This work addresses the multitask-based trajectory-planning problem (MTTP) for space robotics, which is an emerging application of successively executing tasks in assembly of the International Space Station. The MTTP is transformed into a parameter-optimization problem, where piecewise continuous-sine functions are employed to depict the joint trajectories. An improved genetic algorithm (IGA) is developed to optimize the unknown parameters. In the IGA, each chromosome consists of three parts, namely the waypoint sequence, the sequence of the joint configurations, and a special value for the depiction of the joint trajectories. Numerical simulations, including comparisons with two other approaches, are developed to test IGA validity.

T-type three-level inverters have been extensively utilized in renewable energy generation, motor drive systems, and other power conversion applications. However, failures in semiconductor devices critically reduce the operational reliability of power conversion systems. While significant progress has been made in the diagnosis of single-switch open-circuit (OC) faults, the precise location and detection of simultaneous double-switch OC faults remain challenging. Therefore, this paper proposes a fault diagnosis method, integrating an improved adaptive sliding mode observer (IASMO) and dynamic current threshold detection. First, the IASMO is constructed through the hybrid logic dynamic model, achieving accurate and rapid estimation of phase currents. Then, integrating estimated with actual currents accomplishes the design of detection variables and adaptive thresholds. Subsequently, fault location variables are formulated to achieve accurate localization of both single-switch and double-switch faults. Finally, Simulation and experimental results demonstrate that the proposed method effectively identifies 18 types of OC faults within 75% of the current cycle, with high efficiency and robustness.

In this article, pursuit and evasion policies are developed for multi-player pursuit–evasion games, while obstacle avoidance and velocity constraints are considered simultaneously. As minimum and maximum approximation functions are both differentiable, pursuit and evasion objectives can be transformed into solving the corresponding differential expressions. For obstacle avoidance, a modified null-space-based approach is designed, which can ensure that all pursuers and evaders of pursuit–evasions are safe to minimize pursuit objective and maximize evasion objective, respectively. Rigorous theoretical analyses are provided to design constrained pursuit and evasion policies with obstacle avoidance. Finally, the performance of proposed policies is demonstrated by simulation results in 3-dimensional space.

Accurate and reliable detection of coal mine gases is the key to ensuring the safe service of coal mine production. Fourier Transform Infrared (FTIR) spectroscopy, due to its high sensitivity, non-destructive nature, and potential for online monitoring, has emerged as a key technique in gas detection. However, the complex underground environment often causes baseline drift in IR spectra. Furthermore, the variety of gas species and uneven distribution of concentrations make it difficult to achieve precise and reliable online analysis using existing quantitative methods. This paper aims to perform a quantitative analysis of coal mine gases by FTIR. It utilized the adaptive smoothness parameter penalized least squares method to correct the drifted spectra. Subsequently, based on the infrared spectral distribution characteristics of coal mine gases, they could be classified into gases with mutually distinct absorption peaks and gases with overlapping absorption peaks. For gases with distinct absorption peaks, three spectral lines, including the absorption peak and its adjacent troughs, were selected for quantitative analysis. Spline fitting, polynomial fitting, and other curve fitting methods are used to establish a functional relationship between characteristic parameters and gas concentration. For gases with overlapping absorption peaks, a wavelength selection method bassed on the impact values of variables and population analysis was applied to select variables from the spectral data. The selected variables were then used as input features for building a model with a backpropagation (BP) neural network. Finally, the proposed method was validated using standard gases. Experimental results show detection limits of 0.5 ppm for CH₄, 1 ppm for C₂H₆, 0.5 ppm for C₃H₈, 0.5 ppm for n-C₄H₁₀, 0.5 ppm for i-C₄H₁₀, 0.5 ppm for C₂H₄, 0.2 ppm for C₂H₂, 0.5 ppm for C₃H₆, 1 ppm for CO, 0.5 ppm for CO₂, and 0.1 ppm for SF₆, with quantification limits below 10 ppm for all gases. Experimental results show that the absolute error is less than 0.3% of the full scale (F.S.) and the relative error is within 10%. These results demonstrate that the proposed infrared spectral quantitative analysis method can effectively analyze mine gases and achieve good predictive performance.

Unmanned aerial manipulators (UAMs), composed of unmanned aerial vehicles (UAVs) and manipulators, have great application potential in aerial manipulation like precision inspection, disaster rescue, etc. However, strong dynamic coupling exists between UAVs and manipulators. In addition, UAMs meet external disturbances such as gusts of wind during movements. Also, the control performance metrics, such as tracking accuracy and control stability, are seriously affected. Therefore, a cooperative control method is developed for a UAM system with a UAV and a 2-degree-of-freedom manipulator. First, the Euler–Lagrange formulation is employed to study the UAM dynamics like inertial forces and coupling effects. Then, an integral sliding mode control (ISMC) method with an integral term is developed to enhance robustness and eliminate steady-state errors. Finally, the proposed ISMC method is validated through numerical simulations in Matlab R2024a, introducing comparative analyses with the Proportional–Integral–Derivative (PID) and SMC controllers. The simulation results and the comparative analyses validate the effectiveness of ISMC, showing its superiority over the PID and SMC controllers in handling dynamic coupling and external disturbances, where the overshoot of ISMC is reduced by an average of more than 90%. The ISMC method provides a high-performance control strategy to promote the practical application of UAMs in various aerial manipulation tasks and lays the foundation for further optimizing control methods for more complex UAM systems.

The trajectory planning of an aerial robotic manipulator system is studied using Hybrid Particle Swarm Optimization (HPSO). The aerial robotic manipulator is composed of an unmanned aerial vehicle (UAV) base and a robotic manipulator. The robotic manipulator is dynamically singular. In addition, strong coupling exists between the UAV base and the robotic manipulator. To overcome the problems, the trajectory planning is studied in the join space using HPSO. HPSO combines superiorities of PSO and GA (Genetic Algorithm), prohibiting particles from becoming trapped in a local minimum. In addition, the control parameters are self-adaptive and contribute to fast searching for the global optimum. The trajectory planning problem is converted into a parameter optimization problem. Each joint trajectory is parameterized with a Bézier curve. The HPSO is implemented to optimize joint trajectories, satisfying specific objectives and imposed constraints. Numerical simulations are also carried out to validate the effectiveness of the proposed method.