Lunarminer Framework for Nature-Inspired Swarm Robotics in Lunar Water Ice Extraction.

The Lunarminer framework explores the use of biomimetic swarm robotics, inspired by the division of labor in leafcutter ants and the synchronized flashing of fireflies, to enhance lunar water ice extraction. Simulations of water ice extraction within Shackleton Crater showed that the framework may improve task allocation, by reducing the extraction time by up to 40% and energy consumption by 31% in scenarios with high ore block quantities. This system, capable of producing up to 181 L of water per day from excavated regolith with a conversion efficiency of 0.

Enhancing the landing guidance of a reusable launch vehicle by improving genetic algorithm-based deep reinforcement learning using Hybrid Deterministic-Stochastic algorithm.

The PbGA-DDPG algorithm, which uses a potential-based GA-optimized reward shaping function, is a versatiledeep reinforcement learning/DRLagent that can control a vehicle in a complex environment without prior knowledge. However, when compared to an established deterministic controller, it consistently falls short in terms of landing distance accuracy. To address this issue, the HYDESTOC Hybrid Deterministic-Stochastic (a combination of DDPG/deep deterministic policy gradient and PID/proportional-integral-derivative) algorithm was introduced to improve terminal distance accuracy while keeping propellant consumption low.

Structural Optimisation and Design of a Cable-Driven Hyper-Redundant Manipulator for Confined Semi-Structured Environments.

Structural optimisation of robotic manipulators is critical for any manipulator used in confined semi-structured environments, such as in agriculture. Many robotic manipulators utilised in semi-structured environments retain the same characteristics and dimensions as those used in fully-structured industrial environments, which have been proven to experience low dexterity and singularity issues in challenging environments due to their structural limitations. When implemented in environments other than fully-structured industrial environments, conventional manipulators are liable to singularity, joint limits and workspace obstacles.

Neural network-based adaptive global sliding mode MPPT controller design for stand-alone photovoltaic systems.

The increasing energy demand and the target to reduce environmental pollution make it essential to use efficient and environment-friendly renewable energy systems. One of these systems is the Photovoltaic (PV) system which generates energy subject to variation in environmental conditions such as temperature and solar radiations. In the presence of these variations, it is necessary to extract the maximum power via the maximum power point tracking (MPPT) controller.

Arbitrary-order sliding mode-based robust control algorithm for the developing artificial pancreas mechanism.

In Diabetes Mellitus, the pancreas remains incapable of insulin administration that leads to hyperglycaemia, an escalated glycaemic concentration, which may stimulate many complications. To circumvent this situation, a closed-loop control strategy is much needed for the exogenous insulin infusion in diabetic patients. This closed-loop structure is often termed as an artificial pancreas that is generally established by the employment of different feedback control strategies.

Preload-based Starling-like control of rotary blood pumps: An in-vitro evaluation.

Due to a shortage of donor hearts, rotary left ventricular assist devices (LVADs) are used to provide mechanical circulatory support. To address the preload insensitivity of the constant speed controller (CSC) used in conventional LVADs, we developed a preload-based Starling-like controller (SLC). The SLC emulates the Starling law of the heart to maintain mean pump flow ([Formula: see text]) with respect to mean left ventricular end diastolic pressure (PLVEDm) as the feedback signal.

Robust stabilization of underactuated nonlinear systems: A fast terminal sliding mode approach.

This paper presents a fast terminal sliding mode based control design strategy for a class of uncertain underactuated nonlinear systems. Strategically, this development encompasses those electro-mechanical underactuated systems which can be transformed into the so-called regular form. The novelty of the proposed technique lies in the hierarchical development of a fast terminal sliding attractor design for the considered class.

Integrated modeling and design for realizing a two-wheeled wheelchair for disabled.

Two-wheeled wheelchairs are considered highly nonlinear and complex systems. The systems mimic a double-inverted pendulum scenario and will provide better maneuverability in confined spaces and also to reach higher level of height for pick and place tasks. The challenge resides in modeling and control of the two-wheeled wheelchair to perform comparably to a normal four-wheeled wheelchair.

Preload-based starling-like control for rotary blood pumps: numerical comparison with pulsatility control and constant speed operation.

In this study, we evaluate a preload-based Starling-like controller for implantable rotary blood pumps (IRBPs) using left ventricular end-diastolic pressure (PLVED) as the feedback variable. Simulations are conducted using a validated mathematical model. The controller emulates the response of the natural left ventricle (LV) to changes in PLVED.

Hemodynamic response to exercise and head-up tilt of patients implanted with a rotary blood pump: a computational modeling study.

The present study investigates the response of implantable rotary blood pump (IRBP)-assisted patients to exercise and head-up tilt (HUT), as well as the effect of alterations in the model parameter values on this response, using validated numerical models. Furthermore, we comparatively evaluate the performance of a number of previously proposed physiologically responsive controllers, including constant speed, constant flow pulsatility index (PI), constant average pressure difference between the aorta and the left atrium, constant average differential pump pressure, constant ratio between mean pump flow and pump flow pulsatility (ratioP I or linear Starling-like control), as well as constant left atrial pressure ( P l a ¯ ) control, with regard to their ability to increase cardiac output during exercise while maintaining circulatory stability upon HUT. Although native cardiac output increases automatically during exercise, increasing pump speed was able to further improve total cardiac output and reduce elevated filling pressures.