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Modeling floating bodies in shallow water⁎ 浅水浮体建模
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-08-29 DOI: 10.1016/j.ifacol.2025.08.076
Maddalen Irigoien Kortabitarte , George Weiss
{"title":"Modeling floating bodies in shallow water⁎","authors":"Maddalen Irigoien Kortabitarte ,&nbsp;George Weiss","doi":"10.1016/j.ifacol.2025.08.076","DOIUrl":"10.1016/j.ifacol.2025.08.076","url":null,"abstract":"<div><div>We study the motion of a floating rigid body in shallow waters using the Lagrangian formalism and Hamilton’s principle. For simplicity, the rigid body is assumed to be constrained to move only in the vertical direction and the boundary of the rigid body which is in contact with the fluid, the so-called wetted surface c<sub>w</sub>, is assumed to be the graph of a function. Equations of motion are derived in this way for a general function c<sub>w</sub> and later applied to the particular case when c<sub>w</sub> is given by a parabola centered at the origin.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 8","pages":"Pages 114-118"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144913639","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Boundary feedback control of a 2x2 weakly hyperbolic system: Lyapunov-based approach 2x2弱双曲系统的边界反馈控制：基于lyapunov的方法
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-08-29 DOI: 10.1016/j.ifacol.2025.08.083
M.O. Amirat , V. Andrieu , J. Auriol , M. Bajodek , C. Valentin
{"title":"Boundary feedback control of a 2x2 weakly hyperbolic system: Lyapunov-based approach","authors":"M.O. Amirat ,&nbsp;V. Andrieu ,&nbsp;J. Auriol ,&nbsp;M. Bajodek ,&nbsp;C. Valentin","doi":"10.1016/j.ifacol.2025.08.083","DOIUrl":"10.1016/j.ifacol.2025.08.083","url":null,"abstract":"<div><div>In this paper, we propose a feedback boundary control law that ensures the exponential stability of a class of hyperbolic systems characterized by a non-diagonalizable principal part and nonuniform coefficients, as encountered in sedimentation processes and elasticity theory. We establish sufficient conditions for the exponential stability of the closed-loop system. A numerical example is presented to illustrate the effectiveness of the proposed Lyapunov-based stability analysis.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 8","pages":"Pages 155-160"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144913646","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Mathematical Modeling of Photosynthetic Eukaryotic Microorganisms Using Metabolic Networks 利用代谢网络建立光合作用真核微生物的数学模型
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-03-27 DOI: 10.1016/j.ifacol.2025.03.068
M. Maton , A. Vande Wouwer
{"title":"Mathematical Modeling of Photosynthetic Eukaryotic Microorganisms Using Metabolic Networks","authors":"M. Maton ,&nbsp;A. Vande Wouwer","doi":"10.1016/j.ifacol.2025.03.068","DOIUrl":"10.1016/j.ifacol.2025.03.068","url":null,"abstract":"<div><div>Metabolic modeling is a powerful tool for understanding microbial metabolism and is particularly appealing to a wide range of applications, from biotechnology and medicine to environmental science and sustainability. In that context, the elaboration of metabolic networks is essential despite the challenges underlying their reconstruction. While the development of genome-scale networks is computationally costly, small networks are often oversimplified, limiting their use in industrial applications. For this purpose, this paper suggests a method to identify metabolic networks of intermediate size by combining biological knowledge and a series of constraint-based methods in an iterative strategy allowing the refinement of the network definition. The present study focuses on the mathematical modeling of photosynthetic eukaryotic organisms and leads to a detailed network including energy aspects such as the proton motive force. The procedure is effective, yielding promising results while metabolic analyses provide consistent predictive capabilities of the network, in concordance with existing studies.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 1","pages":"Pages 397-402"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143704133","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
System Identification with SINDy Neural Networks for Transistor Modeling 利用 SINDy 神经网络对晶体管建模进行系统识别
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-03-27 DOI: 10.1016/j.ifacol.2025.03.073
Martin Steiger , Hans-Georg Brachtendorf
{"title":"System Identification with SINDy Neural Networks for Transistor Modeling","authors":"Martin Steiger ,&nbsp;Hans-Georg Brachtendorf","doi":"10.1016/j.ifacol.2025.03.073","DOIUrl":"10.1016/j.ifacol.2025.03.073","url":null,"abstract":"<div><div>Accurate models of semiconductor devices are a key component in modern circuit development. Although parameters of such models are often derived from fundamental physical laws, device geometry or material properties, empirical models from extensive measurements have become increasingly popular. Sparse identification of non-linear dynamics (SINDy) is one approach that emphasizes interpretability. Although several extensions have been developed for this procedure, it still lacks the ability to accommodate function compositions that are very common amongst established semiconductor models. This work introduces an approach fusing the capabilities of neural networks with the core principles of SINDy to address this shortcoming. The results are compared to well-known bipolar transistor models such as Gummel-Poon and indicate promising approximation capabilities.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 1","pages":"Pages 427-432"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143704138","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Macroscopic Modeling and Simulation-Based Investigation of Epidemics Transport Dynamics in the Presence of Ventilation⁎ 通风条件下流行病传播动力学的宏观建模与仿真研究
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-03-27 DOI: 10.1016/j.ifacol.2025.03.061
Anargiros I. Delis , Nikolaos Bekiaris-Liberis
{"title":"Macroscopic Modeling and Simulation-Based Investigation of Epidemics Transport Dynamics in the Presence of Ventilation⁎","authors":"Anargiros I. Delis ,&nbsp;Nikolaos Bekiaris-Liberis","doi":"10.1016/j.ifacol.2025.03.061","DOIUrl":"10.1016/j.ifacol.2025.03.061","url":null,"abstract":"<div><div>We demonstrate the epidemics transport effect in closed spaces, performing different numerical experiments via development of a coupled, macroscopic partial differential equation (PDE) model of crowd flow, epidemics spreading dynamics, and ventilation air flow dynamics. We present numerical approximations for the coupled model with which we perform different numerical tests. In particular, we study the effect of different ventilation rates in epidemics transport (in time and space), also quantifying the infection risk via computing the total number of exposed individuals (in time and space), predicted by the model. We then discuss how the model used and the numerical results obtained could be utilized, in certain scenarios, for design of epidemics transport control strategies via manipulation of the ventilation air-flow field.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 1","pages":"Pages 355-360"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143704146","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Hierarchical Planning and Control for Underwater Dynamic Docking Based on Model Predictive Optimization 基于模型预测优化的水下动力对接分层规划与控制
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-12-04 DOI: 10.1016/j.ifacol.2025.11.664
Zhi Liu, Zijie Zhao, Hongjun Liao
{"title":"Hierarchical Planning and Control for Underwater Dynamic Docking Based on Model Predictive Optimization","authors":"Zhi Liu,&nbsp;Zijie Zhao,&nbsp;Hongjun Liao","doi":"10.1016/j.ifacol.2025.11.664","DOIUrl":"10.1016/j.ifacol.2025.11.664","url":null,"abstract":"<div><div>This paper addresses the dynamic docking problem of Unmanned Underwater Vehicles (UUVs). A hierarchical planning and control framework with a unified prediction horizon is proposed based on model predictive optimization. A Dynamic Window Approach (DWA) algorithm is employed in the high-level planning layer to generate reference trajectories that consider the relative motion and dynamic constraints between the UUV and the recovery target. A Nonlinear Model Predictive Control (NMPC) scheme is formulated at the low-level control layer to track planned trajectories by solving a constrained nonlinear optimization problem. To improve computational efficiency, warm-start initialization and a receding horizon strategy are integrated into the control framework. Simulation results demonstrate that the proposed method significantly improves docking accuracy under complex ocean currents.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 22","pages":"Pages 387-392"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145665305","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Virtual target based path-following:integration with conventional NGC architectures and performance evaluation⁎ 基于虚拟目标的路径跟踪：与传统NGC架构和性能评估的集成
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-12-04 DOI: 10.1016/j.ifacol.2025.11.667
M. Caccia , M. Bibuli
{"title":"Virtual target based path-following:integration with conventional NGC architectures and performance evaluation⁎","authors":"M. Caccia ,&nbsp;M. Bibuli","doi":"10.1016/j.ifacol.2025.11.667","DOIUrl":"10.1016/j.ifacol.2025.11.667","url":null,"abstract":"<div><div>Virtual target based path-following is a consolidated methodology able to be easily extended to design cooperative guidance systems for unmanned marine vehicles (UMVs) at the kinematics level. Although the generation of reference yawrate as control output is compatible with advanced UMV guidance and control (GC) systems, specific formulations tailored to integrate the concept of virtual target path-following with conventional autopilots, providing heading control, and guidance systems providing line-following, are implemented and validated. To this aim suitable procedures to execute replicable experiments are defined as well as quantitative metrics to evaluate performance.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 22","pages":"Pages 405-410"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145665319","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Design and Development of a Boat-Mountable Sensor Rack for Maritime Perception and Data Acquisition 用于海洋感知和数据采集的船载传感器机架的设计与开发
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-12-04 DOI: 10.1016/j.ifacol.2025.11.640
Juraj Obradović , Matej Fabijanić , Josip Lovrić , Nadir Kapetanović , Ðula Nađ , Fausto Ferreira , Nikola Mišković
{"title":"Design and Development of a Boat-Mountable Sensor Rack for Maritime Perception and Data Acquisition","authors":"Juraj Obradović ,&nbsp;Matej Fabijanić ,&nbsp;Josip Lovrić ,&nbsp;Nadir Kapetanović ,&nbsp;Ðula Nađ ,&nbsp;Fausto Ferreira ,&nbsp;Nikola Mišković","doi":"10.1016/j.ifacol.2025.11.640","DOIUrl":"10.1016/j.ifacol.2025.11.640","url":null,"abstract":"<div><div>Accurate information about objects in the maritime environment is essential for the development of reliable navigation systems for autonomous surface vehicles. To provide such information, advanced deep learning models are typically employed, which depend heavily on high-quality training data. In this paper, we present the design of a sensor rack system that enables data acquisition from multiple boats, including small rental vessels commonly available along the coast. The sensor rack is constructed using modular profiles, allowing for easy integration and configuration of various sensors.</div><div>In addition to the design, we showcase a two-day data recording session conducted using the rack, which included LiDAR, two cameras, AIS, IMU, and two GNSS modules. Finally, we discuss potential improvements and future work aimed at enhancing the next version of the sensor rack.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 22","pages":"Pages 248-253"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145665364","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Preliminary Design of a Deformable Quadruped Underwater Robot for Deep-sea Benthic Operation 深海底栖生物作业可变形四足水下机器人初步设计
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-12-04 DOI: 10.1016/j.ifacol.2025.11.606
Dingyi Wu , Shaolong Yang , Xinwei Cuan , Jinrong Zheng , Yan Wang
{"title":"Preliminary Design of a Deformable Quadruped Underwater Robot for Deep-sea Benthic Operation","authors":"Dingyi Wu ,&nbsp;Shaolong Yang ,&nbsp;Xinwei Cuan ,&nbsp;Jinrong Zheng ,&nbsp;Yan Wang","doi":"10.1016/j.ifacol.2025.11.606","DOIUrl":"10.1016/j.ifacol.2025.11.606","url":null,"abstract":"<div><div>With the growing demand for the exploration and exploitation of marine resources, underwater vehicle manipulator systems have experienced rapid advancement. This paper presents an innovative design of a deformable quadruped robot for deep-sea benthic operation. The robot features a morphable system enabling multiple operational configurations. Its quadruped mechanism is adaptable to the undulating seabed environment, and its adjustable bottom-sitting posture improves operational stability under ocean current disturbances. The paper introduces the robot’s general layout, key system designs, and hydrodynamic performance analysis, laying a solid foundation for subsequent detailed design, manufacturing, and experimental validation.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 22","pages":"Pages 48-52"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145665559","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Deep Learning-Based Structural Health Monitoring Using Vibration Signals Under Sensor Fault Conditions 传感器故障条件下基于振动信号的深度学习结构健康监测
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-12-04 DOI: 10.1016/j.ifacol.2025.11.601
Lite Zhang , Yiwen Lu , Peng Tao , Zhenhua Wei
{"title":"Deep Learning-Based Structural Health Monitoring Using Vibration Signals Under Sensor Fault Conditions","authors":"Lite Zhang ,&nbsp;Yiwen Lu ,&nbsp;Peng Tao ,&nbsp;Zhenhua Wei","doi":"10.1016/j.ifacol.2025.11.601","DOIUrl":"10.1016/j.ifacol.2025.11.601","url":null,"abstract":"<div><div>Structural health monitoring (SHM) is critical for detecting degradation in engineering structures, but traditional methods face challenges with sensor faults and computational costs. This paper proposes a deep learning-based approach using single-sensor vibration data and Transformer networks to achieve robust damage detection despite sensor failures. By integrating cosine similarity, Bayesian optimization, and a modified loss function, the method balances accuracy and efficiency, enabling cost-effective global SHM while handling noisy or faulty sensor signals.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 22","pages":"Pages 18-23"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145665676","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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