Yu-Hsien Lin^*, Po-Cheng Chuang, Joyce Yi-Tzu Huang

CMC-Computers, Materials & Continua, Vol.84, No.3, pp. 4907-4948, 2025, DOI:10.32604/cmc.2025.065995 - 30 July 2025

Abstract This study proposes an automatic control system for Autonomous Underwater Vehicle (AUV) docking, utilizing a digital twin (DT) environment based on the HoloOcean platform, which integrates six-degree-of-freedom (6-DOF) motion equations and hydrodynamic coefficients to create a realistic simulation. Although conventional model-based and visual servoing approaches often struggle in dynamic underwater environments due to limited adaptability and extensive parameter tuning requirements, deep reinforcement learning (DRL) offers a promising alternative. In the positioning stage, the Twin Delayed Deep Deterministic Policy Gradient (TD3) algorithm is employed for synchronized depth and heading control, which offers stable training, reduced overestimation… More >

Taha Yacine Trad^1,*, Kheireddine Choutri¹, Mohand Lagha¹, Souham Meshoul², Fouad Khenfri³, Raouf Fareh⁴, Hadil Shaiba⁵

CMC-Computers, Materials & Continua, Vol.81, No.3, pp. 4757-4786, 2024, DOI:10.32604/cmc.2024.055634 - 19 December 2024

Abstract The popularity of quadrotor Unmanned Aerial Vehicles (UAVs) stems from their simple propulsion systems and structural design. However, their complex and nonlinear dynamic behavior presents a significant challenge for control, necessitating sophisticated algorithms to ensure stability and accuracy in flight. Various strategies have been explored by researchers and control engineers, with learning-based methods like reinforcement learning, deep learning, and neural networks showing promise in enhancing the robustness and adaptability of quadrotor control systems. This paper investigates a Reinforcement Learning (RL) approach for both high and low-level quadrotor control systems, focusing on attitude stabilization and position… More >

Jian Dong, Haixin Wang, Junyou Yang^*, Liu Gao, Kang Wang, Xiran Zhou

CMES-Computer Modeling in Engineering & Sciences, Vol.132, No.1, pp. 319-340, 2022, DOI:10.32604/cmes.2022.020394 - 02 June 2022

Abstract Integrated energy system optimization scheduling can improve energy efficiency and low carbon economy. This paper studies an electric-gas-heat integrated energy system, including the carbon capture system, energy coupling equipment, and renewable energy. An energy scheduling strategy based on deep reinforcement learning is proposed to minimize operation cost, carbon emission and enhance the power supply reliability. Firstly, the low-carbon mathematical model of combined thermal and power unit, carbon capture system and power to gas unit (CCP) is established. Subsequently, we establish a low carbon multi-objective optimization model considering system operation cost, carbon emissions cost, integrated demand More >