmaking project coupled with multiple uncertainties.

The large-scale application of hydrogen steelmaking technology is expected to substantially accelerate the decarbonization process of the iron and steel industry. However, hydrogen steelmaking projects are still in the experimental or demonstration stage, and scientific investment decision-making methods are urgently needed to support the large-scale development of the technology. When assessing the investment value, existing studies usually only consider the intrinsic project value under a specific pathway, while ignoring the option value under realistic multiple uncertainties in terms of technology, market, and policy, leading to an underestimation of the investment value. To address this issue, this study constructs a real options model to explore the optimal investment timing and revenue of the hydrogen steelmaking project, by taking into account multi-dimensional uncertainties stemming from price fluctuations in the steel market, the development of the carbon market, and technological advances. Additionally, the impacts of various subsidy policies on the investment strategy are also investigated. Least Squares Monte Carlo method is applied to overcome computational challenges posed by dynamic programming under multi-dimensional uncertainties. The results show that: (i) Investment is not recommended based on current crude steel price and hydrogen price. (ii) When the annual reduction rate of hydrogen price reaches 5%, the optimal investment timing would advance to 2036. (iii) On this basis, with the introduction of a 20% green hydrogen subsidy policy, the optimal investment timing would be further brought forward to 2033. The implementation of tax incentives would significantly increase the investment value. The investment value would surge from 170 million CNY to 262 million CNY as the tax rate decreases from 20% to zero. The findings could provide reasonable suggestions for investment decisions under realistic volatile environments, as well as scientific references for policy design, thus facilitating the large-scale and high-level development of hydrogen-based steelmaking technology.

From regional climate models to usable information.

Today, a major challenge for climate science is to overcome what is called the "usability gap" between the projections derived fromclimate models and the needs of the end-users. Regional Climate Models (RCMs) are expected to provide usable information concerning a variety of impacts and for a wide range of end-users. It is often assumed that the development of more accurate, more complex RCMs with higher spatial resolution should bring process understanding and better local projections, thus overcoming the usability gap. In this paper, I rather assume that the credibility of climate information should be pursued together with two other criteria of usability, which are salience and legitimacy. Based on the Swiss climate change scenarios, I study the attempts at meeting the needs of end-users and outline the trade-off modellers and users have to face with respect to the cascade of uncertainty. A conclusion of this paper is that the trade-off between salience and credibility sets the conditions under which RCMs can be deemed adequate for the purposes of addressing the needs of end-users and gearing the communication of the projections toward direct use and action.

Risk-based imprecise post-remediation soil quality objectives.

While risk-based contaminated land management is an essential component of sustainable remediation, uncertainty is an unavoidable aspect of risk assessment, since most of the parameters that influence risk are typically affected by uncertainty. Uncertainty may be of different origins; i.e., stochastic or epistemic. Stochastic (or aleatoric) uncertainty arises from random variability related to natural processes, while epistemic uncertainty arises from the incomplete/imprecise nature of available information. But the latter is rarely considered in risk assessments, with the result that risk-based soil quality objectives are almost invariably presented as precise (unique) threshold values. In this paper it is shown: (i) how the joint treatment of stochastic and epistemic uncertainty in risk assessment can lead to soil quality objectives presented as intervals rather than precise values and (ii) how this provides an upper risk-based safeguard for post-remediation monitoring values. The proposed method is illustrated by a real case of soils contaminated by arsenic located in the North-East of France. At this site steel manufacturers have gradually filled up a small valley with slag and dust, over more than a century. These materials are enriched in various metal(loid)s, including arsenic and lead. As the environmental authority has asked for a conversion of the site to other uses that may involve access by the general public, an investigation of human health risk was performed based on a sampling campaign and chemical characterizations including various types of extractions and an analysis of bioaccessibility. While further investigations are required to improve the bioaccessibility model, the human health risk presented herein shows how partial or imprecise information can be incorporated in the analysis while taking into account underlying uncertainties.

Output information-based intermittent optimal control for continuous-time nonlinear systems with unmatched uncertainties via adaptive dynamic programming.

Intermittent control stands as a valuable strategy for resource conservation and cost reduction across diverse systems. Nonetheless, prevailing research is intractable to address the challenges posed by robust optimal intermittent control of nonlinear input-affine systems with unmatched uncertainties. This paper aims to fill this gap. Initially, we introduce an enhanced finite-time intermittent control approach to ensure stability within nonlinear dynamic systems harboring bounded errors. A neural networks (NNs) state observer is constructed to estimate system information. Subsequently, an optimal intermittent controller that operates within a finite time span, guaranteeing system stability by employing the Hamilton-Jacobi-Bellman (HJB) methodology. Furthermore, we devise an output information-based event-triggered intermittent (ETI) approach rooted in the robust adaptive dynamic programming (ADP) algorithm, furnishing an optimal intermittent control law. In this process, a critic NNs is introduced to estimate the cost function and optimal intermittent controller. Simulation results show that our proposed method is superior to existing intermittent control strategies.

Procedures to combine estimators of greenhouse gases emission factors.

BACKGROUND: This article describes a new procedure to estimate the mean and variance of greenhouse gases (GHG) emission factors based on different, possibly conflicting, estimates for these emission factors. The procedure uses common information such as mean and standard deviation usually reported in IPCC (Intergovernmental Panel on Climate Change) database and other references in the literature that estimate emission factors. Essentially, it is a procedure in the class of meta-analysis, based on the computation of [Formula: see text], a new estimator for the variance of the emission factor. RESULTS: We discuss the quality of this estimator in terms of its probability distribution and show that it is unbiased. The resulting confidence interval for the mean emission factor is tighter than those that would have resulted from using other estimators such as pooled variance and thus, the new procedure improves the accuracy in estimating GHG emissions. The application of the procedure is illustrated in a case study involving the estimation of methane emissions from rice cultivation. CONCLUSIONS: The estimation of emission factors using [Formula: see text] was demonstrated to be more accurate because it is not biased and more precise than alternative methods.

Design and validation of a pediatric gait assistance exoskeleton system with fast non-singular terminal sliding mode controller.

Existing exoskeletons for pediatric gait assistance have limitations in anthropometric design, structure weight, cost, user safety features, and adaptability to diverse users. Additionally, creating precise models for pediatric rehabilitation is difficult because the rapid anthropometric changes in children result in unknown model parameters. Furthermore, external disruptions, like unpredictable movements and involuntary muscle contractions, add complexity to the control schemes that need to be managed. To overcome these limitations, this study aims to develop an affordable stand-aided lower-limb exoskeleton specifically for pediatric subjects (8-12 years, 25-40 kg, 128-132 cm) in passive-assist mode. The authors modified a previously developed model (LLESv1) for improved rigidity, reduced mass, simplified motor arrangement, variable waist size, and enhanced mobility. A computer-aided design of the new exoskeleton system (LLESv2) is presented. The developed prototype of the exoskeleton appended with a pediatric subject (age: 12 years old, body mass: 40 kg, body height: 132 cm) is presented with real-time hardware architecture. Thereafter, an improved fast non-singular terminal sliding mode (IFNSTSM) control scheme is proposed, incorporating a double exponential reaching law for expedited error convergence and enhanced stability. The Lyapunov stability warrants the control system's performance despite uncertainties and disturbances. In contrast to fast non-singular terminal sliding mode (FNSTSM) control and time-scaling sliding mode (TSSM) control, experimental validation demonstrates the effectiveness of IFNSTSM control by a respective average of 5.39% and 42.1% in tracking desired joint trajectories with minimal and rapid finite time converging errors. Moreover, the exoskeleton with the proposed IFNSTSM control requires significantly lesser control efforts than the exoskeleton using contrast FNSTSM control. The Bland-Altman analysis indicates that although there is a minimal mean difference in variables when employing FNSTSM and IFNSTSM controllers, the latter exhibits significant performance variations as the mean of variables changes. This research contributes to affordable and effective pediatric gait assistance, improving rehabilitation outcomes and enhancing mobility support.

Site-scale groundwater pollution risk assessment using surrogate models and statistical analysis.

Petroleum pollution in soil and groundwater has emerged as a significant environmental concern worldwide. As a sustainable and cost-effective in-situ remediation technique, Monitored Natural Attenuation (MNA) exhibits significant promise in addressing sites contaminated by petrochemicals. This study specifically targets a typical petrochemical-contaminated site in northern China and employs GMS software to establish a comprehensive physical model. The model relies on time-series monitoring data of phenol concentrations spanning from 2018 to 2020, effectively simulating both the leakage and natural attenuation of phenol. Within this study, the adsorption coefficient and maximum adsorption capacity emerge as the foremost influential factors shaping the outcomes of the model. Given the inherent heterogeneity of the site and the variability of hydrochemical conditions, parameters such as dispersion, porosity, and adsorption coefficient exhibit significant uncertainties. Consequently, relying on traditional deterministic models to predict the feasibility of MNA technology is not reliable. Therefore, this study employs machine learning (ML) methods to construct stochastic parameter models based on physical processes. The Random Forest Regression (RFR) algorithm, after trained, demonstrates strong alignment with numerical model output, exhibiting an average Nash-Sutcliffe Efficiency (NSE) >0.96. Using a stochastic approach, RFR iteratively computes phenol concentration across 6000 sets of parameters. Applying probability statistics, the model shows a notable reduction in the likelihood of phenol concentrations exceeding a threshold, dropping from 64.0% to 15.7% before and after natural attenuation. In parameter uncertainty, the stochastic model emphasizes natural attenuation's efficacy in mitigating phenol pollution risk (porosity being the most influential factor). This case study proposed a novel method to quickly assess the pollution risks at petrochemical sites under the influence of the uncertainty of pollutant transport and reaction parameters. The results can provide a reference for the pollution risk assessment at petrochemical sites, especially in sites with high stratigraphic heterogeneity or insufficient transport parameter data.

Data-driven set-point learning control with ESO and RBFNN for nonlinear batch processes subject to nonrepetitive uncertainties.

This paper proposes an extended state observer (ESO) based data-driven set-point learning control (DDSPLC) scheme for a class of nonlinear batch processes with a priori P-type feedback control structure subject to nonrepetitive uncertainties, by only using the process input and output data available in practice. Firstly, the unknown process dynamics is equivalently transformed into an iterative dynamic linearization data model (IDLDM) with a residual term. A radial basis function neural network is adopted to estimate the pseudo partial derivative information related to IDLDM, and meanwhile, a data-driven iterative ESO is constructed to estimate the unknown residual term along the batch direction. Then, an adaptive set-point learning control law is designed to merely regulate the set-point command of the closed-loop control structure for realizing batch optimization. Robust convergence of the output tracking error along the batch direction is rigorously analyzed by using the contraction mapping approach and mathematical induction. Finally, two illustrative examples from the literature are used to validate the effectiveness and advantage of the proposed design.

Uncertainty Evaluation of a Gas Turbine Model Based on a Nonlinear Autoregressive Exogenous Model and Monte Carlo Dropout.

Gas turbines are thermoelectric plants with various applications, such as large-scale electricity production, petrochemical industry, and steam generation. In order to optimize the operation of a gas turbine, it is necessary to develop system identification models that allow for the development of studies and analyses to increase the system's reliability. Current strategies for modeling complex and non-linear systems can be based on artificial intelligence techniques, using autoregressive neural networks of the NARX and LSTM type. In this context, this work aims to develop a model of a gas turbine capable of estimating the rotation speed of the turbine and simultaneously estimating the uncertainty associated with the estimation. These methodologies are based on artificial neural networks and the Monte Carlo dropout simulation method. The results were obtained from experimental data from a 215 MW gas turbine, getting the best model with a MAPE of 0.02% and an uncertainty associated with the turbine rotation speed of 2.2 RPM.

Metrology for Indoor Radon Measurements and Requirements for Different Types of Devices.

Indoor radon measurements have been conducted in many countries worldwide for several decades. However, to date, there is a lack of a globally harmonized measurement standard. Furthermore, measurement protocols in the US (short-term tests for 2-7 days) and European Union countries (long-term tests for at least 2 months) differ significantly, and their metrological support is underdeveloped, as clear mathematical algorithms (criteria) and QA/QC procedures considering fundamental ISO/IEC concepts such as "measurement uncertainty" and "conformity assessment" are still absent. In this context, for many years, the authors have been advancing and refining the theory of metrological support for standardizing indoor radon measurements based on a rational criterion for conformity assessment within the ISO/IEC concepts. The rational criterion takes into account the main uncertainties arising from temporal variations in indoor radon and instrumental errors, enabling the utilization of both short- and long-term measurements while ensuring specified reliability in decision making (typically no less than 95%). The paper presents improved mathematical algorithms for determining both temporal and instrumental uncertainties. Additionally, within the framework of the rational criterion, unified metrological requirements are formulated for various methods and devices employed in indoor radon measurements.

Different policies constrained agricultural non-point pollutants emission trading management for water system under interval, fuzzy, and stochastic information.

Formulating suitable policies is essential for resources and environmental management. In this study, an agricultural pollutants emission trading management model driven by water resources and pollutants control is developed to search reasonable policies for agricultural water resources allocation under multiple uncertainties. Random-fuzzy and interval information in water resources system that have directly impact on the effectiveness of management schemes is reflected through interval two-stage stochastic fuzzy-probability programming. The model was root from regional agricultural water resources system in Jining City, China under considering the relationship among effective precipitation, crop water demand, and pollutants emission. Two types policies (water consumption-control and pollutants emission-control) are designed for searching the related interaction on water resources management and water quality improvement. The results indicated that water resources policies would be of water and environmental double benefits, and a large rainfall would reduce irrigation amount from water sources and lead to a larger pollutants emission trading. The results will help for defining scientific and effective water resources protection and management policies and analyzing the related interacted effects on water consumption, pollutants control and system benefit.

Technical variability of cornea parameters derived from anterior segment OCT fitted with Fringe Zernike polynomials.

BACKGROUND: This study uses bootstrapping to evaluate the technical variability (in terms of model parameter variation) of Zernike corneal surface fit parameters based on Casia2 biometric data. METHODS: Using a dataset containing N = 6953 Casia2 biometric measurements from a cataractous population, a Fringe Zernike polynomial surface of radial degree 10 (36 components) was fitted to the height data. The fit error (height - reconstruction) was bootstrapped 100 times after normalisation. After reversal of normalisation, the bootstrapped fit errors were added to the reconstructed height, and characteristic surface parameters (flat/steep axis, radii, and asphericities in both axes) extracted. The median parameters refer to a robust surface representation for later estimates of elevation, whereas the SD of the 100 bootstraps refers to the variability of the surface fit. RESULTS: Bootstrapping gave median radius and asphericity values of 7.74/7.68 mm and -0.20/-0.24 for the corneal front surface in the flat/steep meridian and 6.52/6.37 mm and -0.22/-0.31 for the corneal back surface. The respective SD values for the 100 bootstraps were 0.0032/0.0028 mm and 0.0093/0.0082 for the front and 0.0126/0.0115 mm and 0.0366/0.0312 for the back surface. The uncertainties for the back surface are systematically larger as compared to the uncertainties of the front surface. CONCLUSION: As measured with the Casia2 tomographer, the fit parameters for the corneal back surface exhibit a larger degree of variability compared with those for the front surface. Further studies are needed to show whether these uncertainties are representative for the situation where actual repeat measurements are possible.

Forecasting meteorological impacts on the environmental sustainability of a large-scale solar plant via artificial intelligence-based life cycle assessment.

Although large-scale solar (LSS) is a promising renewable energy technology, it causes adverse impacts on the ecosystem, human health, and resource depletion throughout its upstream (i.e., raw material extraction to solar panel production) and downstream (i.e., plant demolition and waste management) processes. The LSS operational performance also fluctuates due to meteorological conditions, leading to uncertainty in electricity generation and raising concerns about its overall environmental performance. Hitherto, there has been no evidence-backed study that evaluates the ecological sustainability of LSS with the consideration of meteorological uncertainties. In this study, a novel integrated Life Cycle Assessment (LCA) and Artificial Neural Network (ANN) framework is developed to forecast the meteorological impacts on LSS's electricity generation and its life cycle environmental sustainability. For LCA, 18 impact categories and three damage categories are characterised and assessed by ReCiPe 2016 via SimaPro v. 9.1. For ANN, a feedforward neural network is applied via Neural Designer 5.9.3. Taking an LSS plant in Malaysia as a case study, the photovoltaic panel production stage contributes the highest environmental impact in LSS (30 % of human health, 30 % of ecosystem quality, and 34 % of resource scarcity). Aluminium recycling reduces by 10 % for human health, 10 % for ecosystem quality, and 9 % for resource scarcity. The emissions avoided by the forecasted LSS-generated electricity offset the environmental burden for human health, ecosystem quality, and resource scarcity 12-68 times, 13-73 times, and 18-98 times, respectively. The developed ANN-LCA framework can provide LSS stakeholders with data-backed insights to effectively design an environmentally conscious LSS facility, considering meteorological influences.