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Safe Motion Planning and Control Framework for Automated Vehicles with Zonotopic TRMPC

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Engineering 2024年第2期33卷 146-159页

作者： hao zheng Yinong Li Ling zheng Ehsan Hashemi State Key Laboratory of Mechanical Transmissions College of Mechanical and Vehicle EngineeringChongqing UniversityChongqing 400044China Department of Mechanical Engineering University of AlbertaEdmontonAB T6G 2H5Canada

Model mismatches can cause multi-dimensional uncertainties for the receding horizon control strategies of automated vehicles(AVs).The uncertainties may lead to potentially hazardous behaviors when the AV tracks ideal trajectories that are individually optimized by the AV's planning *** address this issue,this study proposes a safe motion planning and control(SMPAC)framework for *** the control layer,a dynamic model including multi-dimensional uncertainties is established.A zonotopic tube-based robust model predictive control scheme is proposed to constrain the uncertain system in a bounded minimum robust positive invariant set.A flexible tube with varying cross-sections is constructed to reduce the controller *** the planning layer,a concept of safety sets,representing the geometric boundaries of the ego vehicle and obstacles under uncertainties,is *** safety sets provide the basis for the subsequent evaluation and ranking of the generated *** efficient collision avoidance algorithm decides the desired trajectory through the intersection detection of the safety sets between the ego vehicle and obstacles.A numerical simulation and hardware-in-the-loop experiment validate the effectiveness and real-time performance of the *** result of two driving scenarios indicates that the SMPAC can guarantee the safety of automated driving under multi-dimensional uncertainties.

关键词： Automated vehicles Automated driving Motion planning Motion control Tube MPC Zonotope

Stable Cycling of All-Solid-State Lithium Batteries Enabled by Cyano-Molecular Diamond Improved Polymer Electrolytes

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Nano-Micro Letters 2024年第10期16卷 561-575页

作者： Yang Dai Mengbing Zhuang Yi-Xiao Deng Yuan Liao Jian Gu Tinglu Song hao Yan jin-Cheng zheng Department of Chemical Engineering Shanghai UniversityShangda Road 99Shanghai 200444People's Republic of China Department of Physics Xiamen UniversityXiamen 361005People's Republic of China Experimental Center of Advanced Materials School of Materials Science and Engineering Beijing Institute of TechnologyBeijing 100081People's Republic of China Department of Physics and Department of New Energy Science and Engineering Xiamen University Malaysia43900 SepangMalaysia

The interfacial instability of the poly(ethylene oxide)(PEO)-based electrolytes impedes the long-term cycling and further application of all-solid-state lithium metal *** this work,we have shown an effective additive 1-adaman-tanecarbonitrile,which con-tributes to the excellent per-formance of the poly(ethylene oxide)-based *** to the strong interaction of the 1-Adamantanecarboni-trile to the polymer matrix and anions,the coordination of the Li^(+)-EO is weakened,and the binding effect of anions is strengthened,thereby improving the Li^(+)conductivity and the electrochemical *** diamond building block on the surface of the lithium anode can sup-press the growth of lithium ***,the 1-Adamantanecarbonitrile also regulates the formation of LiF in the solid electrolyte interface and cathode electrolyte interface,which contributes to the interfacial stability(especially at high voltages)and protects the electrodes,enabling all-solid-state batteries to cycle at high voltages for long periods of ***,the Li/Li symmetric cell undergoes long-term lithium plating/stripping for more than 2000 h.1-Adamantanecarbonitrile-poly(ethylene oxide)-based LFP/Li and 4.3 V Ni_(0.8)Mn_(0.1)Co_(0.1)O_(2)/Li all-solid-state batteries achieved stable cycles for 1000 times,with capacity retention rates reaching 85%and 80%,respectively.

关键词： 1-Adamantanecarbonitrile(ADCN) Poly(ethylene oxide) All-solid-state batteries Interfacial stability High voltage

Deciphering the cellular heterogeneity of the insect brainwith single-cell RNA sequencing

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Insect Science 2024年第2期31卷 314-327页

作者： Xiaofei Wang Yifan Zhai hao zheng Institute of Plant Protection Shandong Academy of Agricultural SciencesJinanChina College of Food Science and Nutritional En-gineering China Agricultural UniversityBeijingChina Key Laboratory of Natural Enemies Insects Ministry of Agriculture and RuralAffairsJinanChina Shandong Provincial Engineering Technology Research Center on Biocontrol of Crops Diseases and In-sectPests JinanChina

Insects show highly complicated adaptive and sophisticated behaviors, includ-ing spatial orientation skills, learning ability, and social interaction. These behaviors arecontrolled by the insect brain, the central part of the nervous system. The tiny insect brainconsists of millions of highly differentiated and interconnected cells forming a complexnetwork. Decades of research has gone into an understanding of which parts of the insectbrain possess particular behaviors, but exactly how they modulate these functional conse-quences needs to be clarified. Detailed description of the brain and behavior is required todecipher the complexity of cell types, as well as their connectivity and function. Single-cell RNA-sequencing (scRNA-seq) has emerged recently as a breakthrough technologyto understand the transcriptome at cellular resolution. With scRNA-seq, it is possible touncover the cellular heterogeneity of brain cells and elucidate their specific functions andstate. In this review, we first review the basic structure of insect brains and the links toinsect behaviors mainly focusing on learning and memory. Then the scRNA applicationson insect brains are introduced by representative studies. Single-cell RNA-seq has allowedresearchers to classify cell subpopulations within different insect brain regions, pinpointsingle-cell developmental trajectories, and identify gene regulatory networks. These devel-opments empower the advances in neuroscience and shed light on the intricate problemsin understanding insect brain functions and behaviors.

关键词： behavior brain cell type insect single-cell RNA sequencing

Non-adiabatic holonomic quantum operations in continuous variable systems

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Science China(Physics,Mechanics & Astronomy) 2024年第6期67卷 12-19页

作者： hao-Long Zhang Yi-hao Kang Fan Wu Zhen-Biao Yang Shi-Biao zheng Fujian Key Laboratory of Quantum Information and Quantum Optics College of Physics and Information EngineeringFuzhou UniversityFuzhou 350116China

Quantum operations by utilizing the underlying geometric phases produced in physical systems are favoured due to their potential *** a system in a non-degenerate eigenstate undergoes an adiabatically cyclic evolution dominated by its Hamiltonian,it will get a geometric phase,referred to as the Berry *** a non-adiabatically cyclic evolution produces an Aharonov-Anandan geometric *** two types of Abelian geometric phases are extended to the non-Abelian cases,where the phase factors become matrix-valued and the transformations associated with different loops are *** and non-Abelian(holonomic)operations are prevalent in discrete variable systems,whose limited(say,two)energy levels,form the *** their developments in continuous systems have also been investigated,mainly due to that,bosonic modes(in,such as,cat states)with large Hilbert spaces,provide potential advantages in fault-tolerant quantum *** we propose a feasible scheme to realize non-adiabatic holonomic quantum logic operations in continuous variable systems with cat *** construct arbitrary single-qubit(two-qubit)gates with the combination of single-and two-photon drivings applied to a Kerr Parametric Oscillator(KPO)(the coupled KPOs).Our scheme relaxes the requirements of the previously proposed quantum geometric operation strategies in continuous variable systems,providing an effective way for quantum control.

关键词： cat qubit continuous variable systems non-Abelian

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Distributed Economic MPC for Synergetic Regulation of the Voltage of an Island DC Micro-Grid

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IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 734-745页

作者： Yi zheng Yanye Wang Xun Meng Shaoyuan Li hao Chen IEEE the Department of Automation Shanghai Jiao Tong UniversityShanghai 200240 the Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai 200240China Haixi Institutes Chinese Academy of SciencesJinjiang 362216China

In this paper,distributed model predictive control(DMPC) for island DC micro-grids(MG) with wind/photovoltaic(PV)/battery power is proposed,which coordinates all distributed generations(DG) to stabilize the bus voltage together with the insurance of having computational efficiency under a real-time *** on the feedback of the bus voltage,the deviation of the current is dispatched to each DG according to cost over the prediction ***,to avoid the excessive fluctuation of the battery power,both the discharge-charge switching times and costs are considered in the model predictive control(MPC) optimization problems.A Lyapunov constraint with a time-varying steady-state is designed in each local MPC to guarantee the stabilization of the entire *** voltage stabilization of the MG is achieved by this strategy with the cooperation of *** numeric results of applying the proposed method to a MG of the Shanghai Power Supply Company shows the effectiveness of the distributed economic MPC.

关键词： Distributed model predictive control(DMPC) Lyapunovbased model predictive control micro-grid(MG) voltage control

Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 1007-1021页

作者： Yunjun zheng jinchuan zheng Ke Shao Han Zhao hao Xie Hai Wang the School of Mechanical Engineering Hefei University of TechnologyHefei 230009China the School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyHawthorn VIC 3122Australia the School of Civil Aviation Northwestern Polytechnical UniversityXi’an 710072China the Shanghai Aerospace Control Technology Institute Shanghai 201109 the School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China the College of Science HealthEngineering and EducationMurdoch UniversityPerth WA6150Australia

The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external *** paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for *** with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances *** advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier *** benefit is that the overestimation of control gain can be eliminated,resulting in chattering ***,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the *** stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.

关键词： Adaptive sliding mode barrier function nonholonomic wheeled mobile robot(NWMR) trajectory tracking control

A self-centering and stiffness-controlled MEMS accelerometer

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Microsystems & Nanoengineering 2024年第1期10卷 27-40页

作者： Yiming jin Zhipeng Ma Ziyi Ye Mingkang Li Xudong zheng Zhonghe jin School of Aeronautics and Astronautics Zhejiang UniversityHangzhou 310013China Key Laboratory of Micro/Nano-Satellite Research of Zhejiang Province Hangzhou 310007PR China

This paper presents a high-performance MEMS accelerometer with a DC/AC electrostatic stiffness tuning capability based on double-sided parallel plates(DSPPs).DC and AC electrostatic tuning enable the adjustment of the effective stiffness and the calibration of the geometric offset of the proof mass,respectively.A dynamical model of the proposed accelerometer was developed considering both DC/AC electrostatic tuning and the temperature *** on the dynamical model,a self-centering closed loop is proposed for pulling the reference position of the forceto-rebalance(FTR)to the geometric center of *** self-centering accelerometer operates at the optimal reference position by eliminating the temperature drift of the readout circuit and nulling the net electrostatic tuning *** stiffness closed-loop is also incorporated to prevent the pull-in instability of the tuned low-stiffness accelerometer under a dramatic temperature ***-time adjustments of the reference position and the DC tuning voltage are utilized to compensate for the residue temperature drift of the proposed *** a result,a novel controlling approach composed of a self-centering closed loop,stiffness-closed loop,and temperature drift compensation is achieved for the accelerometer,realizing a temperature drift coefficient(TDC)of approximately 7μg/℃ and an Allan bias instability of less than 1μg.

关键词： stiffness electrostatic centering

Strategic regulation of nitrogen-containing intermediates for enhanced nitrate reduction over Co_(3)O_(4)/SiC catalyst having multiple active centers

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Journal of Energy Chemistry 2024年第9期96卷 291-299页

作者： Ming-hao Guan hao-Nan Xu jin Liu Tao Wu An-Hui Lu State Key Laboratory of Fine Chemicals Liaoning Key Laboratory for Catalytic Conversion of Carbon ResourcesSchool of Chemical EngineeringDalian University of TechnologyDalian 116024LiaoningChina

Regulating the intermediates involved in the electrocatalytic nitrate reduction reaction(NO_(3)RR)is crucial for the enhancement of reaction ***,it remains a great challenge to regulate the reaction intermediates through active site manipulation on the surface of the ***,a family of n%-Co_(3)O_(4)/SiC(n=5,8,12,20)catalysts with a delicate percentage of Co^(2+)and Co^(3+)were prepared for NO_(3)*** found that Co^(3+)primarily acts as the active site for NO_(3)^(−)reduction to NO_(2)^(−),while Co^(2+)is responsible for the conversion of NO_(2)^(−)to NH_(3).Moreover,the conversion of these intermediates over the active sites is autonomous and separately *** processes synergistically accomplish the reduction of nitrate ions to synthesize *** the experimental studies and density functional theory(DFT)calculations,it is discovered the pathway(^(*)NHO→^(*)NHOH→^(*)NH_(2)OH→^(*)NH_(2)→^(*)NH_(3))is more favorable due to the lowerΔG value(0.25 eV)for the rate-limiting step(^(*)NO→^(*)NHO).The NH_(3)yield rate of 8%-Co_(3)O_(4)/SiC reached 1.08 mmol/(cm^(2)h)with a Faradaic efficiency of 96.4%at−0.89 V versus the reversible hydrogen electrode(RHE),surpassing those of most reported non-noble NO_(3)RR *** strategy not only provides an efficient catalyst for NO_(3)RR but also serves as an illustrative model for the regulation of multi-step reaction intermediates through the design of distinct active sites,thereby presenting a new approach to enhance the efficiency of intricate reactions.

关键词： Electrocatalysis Nitratereduction Co_(3)O_(4)/SiC catalysts Intermediates control

Entanglement quantification via weak measurements assisted by deep learning

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Photonics Research 2024年第4期12卷 712-719页

作者： MU YANG YA XIAO ZE-YAN hao YU-WEI LIAO JIA-HE CAO KAI SUN EN-HUI WANG zheng-hao LIU YUTAKA SHIKANO jin-SHI XU CHUAN-FENG LI GUANG-CAN GUO CAS Key Laboratory of Quantum Information University of Science and Technology of ChinaHefei 230026China College of Physics and Optoelectronic Engineering Ocean University of ChinaQingdao 266100China CAS Center for Excellence in Quantum Information and Quantum Physics University of Science and Technology of ChinaHefei 230026China Hefei National Laboratory University of Science and Technology of ChinaHefei 230088China Electric Power Research Institute State Grid Anhui Electric Power Co.Ltd.Hefei 230601China Institute of Systems and Information Engineering University of TsukubaIbaraki 305-8573Japan Center for Artificial Intelligence Research University of TsukubaIbaraki 305-8577Japan Graduate School of Science and Technology Gunma UniversityGunma 371-8510Japan Institute for Quantum Studies Chapman UniversityOrangeCalifornia 92866USA JST PRESTO Saitama 332-0012Japan

Entanglement has been recognized as being crucial when implementing various quantum information ***, quantifying entanglement for an unknown quantum state requires nonphysical operations or post-processing measurement data. For example, evaluation methods via quantum state tomography require vast amounts of measurement data and likely estimation.

关键词： estimation quantum angle