Nowadays, the temperature gradient is considered as one of the most important parameters which impact the performance of the solid oxide fuel cell (SOFC). In this paper, a control strategy based on an input–output feedback linearization technology is derived for controlling the maximum temperature gradient within the anode fuel flow channel at the desired value. For the controller design, the temperature dynamic model is proposed and simplified to a control-oriented multi-input and multioutput nonlinear dynamic model. Then, this paper presents an input–output feedback linearization controller to realize the control objective by adjusting the cathode input air flow. Finally, the simulation results are given to demonstrate the accuracy of the proposed model in reflecting the temperature dynamic characteristics. Moreover, the compound controller is added for simulation as a comparison, which shows that the proposed controller is equipped with better effectiveness and efficiency in the presence of external disturbances.

During the actual operation of the solid oxide fuel cell (SOFC), degradation is one of the most difficult technical problems to overcome. Predicting the degradation trend and estimating the remaining useful life (RUL) can effectively diagnose the potential failure and prolong the useful life of the fuel cell. To study the degradation trend of the SOFC under constant load conditions, a SOFC degradation model based on the ohmic area specific resistance (ASR) is presented first in this paper. Based on this model, a particle filter (PF) algorithm is proposed to predict the long-term degradation trend of the SOFC. The prediction performance of the PF is compared with that of the Kalman filter, which shows that the proposed algorithm is equipped with better accuracy and superiority. Furthermore, the RUL of the SOFC is estimated by using the obtained degradation prediction data. The results show that the model-based RUL estimation method has high accuracy, while the excellence of the PF algorithm for degradation trend prediction and RUL estimation is proven.

The motion planning task of the manipulator in a dynamic environment is relatively complex. This paper uses the improved Soft Actor Critic Algorithm (SAC) with the maximum entropy advantage as the benchmark algorithm to implement the motion planning of the manipulator. In order to solve the problem of insufficient robustness in dynamic environments and difficulty in adapting to environmental changes, it is proposed to combine Euclidean distance and distance difference to improve the accuracy of approaching the target. In addition, in order to solve the problem of non-stability and uncertainty of the input state in the dynamic environment, which leads to the inability to fully express the state information, we propose an attention network fused with Long Short-Term Memory (LSTM) to improve the SAC algorithm. We conducted simulation experiments and present the experimental results. The results prove that the use of fused neural network functions improved the success rate of approaching the target and improved the SAC algorithm at the same time, which improved the convergence speed, success rate, and avoidance capabilities of the algorithm.

In the field of navigation and positioning, the inertial navigation system (INS)/global navigation satellite system (GNSS) integrated navigation system is known for providing stable and high-precision navigation services for vehicles. However, in extreme scenarios where GNSS navigation data are completely interrupted, the positioning accuracy of these integrated systems declines sharply. While there has been considerable research into using neural networks to replace the GNSS signal output during such interruptions, these approaches often lack targeted modeling of sensor information, resulting in poor navigation stability. In this study, we propose an integrated navigation system assisted by a novel neural network: an inverted-Transformer (iTransformer) and the application of a frequency-enhanced channel attention mechanism (FECAM) to enhance its performance, called an INS/FECAM-iTransformer integrated navigation system. The key advantage of this system lies in its ability to simultaneously extract features from both the time and frequency domains and capture the variable correlations among multi-channel measurements, thereby enhancing the modeling capabilities for sensor data. In the experimental part, a public dataset and a private dataset are used for testing. The best experimental results show that compared to a pure INS inertial navigation system, the position error of the INS/FECAM-iTransformer integrated navigation system reduces by up to 99.9%. Compared to the INS/LSTM (long short-term memory) and INS/GRU (gated recurrent unit) integrated navigation systems, the position error of the proposed method decreases by up to 82.4% and 78.2%, respectively. The proposed approach offers significantly higher navigation accuracy and stability.

In this article, to further improve the accuracy and speed of grasp detection for unknown objects, a new omni-dimensional dynamic convolution grasp detection network (ODGNet) is proposed. The ODGNet includes two key designs. Firstly, it integrates omni-dimensional dynamic convolution to enhance the feature extraction of the graspable region. Secondly, it employs a grasping region feature enhancement fusion module to refine the features of the graspable region and promote the separation of the graspable region from the background. The ODGNet attained an accuracy of 98.4% and 97.8% on the image-wise and object-wise subsets of the Cornell dataset, respectively. Moreover, the ODGNet’s detection speed can reach 50 fps. A comparison with previous algorithms shows that the ODGNet not only improves the grasp detection accuracy, but also satisfies the requirement of real-time grasping. The grasping experiments in the simulation environment verify the effectiveness of the proposed algorithm.

An improved snake optimization algorithm (ISO) is proposed to obtain an effective and reliable three-dimensional path for an autonomous underwater vehicle (AUV) to navigate seabed barrier environments and ocean currents. First, a three-dimensional seafloor environment model, seafloor obstacles, and a model of a Lamb vortex current are constructed. Second, the designed mathematical framework for three-dimensional path planning comprehensively considers a variety of constraints such as sailing distance, path threat, sailing altitude, and optimized ocean current energy consumption. Finally, ISO diversifies the snake population’s distribution space by implementing a good point set initialization approach, a Cauchy variation strategy to enhance the convergence accuracy, and a fusion particle swarm algorithm strategy to improve the convergence speed. To evaluate ISO’s optimization performance, by minimizing the fitness value, the optimization outcomes are contrasted with those of five different algorithms. The experimental results show that the ISO algorithm can generate safe, low-energy, and path-optimal AUV navigation planning, which presents a novel effective approach for AUV path planning.