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Vehicle State and Bias Estimation Based on Unscented Kalman Filter with Vehicle Hybrid Kinematics and Dynamics Models

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Automotive Innovation 2023年第4期6卷 571-585页

作者： Shouren Zhong Yang Zhao linhe Ge Zitong Shan Fangwu Ma State Key Laboratory of Automotive Simulation and Control Jilin UniversityChangchun 130022China

In recent years,vehicle state estimation methods incorporating different vehicle models have received extensive *** the vehicle is disturbed by external forces not considered in traditional vehicle models(for example,a certain slope,or wind resistance different from theoretical calculation),the problem of model mismatch will occur,which leads to the inaccurate estimation of the vehicle *** solve this problem,an Unscented Kalman Filter(UKF)algorithm is used to fuse inertial navigation data with the vehicle hybrid model in this *** hybrid model introduces a switching strategy that fuses the vehicle kinematics and the dynamics models while augmenting biases that need to be estimated in the vehicle *** switching strategy resolves the integration divergence problem of vehicle dynamics models at low speeds and the inaccurate estimation of vehicle kinematics models at high *** experiments demonstrate that the proposed method can accurately estimate biases induced by external forces,enhancing the accuracy and confidence of states by eliminating errors caused by these *** robustness of the method is validated in vehicle verification platform experiments,where errors in vehicle lateral speed and yaw rate are reduced by 9.7 cm/s and 0.012°/s,respectively,under large curvature maneuvers,and 9.6 cm/s and 0.004°/s under quarter-turn *** proposed method significantly improves lateral speed and vehicle position accuracies.

关键词： Vehicle state estimation Vehicle hybrid models Unscented Kalman filter Integration stability

Spontaneous Orientation Polarization of Anisotropic Equivalent Dipoles Harnessed by Entropy Engineering for Ultra‑Thin Electromagnetic Wave Absorber

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Nano-Micro Letters 2025年第1期17卷 424-438页

作者： Honghan Wang Xinyu xiao Shangru Zhai Chuang Xue Guangping Zheng Deqing Zhang Renchao Che Junye Cheng Liaoning Key Lab of Lignocellulose Chemistry and BioMaterials Liaoning Collaborative Innovation Center for Lignocellulosic BiorefinerySchool of Light Industry and Chemical EngineeringDalian Polytechnic UniversityDalian 116034People’s Republic of China School of Life Science and Biotechnology Dalian University of TechnologyDalian 116024People’s Republic of China Department of Mechanical Engineering Hong Kong Polytechnic UniversityHung HomKowloonHong Kong 999077People’s Republic of China School of Materials Science and Engineering Qiqihar UniversityQiqihar 161006People’s Republic of China Laboratory of Advanced Materials Shanghai Key Lab of Molecular Catalysis and Innovative MaterialsAcademy for Engineering&TechnologyFudan UniversityShanghai 200438People’s Republic of China Department of Materials Science Shenzhen MSU-BIT UniversityShenzhen 517182People’s Republic of China

The synthesis of carbon supporter/nanoscale high-entropy alloys(HEAs)electromagnetic response composites by carbothermal shock method has been identified as an advanced strategy for the collaborative competition engineering of conductive/dielectric *** migration modes within HEAs as manipulated by the electronegativity,valence electron configurations and molar proportions of constituent elements determine the steady state and efficiency of equivalent ***,enlightened by skin-like effect,a reformative carbothermal shock method using carbonized cellulose paper(CCP)as carbon supporter is used to preserve the oxygencontaining functional groups(O·)of carbonized cellulose fibers(CCF).Nucleation of HEAs and construction of emblematic shell-core CCF/HEAs heterointerfaces are inextricably linked to carbon metabolism induced by O·.Meanwhile,the electron migration mode of switchable electronrich sites promotes the orientation polarization of anisotropic equivalent *** virtue of the reinforcement strategy,CCP/HEAs composite prepared by 35%molar ratio of Mn element(CCP/HEAs-Mn_(2.15))achieves efficient electromagnetic wave(EMW)absorption of−51.35 dB at an ultra-thin thickness of 1.03 *** mechanisms of the resulting dielectric properties of HEAs-based EMW absorbing materials are elucidated by combining theoretical calculations with experimental characterizations,which provide theoretical bases and feasible strategies for the simulation and practical application of electromagnetic functional devices(e.g.,ultra-wideband bandpass filter).

关键词： High-entropy alloys Carbothermal shock Switchable electron migration modes Emblematic shell-core heterointerfaces Ultra-thin thickness

Unlocking the stable interface in aqueous zinc-ion battery with multifunctional xylose-based electrolyte additives

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Journal of Energy Chemistry 2025年第1期100卷 770-778页

作者： xiaoqin Li Jian Xiang Lu Qiu xiaohan Chen Yinkun Zhao Yujue Wang Qu Yue Taotao Gao Wenlong Liu Dan xiao Zhaoyu Jin Panpan Li Institute for Advanced Study Chengdu University School of Mechanical Engineering Chengdu University College of Food and Biological Engineering Chengdu University Institute of Fundamental and Frontier Sciences University of Electronic Science and Technology of China College of Materials Science and Engineering Sichuan University

The growth of dendrites and the side reactions occurring at the Zn anode pose significant challenges to the commercialization of aqueous Zn-ion batteries（AZIBs）. These challenges arise from the inherent conflict between mass transfer and electrochemical kinetics. In this study, we propose the use of a multifunctional electrolyte additive based on the xylose（Xylo） molecule to address these issues by modulating the solvation structure and electrode/electrolyte interface, thereby stabilizing the Zn anode. The introduction of the additive alters the solvation structure, creating steric hindrance that impedes charge transfer and then reduces electrochemical kinetics. Furthermore, in-situ analyses demonstrate that the reconstructed electrode/electrolyte interface facilitates stable and rapid Zn2+ion migration and suppresses corrosion and hydrogen evolution reactions. As a result, symmetric cells incorporating the Xylo additive exhibit significantly enhanced reversibility during the Zn plating/stripping process, with an impressively long lifespan of up to 1986 h, compared to cells using pure ZnSO4electrolyte. When combined with a polyaniline cathode, the full cells demonstrate improved capacity and long-term cyclic stability. This work offers an effective direction for improving the stability of Zn anode via electrolyte design, as well as highperformance AZIBs.

关键词： Solvation

Enhancement of motor functional recovery in thoracic spinal cord injury: voluntary wheel running versus forced treadmill exercise

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Neural Regeneration Research 2025年第3期20卷 836-844页

作者： Do-Hun Lee Dan Cao Younghye Moon Chen Chen Nai-Kui Liu xiao-Ming Xu Wei Wu Spinal Cord and Brain Injury Research Group Stark Neurosciences Research InstituteIndiana University School of MedicineIndianapolisINUSA Department of Neurological Surgery Indiana University School of MedicineIndianapolisINUSA Department of Neuroscience Baylor College of MedicineHoustonTXUSA

Spinal cord injury necessitates effective rehabilitation strategies, with exercise therapies showing promise in promoting recovery. This study investigated the impact of rehabilitation exercise on functional recovery and morphological changes following thoracic contusive spinal cord injury. After a 7-day recovery period after spinal cord injury, mice were assigned to either a trained group(10 weeks of voluntary running wheel or forced treadmill exercise) or an untrained group. Bi-weekly assessments revealed that the exercise-trained group, particularly the voluntary wheel exercise subgroup, displayed significantly improved locomotor recovery, more plasticity of dopaminergic and serotonin modulation compared with the untrained group. Additionally, exercise interventions led to gait pattern restoration and enhanced transcranial magnetic motor-evoked potentials. Despite consistent injury areas across groups, exercise training promoted terminal innervation of descending axons. In summary, voluntary wheel exercise shows promise for enhancing outcomes after thoracic contusive spinal cord injury, emphasizing the role of exercise modality in promoting recovery and morphological changes in spinal cord injuries. Our findings will influence future strategies for rehabilitation exercises, restoring functional movement after spinal cord injury.

关键词： behavioral assessment motor function neural plasticity running wheel exercise spinal cord injury treadmill exercise voluntary exercise

Genes and proteins expressed at different life cycle stages in the model protist Euplotes vannus revealed by both transcriptomic and proteomic approaches

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Science China Life Sciences 2025年第1期 232-248页

作者： Yaohan Jiang xiao Chen Chundi Wang Liping Lyu Saleh A.Al-Farraj Naomi A.Stover Feng Gao Key Laboratory of Evolution & Marine Biodiversity (Ministry of Education) and Institute of Evolution & Marine Biodiversity Ocean University of China Marine College Shandong University Zoology Department College of ScienceKing Saud University Department of Biology Bradley University Laboratory for Marine Biology and Biotechnology Qingdao Marine Science and Technology Center

Sexual reproduction first appeared in unicellular protists and has continued to be an essential biological process in almost all *** protists, which contain both germline and somatic genomes within a single cell, have evolved a special form of sexual reproduction called conjugation that involves mitosis, meiosis, fertilization, nuclear differentiation, genome rearrangement, and the development of unique cellular structures. The molecular basis and mechanisms of conjugation vary dramatically among ciliates, and many details of the process and its regulation are still largely unknown. In order to better comprehend these processes and mechanisms from an evolutionary perspective, this study provides the first comprehensive overview of the transcriptome and proteome profiles during the entire life cycle of the newly-established marine model ciliate Euplotes vannus. Transcriptome analyses from 14 life cycle stages(three vegetative stages and 11 sexual stages) revealed over 26,000 genes that are specifically expressed at different stages, many of which are related to DNA replication,transcription, translation, mitosis, meiosis, nuclear differentiation, and/or genome rearrangement. Quantitative proteomic analyses identified 338 proteins with homologs associated with conjugation and/or somatic nuclear development in other ciliates, including dicer-like proteins, Hsp90 proteins, RNA polymerase Ⅱ and transcription elongation factors, ribosomal-associated proteins, and ubiquitin-related proteins. Four of these homologs belong to the PIWI family, each with different expression patterns identified and confirmed by RT-qPCR,which may function in small RNA-mediated genome rearrangement. Proteins involved in the nonhomologous end-joining pathway are induced early during meiosis and accumulate in the developing new somatic nucleus, where more than 80% of the germline sequences are eliminated from the somatic genome. A number of new candidate genes and proteins likely t

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Numerical Implementation of High-Order Vold-Kalman Filter Using Python Arbitrary-Precision Arithmetic Library

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Automotive Innovation 2019年第3期2卷 178-189页

作者： linhe Ge Fangwu Ma Jinzhu Shi Hongbin Yin Ying Zhao State Key Laboratory of Automotive Simulation and Control Jilin University5988Renmin Ave.Changchun 130025China

The Vold-Kalman(VK)order tracking filter plays a vital role in the order analysis of noise in various ***,owing to the limited accuracy of double-precision floating-point data type,the order of the filter cannot be too *** problem of accuracy makes it impossible for the filter to use a smaller bandwidth,meaning that the extracted order signal has greater *** this paper,the Python mpmath arbitrary-precision floating-point arithmetic library is used to implement a high-order VK *** on this library,a filter with arbitrary bandwidth and arbitrary difference order can be implemented whenever *** the proposed algorithm,a narrower transition band and a flatter passband can be obtained,a good filtering effect can still be obtained when the sampling rate of the speed signal is far lower than that of the measured signal,and it is possible to extract narrowband signals from signals with large *** cases adopted in this paper show that the proposed algorithm has better filtering effect,better frequency selectivity,and stronger anti-interference ability compared with double-precision data type algorithm.

关键词： Noise order analysis Vold-Kalman filter Arbitrary-precision arithmetic library

Graphene Aerogel Composites with Self‑Organized Nanowires‑Packed Honeycomb Structure for Highly Efficient Electromagnetic Wave Absorption

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Nano-Micro Letters 2025年第2期17卷 533-547页

作者： xiao You Huiying Ouyang Ruixiang Deng Qiuqi Zhang Zhenzhong Xing xiaowu Chen Qingliang Shan Jinshan Yang Shaoming Dong State Key Laboratory of High Performance Ceramics and Superfine Microstructure Shanghai Institute of CeramicsChinese Academy of SciencesShanghai 200050People’s Republic of China Key Laboratory of Inorganic Coating Materials CAS Shanghai Institute of CeramicsChinese Academy of SciencesShanghai 200050People’s Republic of China Structural Ceramics and Composites Engineering Research Center Shanghai Institute of CeramicsChinese Academy of SciencesShanghai 200050People’s Republic of China Center of Materials Science and Optoelectronics Engineering University of Chinese Academy of SciencesBeijing 100049People’s Republic of China School of Physical Science and Technology ShanghaiTech UniversityShanghai 201210People’s Republic of China School of Materials Science and Engineering Zhejiang Sci-Tech UniversityHangzhou 310018People’s Republic of China University of Chinese Academy of Sciences Beijing 100039People’s Republic of China

With vigorous developments in nanotechnology,the elaborate regulation of microstructure shows attractive potential in the design of electromagnetic wave ***,a hierarchical porous structure and composite heterogeneous interface are constructed successfully to optimize the electromagnetic loss *** macro–micro-synergistic graphene aerogel formed by the ice template‑assisted 3D printing strategy is cut by silicon carbide nanowires(SiC_(nws))grown in situ,while boron nitride(BN)interfacial structure is introduced on graphene *** unique composite structure forces multiple scattering of incident EMWs,ensuring the combined effects of interfacial polarization,conduction networks,and magnetic-dielectric ***,the as-prepared composites present a minimum reflection loss value of−37.8 dB and a wide effective absorption bandwidth(EAB)of 9.2 GHz(from 8.8 to 18.0 GHz)at 2.5 ***,relying on the intrinsic high-temperature resistance of SiC_(nws) and BN,the EAB also remains above 5.0 GHz after annealing in air environment at 600℃ for 10 h.

关键词： Hierarchical porous structure Interface High-temperature resistance Graphene aerogel composites Electromagnetic wave absorption

A promising approach for quantifying focal stroke modeling and assessing stroke progression:optical resolution photoacoustic microscopy photothrombosis

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Neural Regeneration Research 2025年第7期20卷 2029-2037页

作者： xiao Liang Xingping Quan xiaorui Geng Yujing Huang Yonghua Zhao Lei Xi Zhen Yuan Ping Wang Bin Liu Faculty of Health Sciences University of MacaoMacao Special Administrative RegionChina Center for Cognitive and Brain Sciences University of MacaoMacao Special Administrative RegionChina Department of Biomedical Engineering Southern University of Science and TechnologyShenzhenGuangdong ProvinceChina State Key Laboratory of Quality Research in Chinese Medicine Institute of Chinese Medical SciencesUniversity of MacaoTaipaMacao Special Administrative RegionChina Department of Emergency Zhujiang HospitalSouthern Medical UniversityGuangzhouGuangdong ProvinceChina

To investigate the mechanisms underlying the onset and progression of ischemic stroke,some methods have been proposed that can simultaneously monitor and create embolisms in the animal cerebral ***,these methods often require complex systems and the effect of age on cerebral embolism has not been adequately studied,although ischemic stroke is strongly *** this study,we propose an optical-resolution photoacoustic microscopy-based visualized photothrombosis methodology to create and monitor ischemic stroke in mice simultaneously using a 532 nm pulsed *** observed the molding process in mice of different ages and presented age-dependent vascular embolism ***,we integrated optical coherence tomography angiography to investigate age-associated trends in cerebrovascular variability following a *** imaging data and quantitative analyses underscore the differential cerebrovascular responses to stroke in mice of different ages,thereby highlighting the technique's potential for evaluating cerebrovascular health and unraveling age-related mechanisms involved in ischemic strokes.

关键词： age-dependent cerebral cortex ischemic stroke mouse model optical coherence tomography angiography photoacoustic microscopy photothrombosis vascular imaging

Tb^(3+)-xylenol orange complex-based colorimetric and luminometric dual-readout sensing platform for dipicolinic acid and metal ions

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Chinese Chemical Letters 2023年第1期34卷 555-559页

作者： Lixia Lu Xinyu Shao xiaoxiao Lin linhe Ding Bingchan Song Jian Sun Shandong Provincial Key Laboratory of Animal Resistance Biology Institute of Biomedical SciencesKey Laboratory of Food Nutrition and Safety of Shandong Normal UniversityCollege of Life ScienceShandong Normal UniversityJi nan 250014China State Key Laboratory of Electroanalytical Chemistry Changchun Institute of Applied ChemistryChinese Academy of SciencesChangchun 130022China

A dual-readout sensing platform based on two signal transduction channels can integrate the unique advantages of each sensing pattern,compensate for the deficiency in the adaptive capacity,and enable a more convincing performance in analytical ***,we introduce a responsive molecule dye,xylenol orange(XO),to combine with lanthanide terbium ions(Tb^(3+)).The resultant Tb^(3+)-XO complex exhibited tunable optical properties and was used as a novel colorimetric and luminometric dual-readout sensing platform for assaying the anthrax biomarker,dipicolinic acid(DPA).In the presence of Tb^(3+),the XO solution underwent a color change from yellow to magenta;however,upon adding DPA,the color changed back to yellow immediately,accompanied by the characteristic luminescence emission of Tb^(3+).Considering the strong affinity between DPA/XO and metal ions,the proposed sensing platform was further employed for the determination and differentiation of certain metal ions using linear discriminant *** convenient dual-readout sensing platform offers several notable features and significantly promotes the application and development of lanthanide-based materials.

关键词： Lanthanide complex Xylenol orange Bacillus anthracis Multiple detection Linear discriminant analysis