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Adaptive state-constrained/model-free iterative sliding mode control for aerial robot trajectory tracking

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Applied Mathematics and Mechanics(English Edition) 2024年第4期45卷 603-618页

作者： Chen AN Jiaxi ZHOU kai WANG College of Mechanical and Vehicle Engineering Hunan UniversityChangsha 410082China Department of Mechanical Engineering The Hong Kong Polytechnic UniversityHong KongChina

This paper develops a novel hierarchical control strategy for improving the trajectory tracking capability of aerial robots under parameter *** hierarchical control strategy is composed of an adaptive sliding mode controller and a model-free iterative sliding mode controller(MFISMC).A position controller is designed based on adaptive sliding mode control(SMC)to safely drive the aerial robot and ensure fast state convergence under external ***,the MFISMC acts as an attitude controller to estimate the unmodeled dynamics without detailed knowledge of aerial ***,the adaption laws are derived with the Lyapunov theory to guarantee the asymptotic tracking of the system ***,to demonstrate the performance and robustness of the proposed control strategy,numerical simulations are carried out,which are also compared with other conventional strategies,such as proportional-integralderivative(PID),backstepping(BS),and *** simulation results indicate that the proposed hierarchical control strategy can fulfill zero steady-state error and achieve faster convergence compared with conventional strategies.

关键词： aerial robot hierarchical control strategy model-free iterative sliding mode controller(MFISMC) trajectory tracking reinforcement learning

Sequential Propagation of Chaos for Mean-Field BSDE Systems

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Chinese Annals of Mathematics,Series B 2024年第1期45卷 11-40页

作者： Xiaochen LI kai DU Shanghai Center for Mathematical Sciences Fudan UniversityShanghai 200433China. Shanghai Artificial Intelligence Laboratory 701 Yunjin RoadShanghai 200433China

A new class of backward particle systems with sequential interaction is proposed to approximate the mean-field backward stochastic differential *** is proven that the weighted empirical measure of this particle system converges to the law of the McKean-Vlasov system as the number of particles *** on the Wasserstein met-ric,quantitative propagation of chaos results are obtained for both linear and quadratic growth ***,numerical experiments are conducted to validate our theoretical results.

关键词： Backward propagation of chaos Particle system Sequential interaction McKean-Vlasov BSDE Convergence rate

Adaptive learning-based optimal tracking control system design and analysis of a disturbed nonlinear hypersonic vehicle model

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Science China(Technological Sciences) 2024年第6期67卷 1893-1906页

作者： AN kai WANG ZhenGuo HUANG Wei Hypersonic Technology Laboratory National University of Defense TechnologyChangsha410073China

We propose an adaptive learning-based optimal control scheme for height-velocity control models considering model uncertainties and external disturbances of hypersonic winged-cone *** longitudinal nonlinear model is first established and transformed into the control-oriented error equations,and the control scheme is organized by a steady-compensation *** overcome and eliminate the impact of model uncertainties and external disturbances,an adaptive radial basis function neural network(RBFNN)is designed by a q-gradient *** the height-velocity error system with estimated uncertainties into account,the adaptive learning-based optimal tracking control(ALOTC)scheme is proposed by combining the critic-only adaptive dynamic programming(ADP)framework and parameter optimization of system settling ***,a novel weight update law is proposed to satisfy the online iteration requirements,and the algorithm convergence and closedloop stability are discussed by the Lyapunov ***,four simulation cases are provided to prove the effectiveness,accuracy,and robustness of the proposed scheme for the hypersonic longitudinal control system.

关键词： optimal tracking control adaptive dynamic programming RBFNN hypersonic vehicle

Study on macro and micro shear strength of continuously graded and gap-graded sand

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Particuology 2024年第3期86卷 101-116页

作者： Peiran Zhao Songyu Liu kai Wu School of Transportation Southeast UniversityNanjing210096China

The particle gradation of sand has a significant influence on its shear strength,yet the similarities and differences between the effects of continuous and gap grading have yet to be fully *** this study,the discrete element method(DEM)was used to simulate biaxial tests on granular samples that were both continuously graded and *** macroscopic analysis revealed that the shear strength of continuously graded sands increases initially and then decreases as the uniformity of particle size distribution *** the other hand,the lack of medium particles in gap-graded sands amplifies the difference in particle size between coarse and fine particles,leading to a decrease in shear ***,both continuous and gap gradings affect the internal packing structure of the particle assembly,which consequently affects particle stress distributions,contact forces,coordination numbers,stress-induced anisotropies,and contact force networks,thus having an impact on the macroscopic shear *** global uniformity of particle size distribution was unidirectionally affected by continuous grading,while gap grading had a locally bidirectional *** findings provide a better understanding of the effects of particle grading on the macroscopic shear strength of sands.

关键词： Biaxial test Shear strength Particle gradation Discrete element method Micromechanics

Corrosion behavior of Gd_(2)Zr_(2)O_(7)thermal barrier coatings under Fe-containing environmental sediment attack

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Journal of Advanced Ceramics 2024年第4期13卷 447-462页

作者： Lei Guo Yanyan Li kai Yan School of Materials Science and Engineering Tianjin UniversityTianjin 300072China Tianjin Key Laboratory of Advanced Joining Technology Key Lab of Advanced Ceramics and Machining Technology of Ministry of EducationTianjin 300072China Key Laboratory of Special Equipment Safety and Energy-saving for State Market Regulation China Special Equipment Inspection&Research InstituteBeijing 100029China

Environmental sediments mainly consisting of CaO–MgO–Al_(2)O_(3)–SiO_(2)(CMAS)corrosion are a serious threat to thermal barrier coatings(TBCs),in which Fe element is usually ***_(2)Zr_(2)O_(7)TBCs are famous for their excellent CMAS *** this study,the characteristics of Fe-containing environmental sediments(CMAS-Fe)and their corrosiveness to Gd_(2)Zr_(2)O_(7)coatings were *** types of CMAS-Fe glass with different Fe contents were *** melting points were measured to be 1322–1344℃,and the high-temperature viscosity showed a decreasing trend with increasing Fe *** corrosion behavior of four types of CMAS-Fe to Gd_(2)Zr_(2)O_(7)coatings at 1350℃was *** the initial corrosion stage(0.1 h),anorthite was precipitated in CMAS-Fe with a high Ca:Si ratio,while Fe-garnet was formed in the melt with the highest Fe *** the corrosion time resulted in the formation of a reaction layer,which exhibited an interpenetrating network composed of Gd-oxyapatite,ZrO_(2),and residual *** spinel was precipitated within the reaction *** 1 h or even longer time,the reaction layers tended to be stable and compact,which had comparable hardness and fracture toughness to those of Gd_(2)Zr_(2)O_(7)*** the cyclic CMAS-Fe attack,the residual CMAS-Fe in the interpenetrating network provided a pathway for the redeposited CMAS-Fe infiltration,resulting in the continuous growth of the reaction *** a result,the Gd_(2)Zr_(2)O_(7)coatings had a large consumption in the thickness,degrading the coating ***,the Gd_(2)Zr_(2)O_(7)coatings exhibit unsatisfactory corrosion resistance to CMAS-Fe attack.

关键词： thermal barrier coatings(TBCs) Gd_(2)Zr_(2)O_(7) Fe-containing CaO-MgO-Al2O3-SiO_(2)(CMAS) corrosion resistance reaction layer

Adaptive Consensus of Uncertain Multi-Agent Systems With Unified Prescribed Performance

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1310-1312页

作者： Kun Li kai Zhao Yongduan Song The authors are with the School of Automation Chongqing UniversityChongqing 400044China

Dear Editor,An adaptive consensus control algorithm for uncertain multi-agent systems(MAS),capable of guaranteeing unified prescribed performance,is presented in this *** many existing prescribed performance related works,the developed control exhibits some ***,a distributed prescribed time observer is introduced so that not only each follower is able to estimate the leader’s signal within a predetermined time,but also the control design for each agent is independent with its neighbors.

关键词： agent prescribed Uncertain

Triggering triplet excitons of carbon nanodots through nanospace domain confinement for multicolor phosphorescence in aqueous solution

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Nano Research 2024年第7期17卷 6534-6543页

作者： Ya-Chuan Liang Qing Cao Yuan Deng Yong Wang kai-kai Liu Chong-Xin Shan School of Electronics and Information Zhengzhou University of Light IndustryZhengzhou 450002China Henan Key Laboratory of Diamond Optoelectronic Material and Devices Key Laboratory of Material PhysicsMinistry of EducationSchool of Physics and MicroelectronicsZhengzhou UniversityZhengzhou 450001China Academy for Quantum Science and Technology Zhengzhou University of Light IndustryZhengzhou 450002China Institute of Quantum Materials and Physics Henan Academy of SciencesZhengzhou 450046China

Easy non-radiative decay property of long-lived triplet excitons in aqueous solution obstructs their applications in aquatic *** reported phosphorescence phenomena in aqueous solution have excited researchers enormously but achieving full-color water-soluble phosphorescent carbon nanodots(CNDs)is still a challenging ***,full-color phosphorescence of water-soluble CNDs has been demonstrated by triggering their triplet excitons through nanospace domain confinement,and Förster energy resonance transfer is used for further tuning phosphorescence *** phosphorescence spans across most of the visible spectrum,ranging from 400 to 700 *** an aqueous solution,the CNDs exhibits blue,green,and red phosphorescence,lasting for approximately 6,10,and 7 s,***,the phosphorescence quantum yields are 11.85%,8.6%and 3.56%,making them readily discernible to the naked eyes and laying a solid foundation for practical ***,phosphorescence flexible optical display and bioimaging have been demonstrated by using the multicolor CNDs-based nanomaterials,showing distinct superiority for accuracy and complete display and imaging in complex emission background.

关键词： carbon nanodots triplet excitons multicolor aqueous solution

Beyond 1,4-addition of in-situ generated(aza-)quinone methides and indole imine methides

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Chinese Chemical Letters 2024年第7期35卷 35-53页

作者： Yan-Li Li Zhi-Ming Li kai-kai Wang Xiao-Long He Medical College Xinxiang UniversityXinxiang 453000China School of Pharmacy Xinxiang UniversityXinxiang 453000China School of Food and Bioengineering Xihua UniversityChengdu 610039China

The conjugate addition of in-situ generated(aza-)quinone methides(QMs)and indole imine methides(IIMs)emerged as a powerful protocol to access densely functionalized benzenes and *** alcohols,aminobenzhydryl alcohols,and varied indolylmethanols served as most effective precursors for the in-situ generation of such reactive species under acid *** relevant propargylic alcohol has proven to be an elegant precursor to generate the propargylic-QMs and-IIMs via the acid promoted dehydration process,thus enabling diverse challenging remote activation to proceed conjugate1,6-and 1,***,the heteroarene has proven to be workable to transfer the LUMO of the p-QMs and 2-IIMs,thus inducing the remote nucleophilic dearomative *** conjugate additions of(aza-)p-QMs and varied IIMs has made significant contribution in the field of remote activation chemistry in past *** review summarizes the latest advances of the remote conjugate additions of the in-situ generated QMs and IIMs.

关键词： Conjugate addition QMs IIMs LUMO Remote activation Dearomative addition

Flexible and Stretchable Electrodes for In Vivo Electrophysiological and Electrochemical Monitoring

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Chinese Journal of Chemistry 2024年第13期42卷 1523-1545页

作者： kai-kai Sheng Yi-Fei Lu Wen-Ting Fan Yan-Ling Liu College of Chemistry and Molecular Sciences Wuhan University WuhanHubei 430072China Core Facilty of Wuhan University WuhanHubei 430072China

In vivo monitoring of bioelectrical and biochemical signals with implanted electrodes has received great interest over the past ***,this faces huge challenges because of the severe mechanical mismatch between conventional rigid electrodes and soft biological *** recent years,the emergence of flexible and stretchable electrodes offers seamless and conformable biological-electronic interfaces and has demonstrated significant advantages for in vivo electrochemical and electrophysiological *** review first summarizes the strategies for electrode fabrication from the point of substrate and conductive ***,recent progress in electrode functionalization for improved performance is ***,the advances of flexible and stretchable electrodes in exploring bioelectrical and biochemical signals are ***,we present some challenges and perspectives ranging from electrode fabrication to application.

关键词： Flexible electrodes Conductive materials Stretchable structures Electrode functionalization In vivo monitoring Biochemical signals Bioelectrical signals