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Guaranteed Cost Attitude Tracking Control for Uncertain Quadrotor Unmanned Aerial Vehicle Under Safety Constraints

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1447-1457页

作者： Qian Ma Peng Jin Frank l.lewis School of Automation Nanjing University of Science and TechnologyNanjing 210094China UTA Research Institute University of Texas at ArlingtonFort WorthTexas 76118 USA IEEE

In this paper,guaranteed cost attitude tracking con-trol for uncertain quadrotor unmanned aerial vehicle(QUAV)under safety constraints is ***,an augmented system is constructed by the tracking error system and reference *** transformation aims to convert the tracking control prob-lem into a stabilization control ***,control barrier function and disturbance attenuation function are designed to characterize the violations of safety constraints and tolerance of uncertain disturbances,and they are incorporated into the reward function as penalty *** on the modified reward function,the problem is simplified as the optimal regulation problem of the nominal augmented system,and a new Hamilton-Jacobi-Bellman equation is ***,critic-only rein-forcement learning algorithm with a concurrent learning tech-nique is employed to solve the Hamilton-Jacobi-Bellman equa-tion and obtain the optimal *** proposed algorithm can not only ensure the reward function within an upper bound in the presence of uncertain disturbances,but also enforce safety *** performance of the algorithm is evaluated by the numerical simulation.

关键词： Attitude tracking control quadrotor unmanned aerial vehicle(QUAV) reinforcement learning safety constraints uncertain disturbances.

Approximate contact solutions for non-axisymmetric homogeneous and power-law graded elastic bodies:A practical tool for design engineers and tribologists

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Friction 2024年第2期12卷 340-355页

作者： Valentin l.POPOV Qiang lI Emanuel WIllERT Institute of Mechanics Technische Universität BerlinBerlin 10623Germany

In two recent papers,approximate solutions for compact non-axisymmetric contact problems of homogeneous and power-law graded elastic bodies have been suggested,which provide explicit analytical relations for the force–approach relation,the size and the shape of the contact area,as well as for the pressure distribution *** solutions were derived for profiles,which only slightly deviate from the axisymmetric *** the present paper,they undergo an extensive testing and validation by comparison of solutions with a great variety of profile shapes with numerical solutions obtained by the fast Fourier transform(FFT)-assisted boundary element method(BEM).Examples are given with quite significant deviations from axial symmetry and show surprisingly good agreement with numerical solutions.

关键词： normal contact non-axisymmetric indenter extremal principle generalized method of dimensionality reduction(MDR) functional elastic grading

OptoGPT: A foundation model for inverse design in optical multilayer thin film structures

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Opto-Electronic Advances 2024年第7期7卷 4-16页

作者： Taigao Ma Haozhu Wang l.Jay Guo Department of Physics University of MichiganAnn ArborMichigan 48109USA Department of Electrical Engineering and Computer Science University of MichiganAnn ArborMichigan 48109USA

Optical multilayer thin film structures have been widely used in numerous photonic ***,existing inverse design methods have many drawbacks because they either fail to quickly adapt to different design targets,or are difficult to suit for different types of structures,e.g.,designing for different materials at each *** methods also cannot accommodate versatile design situations under different angles and *** addition,how to benefit practical fabrications and manufacturing has not been extensively considered *** this work,we introduce OptoGPT(Opto Generative Pretrained Transformer),a decoder-only transformer,to solve all these drawbacks and issues simultaneously.

关键词： multilayer thin film structure inverse design foundation models deep learning structural color

The influence of various grease compositions and silver nanoparticle additives on electrically induced rolling-element bearing damage

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Friction 2024年第4期12卷 796-811页

作者： Samuel BOND Robert l.JACKSON German MIllS Department of Chemistry and Biochemistry Auburn UniversityAuburn 36849-5412USA Department of Mechanical Engineering Auburn UniversityAuburn 36849-5412USA

leakage currents accelerate surface degradation of metal contacts via small scale arcing across lubricating films,but recent observations suggest that metallic nanoparticle additives in lubricants may be useful to improve contact *** findings prompted a study that examined electrically induced surface pitting of steel contacts in the presence of several lubricating greases including some containing nanometer-sized colloidal silver(Ag)*** rolling sphere-on-disk experiments were conducted under electro-tribological loads employing polyurea greases derived from mineral and synthetic base oils with and without *** forces and electrical resistance were monitored continuously during the tests;surface changes were characterized by means of optical spectroscopy,stylus profilometry,and scanning electron microscopy(SEM)including compositional analysis using energy dispersive spectroscopy(EDS).The observations demonstrate that surface pitting induced by arcing occurs mainly at the points were the rolling motion changes direction and that eroded metal is deposited along the wear ***-sized pits are formed which contain carbon and oxygen indicating that arcing causes decomposition of the hydrocarbon *** findings indicate a significant inhibition of pitting is induced by the Ag nanoparticles;some greases containing other additives exhibit a similar,although less pronounced,effect.

关键词： electric motor bearings wheel bearings electric vehicles arcing electrically induced bearing damage pitting leakage current stray current

Discovery of new MAX-phase-like layered ternary carbide V_(8)P_(6)C:Crystal structure,thermal expansion,and elastic properties

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Journal of Materials Science & Technology 2024年第7期174卷 55-62页

作者： H.X.Chen l.Sheng Z.l.Zhang X.C.Wen D.l.Yang X.Y.Ye P.Q.Dai School of Materials Science and Engineering Fujian University of TechnologyFuzhou 350118China Beijing Synchrotron Radiation Facility Institute of High Energy PhysicsChinese Academy of ScienceBeijing 100049China Fujian Provincial Key laboratory of Advanced Materials Processing and Application Fuzhou 350118China State Key laboratory of Structural Chemistry Fujian Institute of Research on the Structure of MatterChinese Academy of SciencesFuzhou 350002China

Due to the laminated structure,MAX phases and MAX-phase-like compounds possess outstanding dam-age tolerance capability with good thermal/electrical conductivity and other charming functional prop-erties,showing a bright future for structural-functional ***,a new MAX-phase-like ternary car-bide V_(8)P_(6)C with layered characteristics was *** to the alternate stacking of hexagonal-arranged M/A/X atom layers in MAX phases,V_(8)P_(6)C has a layered structure formed by a repeated stacking of the slabs consisting of V_(6)C-octahedrons and VP 6-distorted-octahedrons in three-atomic layers *** thermal expansion anisotropy was revealed,with the thermal expansion coefficients(TECs)along a-axis,c-axis,and the average value,equal toα_(a)=8.55(5)μK^(−1),α_(c)=10.23(5)μK^(−1),andα_(l)=9.14(5)μK^(−1),*** dilation along the c-axis was mainly dominated by out-plane V-P bonds be-tween layered *** to the pressure-dependent lattice parameters,the polycrystalline bulk modulus(B_(0)=185(9)GPa)and high compressibility anisotropy factor(B_(a)/B_(c)=1.64)was ***-while,the second-order elastic constants were calculated,and the elastic moduli,E=303 GPa,B=198 GPa,G=122 GPa,andν=0.246,were *** the weak connection between layer slabs by out-plane V1-P bond was revealed by the bond stiffness model,with a bond stiffness close to the M-A bond in MAX ***,good damage tolerance capability was predicted according to Paugh’s ratio(G/B=0.616)and Cauchy pressure(P_(a)=0 GPa,P_(c)=-7.5 GPa),even better than those of typical MAX *** discovery of V_(8)P_(6)C provides a new member of MAX-phase-like damage-tolerant ceramic with relatively low density,moderate thermal expansion,and anisotropic compressibility,and the unique lay-ered structure is inspiring for exploring new layered ternary ceramics.

关键词： New ternary carbide MAX phase Thermal expansion Elastic constants Anisotropy

Decorating crystalline YFe_(2-x)Al_(x) on the Mg_(60)la_(10)Ni_(20)Cu_(10) amorphous alloy as “hydrogen pump” to realize fast de/hydrogenation

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Journal of Materials Science & Technology 2024年第6期173卷 72-79页

作者： l.J.Huang H.Wang l.Z.Ouyang M.Zhu H.J.lin School of Materials Science and Engineering Key Laboratory of Advanced Energy Storage Materials of Guangdong ProvinceSouth China University of TechnologyGuangzhou 510641China Institute of Advanced Wear&Corrosion Resistance and Functional Materials Jinan UniversityGuangzhou 510632China

Mg-based amorphous alloys are one of the potential hydrogen storage materials but suffer from sluggish dehydrogenation/hydrogenation(de/hydrogenation)*** this work,as a new strategy,a hydrogen pump is built on the surface of amorphous alloys to solve this *** milling crystalline YFe_(2-x)Al_(x) hydrogen storage alloy with Mg_(60)la_(10)Ni_(20)Cu_(10) amorphous alloy,fine crystalline particles were seeded on amorphous alloy powder to form a“strawberry”*** to the TEM observation,a metallurgical bonding boundary formed between the Mg-based amorphous matrix and the Y-Fe-Al crystalline *** microstructure and de/hydrogenation kinetics investigation,the“hydrogen pump”effect of the seeded crystalline alloy was confirmed,which makes it much easier for the hydrogen to dissociate on and diffuse through the surface of the Mg-based amorphous *** such effect,the H absorption rate of Mg_(60)la_(10)Ni_(20)Cu_(10) amorphous alloy became almost eight times faster and it absorbs ~2.8 wt.% in 1 h at 130℃ under 4.5 MPa-H_(2).Further,fast hydrogenation can even achieve at 70℃ and the low-temperature dehydrogenation kinetics of the amorphous hydride can be also greatly *** present work proves that surface modification is of great importance for obtaining Mg-based amorphous alloy with ideal hydrogen storage performance.

关键词： Hydrogen storage Mg-based amorphous alloy Hydrogen pump Composite structure

Distributed swarm control for multi-robot systems inspired by shepherding behaviors

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Science China(Technological Sciences) 2024年第7期67卷 2191-2202页

作者： SUN GuiBin GU HaiBo lÜJinHu School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China Zhongguancun laboratory Beijing 100094China

Swarming behaviors play an eminent role in both biological and engineering research, and show great potential applications in many emerging fields. Traditional swarming models still lack integrity, uniformity, and stability in swarm forming processes,resulting in fragmentation and void phenomena. Inspired by the shepherding behaviors observed in nature, we propose an integrated negotiation-control scheme for distributed swarm control of massive robots. The core idea of this scheme is that the robots at the boundary of the group herd the internal robots to form an equilibrium swarm. For this purpose, we introduce a concept of virtual group center towards which boundary robots herd internal robots. Then, a distributed negotiation mechanism is designed to allow each robot to negotiate the virtual group center only through local interactions with its neighbors. After that, we propose a shepherding-inspired swarm control law to drive a group of robots to form an integrated, uniform, and stable configuration from any initial states. Both numerical and flight simulations are presented to verify the effectiveness of our proposed swarm control scheme.

关键词： swarm control multi-robot system negotiation-control scheme shepherding behavior

Promoting Older Adults' Engagement in Disaster Recovery Through Supportive Relationships, Partnerships, and Collaboration: Perspectives of Social Work Practitioners and Human Service Professionals

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International Journal of Disaster Risk Science 2024年第2期15卷 265-276页

作者： Julie l.Drolet Mahed Choudhury Faculty of Social Work University of CalgaryEdmontonAB T5J 4P6Canada

Shifting demographics—that is, the growing number of older adults in Canada and internationally—and intersecting climatic risks create a complex landscape of aging in place in disaster contexts. Some older adults are vulnerable due to their underlying health conditions and limited physical mobility. Yet they also exhibit resilience in a distinct manner, owing to their wealth of knowledge, wisdom, and ability to navigate adversities. This article elucidates potential avenues for promoting the involvement of older adults in disaster recovery efforts. Our intention is to recognize and foster older adult resilience and mitigate vulnerability by drawing upon insights from the study titled “In the Aftermath of the 2016 Alberta Wildfires: The Role of Social Work Practitioners and Human Service Professionals in long-Term Disaster Recovery.” Employing a qualitative research approach, that study recruited 51 participants for semistructured interviews and focus groups. A thematic analysis of the collected data unveiled the pivotal roles played by social workers and human service practitioners in facilitating recovery from the 2016 wildfires in the research. Notably, three overarching themes emerged concerning the promotion of older adults' involvement in disaster recovery: fostering supportive relationships, building partnerships and enhancing collaboration, and addressing ongoing challenges. These findings offer valuable insights into how social work practitioners and human service professionals can effectively facilitate the engagement of older adults in disaster recovery initiatives. This article emphasizes the significance of actively promoting the participation of older adults in disaster mitigation efforts, thereby fostering greater resilience within communities.

关键词： Alberta wildfires Canada Disaster recovery Older adults Partnerships and collaboration Social work

Recent Advances in Catalytic Carbonylation Reactions in Alternative Reaction Media

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Chinese Journal of Chemistry 2024年第4期42卷 406-429页

作者： Csaba Árvai lászló T.Mika Department of Chemical and Environmental Process Engineering Faculty of Chemical Technology and BiotechnologyBudapest University of Technology and EconomicsMűegyetem rkp.3H-1111 BudapestHungary

Since the discovery of the hydroformylation(oxo-synthesis or Roelen reaction)and the Reppe-reaction,the transition metal-catalyzed carbonylation reactions,providing versatile,facile,and even atom-economic methods for the selective incorporation of C=O functionality to various skeletons,have gained tremendous importance in synthetic organic chemistry from laboratories to industrial *** carbonylation of carbon-carbon multiple bonds,aromatic halides,triflates,etc.,in the presence of various nucleophiles has led the way to produce aldehydes,carboxylic acids,esters,amides,etc.,in the fine chemical ***,these protocols usually proceed in conventional,fossil-based,and usually toxic reaction ***,several attempts have been directed to developing efficient carbonylation methods in alternative,less harmful,non-fossil-based and even in renewable reaction *** this review,we overview the recent applications of alternative solvents such as water,biomass-based alcohols,γ-valerolactone(GVl),2-methyltetrahydrofuran(2-MeTHF),ionic liquids(Ils),deep eutectic solvents(DES),alkyl levulinates,limonene,α-pinene,and dimethyl carbonate as well as fluorous media to improve efficiency,safety and environmentally benign nature of carbonylation protocols.

关键词： Carbonylation Catalysis Solvents Green chemistry Carbon monoxide Transition metals Homogeneous catalysis Palladium