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Trajectory-tracking control of an unmanned surface vehicle based on characteristic modelling approach:Implementation and field testing

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IET Cyber-Systems and Robotics 2023年第2期5卷 15-26页

作者： Yuhang Meng Hui Ye xiaofei yang College of Automation Jiangsu University of Science and TechnologyZhenjiangChina

In this study,a practical adaptive control scheme is proposed for the trajectory tracking of an unmanned surface vehicle via the characteristic modelling ***,accurate tracking control can be achieved in the presence of unknown time‐varying model parameters and environmental *** control scheme comprises a trajectory guidance module based on the virtual target approach and a tracking control module designed by characteristic modelling ***,the ideal control commands of the yaw speed and surge speed are generated using the position errors between the vehicle and the virtual ***,a second‐order characteristic model for the heading and surge speed channel is *** parameters of the model are updated by a real‐time parameter identification *** on this model,an integrated adaptive control law is designed which consists of golden‐section control,feed‐forward control and integral ***,the development processes of the vehicle platform and the control algorithms are described,and the results of simulation and field experiments are presented and discussed.

关键词： adaptive control characteristic model trajectory-tracking unmanned surface vehicle

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3300 V高性能混合SiC模块研制

固体电子学研究与进展 2024年第1期44卷 13-18页

作者：刘艳宏杨晓菲王晓丽荆海燕刘爽中车永济电机有限公司西安710016

将Si基绝缘栅双极型晶体管(Insulated gate bipolar transistor,IGBT)芯片与SiC结型势垒肖特基二极管芯片按照双开关电路结构排布,开发了一种3 300 V等级混合SiC模块,对其设计方法、封装工艺、仿真、测试结果进行分析,并对标相同规格IGB... 详细信息

将Si基绝缘栅双极型晶体管(Insulated gate bipolar transistor,IGBT)芯片与SiC结型势垒肖特基二极管芯片按照双开关电路结构排布,开发了一种3 300 V等级混合SiC模块,对其设计方法、封装工艺、仿真、测试结果进行分析,并对标相同规格IGBT模块。混合SiC模块低空洞率焊接满足牵引领域高温度循环周次的要求,冗余式的连跳键合结构可以有效增强功率循环能力。采用双脉冲法测试动态性能,测试结果表明该混合SiC模块反向恢复时间减小了84%,反向恢复电流减小了89.5%,反向恢复能量减小了99%,一次开关产生的总损耗降低了43.3%。混合SiC模块消除了开关过程中电压和电流过冲现象,在高电压、大电流和高频率的应用工况下具有明显的优势。

关键词：绝缘栅双极型晶体管结型势垒肖特基二极管混合SiC模块

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贵州卫城地热资源热储地质条件分析

桂林理工大学学报 2024年第1期44卷 51-57页

作者：杨晓飞苏翠兰锁瑞强张学东贵州省有色金属和核工业地质勘查局一总队贵阳551499

贵州卫城地热资源温度高、水量大,富含对人体有益的锶、锂、氟、铁、钡、碘等微量元素及偏硅酸,通过对区域地质背景、地热区地质特征、井温数据、δD-δ^(18)O关系、 Na-K-Mg关系调查,分析其热储地质条件。研究认为:地热水补给来源主要... 详细信息

贵州卫城地热资源温度高、水量大,富含对人体有益的锶、锂、氟、铁、钡、碘等微量元素及偏硅酸,通过对区域地质背景、地热区地质特征、井温数据、δD-δ^(18)O关系、 Na-K-Mg关系调查,分析其热储地质条件。研究认为:地热水补给来源主要为大气降水,深循环加热,循环深度2 344.40 m,热储温度74.06℃;大气降水沿构造裂隙下渗,受区域大地热流加热,导致温度压力变化,形成地下冷热水循环运移环境,循环过程中水起到热传导介质作用,同时汲取围岩中的矿物质,形成富含人体有益微量元素的地热水;区内构造既具有导热导水性又具储热储水性,断裂与碳酸盐岩岩溶热储单元贯通,形成碳酸盐岩岩溶热储+带状热储环境,由于运移环境不封闭,水岩作用弱。

关键词：地热资源热储地质条件卫城贵州

ntercellular protein-protein interactions at synapses

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Protein & Cell 2014年第6期5卷 420-444页

作者： xiaofei yang Dongmei Hou Wei Jiang Chen Zhang Key Laboratory of Cognitive Science Laboratory of Membrane Ion Channels and Medicine College of Biomedical Engineering South-Central University for Nationalities Wuhan 430074 China State Key Laboratory of Biomembrane and Membrane Biotechnology College of Life Sciences Peking University Beijing 100871 China PKU-IDG/McGovern Institute for Brain Research Peking University Beijing 100871 China

Chemical synapses are asymmetric intercellular junc. tions through which neurons send nerve impulses to communicate with other neurons or excitable cells. The appropriate formation of synapses, both spatially and temporally, is essential for brain function and depends on the intercellular protein-protein interactions of cell adhesion molecules （CAMs） at synaptic clefts. The CAM proteins link pre- and post-synaptic sites, and play essential roles in promoting synapse formation and maturation, maintaining synapse number and type, accumulating neurotransmitter receptors and ion chan- nels, controlling neuronal differentiation, and even regulating synaptic plasticity directly. Alteration of the interactions of CAMs leads to structural and functional impairments, which results in many neurological disorders, such as autism, Alzheimer＇s disease and schizophrenia. Therefore, it is crucial to understand the functions of CAMs during development and in the mature neural system, as well as in the pathogenesis of some neurological disorders. Here, we review the function of the major classes of CAMs, and how dysfunction of CAMs relates to several neurological disorders.

关键词： synapse formation cell-cell adhesion,synaptic plasticity neurological disorders protein-protein interaction cell adhesion molecules

The effect of multilayer structure on magnetic properties of FePt thin films

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Acta Metallurgica Sinica(English Letters) 2009年第1期22卷 22-26页

作者： Kaifeng DONG xiaofei yang Junbing YAN Weiming CHENG Xiaomin CHENG Department of Electronic Science ＆： Technology Huazhong University of Science ＆ TechnologyWuhan 430074 China

The Fe/Pt multilayer films with different structures were deposited by RF magnetron sputtering on glass substrates, and the L10-FePt films were obtained after the asdeposited samples were subjected to vacuum annealing at various temperatures. Results show that the Fe/Pt multilayer structure can effectively reduce the ordering temperature of FePt film, and the in-plane coercivity of [Fe （5.2 nm）/Pt （5.2 nm）]7 multilayers can reach 161.2 kA/m after annealed at 350℃ for 30 min. When Fe and Pt layer thickness is equal, the coercivity of the film is the largest. On the other hand, the different Fe-Pt crystalline phases such as Fe3Pt and FePt3 phases are formed after annealing when the thickness ratio of Fe/Pt deviates from 1 after annealing. When Fe and Pt have the same thickness, the thinner single layer gets the lower ordering temperature and the larger coercivity.

关键词： L10-FePt thin films Multilayer structure Coercivity Ordering temperature

Pd nanoparticles embedded in N-Enriched MOF-Derived architectures for efficient oxygen reduction reaction in alkaline media

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Green Energy & Environment 2023年第4期8卷 1205-1215页

作者： Daqiang Yan Lin Zhang Lei Shen Runyu Hu Weiping Xiao xiaofei yang College of Science Institute of Materials Physics and ChemistryNanjing Forestry UniversityNanjing210037China

Developing high efficient Pd-based electrocatalysts for oxygen reduction reaction(ORR) is still challenging for alkaline membrane fuel cell,since the strong oxygen adsorption energy and easy agglomerative intrinsic properties. In order to simultaneously solve these problems, Pd/Co_(3)O_(4)–N–C multidimensional materials with porous structures is designed as the ORR catalysts. In details, the ZIF-67 with polyhedral structure was firstly synthesized and then annealed at high-temperature to prepare the N-doped Co_(3)O_(4)carbon-based material, which was used to homogeneously confine Pd nanoparticles and obtained the Pd/Co_(3)O_(4)–N–C series catalysts. The formation of Co–N and C–N bond could provide efficient active sites for ORR. Simultaneously, the strong electronic interaction in the interface between the Pd and N-doped Co_(3)O_(4)could disperse and avoid the agglomeration of Pd nanoparticles and ensure the exposure of active sites, which is crucial to lower the energy barrier toward ORR and substantially enhance the ORR kinetics. Hence, the Pd/Co_(3)O_(4)–N–C nanocompounds exhibited excellent ORR catalytic performance, ideal Pd mass activity, and durability in 0.1 mol L-1KOH solution compared with Co_(3)O_(4)–N–C and Pd/C. The scalable synthesis method, relatively low cost, and excellent electrochemical ORR performance indicated that the obtained Pd/Co_(3)O_(4)–N–C electrocatalyst had the potential for application on fuel cells.

关键词： Oxygen reduction reaction Electrocatalysis Pd/Co_(3)O_(4)–N–C Carbon-based materials Co–N and C–N bond

Ni-P-SBR composite-electroless-plating enables Si anode with high conductivity and elasticity for high performance Li-ion batteries application

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Journal of Energy Chemistry 2023年第1期76卷 59-66,I0003页

作者： Yuxiao Wang Jian Gou Hongzhang Zhang xiaofei yang Huamin Zhang Xianfeng Li Dalian Institute of Chemical Physics Chinese Academy of SciencesDalian 116023LiaoningChina University of Chinese Academy of Sciences Beijing 100039China

Silica-based anode is widely employed for high energy density Li-ion batteries owing to their high theoretical specific capacity(4200 m A h g-1).However,it is always accompanied by a huge volume expansion(300%)and shrinks during the lithiation/delithiation process,further leading to low cycle *** to mitigate the adverse effects caused by volume expansion such as robust binder matrix,Coreshell structure,etc.,inevitably affect the electronic conductivity within the ***,a high conductivity and elasticity Si anode(Ni-P-SBR(styrene-butadiene rubber)@Si)was designed and fabricated via the Ni-P-SBR composite-electroless-plating *** this design,the Si particles are surrounded by SBR polymer and Ni particles,where the SBR can adapt to the volume change and Ni particles can provide the electrode with high electronic ***,the Ni-P-SBR@Si delivers a high initial capacity of 3470 m A h g-1and presents capacity retention of 49.4%within 200 cycles at 600 m A ***,a high capacity of 1153 m A h g-1can be achieved at 2000 m A g-1and can be cycled stably under bending *** strategy provides feasible ideas to solve the key issues that limit the practical application of Si anodes.

关键词： Silicon anode Volume expansion Composite-electroless-plating High elasticity High electronic conductivity

Controllable synthesis of grain boundary-enriched Pt nanoworms decorated on graphitic carbon nanosheets for ultrahigh methanol oxidation catalytic activity

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Journal of Energy Chemistry 2021年第6期30卷 601-609,I0014页

作者： Huajie Huang Yujie Wei Ying yang Minmin Yan Haiyan He Quanguo Jiang xiaofei yang Jixin Zhu College of Mechanics and Materials Hohai UniversityNanjing 210098JiangsuChina Jiangsu Co-Innovation Center of Efficient Processing and Utilization of Forest Resources College of ScienceNanjing Forestry UniversityNanjing 210037JiangsuChina Institute of Advanced Materials(IAM) Nanjing Tech UniversityNanjing 211816JiangsuChina

Although one-dimensional Pt nanocrystals have long been regarded as ideal electrode catalysts for fuel cells,the synthetic techniques commonly involve the use of various complicated templates or surfactants,which have largely hampered their large-scale industrial ***,we present a convenient and cost-effective approach to the stereoassembly of quasi-one-dimensional grain boundary-enriched Pt nanoworms on nitrogen-doped low-defect graphitic carbon nanosheets(Pt NWs/NL-CNS).Benefiting from its numerous catalytically active grain boundaries as well as optimized electronic structure,the as-derived Pt NWs/NL-CNS catalyst possesses exceptionally good electrocatalytic properties for methanol oxidation,including an ultrahigh mass activity of 1949.5 mA mg^(-1), reliable long-term durability,and strong poison tolerance,affording one of the most active Pt-based electrocatalysts for methanol oxidation *** functional theory calculation further reveals that the formation of worm-shape Pt morphology is attributed to the modified electronic structure as well as controllable defect density of the carbon matrix,which could also weaken the adsorption ability of Pt towards CO molecule and meanwhile synergistically promotes the catalytic reaction kinetics.

关键词： Platinum nanoworm Nitrogen doping Low defect Carbon nanosheet Methanol oxidation

Luminal型乳腺癌中PD-L1、CD8^(+)T淋巴细胞的表达特点及预测价值

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浙江创伤外科 2024年第4期29卷 610-613页

作者：杨筱绯王路军吴桔红浙江省安吉县人民医院安吉313300 浙江省龙游县人民医院

目的讨论Luminal型乳腺癌中PD-L1、CD8^(+)T淋巴细胞的表达特点及预测价值。方法收集2022年1月至2023年10月于本院治疗的Luminal型乳腺癌病例共54例。收集患者临床资料(年龄、家族史、合并症等),病理资料(TNM分期、PR%、病理学分级等)... 详细信息

目的讨论Luminal型乳腺癌中PD-L1、CD8^(+)T淋巴细胞的表达特点及预测价值。方法收集2022年1月至2023年10月于本院治疗的Luminal型乳腺癌病例共54例。收集患者临床资料(年龄、家族史、合并症等),病理资料(TNM分期、PR%、病理学分级等),使用Cox生存分析判断生存的独立因素。结果 Luminal型乳腺癌患者CD8^(+)T表达在绝经状态、肿瘤分期、Ki-67方面有统计学差异,肿瘤细胞中程序性死亡配体1(programmed death ligand 1,PD-L1)的表达与TNM分期、TIL评分、PR%、Ki-67、分子分型相关,肿瘤浸润淋巴细胞(tumor infiltrating lymphocytes,TILs)中PD-L1的表达TNM分期、TIL评分、PR%、Ki-67、分子分型、ER%相关,CD8^(+)T表达与肿瘤细胞、TILs中PD-L1的表达有统计学差异,Luminal型乳腺癌患者生存的独立危险因素包括PR%、IC评分、Ki-67和病理学分级。结论 CD8^(+)T淋巴细胞抑制Luminal型乳腺癌的增殖和转移,PD-L1在TILs中的表达、PR%、Ki-67和病理学分级对Luminal型乳腺癌患者的生存预后具有一定的预测价值。

关键词： Luminal型乳腺癌 PD-L1 肿瘤细胞肿瘤浸润淋巴细胞预测价值