Parallel Control Research Articles

Multi-Objective Parallel Human-machine Steering Coordination Control Strategy of Intelligent Vehicles Path Tracking Based on Deep Reinforcement Learning

In the parallel steering coordination control strategy for path tracking, it is difficult to match the current driver steering model using the fixed parameters with the actual driver, and the designed steering coordination control strategy under a single objective and simple conditions is difficult to adapt to the multi-dimensional state variables’ input. In this paper, we propose a deep reinforcement learning algorithm-based multi-objective parallel human-machine steering coordination strategy for path tracking considering driver misoperation and external disturbance. Firstly, the driver steering mathematical model is constructed based on the driver preview characteristics and steering delay response, and the driver characteristic parameters are fitted after collecting the actual driver driving data. Secondly, considering that the vehicle is susceptible to the influence of external disturbances during the driving process, the Tube MPC (Tube Model Predictive Control) based path tracking steering controller is designed based on the vehicle system dynamics error model. After verifying that the driver steering model meets the driver steering operation characteristics, DQN (Deep Q-network), DDPG (Deep Deterministic Policy Gradient) and TD3 (Twin Delayed Deep Deterministic Policy Gradient) deep reinforcement learning algorithms are utilized to design a multi-objective parallel steering coordination strategy which satisfies the multi-dimensional state variables’ input of the vehicle. Finally, the tracking accuracy, lateral safety, human-machine conflict and driver steering load evaluation index are designed in different driver operation states and different road environments, and the performance of the parallel steering coordination control strategies with different deep reinforcement learning algorithms and fuzzy algorithms are compared by simulations and hardware in the loop experiments. The results show that the parallel steering collaborative strategy based on a deep reinforcement learning algorithm can more effectively assist the driver in tracking the target path under lateral wind interference and driver misoperation, and the TD3-based coordination control strategy has better overall performance.

New Energy Policies and Informal Cultural Norms Promoting Carbon Equity in Chinese Cities: Synergistic Effects and Regional Heterogeneity

In the era of energy transition, there is a lack of targeted research on the synergistic effects of new energy policies and informal institutions on carbon equity. This study examines how new energy policies influence urban carbon equity, with a focus on the mediating role of cultural forces. Utilizing panel data from 256 Chinese cities (2000–2021) and employing the New Energy Demonstration City (NEDC) policy as a quasi-natural experiment, this study adopts a staggered difference-in-differences (DID) approach to identify causal relationships. Key findings reveal: (1) China has been accompanied by a rise in carbon distribution inequity measured through the cumulative distribution patterns of carbon emissions and economic outcomes, highlighting the equity-efficiency trade-off. (2) The NEDC policy, while advancing energy transition, inadvertently exacerbates urban carbon inequity. The conclusion is robust to parallel trend tests, placebo analyses, and controls for concurrent policies. (3) Confucianism, as an informal institutional force, can effectively mitigate the urban policy-driven inequities. (4) Heterogeneity analysis finds that the synergistic effect of Confucianism and the policy is more significant in non-old industrial base cities and non-resource-dependent cities. Theoretically, this research bridges energy transition literature with institutional theory by revealing the compensatory role of cultural systems in formal policy frameworks. Practically, it advocates for culturally informed energy governance models, proposing Confucian principles of harmony and collective responsibility as design pillars for equitable sustainability transitions.

Fixed-Time Event-Triggered Consensus Power-Sharing Control for Hybrid AC/DC Microgrid Parallel Bi-Directional Interconnect Converters

Although power sharing in hybrid AC/DC microgrids (HMGs) has been widely researched, traditional power-sharing control is based on an infinite time consensus method, and the communication bandwidth is large. Therefore, this paper proposes a power-sharing strategy for HMG parallel bi-directional interconnected converters (BICs) considering fixed-time stabilization and event-triggered control. Firstly, every BIC has a well-designed local control method to generate the corresponding power reference for the BIC, which provides the basis for further research. Secondly, a fixed-time-based power-sharing controller is designed in order to improve the convergence speed of power-sharing control for HMG parallel BICs. Finally, an event-triggered method is applied to reduce the system communication bandwidth and the frequency of controller updates. In this paper, we first transform the parallel BIC control problem into a multi-agent system (MAS) consensus problem. Furthermore, a fixed time based on an event trigger consensus method is proposed at the secondary control level. The energy flow between the two subgrids can be shared according to the rated power of each BIC. Finally, the effectiveness of the proposed fixed-time event-triggered power-sharing control is verified through simulation and experiments.

A parallel dual-arm robotic control method of white asparagus based on moving-looking-harvesting coordination and asynchronous harvest cooperation

A parallel dual-arm robotic control method of white asparagus based on moving-looking-harvesting coordination and asynchronous harvest cooperation

An optimized Youla–Kucera parametrization with time-delay compensation in multirate parallel control for disturbance rejection up to Nyquist frequency

An optimized Youla–Kucera parametrization with time-delay compensation in multirate parallel control for disturbance rejection up to Nyquist frequency

Physics-data driven multi-objective optimization for parallel control of TBM attitude

Physics-data driven multi-objective optimization for parallel control of TBM attitude

A Novel Overactuated Quadrotor: Prototype Design, Modeling, and Control

Traditional multirotor UAVs (unmanned aerial vehicles) are inherently underactuated, with coupled position and attitude control, which limits their maneuverability in specific applications. This paper presents a fully actuated quadrotor design based on a swashplateless rotor mechanism. Unlike existing fully actuated UAV designs that rely on servo-driven tilt mechanisms, this approach minimizes additional weight and simplifies the structure, resulting in a more maintainable system. The design, modeling, and control strategies for the quadrotor are presented. Furthermore, we propose a decoupled control method to address the need for both fully actuated and underactuated modes. The control architecture employs parallel attitude and position control structures and decouples the two subsystems using a nonlinear dynamic inversion (NDI) method. A compensation module is introduced to address the constraints imposed by the maximum rotor deflection angle and the corresponding feasible force set. This compensation module actively adjusts the attitude to mitigate the saturation of the required thrust, effectively overcoming the impact of rotor deflection angle limitations on trajectory tracking performance. The approach facilitates seamless switching between fully actuated and underactuated modes, enhancing the system’s flexibility and robustness. Simulation and flight experiments demonstrate the effectiveness and performance of the proposed design.

The effect of game-based scenario writing on the clinical reasoning of internship nursing students in cardiovascular emergencies and critical care units

BackgroundNurses’ failure to properly apply clinical reasoning (CR) can result in diagnostic errors especially in cardiac emergencies and critical care that compromise patient care and threaten patient safety. Therefore, nursing education must employ appropriate teaching approaches, particularly throughout internships, to enhance students’ CR skills.AimThis study aimed to assess the effect of game-based scenario writing on the CR of internship nursing students in cardiac emergencies and critical care units.MethodsAn unblinded, randomized, controlled trial with a parallel control group was conducted with 82 nursing students who were experiencing cardiac emergencies and critical care internships from June to September 2023. The participants were randomly assigned to either the intervention group (n = 41), which received game-based scenario writing in the two phases of the pre-internship and internship periods, or the control group (n = 41), which received routine internship training. Data were collected at baseline and the end of the internship course, and the instruments included participants’ characteristics, a CR test, and a satisfaction questionnaire.ResultsAt the end of the cardiac emergencies and critical care internship course, compared with the control group, the intervention group presented a significant increase in CR (12.30 ± 3.6, 14.57 ± 3.9, p < 0.05). Within-group Comparison of pre-test and post-test CR scores only showed a significant increase in the intervention group (p = < 0.001).ConclusionsThe current study’s findings support the argument that the gamified scenario-writing method can be an effective and dynamic learning method. It appears that employing this approach in nursing education could potentially enhance the CR of nursing students during their internship courses. Therefore, applying this method is recommended to nursing educators, especially for cardiac emergencies and critical care unit internship courses.

Transcranial Direct Current Stimulation over the Motor or Frontal Cortex in Patients with Chronic Ankle Instability.

Growing evidence has suggested clinical efficacy for the use of anodal transcranial direct current stimulation (atDCS) when combined with motor interventions in patients with chronic ankle instability (CAI). However, no studies have compared multiple approaches for improving motor function with atDCS in patients with CAI. We therefore aimed to determine the efficacy of atDCS over the motor or frontal cortex when combined with a four-week motor planning intervention on neural function, performance, and patient-reported outcomes in patients with CAI. Double-blind, sham-controlled, parallel randomized control trial. Participants (n=44, 15 males, 29 females, 23.6±6.1 yrs) were assessed for outcome measures of cortical and reflexive excitability; performance measures of dynamic balance, muscle activation, reaction times, and cognitive performance on a dual-task balance test; and patient-reported outcome measures at baseline, mid-training (week 2), post-training (week 4), and retention (week 6). After baseline testing, participants were randomized to receive atDCS over the motor cortex, frontal cortex, or a sham current during rehabilitation exercises over four weeks. Participants reported for eight training sessions where they were instrumented for atDCS while performing obstacle walking, dual-task balance, and agility exercises. Analyses between groups and time points were performed with mixed linear models (α=0.05). Forty-six individuals were recruited & randomized with 37 completing the investigation (motor=14, frontal=11, sham=12). No differences across groups or times were observed in neural excitability or muscle activation variables (P>0.05). Significant improvements in dynamic postural stability indices were observed from baseline across all groups (P<0.05). Improvements were observed for foot & ankle function, perceived disablement, and the Global Rating of Change at post-training and retention (p<0.001). Improvements in patient function were observed across all groups, suggesting the motor planning intervention improved function, regardless of atDCS application. Observing benefits from atDCS may be dependent on proper pairing of rehabilitation exercise with electrode location.

Pragmatic clustered randomised control trial to evaluate a self-regulated learning intervention to be implemented in South Australian primary schools—study protocol

BackgroundSelf-regulated learning (SRL) is described as a process whereby learners actively take control of their learning by setting goals, planning, monitoring, evaluating, and adjusting their learning strategies to improve performance and achieve desired outcomes Panadero (Front Psychol 8:422, 2017). SRL proficiency has been shown to predict educational success and lifelong outcomes, such as income and health. While SRL is recognised as a key lifelong competency, there remain questions regarding how educators can best develop and promote SRL in school settings. A scalable, low-cost intervention targeted at grade 1 students (6–7 years old) in Germany was found to have substantial effects on impulse control and self-regulated learning, with sustained impacts on long-term academic success Schunk (Nat Hum Behav 6(12):1680-90, 2022). This study protocol seeks to adapt the Schunk et al. (2022) randomised trial to the Australian content and extend it to grades levels 2, 4 and 6.MethodsWe will use a standard pragmatic clustered (by school) randomised controlled superiority trial with an additional population-wide matched parallel control arm. Effectively, we will conduct three trials—one for each age/grade level. Each trial will be powered to assess the impact of the intervention on the age/grade groups independently: grade 2 (early primary, 7–8 years), grade 4 (mid primary, 9–10 years), and grade 6 (late primary, 11–12 years). Schools assigned to the treatment group will have all three grade levels (grades 2, 4, and 6) receiving the treatment (at least one class per grade); no classes in the schools assigned to the control group will receive the intervention. A minimum of 56 schools with an average cluster size of 19 children/class will be required to detect a minimum impact of 0.25 SD effect size at 80% power taking into account the clustered design with an intraclass correlation coefficient (ICC) of 0.05. This results in a total sample of 1064 per grade and thus 3192 students in total (56 schools per arm × 19 students in an average-sized class × three grade levels). Randomisation will occur on a 1:1 ratio, such that half of the schools (n = 28), and effectively about half of the students (n = 1596) will receive the intervention. The primary outcome will be improved self-regulation assessed at 6 weeks, 6 months and 12 months post the intervention. Longer-term secondary outcomes will include academic and wellbeing measures obtained through administrative data linkage to the National Assessment Program in Literacy and Numeracy (NAPLAN) outcomes and the Wellbeing and Engagement Collection (WEC) outcomes measures in the year following implementation (grades 3, 5, and 7). Follow-up via the South Australia Data Linkage Systems will allow for longer-term academic outcomes, mental health, school completion, criminal justice, and tax data.DiscussionThis protocol paper provides a detailed record of the trial design. We also discuss our analytical plan, especially highlighting the opportunities associated with the linkage of the trial participants to South Australia’s population-wide administrative data linkage systems.Trial registrationACTRN12623001331628. Registered on 9th of November 2023.

Doubly robust omnibus sensitivity analysis of externally controlled trials with intercurrent events.

Externally controlled trials are crucial in clinical development when randomized controlled trials are unethical or impractical. These trials consist of a full treatment arm with the experimental treatment and a full external control arm. However, they present significant challenges in learning the treatment effect due to the lack of randomization and a parallel control group. Besides baseline incomparability, outcome mean non-exchangeability, caused by differences in conditional outcome distributions between external controls and counterfactual concurrent controls, is infeasible to test and may introduce biases in evaluating the treatment effect. Sensitivity analysis of outcome mean non-exchangeability is thus critically important to assess the robustness of the study's conclusions against such assumption violations. Moreover, intercurrent events, which are ubiquitous and inevitable in clinical studies, can further confound the treatment effect and hinder the interpretation of the estimated treatment effects. This paper establishes a semi-parametric framework for externally controlled trials with intercurrent events, offering doubly robust and locally optimal estimators for primary and sensitivity analyses. We develop an omnibus sensitivity analysis that accounts for both outcome mean non-exchangeability and the impacts of intercurrent events simultaneously, ensuring root-n consistency and asymptotic normality under specified conditions. The performance of the proposed sensitivity analysis is evaluated in simulation studies and a real-data problem.

Design and construction of two biased electrodes and preliminary experiments on the Keda Torus eXperiment

The electromagnetic turbulence in reversed field pinch (RFP) plasmas exhibits three-dimensional characteristics. Suppression of this turbulence is crucial for enhancing plasma confinement, necessitating control over the electric field or the current profile. To this end, two sets of electrodes have been designed and installed on the Keda Torus eXperiment (KTX) RFP device to manipulate the edge electric field and the edge parallel current profile. Subsequently, the edge radial electric field and edge parallel current profile control experiments are conducted. In the edge radial electric field control experiments, the edge radial electric field is altered under bias, accompanied with an increase in the electron density and plasma duration. However, under bias, both electrostatic and magnetic fluctuations are enhanced. In the edge parallel current profile control experiments, the results indicate that bias modifies the edge parallel current profile locally, leading to a localized increase in the field reversal depth and electron density. Additionally, a reduction in magnetic fluctuations is observed within the reversed field enhanced region under bias, suggesting that the bias suppresses magnetic perturbations.

TARP ɣ-8 is a target of ethanol that regulates self-administration and relapse in mice.

Behavioral pathologies that characterize alcohol use disorder (AUD) are driven by the powerful reinforcing, or rewarding, properties of the drug. We have shown that glutamate AMPA receptor (AMPAR) activity is both necessary and sufficient for alcohol (ethanol) reinforcement. Transmembrane AMPAR regulatory protein (TARP) γ-8 is an essential auxiliary protein that regulates AMPAR expression and activity; however, the role of TARP ɣ-8 in AUD or other forms of addiction remains largely unexplored. This study investigated the mechanistic role of TARP γ-8 in operant ethanol self-administration (model of primary reinforcement) and cue-induced reinstatement of ethanol-seeking behavior (model of conditioned reinforcement) using TARP ɣ-8 heterozygous null (+/-) mice. To determine if TARP ɣ-8 signaling is targeted by ethanol use, we evaluated protein expression of TARP γ-8, GluA1, CaMKII, and PSD-95 following ethanol self-administration. A battery of tests evaluating food and water intake, taste reactivity, anxiety-like behavior, and object recognition memory showed no fundamental behavioral deficits in TARP γ-8 (+/-) mice, and no differences in response to acute ethanol or home-cage drinking as compared to wild-types. However, TARP γ-8 (+/-) mice exhibited significantly reduced acquisition and escalation of operant ethanol self-administration and reduced cue-induced reinstatement of ethanol-seeking behavior, with no differences in parallel sucrose-only controls. In wild-type mice, ethanol self-administration increased TARP γ-8 expression in the amygdala, nucleus accumbens, and hippocampus, and increased GluA1 expression in the amygdala and prefrontal cortex, compared to sucrose controls. These findings highlight the specificity of TARP ɣ-8 regulation of ethanol reinforcement mechanisms and identify this crucial AMPAR auxiliary protein as a target of ethanol in reward-related brain regions, highlighting its potential for development of novel pharmacotherapies for AUD.

Unilateral Exercise and Bilateral Vascular Health in Female Tennis Players and Active Controls.

to evaluate bilateral differences in pBP, cBP, and AS in Division III female college TP and healthy recreationally active (RA) age- and sex-matched controls. In a parallel design, TP (n = 10) and RA controls (n = 10) were assessed for anthropometrics, body composition, and bilateral BP measurements using oscillometric cuff technique. TP and RA were well-matched for body weight, body fat percentage, and BMI (all, p > 0.69). Interaction of arm and group, and effects of arm, or group were insignificant for pSBP and pDBP (all, p > 0.137). IAD in pSBP tended lower in TP (p = 0.096, d = 0.8), but IAD in cSBP was lower (p = 0.040, d = 0.8). Augmentation pressure and index were different between arms (p = 0.02), but no interactions (group by arm) were observed (p > 0.05). In groups well-matched for age and body composition, TP tended to have lower BP and IAD in pSBP, but cSBP revealed ~50% lower IAD in TP. Thus, measurement site and exercise training matter when assessing arterial stiffness and interarm differences in BP.

Parallel Control for Nonzero-Sum Games With Completely Unknown Nonlinear Dynamics via Reinforcement Learning

Parallel Control for Nonzero-Sum Games With Completely Unknown Nonlinear Dynamics via Reinforcement Learning

Hybrid control of MISO systems with delays.

Hybrid control of MISO systems with delays.

2–5 G mobile communication electromagnetic field chronic animal exposure assessment

Introduction. The intensive implementation of modern wireless communications networks using multi-frequency modulated electromagnetic fields radiofrequency (EMF RF) has led to a significant change in the electromagnetic background, which requires scientific research to assess the human health risk. The aim of the study. To study the features of the biological effects chronic exposure to multi-frequency EMF RF from mobile communication systems of GSM (2G), UMTS (3G), LTE (4G) and 5G NR IMT-2020 (5G) standards on some state of indices in animals. Materials and methods. Male Wistar rats of 180–200 g weight were subjected to round-the-clock 4-month exposure: group 1 – EMF exposure according to 2–5G standards (1.8; 2.1; 2.6; 3.6; 28 ; 37 GHz) with a total power density (PD) of 500 μW/cm2, group 2 – EMF exposure according to 5G NR IMT-2020 standard (3.6; 28; 37 GHz) with a PD 250 μW/cm2 with sham-exposure (parallel control). After every exposure month 12 animals from each group were decapitated and peripheral blood was collected for evaluation of adrenocorticotropic hormone (ACTH), corticosterone, lipid peroxidation, catalase, and leukogram. Results. Wave-like significant changes in ACTH and corticosterone blood concentrations were revealed in exposure periods, more pronounced in the 2–5G exposure group. In this group, by the end of the 3rd and 4th months, carbonyls, diene conjugates and ketodienes concentrations had significant decrease; in the 5G group, in the 1st–3rd months of exposure, only the concentration of carbonyls changed, and in the 1st and 4th months the concentration of catalase decreased, which indicates an imbalance of pro- and antioxidant systems. The identified significant formed elements of white blood, especially lymphocytes, neutrophils, and eosinophils, indicate to the instability of the immune status of exposure animals. Limitations of the study are related to the number of experimental animals and exposure modes. Conclusion. The data obtained indicate to the sensitivity of animals for multi-frequency EMF biological effects, more pronounced in the 2–5G exposure group, which differs from the 5G group in a larger set of frequencies used and 2 times higher level exposure. These research results indicate to adaptive-compensatory changes that with continued exposure can lead to failure the of adaptation.

Nanoelectronics-enabled reservoir computing hardware for real-time robotic controls.

Traditional robotic vehicle control algorithms, implemented on digital devices with firmware, result in high power consumption and system complexity. Advanced control systems based on different device physics are essential for the advancement of sophisticated robotic vehicles and miniature mobile robots. Here, we present a nanoelectronics-enabled analog control system mimicking conventional controllers' dynamic responses for real-time robotic controls, substantially reducing training cost, power consumption, and footprint. This system uses a reservoir computing network with interconnected memristive channels made from layered semiconductors. The network's nonlinear switching and short-term memory characteristics effectively map input sensory signals to high-dimensional data spaces, enabling the generation of motor control signals with a simply trained readout layer. This approach minimizes software and analog-to-digital conversions, enhancing energy and resource efficiency. We demonstrate this system with two control tasks: rover target tracking and drone lever balancing, achieving similar performance to traditional controllers with ~10-microwatt power consumption. This work paves the way for ultralow-power edge computing in miniature robotic systems.

A Control-Oriented Model for Polymer-Dispersed Liquid Crystal Films as an Actuator for Natural Light Control

A polymer-dispersed liquid crystal (PDLC) film is a device that can transition from opaque to transparent when electrically charged. These films can be used as actuators to control light levels in response to changing natural light. However, the current state of the art for controlling PDLC films is limited to on/off functionality, and few works in the current body of literature have explored continuous control. This study develops a novel nonlinear model for PDLCs in the context of the feedback control of light. This study also demonstrates the model’s utility by comparing experimental data of a PDLC in feedback with a proportional–integral (PI) controller for disturbance rejection and tracking of a desired light setpoint. This development is motivated by the need for a smart greenhouse that can provide programmable optimized light levels for plant growth. Specifically, a light sensor is composed of a circuit with photodiodes and calibrated for the photosynthetically active radiation range. The light sensor is placed under the film, separate from an exogenous light source, allowing for feedback control to be applied. A proportional–integral type control law is selected for stiffness and the ability to eliminate steady-state error, and it is implemented using a microcontroller. An equivalent analog control effort is applied to the PDLC via a PWM voltage signal and an H-bridge type driver. Details necessary for the driving of the PDLC are presented. Open-loop identification of the nonlinear quasi-static and dynamic step-response transients of the PDLC at different control levels are presented and modeled. Finally, closed-loop experimental and simulated results are presented for both light disturbance rejection and setpoint tracking. This shows that the proposed control framework allows for continuous control of light.

Effects of the Community Paramedicine at Clinic (CP@clinic) program on the health behaviours of older adults residing in social housing: secondary outcomes of a cluster-randomized trial

BackgroundCommunity-dwelling, low-income older adults who reside in social housing are a vulnerable population with high rates of poor health behaviours that contribute to chronic health conditions and adverse health outcomes. This study investigates the impact of the Community Paramedicine at Clinic (CP@clinic), a chronic disease prevention, management, and health promotion program, on the health behaviours of this population.MethodsAn open-label, pragmatic cluster-randomized controlled trial with parallel intervention and control groups was conducted for one-year within 30 social housing buildings in Ontario, Canada. Eligible buildings were required to have a postal code not shared with other addresses, a majority of tenants aged 55 years or older, at least 50 units, and a similar building available for matching. Buildings were paired and randomized to either intervention (CP@clinic program) or control (usual care) groups. The CP@clinic program was conducted in the common spaces of the intervention buildings and consisted of weekly drop-in sessions facilitated by trained community paramedics. Older adults met one-on-one with community paramedics who conducted evidence-based risk assessments, made referrals to community and healthcare resources, provided health education, and reported health assessment results back to family physicians. Pre- and post-intervention surveys were conducted. Descriptive statistics were used to describe demographic characteristics and health behaviours. Mann–Whitney U tests were conducted to compare individual-level change in health behaviours between intervention and control groups.ResultsFrom the 15 intervention and 15 control buildings, 656 participants completed either the pre- and/or post-intervention survey; the mean age was 72.1 (SD 8.7) years, 75.6% were female, 91.6% were not married, 89% were white, 68.4% obtained a high school education or less, and 90% lived alone. After the intervention, the individual-level consumption of weekly fruit and vegetables and time spent watching TV improved significantly (p < 0.05) for the intervention group compared to the control group (z-scores = -2.467 and -2.194, respectively). The change in consumption of carbohydrate/grains increased significantly for the intervention group compared to the control group (z-score -2.023, p < 0.05).ConclusionThe CP@clinic program is an innovative wellness program that had a significant impact in changing health behaviours, especially in weekly fruit and vegetable consumption, among a vulnerable older adult population.Trial registrationClinicalTrials.gov NCT02152891, registered June 6, 2014.