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Asynchronous gain-scheduled control of deepwater drilling riser system with hybrid event-triggered sampling and unreliable communication

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Frontiers of Information Technology & Electronic Engineering 2024年第2期25卷 272-285页

作者： Na PANG Dawei ZHANG Shuqian zhu School of Mathematics Shandong UniversityJinan250100China

This paper investigates the recoil control of the deepwater drilling riser system with nonlinear tension force and energy-bounded friction force under the circumstances of limited network resources and unreliable *** from the existing linearization modeling method,a triangle-based polytope modeling method is applied to the nonlinear riser *** on the polytope model,to improve resource utilization and accommodate random data loss and communication delay,an asynchronous gain-scheduled control strategy under a hybrid event-triggered scheme is *** asynchronous linear parameter-varying system that blends input delay and impulsive update equation is presented to model the nonlinear networked recoil control system,where the asynchronous deviation bounds of scheduling parameters are *** to the Lyapunov-Krasovskii functional method,some solvable conditions of disturbance attenuation analysis and recoil control design are derived such that the resulting networked system is exponentially mean-square stable with prescribed H∞*** obtained numerical results verified that the proposed nonlinear networked control method can achieve a better recoil response of the riser system with less transmission data compared with the linear control method.

关键词： Riser system Recoil control Asynchronous gain-scheduled control Data loss Event-triggered scheme

Pixelated non-volatile programmable photonic integrated circuits with 20-level intermediate states

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International Journal of Extreme Manufacturing 2024年第3期6卷 477-487页

作者： Wenyu Chen Shiyuan Liu Jinlong zhu State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074People’s Republic of China Optics Valley Laboratory WuhanHubei 430074People’s Republic of China

Multi-level programmable photonic integrated circuits(PICs)and optical metasurfaces have gained widespread attention in many fields,such as neuromorphic photonics,opticalcommunications,and quantum *** this paper,we propose pixelated programmable Si_(3)N_(4)PICs with record-high 20-level intermediate states at 785 nm *** flexibility in phase or amplitude modulation is achieved by a programmable Sb_(2)S_(3)matrix,the footprint of whose elements can be as small as 1.2μm,limited only by the optical diffraction limit of anin-house developed pulsed laser writing *** believe our work lays the foundation for laser-writing ultra-high-level(20 levels and even more)programmable photonic systems and metasurfaces based on phase change materials,which could catalyze diverse applications such as programmable neuromorphic photonics,biosensing,optical computing,photonic quantum computing,and reconfigurable metasurfaces.

关键词： programmable photonic integrated circuits phase change materials multi-level intermediate states metasurfaces

Bio-inspired Design and Inverse Kinematics Solution of an Omnidirectional Humanoid Robotic Arm with Geometric and Load Capacity Constraints

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Journal of Bionic Engineering 2024年第2期21卷 778-802页

作者： Zhichao zhu Zirong Luo Yiming zhu Tao Jiang Minghai Xia Shanjun Chen Boyu Jin College of Intelligence Science and Technology National University of Defense TechnologyChangshaChina

Inspired by the driving muscles of the human arm,a 4-Degree of Freedom(DOF)concentrated driving humanoid robotic arm is proposed based on a spatial double parallel four-bar *** four-bar mechanism design reduces the inertia of the elbow-driving unit and the torque by 76.65%and 57.81%,*** the human pose regulation strategy that the human arm picks up a heavy object by adjusting its posture naturally without complicated control,the robotic arm features an integrated position-level closed-form inverse solution method considering both geometric and load capacity *** method consists of a geometric constraint model incorporating the arm angle(φ)and the Global Configuration(GC)to avoid joint limits and singularities,and a load capacity model to constrain the feasible domain of the arm ***,trajectory tracking simulations and experiments are conducted to validate the feasibility of the proposed inverse solution *** simulated maximum output torque,maximum output power and total energy consumption of the robotic arm are reduced by up to 2.0%,13.3%,and 33.3%,*** experimental results demonstrate that the robotic arm can bear heavy loads in a human-like posture,effectively reducing the maximum output torque and energy consumption of the robotic arm by 1.83%and 5.03%,respectively,while avoiding joints beyond geometric and load capacity *** proposed design provides a high payload–weight ratio and an efficient pose control solution for robotic arms,which can potentially broaden the application spectrum of humanoid robots.

关键词： Humanoid robotic arm Bio-inspired design Inverse kinematics solution Load capacity constraint Geometric constraint

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本研一体化生物化学实验教学体系构建

实验室研究与探索 2024年第2期43卷 188-192页

作者：王浩绮朱政明南京工业大学生物与制药工程学院南京211816

实验生物化学是生物类相关专业本科生及研究生的专业核心课程。在分析了实验生物化学教学中存在问题的基础上,采取了多项举措,如设计验证性—综合性—探索性的梯度式实验课程内容,强化课前预习与课后巩固,采取混合式、案例式等教学方式... 详细信息

实验生物化学是生物类相关专业本科生及研究生的专业核心课程。在分析了实验生物化学教学中存在问题的基础上,采取了多项举措,如设计验证性—综合性—探索性的梯度式实验课程内容,强化课前预习与课后巩固,采取混合式、案例式等教学方式,构建闭环反馈的多元化课程评价体系等对课程内容、教学过程、教学方式以及评价体系进行了重构和优化,提高了教学效果。

关键词：实验课程教学体系一体化教学改革

Could π-aromaticity cross an unsaturated system to a fully saturated one?

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Chinese Chemical Letters 2024年第6期35卷 298-302页

作者： Shicheng Dong Jun zhu State Key Laboratory of Physical Chemistry of Solid Surfaces Collaborative Innovation Center of Chemistry for Energy Materials(iChem)Fujian Provincial Key Laboratory of Theoretical and Computational ChemistryCollege of Chemistry and Chemical EngineeringXiamen UniversityXiamen 361005China School of Science and Engineering The Chinese University of Hong KongShenzhen 518172China

The classification of π-/σ-aromaticity depends on the electrons with the dominating ***,π-andσ-aromaticity are used to describe the unsaturated and saturated systems,***,it is rarely reported that π-aromaticity is dominated in a saturated *** we demonstrate that π-aromaticity could be dominating in several fully saturated four-membered rings(4MRs),supported by various aromaticity indices including ΔBL,NICS,EDDB,MCI,and Ad *** origin of suchπ-aromaticity in saturated rings could be attributed to an introduction of two additional electrons into the π-type LUMO of the parent neutral *** findings represent a novel approach to achieve π-aromaticity into a fully saturated system which has traditionally been dominated by σ-aromaticity.

关键词： π-Aromaticity Saturated rings Silicon

2-local unstable homotopy groups of indecomposable A3～2-complexes

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Science China Mathematics 2024年第3期67卷 607-626页

作者： Zhongjian zhu Jianzhong Pan College of Mathematics and Physics Wenzhou University Hua Loo-Keng Key Laboratory of Mathematics Institute of MathematicsAcademy of Mathematics and Systems ScienceChinese Academy of Sciences School of Mathematical Sciences University of Chinese Academy of Sciences

In this paper,we calculate the 2-local unstable homotopy groups of indecomposable A3～*** main technique used is analysing the homotopy property of J（A,X）,defined by Gray（1973） for a CW-pair（X,A）,which is homoto... 详细信息

关键词： homotopy groups A 2 n -complexes fibration sequence relative James construction 55P15

YOLO-MFD:Remote Sensing Image Object Detection with Multi-Scale Fusion Dynamic Head

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Computers, Materials & Continua 2024年第5期79卷 2547-2563页

作者： Zhongyuan Zhang Wenqiu zhu School of Computer Science Hunan University of TechnologyZhuzhou412007China

Remote sensing imagery,due to its high altitude,presents inherent challenges characterized by multiple scales,limited target areas,and intricate *** inherent traits often lead to increased miss and false detection rates when applying object recognition algorithms tailored for remote sensing ***,these complexities contribute to inaccuracies in target localization and hinder precise target *** paper addresses these challenges by proposing a solution:The YOLO-MFD model(YOLO-MFD:Remote Sensing Image Object Detection withMulti-scale Fusion Dynamic Head).Before presenting our method,we delve into the prevalent issues faced in remote sensing imagery ***,we emphasize the struggles of existing object recognition algorithms in comprehensively capturing critical image features amidst varying scales and complex *** resolve these issues,we introduce a novel ***,we propose the implementation of a lightweight multi-scale module called *** module significantly improves the model’s ability to comprehensively capture important image features by merging multi-scale feature *** effectively addresses the issues of missed detection and mistaken alarms that are common in remote sensing ***,an additional layer of small target detection heads is added,and a residual link is established with the higher-level feature extraction module in the backbone *** allows the model to incorporate shallower information,significantly improving the accuracy of target localization in remotely sensed ***,a dynamic head attentionmechanism is *** allows themodel to exhibit greater flexibility and accuracy in recognizing shapes and targets of different ***,the precision of object detection is significantly *** trial results show that the YOLO-MFD model shows improvements of 6.3%,3.5%,and 2.5%over the original YOLOv8 model in Precision,map@0.5 a

关键词： Object detection YOLOv8 multi-scale attention mechanism dynamic detection head

An Improved Bounded Conflict-Based Search for Multi-AGV Pathfinding in Automated Container Terminals

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Computer Modeling in Engineering & Sciences 2024年第6期139卷 2705-2727页

作者： Xinci Zhou Jin zhu Shanghai Maritime University Logistics Science and Engineering Research InstituteShanghai200000China

As the number of automated guided vehicles(AGVs)within automated container terminals(ACT)continues to rise,conflicts have becomemore *** point and edge conflicts ofAGVs,amulti-AGVconflict-free path planning model has been formulated to minimize the total path length of AGVs between shore bridges and *** larger terminalmaps and complex environments,the grid method is employed to model AGVs’road *** improved bounded conflict-based search(IBCBS)algorithmtailored to ACT is proposed,leveraging the binary tree principle to resolve conflicts and employing focal search to expand the search *** experiments involving 60 AGVs indicate a reduction in computing time by 37.397%to 64.06%while maintaining the over cost within 1.019%.Numerical experiments validate the proposed algorithm’s efficacy in enhancing efficiency and ensuring solution quality.

关键词： Automated terminals multi-AGV multi-agent path finding(MAPF) conflict based search(CBS) AGV path planning

Modern phenomics to empower holistic crop science, agronomy, and breeding research

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Journal of Genetics and Genomics 2024年第8期51卷 790-800页

作者： Ni Jiang Xin-Guang zhu Institute of Genetics and Developmental Biology Chinese Academy of SciencesBeijing 100101China Center of Excellence for Molecular Plant Sciences Chinese Academy of SciencesShanghai 200032China

Crop phenomics enables the collection of diverse plant traits for a large number of samples along different time scales,representing a greater data collection throughput compared with traditional *** modern crop phenomics use different sensors to collect reflective,emitted,and fluorescence signals,etc.,from plant organs at different spatial and temporal *** multi-modal,high-dimensional data not only accelerates basic research on crop physiology,genetics,and whole plant systems modeling,but also supports the optimization of field agronomic practices,internal environments of plant factories,and ultimately crop *** challenges and opportunities facing the current crop phenomics research community include developing community consensus or standards for data collection,management,sharing,and processing,developing capabilities to measure physiological parameters,and enabling farmers and breeders to effectively use phenomics in the field to directly support agricultural production.

关键词： Crop phenomics High-throughput phenotyping Traits Crop designer breeding Agronomy