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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1605-1620页

作者： Yufeng Lian Xingtian Xiao jiliang zhang Long Jin Junzhi Yu Zhongbo Sun the Department of Control Engineering Changchun University of TechnologyChangchun 130012China IEEE the College of Information Science and Engineering Northeastern UniversityShenyang 110819 the National Mobile Communications Research Laboratory Southeast UniversityNanjing 210096China the School of Information Science and Engineering Lanzhou UniversityLanzhou 730000China the State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China

This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning(CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming(QP) and solved online utilizing a noise-tolerant zeroing neural network(NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.

关键词： Cooperative motion control noise-tolerant zeroing neural network(NTZNN) omnidirectional mobile manipulator(OMM) repetitive motion planning

An artificial systems,computational experiments and parallel execution-based surface electromyogram-driven anti-disturbance zeroing neurodynamic strategy for upper limb human-robot interaction control

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CAAI Transactions on Intelligence Technology 2024年第2期9卷 511-525页

作者： Yongbai Liu Keping Liu Gang Wang jiliang zhang Yao Chou Zhongbo Sun Department of Mechanical Engineering Changchun University of TechnologyChangchunChina Department of Control Engineering Changchun University of TechnologyChangchunChina School of Electrical and Information Engineering Jilin Engineering Normal UniversityChangchunChina College of Information Science and Engineering Northeastern UniversityShenyangChina Department of Electrical and Computer Engineering Brigham Young UniversityProvoUtahUSA

In recent years,intelligent robots are extensively applied in the field of the industry and intelligent rehabilitation,wherein the human-robot interaction(HRI)control strategy is a momentous part that needs to be ameliorated.Specially,the efficacy and robustness of the HRI control algorithm in the presence of unknown external disturbances deserve to be addressed.To deal with these urgent issues,in this study,artificial systems,computational experiments and a parallel execution intelligent control framework are constructed for the HRI control.The upper limb-robotic exoskeleton system is re-modelled as an artificial system.Depending on surface electromyogram-based subject's active motion intention in the practical system,a non-convex function activated anti-disturbance zeroing neurodynamic(NC-ADZND)controller is devised in the artificial system for parallel interaction and HRI control with the practical system.Furthermore,the linear activation function-based zeroing neurodynamic(LAF-ZND)controller and proportionalderivative(posterior deltoid(PD))controller are presented and compared.Theoretical results substantiate the global convergence and robustness of the proposed controller in the presence of different external disturbances.In addition,the simulation results verify that the NC-ADZND controller is better than the LAF-ZND and the PD controllers in respect of convergence order and anti-disturbance characteristics.

关键词： neural network pattern recognition robotics signal processing

Biomass-derived porous carbon with single-atomic cobalt toward high-performance aqueous zinc-sulfur batteries at room temperature

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Journal of Energy Chemistry 2024年第8期95卷 325-335页

作者： Shenfei Zhao Xiaoshuai Wu jiliang zhang Chunjie Li Zixiang Cui Weihua Hu Ruguang Ma Changming Li Institute for Clean Energy & Advanced Materials School of Materials & Energy Southwest University Institute for Materials Science and Devices School of Materials Science and Engineering Suzhou University of Science and Technology School of Materials Science and Engineering Dalian Jiaotong University

Aqueous zinc-sulfur batteries at room temperature hold great potential for next-generation energy storage technology due to their low cost, safety and high energy density. However, slow reaction kinetics and high activation energy at the sulfur cathode pose great challenges for the practical applications. Herein,biomass-derived carbon with single-atomic cobalt sites（MMPC-Co） is synthesized as the cathode in Zn-S batteries. The catalysis of single-atom Co sites greatly promotes the transform of cathode electrolyte interface（CEI） on the cathode surface, while offering accelerated charge transfer rate for high conversion reversibility and large electrochemical surface area（ECSA） for high electrocatalytic current. Furthermore,the rich pore structure not only physically limits sulfur loss, but also accelerates the transport of zinc ions.In addition, the large pore volume of MMPC-Co is able to relieve the stress effect caused by the volume expansion of Zn S during charge/discharge cycles, thereby maintaining the stability of electrode structure.Consequently, the sulfur cathode maintains a high specific capacity of 729.96 m A h g-1after 500 cycles at4 A g-1, which is much better than most cathode materials reported in the literature. This work provides new insights into the design and development of room-temperature aqueous Zn-S batteries.

关键词： Aqueous zinc-sulfur batteries Biomass-derived carbon Rich pore structure Single-atom catalysts Sulfur cathode

The dynamic relaxation form finding method aided with advanced recurrent neural network

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CAAI Transactions on Intelligence Technology 2023年第3期8卷 635-644页

作者： Liming Zhao Zhongbo Sun Keping Liu jiliang zhang Department of Mechanical and Electrical Engineering Changchun University of TechnologyChangchunChina Department of Control Engineering Changchun University of TechnologyChangchunChina Department of Electronic and Electrical Engineering The University of SheffieldSheffieldEngland

How to establish a self‐equilibrium configuration is vital for further kinematics and dynamics analyses of tensegrity mechanism.In this study,for investigating tensegrity form‐finding problems,a concise and efficient dynamic relaxation‐noise tolerant zeroing neural network(DR‐NTZNN)form‐finding algorithm is established through analysing the physical properties of tensegrity structures.In addition,the non‐linear constrained opti-misation problem which transformed from the form‐finding problem is solved by a sequential quadratic programming algorithm.Moreover,the noise may produce in the form‐finding process that includes the round‐off errors which are brought by the approximate matrix and restart point calculating course,disturbance caused by external force and manufacturing error when constructing a tensegrity structure.Hence,for the purpose of suppressing the noise,a noise tolerant zeroing neural network is presented to solve the search direction,which can endow the anti‐noise capability to the form‐finding model and enhance the calculation capability.Besides,the dynamic relaxation method is contributed to seek the nodal coordinates rapidly when the search direction is acquired.The numerical results show the form‐finding model has a huge capability for high‐dimensional free form cable‐strut mechanisms with complicated topology.Eventually,comparing with other existing form‐finding methods,the contrast simulations reveal the excellent anti‐noise performance and calculation capacity of DR‐NTZNN form‐finding algorithm.

关键词： dynamic relaxation form‐finding noise‐tolerant zeroing neural network sequential quadratic programming Tensegrity

Nonconvex Noise-Tolerant Neural Model for Repetitive Motion of Omnidirectional Mobile Manipulators

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IEEE/CAA Journal of Automatica Sinica 2023年第8期10卷 1766-1768页

作者： Zhongbo Sun Shijun Tang jiliang zhang Junzhi Yu the Department of Control Engineering Changchun University of TechnologyChangchun 130012China IEEE College of Information Science and Engineering Northeastern UniversityShenyang 110819China the State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China

Dear Editor,Quadratic programming problems(QPs)receive a lot of attention in various fields of science computing and engineering applications,such as manipulator control[1].Recursive neural network(RNN)is considered t... 详细信息

关键词： directional programming hardware

Tuning structure and magnetic properties of table-like magnetocaloric effect in Er_(6)MnSb_(2) by zirconium substitution

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Journal of Rare Earths 2023年第7期41卷 1073-1082,I0004页

作者： Tonghan Yang jiliang zhang Wei He Kaimin Shih Shengshou Ma Cuiyun He College of Chemistry and Chemical Engineering Key Laboratory of New Processing Technology for Nonferrous Metal and Materials(Ministry of Education)Guangxi Key Laboratory of Processing for Non-ferrous Metallic and Featured MaterialsSchool of ResourcesEnvironment and MaterialsGuangxi UniversityNanning 530004China School of Materials Science and Engineering Dalian Jiaotong UniversityDalian 116028China Department of Materials Science and Engineering Korea UniversitySeoul02841South Korea Department of Civil Engineering The University of Hong KongHong Kong SARChina

In this study,zirconium(Zr) successfully substituted for erbium(Er) in Er_(6-x)Zr_(x)MnSb_(2)(x=0,0.5,1,1.5) of the Fe_(2)P type,with comprehensive characterizations on crystal structure,electronic structure and magnetic properties.According to synchrotron powder X-ray diffraction data analysis and density functional theory calculation,Zr does not randomly but preferentially occupy during the doping process and results in weaker magnetic exchange interactions and depressed ordering temperatures.The electronic structure data show that the doping of Zr can weaken interaction between Er and Mn atoms.Owing to multiple transitions,the Er_(6-x)Zr_(x)MnSb_(2)(x=0,0.5,1,1.5) exhibit table-like magnetocaloric effect.Er_(6)MnSb_(2) displays wide δT_(FWHM)(full width at half maximum of the magnetic entropy change curve) of 116 K and high relative cooling power of 388.62 J/kg for 3 T.The maximum magnetic entropy change of Er_(6-x)Zr_(x)MnSb_(2) is increased from 3.81 to 7.69 J/(kg·K) with the Zr content up from x=0 to x=1.5.

关键词： Er_(6-x)Zr_(x)MnSb_(2) Preferential occupancy Magnetic exchange Table-like magnetocaloric effect Rare earths

Numerical‐discrete‐scheme‐incorporated recurrent neural network for tasks in natural language processing

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CAAI Transactions on Intelligence Technology 2023年第4期8卷 1415-1424页

作者： Mei Liu Wendi Luo Zangtai Cai Xiujuan Du jiliang zhang Shuai Li School of Information Science and Engineering Lanzhou UniversityLanzhouChina The State Key Laboratory of Tibetan Intelligent Information Processing and Application Qinghai Normal UniversityXiningChina Department of Electronic and Electrical Engineering The University of SheffieldSheffieldUK

A variety of neural networks have been presented to deal with issues in deep learning in the last decades.Despite the prominent success achieved by the neural network,it still lacks theoretical guidance to design an efficient neural network model,and verifying the performance of a model needs excessive resources.Previous research studies have demonstrated that many existing models can be regarded as different numerical discretizations of differential equations.This connection sheds light on designing an effective recurrent neural network(RNN)by resorting to numerical analysis.Simple RNN is regarded as a discretisation of the forward Euler scheme.Considering the limited solution accuracy of the forward Euler methods,a Taylor‐type discrete scheme is presented with lower truncation error and a Taylor‐type RNN(T‐RNN)is designed with its guidance.Extensive experiments are conducted to evaluate its performance on statistical language models and emotion analysis tasks.The noticeable gains obtained by T‐RNN present its superiority and the feasibility of designing the neural network model using numerical methods.

关键词： deep learning natural language processing neural network text analysis

SDL PUF:高可靠自适应偏差锁定PUF电路

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电子与信息学报 2024年第5期46卷 2274-2280页

作者：张源罗静茹张吉良湖南大学半导体学院(集成电路学院) 长沙410000

物理不可克隆函数(Physical Unclonable Function, PUF)作为一种新的硬件安全原语,通过提取工艺偏差产生唯一的响应序列为计算系统提供可信根。然而现有基于现场可编辑门阵列(Field Programmable Gate Array, FPGA)的PUF难以在较宽的温... 详细信息

物理不可克隆函数(Physical Unclonable Function, PUF)作为一种新的硬件安全原语,通过提取工艺偏差产生唯一的响应序列为计算系统提供可信根。然而现有基于现场可编辑门阵列(Field Programmable Gate Array, FPGA)的PUF难以在较宽的温度和电压范围内实现高可靠性。该文提出一种基于自定时环(Self-Timed Ring,STR)的自适应偏差锁定PUF(Self-adaption Deviation Locking PUF, SDL PUF),首先利用STR延迟引起的振荡频率差产生PUF响应;然后通过在初始化阶段自适应配置,有效扩大STR环内的事件到达时间偏差,从而显著提高PUF的可靠性;最后进一步提出一种对比混淆策略,通过提取工艺偏差自动生成随机比特配置并混淆比较器,以抵抗侧信道攻击。在Xilinx Virtex-6 FPGA上实验结果表明,SDL PUF在0~80°C的温度范围和0.85~1.15V的电压范围内误码率为0,唯一性和均匀性分别为49.29%和49.84%。

关键词：物理不可克隆函数自定时环 FPGA 可靠性

Guiding topological semimetals towards water oxidation in a Kagomé crystal lattice

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Science China(Physics,Mechanics & Astronomy) 2020年第3期63卷 122-124页

作者： GuangCun Shan jiliang zhang School of Instrument Science and Opto-electronic Engineering&Institute of Quantum Sensing Beihang UniversityBeijing 100083China Max Planck Institute for Chemical Physics of Solids Dresden D-01187Germany Department of Energy&Materials Engineering Dongguk UniversitySeoul 100-715Republic of Korea

Photocatalytic splitting of relatively plentiful water into O2 and H2 supplies a possible solution for storing solar energy to meet energy demands and environmental requirements[1].The water oxidation half reaction to form dioxygen known as the oxygen evolution reaction(OER,2H2O→O2+4H++4e-)is attracting more attention because there are already known materials for efficient mediation of the reduction step(4H++4e-→2H2)[2].Current research focuses on understanding the mechanisms of OER and development of new OER catalysts.The widely studied OER systems include platinum surface[1],transition metal oxides[2],transition metal complexes[3],3d transition metal spinels and perovskites[4],and metal-organic framework(MOF)materials based on3d transition metals[5].In these materials,transition metals in the surface generally serve as active centers for the OER,while the surrounding atomic environments determine their performance and stability[6].However,preparation of the surface has a large effect on reactivity(defects,kinks,low coordinate sites)therefore it is difficult to predict an OER material’s properties by its bulk structure.

关键词： structure. metals topological

Secrecy outage analysis for underlay cognitive radio networks over correlated channels

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Science China(Information Sciences) 2017年第2期60卷 107-115页

作者： jiliang zhang Hui ZHAO Gaofeng PAN Chongqing Key Laboratory of Nonlinear Circuits and Intelligent Information Processing School of Electronic and Information Engineering Southwest University

This paper investigates the secrecy outage performance of underlay cognitive radio networks, in which a source in a secondary system transmits its confidential information to a legitimate destination in the presence of an eavesdropper. Specifically, the main(the source-to-destination) and eavesdropping(the sourceto-eavesdropper) channels are assumed to be correlated. Moreover, it is also assumed that the main channel and the channel from the source to the primary user's receiver are correlated. Tight closed-form analytical expression for secrecy outage probability and the closed-form analytical expression for the probability of non-zero secrecy capacity are derived and validated by simulation results when the interference temperature limit is comparably large.

关键词： cognitive radio networks correlated fading channels probability of non-zero secrecy capacity secrecy outage probability