Preset Conditions Research Articles

Investigating the Relationship Between Dance Flow and Improvisation

This article explores the intrinsic connection between dance flow and improvisation, aiming to analyze dancers’ thinking and behavioral patterns in dance creation from a psychological perspective. The study points out that the application of flow theory in the field of dance is relatively scarce, while improvisation, as a core skill in dance art, requires dancers to create without preset conditions. The article begins with an overview of flow theory, emphasizing how the flow state facilitates dancers’ technical performance and creativity. It then analyzes the improvisational practices of professional dancers to reveal the positive interactive relationship between flow and improvisation. The research finds that dancers in a flow state are more likely to enter a state of improvisation, and improvisation itself can also stimulate the flow experience. The article concludes with a discussion on the role of dance flow and improvisation in dance education and performance practice, highlighting the importance of relational creativity in dance creation.

Validation of a Bluetooth Self-Fitting Device for People With Mild-to-Moderate Hearing Loss in Quiet or Noisy Environments.

The purpose of this study was to evaluate the benefits of a Bluetooth self-fitting device using an in situ hearing screening test and self-fitting processes. Thirty Mandarin-speaking individuals (16 men and 14 women) with mild-to-moderate hearing loss participated in this study. The hearing screening test was conducted using neckband earphones of a Bluetooth self-fitting device controlled by a smartphone app. The hearing screening tests were compared with the pure-tone audiometry in an audiometric booth. The amplification benefits of the self-fitting program-aided condition were evaluated and compared with those of unaided and preset program-aided conditions using the Mandarin Hearing in Noise Test (MHINT) and questionnaires. The pure-tone audiometry and hearing screening test results exhibited strong positive correlations at all test frequencies. In the environment with 90° noise, the sentence reception thresholds (SRTs) obtained for the self-fitting program-aided condition were significantly lower (p = .032) than those obtained for the unaided condition, whereas no significant difference was observed between the preset program-aided and the unaided conditions. Moreover, the participants' satisfaction ratings for the devices were consistent with their MHINT results, with a strong positive correlation observed between satisfaction with self-fitting and user satisfaction in smartphone app's control, functionality, and learning. Younger participants were significantly more satisfied in learning to use the app. Bluetooth self-fitting devices can be used for simplified in situ hearing screenings with a sensitivity of 90.4%. The satisfaction ratings and improvements in SRTs indicate significant clinical benefits of the self-fitting program compared with the preset program, particularly in the 90°-noise environments.

Study on aluminum recovery from selected aluminum-containing packaging waste by pyrolysis system

Abstract Nowadays, consumers more frequently than not choose packaged food over fast food due to its convenience, high nutrition value, ease of preparation, and health friendliness. This has caused the amount of packaging waste in the world to increase rapidly, becoming one of the major dangers to the global environment. The potential hazard associated with this kind of waste and have been developing more innovative techniques to lessen its negative impacts. This study aims to convert food packaging wastes (FPWs) into raw materials (aluminum and carbon particles) using three combined methods: pyrolysis, mechanical and chemical treatment. This experiment used a furnace used in the laboratory to heat plastic packaging waste to obtain a solid fraction, under pre-set conditions, including temperatures of 500 °C, 600 °C, 700 °C, and 800 °C, and the retention time is 10 min, 20 min, 30 min. Specifically, the highest amount of solid fraction obtained was 20.9% at the condition of 500°C for 10 minutes, while the recovery rate was the lowest at 8.91% at the condition of 800 °C for 30 minutes. According to the references, the retention time condition of 30 minutes is the optimum for aluminum recovery, of which 800°C is the best with 8.11%, along with the ease of separation of aluminum fragments and aluminum particles out of the mixture. Finally, Fourier transform infrared spectroscopy (FTIR) analysis was used to confirm the composition of the solid obtained after the pyrolysis process, the selected wavelength ranged from 650-4000 cm−1. In summary, the experiment was successful when it found the optimal conditions for the pyrolysis method in recovering aluminum from packaging waste. In addition, the recovery of aluminum metal from this type of waste also contributes to solving the very high demand for this metal in recent times.

Biochar-based persulfate activation: Rate constant prediction, key variables identification, and system optimization

Biochar has emerged as a promising sustainable catalyst for persulfate-based advanced oxidation processes (PS-AOPs), offering synergy between radical and non-radical pathways for superior mineralization. To streamline the traditionally time-consuming and costly biochar selection process, artificial intelligence was employed for a more efficient approach. In this study, an extreme gradient boosting (XGB) model was used to predict the pseudo-first-order kinetic rate constant (k) of a PS-AOPs. Important features were analyzed, and optimal feature values were obtained using particle swarm optimization (PSO). The dataset comprised 671 data points with 18 features extracted from peer-reviewed publications. To address data sparsity and imbalance, machine learning techniques and stratified data splits were utilized, achieving high model performance (R2 = 0.96, RMSE = 0.035). Feature importance analysis using XGB, permutation feature importance, and SHapley Additive exPlanations highlighted the importance of a higher biochar oxygen-to‑carbon ratio and encouraged metal modification. The presence of oxygen functional groups, particularly carbonyl and graphitized biochar structures, was emphasized in kinetic performance. PSO results recommended optimized biochar preparation parameters and operating conditions to enhance the k value, aligning with existing literature. This study predicts kinetic outcomes under preset conditions and guides practical biochar selection, demonstrating its relevance and potential in real-world applications.

Fixed/Preassigned-time synchronization of quaternion-valued BAM neural networks: An event-based non-separation control method

Quaternions provide expressive power beyond real numbers, allowing neural networks to capture and process correlations and patterns in data with greater complexity. Besides, event-triggering mechanism has significant advantages in reducing redundant data transmission and control costs, since the sampling instant is determined by preset trigger conditions. Based on these fact, this article investigates the fixed-time and preassigned-time synchronization of quaternion-valued Bidirectional Associative Memory (BAM) neural networks via event-triggered control. Firstly, based on a dual-layer network structure with different number of nodes, a type of BAM neural network with generalized time-varying delays is established in the quaternion domain. Secondly, four kinds of Zeno-free dynamic event-triggered control mechanisms are designed, and the trigger condition can be dynamically adjusted according to the changing requirements. In the framework of non-separation analysis, the synchronization the controlled network can be guaranteed within a fixed time, and the upper bound of the setting time is provided explicitly. Furthermore, to better meet practical needs, the above event-triggered mechanism and the criteria are extended to the PAT synchronization. Two illustrate examples are presented at last to validate the developed event-triggered mechanism and synchronization results.

Fabrication and Development of the Embedded Linux Based on the ARM System

Abstract With the development of the embedded system and improvement of the requirements from customers, embedded GUI which was used to communicate between users and embedded system became to be a key in researching the embedded system. This article introduced what is embedded system and what is embedded GUI. It described the porting of an embedded GUI on ARM Linux platform, including the establishment of compile environment, configuring and modifying of compile options and setting of runtime parameters. Above all, this article introduces the development of Embedded Linux GUI, describes the GUI development environment of Qt /Embedded and Qt, one procedure of the app location development based on Qt/Embedded is described in detail. This system adopts the B/S mode and uses the ARM11 development board with S3C6410 as the core. Sensors are used to obtain information, and the obtained data is judged and analyzed. When the preset conditions are not met, an alarm function is triggered. At the same time, data transmission is carried out through the Zigbee wireless module, and the receiving end analyzes and displays the received data. Each device is connected to the Zigbee module, which distinguishes it by assigning different network addresses and constantly transmits the status of the monitoring area to the receiving end. The receiving end distinguishes the monitoring status of different locations based on the different network addresses, increasing mobility.

Observer-based bipartite consensus tracking of nonlinear fractional-order multi-agent systems with pull-based dynamic event-triggered mechanism

This paper investigates the observer-based bipartite consensus tracking of nonlinear fractional-order multi-agent systems (FOMASs) by employing a pull-based dynamic event-triggered mechanism (DETM). First, considering that the relevant state information of each agent is not always measurable, a class of distributed observers is considered for each agent to estimate its state information. Then, a pull-based DETM for FOMASs is proposed to avoid continuous controller updates, in which the dynamic threshold is modulated according to the preset conditions. The pull-based DETM constructed in this paper enables each agent to update the controller only based on its own trigger instants. Furthermore, an observer-based dynamic event-triggered control protocol is designed to guarantee the bipartite consensus tracking of FOMASs. Correspondingly, sufficient conditions are obtained by using graph theory and choosing suitable Lyapunov candidate functions. Moreover, the Zeno behavior is precluded. Finally, two simulation examples are presented to illustrate the theoretical results efficiently.

Magnetron-Deposited FeTiB Films: From Structural Metastability to the Specific Magnetic State

Results of XRD and TEM studies of a metastable phase state in Fe73Ti5B19O3 and Fe55Ti16B27O2 films, which is formed upon magnetron deposition under preset conditions, and of the evolution of the state in the course of subsequent annealing at 500 °C for 1, 5, and 9 h and experimental data on the magnetic microstructure and magnetic properties are reported. The annealed films were found to be characterized by a nanocrystalline structure, which is represented by two crystalline phases, namely, the ferromagnetic solid solution αFe(Ti), and nonferromagnetic boride FenB. The Ti content in the films determines the grain size of the αFe(Ti) phase, whereas the content of B localized within the grain boundaries determines the ratio of the volume fractions of amorphous and nanocrystalline phases in the structure. In contrast to the ferromagnetic Fe73Ti5B19O3 films, the Fe55Ti16B27O2 films are superparamagnets both in the deposited state and after annealing at 500 °C for 1 and 5 h because of the higher volume fraction of the amorphous phase in the structure. The 9 h annealing of the Fe55Ti16B27O2 films transfers them into the ferromagnets owing to the development of the amorphous phase crystallization, increase in the content of nanocrystalline ferromagnetic phase αFe(Ti) grains, and realization of exchange interaction between them.

Device for Measuring Contact Reaction Forces during Animal Adhesion Landing/Takeoff from Leaf-like Compliant Substrates.

A precise measurement of animal behavior and reaction forces from their surroundings can help elucidate the fundamental principle of animal locomotion, such as landing and takeoff. Compared with stiff substrates, compliant substrates, like leaves, readily yield to loads, presenting grand challenges in measuring the reaction forces on the substrates involving compliance. To gain insight into the kinematic mechanisms and structural-functional evolution associated with arboreal animal locomotion, this study introduces an innovative device that facilitates the quantification of the reaction forces on compliant substrates, like leaves. By utilizing the stiffness-damping characteristics of servomotors and the adjustable length of a cantilever structure, the substrate compliance of the device can be accurately controlled. The substrate was further connected to a force sensor and an acceleration sensor. With the cooperation of these sensors, the measured interaction force between the animal and the compliant substrate prevented the effects of inertial force coupling. The device was calibrated under preset conditions, and its force measurement accuracy was validated, with the error between the actual measured and theoretical values being no greater than 10%. Force curves were measured, and frictional adhesion coefficients were calculated from comparative experiments on the landing/takeoff of adherent animals (tree frogs and geckos) on this device. Analysis revealed that the adhesion force limits were significantly lower than previously reported values (0.2~0.4 times those estimated in previous research). This apparatus provides mechanical evidence for elucidating structural-functional relationships exhibited by animals during locomotion and can serve as an experimental platform for optimizing the locomotion of bioinspired robots on compliant substrates.

Implementing L-DNA analogs as mirrors of PCR reactant hybridization state: theoretical and practical guidelines for PCR cycle control.

In previous reports, we described a PCR cycle control approach in which the hybridization state of optically labeled L-DNA enantiomers of the D-DNA primers and targets determined when the thermal cycle was switched from cooling to heating and heating to cooling. A consequence of this approach is that it also "adapts" the cycling conditions to compensate for factors that affect the hybridization kinetics of primers and targets. It assumes, however, that the hybridization state of the labeled L-DNA analogs accurately reflects the hybridization state of the D-DNA primers and targets. In this report, the Van't Hoff equation is applied to determine the L-DNA concentration and ratio of L-DNA strands required by this assumption. Simultaneous fluorescence and temperature measurements were taken during L-DNA controlled cycling, and the optical and thermal switch points compared as a function of both total L-DNA concentration and ratio of strands. Based on the Van't Hoff relationship and these experimental results, L-DNA best mirrors the hybridization of PCR primers and targets when total L-DNA concentration is set equal to the initial concentration of the D-DNA primer of interest. In terms of strand ratios, L-DNA hybridization behavior most closely matches the behavior of their D-DNA counterparts throughout the reaction when one of the L-DNA strands is far in excess of the other. The L-DNA control algorithm was then applied to the practical case of the SARS-CoV-2 N2 reaction, which has been shown to fail or have a delayed Cq when PCR was performed without nucleic acid extraction. PCR Cq values for simulated "unextracted" PCR samples in a nasopharyngeal background and in an NaCl concentration similar to that of viral transport media were determined using either the L-DNA control algorithm (N = 6) or preset cycling conditions (N = 3) and compared to water background controls run in parallel. For preset cycling conditions, the presence of nasopharyngeal background or a high salt background concentration significantly increased Cq, but the L-DNA control algorithm had no significant delay. This suggests that a carefully designed L-DNA-based control algorithm "adapts" the cycling conditions to compensate for hybridization errors of the PCR D-DNA reactants that produce false negatives.

Study on flexible/rigid protection mechanism of hydrogen/methane premixed gas explosion in urban underground space

Explosion accidents are one of the factors that impede urban underground space development and utilization, and it is imperative to study safety precautions in case of an explosion in an urban underground space. Given this problem, a polyurethane sponge and carbon fiber board with Blocking Rates (BR) of 0.2, 0.4 and 0.6 were used to explore the combustion and explosion characteristics of hydrogen/methane premixed gas in a confined space in the presence of a flexible and rigid obstacle. The results indicated that both the flame and pressure exhibit Helmholtz oscillation characteristics in case of a rigid obstacle. When the BR of both flexible and rigid obstacle were 0.4, the explosion intensity index was the highest. It first increased and then declined with the increase of flexible obstacle BR. In the presence of a flexible obstacle, the Helmholtz oscillation phenomenon was completely suppressed, and explosion intensity indices were minimized, as the flexible obstacle BR increased, it first increased and then declined. Under the rigid obstacle preset conditions, the explosion hazard significantly increased compared to the flexible constructions. The research results provide a theoretical basis for protective facilities to suppress combustion and explosion phenomena in underground spaces.

Algorithm for Autonomous Management of a Poultry Farm by a Cyber-Physical System.

The article presents a Cyber-Physical System (CPS) for intelligent management of a poultry farm for broiler meat production, with a fully autonomous microclimate control. Innovative concepts have been introduced for automated management and changing parameters according to pre-set conditions and schedules, with the possibility that the parameters of the algorithm can be further adjusted by the operator. The proposed CPS provides for high productivity with minimal production waste, at optimized costs and with minimization of human errors. The CPS is built on the basis of cost-oriented components. A Raspberry Pi 4 8 GB is used as the server, and the free open-source software OpenHAB 3.0 is used to optimize the cost of building the system as much as possible.

DirKorp

In this paper, we present recent developments on a new version (v3.0) of DirKorp (Korpus direktivnih govornih činova hrvatskoga jezika), the first Croatian corpus of directive speech acts developed for the purposes of pragmatic research. The corpus contains 800 elicited speech acts collected via an online questionnaire with role-playing tasks, a method of simulated communication that is implemented under pre-set conditions. This method is suitable for researching speech acts due to the ability to collect a great number of examples of such acts of equal propositional content and illocutionary purpose used in the same controlled situations. The presented situations are classified into two categories with regard to the relationship between the participants of the communication act: (1) situations involving interlocutors who are not in a familiar relationship; (2) situations involving interlocutors in a familiar relationship. Assignments of the two categories are organized into four pairs, asking respondents to share a speech act of similar propositional content. The respondents were 100 Croatian speakers, all undergraduate (63%) or graduate students (37%) of the Faculty of Humanities and Social Sciences (University of Zagreb). The corpus has been manually annotated on the speech act level, each speech act containing up to 14 features: (1) respondent ID, (2) familiarity/unfamiliarity, (3) utterance type, (4) directive performative verb in 1st person, (5) illocutionary force, (6) propositional content, (7) T/V form, (8) exhortative, (9) lexical marker of request, (10) lexical marker of apology, (11) lexical marker of gratitude, (12) honorific title, (13) grammatical mood, and (14) modal verb in 2nd person. It contains 12,676 tokens and 1,692 types. The corpus is encoded according to the TEI P5: Guidelines for Electronic Text Encoding and Interchange, developed and maintained by the Text Encoding Initiative Consortium (TEI). DirKorp is available for download under the CC BY-SA 4.0 license from GitHub in TEI format. We describe applied pragmatic annotation as well as the structure of the corpus.

Study on monitoring infusion rate based on computer vision

A computer vision based infusion monitoring method and system is proposed to solve a series of technical problems such as inconvenient use of the existing infusion monitoring system. The technical scheme includes video capture module, voice alarm module and main control module. The video capture module is used to collect the real-time image information of the drip pot part of the infusion equipment and transmit the collected image information to the main control module. The main control module processes the image information transmitted by the video capture module, uses the computer vision principle and self-designed algorithm to judge the real-time flow rate of the infusion equipment, judges whether the infusion is completed according to the preset conditions, and timely controls the voice alarm to give an alarm. The system uses computer vision technology to accurately judge whether the infusion equipment has completed infusion and give an alarm. It is simple to use, does not hinder traditional manual monitoring, and provides convenience for unattended patients, patient families, and nurses.

Probabilistic Modeling of Maritime Accident Scenarios Leveraging Bayesian Network Techniques

This paper introduces a scenario evolution model for maritime accidents, wherein Bayesian networks (BNs) were employed to predict the most probable causes of distinct types of maritime incidents. The BN nodes encompass factors such as accident type, life loss contingency, accident severity, quarter and time period of the accident, and type and gross tonnage of the involved ships. An analysis of 5660 global maritime accidents spanning the years 2005 to 2020 was conducted. Using Netica software, a tree augmented network (TAN) model was constructed, thus accounting for interdependencies among risk-influencing factors. To confirm these results, a validation process involving sensitivity analysis and historical accident records was performed. Following this, both forward causal inference and reverse diagnostic inference were carried out on each node variable to scrutinize the accident development trend and evolution process under preset conditions. The findings suggest that the model was competent in effectively predicting the likelihood of various accident scenarios under specific conditions, as well as extrapolating accident consequences. Forward causal reasoning unveiled that general cargo ships with a gross tonnage of 1–18,500 t were most prone to experiencing collision and stranding/grounding accidents in the first quarter. Reverse diagnostic reasoning indicated that, in the early morning hours, container ships, general cargo ships, and chemical ships with a tonnage of 1–18,500 t were less likely to involve life loss in the event of collision accidents.

Structural optimisation for controlled deflections of additively manufactured single material beams

Closely controlling the mechanical behaviour and characterization of the deflection of a beam structure is a well-known and widely studied engineering problem. The progress in additive manufacturing methods and the possibilities to closely control the material property variations with the controlled placement of materials further widen the opportunities to achieve given beam deflection criteria. The multi-material additive manufacturing solutions suffer from the lack of real engineering material options, and the quality and performance of the printed parts are usually unsuitable for producing functional parts. A novel cellular structured solution is proposed here, which utilises optimisation of geometries of individual cells of a single material structured beam to obtain deflection profiles closely matched with preset conditions under different loading conditions. The cellular geometry of the structured beam is continually altered for searching and converging on the optimal structure of the cells by the covariance matrix adaptation evolution strategy algorithm in an iterative manner. The optimised beam structures could also be physically produced with single material additive manufacturing methods and the experimental and numerical beam deflection responses correlated closely.

Enrichment strategies of heavy metals in the O/H/O process composed of biological fluidized bed for wastewater treatment: A case study of Cu and Zn

Municipal sludge can be utilized as a resource despite its polluting nature. However, the presence of heavy metals lowers its resource value, and their uniform dispersion in conventional biological processes because of sludge reflux poses enormous difficulties for the subsequent separation/recovery. In this study, the enrichment strategies of Cu and Zn in simulated wastewater based on a new biological process named oxic-hydrolytic & denitrification-oxic (O1/H/O2 or O/H/O) combination were investigated and the influence mechanisms of pH, chelate, operating parameters, and denitrification reaction control were illustrated. Results showed that the amount Cu and Zn in the sludge of H reactor exceeded those of both O1 and O2 when pH of O1＜6.5. The maximum sludge-water partition coefficients (Kd) of Cu and Zn in H reactor were 3128 and 3421 times when the influent concentration of NH3–N was at a certain value (210 mg/L NH4Cl for Cu and 140 mg/L NH4Cl for Zn). This was ascribed to the control of nitrification rate, ammonification/nitrosation in the O1 reactor, anaerobic ammonia oxidation combined with autotrophic denitrification in the H reactor, optimal hydraulic retention time (HRT) and sludge retention time (SRT). Under the pre-set conditions of water quality and operation parameters, the precipitates in the sludge were found to be Cu(OH)2, Zn(OH)2, CuS, ZnS which were theoretically and instrumentally characterized. In sum, the joint regulation of biological combination and biochemical reaction will provide new enrichment/separation strategies for heavy metals in municipal sludge management.

Decentralized tendering of construction projects using blockchain-based smart contracts and storage systems

Existing tendering methods for construction projects are centralized and rely on a third party's involvement during the process, hence, the methods raise critical concerns regarding data security, transparency, and traceability, as the bidders have to trust the organizer for the legitimacy and fairness of the process. This paper focuses on how the recent developments in decentralized blockchain technologies can be adopted for tendering of construction projects to improve the traditional process by eliminating intermediaries and ensuring transparency as well as data security. A novel, decentralized blockchain-based tendering system is presented for construction projects, leveraging (i) decentralized smart contracts to execute the tendering steps, including storage of the information throughout the process, management of the bid bonds, evaluation of the bids, and awarding of the contract according to the preset conditions, (ii) blockchain-integrated decentralized storage systems to exchange and store off-chain documents that are related to tendering, and (iii) decentralized application to facilitate the participants' interaction with the proposed system during the tendering process. The proposed system presents a new method for achieving a decentralized, secure, trustworthy, and transparent tendering environment among project participants. The outcomes of the system indicate the potential of future blockchain research for achieving autonomous and decentralized tendering sytems.

A multi-method approach for the investigation of termite mound structures (Kalahari Basin, Botswana)

Fungus-growing termites (FGT) are important agents in subtropical and semiarid ecosystems for the biological and geological modifications they bring through the construction of their mounds. In order to survive and thrive, the mounds are designed to host the Termitomyces fungus in pre-set conditions of humidity and temperature. The interior structure of FGT mounds has only been scarcely studied in the scientific literature, making knowledge about mound morphology and development incomplete. In this study, a relic FGT mound in northern Botswana was analyzed using a combination of electrical resistivity tomography (ERT), particle size distribution (PSD), X-ray computed microtomography (X-ray micro-CT), and soil micromorphology methods. Specifically, we set out to investigate (i) whether changes in the measured soil resistivities reflect expected changes between the various functional compartments of the mound; (ii) what changes in soil texture and structure are associated with the resistivity variations; and (iii) whether this information can be used to better understand the mound compartments and their development. Our results suggest that ERT may eventually provide an attractive and efficient method to investigate the interior structure of FGT mounds that is non-destructive. The use of ERT does not require to remove the epigeal of the mound. The modifications brought by FGT to the texture and structure of the soil, respective to the function of each mound compartment, can increase resistivity of up to three orders of magnitude. Further, the work presented in this paper helps to (i) identify processes involved in the sediment transfer between the mound and its surroundings, (ii) increases the understanding of mound morphology, and (iii) show that fungus-growing termitaria affect durably savanna landscape. Finally, this study demonstrates that ERT is a pertinent non-destructive method to investigate mound structure.

Active fault-tolerant control scheme for four-wheel independent drive electric vehicles under actuator faults

For chassis-by-wire in four-wheel independent drive electric vehicles (4WID-EVs), a large number of controllable actuators with control systems and electrical systems make the vehicle more sensitive to the failure of electronic components in actuators. When actuator faults occur, the stability and handling performance of 4WID-EVs will deteriorate, even affecting the driving safety. To handle this problem, the typical actuator faults of 4WID-EVs and their characteristics are firstly analyzed in detail. After that, a control-oriented uncertain 7 degrees of freedom vehicle dynamics model is established. Then, a modified sliding mode active fault tolerant control (FTC) scheme with layered architecture is proposed, which contains the upper and lower layers. In the upper layer, a modified sliding mode controller with a nonlinear extended state observer is designed to track the reference states under the influence of model uncertainty. In the lower layer, an improved torque distribution algorithm is proposed to compensate for the limited direct yaw moment caused by in-wheel motor faults. Comparison works are carried out both in simulation and experiment. Simulation results show that the proposed method improves performance by 80.5% and 70.2% compared with existing FTC method under 2 fault conditions, respectively. Furthermore, real vehicle experiments also indicate that the proposed method improves performance by 59.6% and 74.4% under two pre-set fault conditions, respectively. The proposed method might provide a theoretical reference for actual controller design in 4WID-EVs.