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An Efficient Neural Network based Tracking Controller for Autonomous Underwater Vehicles Subject to Unknown Dynamics

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An Efficient Neural Network based Tracking Controller for Au...

Backstepping Neurodynamics based Position-Tracking Control of Underactuated Autonomous Surface Vehicles

第26届中国控制与决策会议

作者： Chang-Zhong Pan Simon X.Yang xu-zhi lai Lan Zhou School of Information and Electrical Engineering Hunan University of Science and Technology School of Engineering University of Guelph School of Information Science and Engineering Central South University

This paper proposes an efficient neural network（NN） controller for the tracking control of an autonomous underwater vehicles（AUV） subject to unknown vehicle dynamics and significant uncertainties. The controller is first designed based on the error dynamics by using backstepping technique. Then, the unknown dynamics and uncertainties of the vehicle are handled by introducing a NN with single-layer structure. The design of the NN is based on the vehicle regressor dynamics that expresses the highly nonlinear dynamics in a linear form in terms of the known and unknown dynamic parameters. The big advantage of the proposed tracking controller is that the learning algorithm of the NN is simple and computationally efficient. In addition, the developed controller is capable of compensating bounded unknown disturbances. The tracking errors are proved to uniformly ultimately bounded and converge to a small neighbourhood of the origin. The effectiveness and efficiency of the proposed controller is demonstrated by simulations results.

关键词： Autonomous underwater vehicles Tracking control Unknown dynamics Neural network

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Backstepping Neurodynamics based Position-Tracking Control o...

Pathogenesis, diagnosis, and treatment of epilepsy: electromagnetic stimulation-mediated neuromodulation therapy and new technologies

第25届中国控制与决策会议

作者： Chang-Zhong Pan xu-zhi lai Simon X. Yang Min Wu School of Information Science and Engineering Central South University Hunan Engineering Laboratory for Advanced Control and Intelligent Automation School of Engineering University of Guelph

ISBN: (纸本)9781467355339

Backstepping is a very effective methodology for tracking control of underactuated autonomous surface vehicles （ASVs）, but the fundamental drawback is that it requires to calculate numerical derivatives of virtual velocity control signals. In this paper, we propose a novel bioinspired neurodynamics based approach by integrating the backstepping technique and three shunting neural dynamics models. Instead of differentiating the virtual control signal directly at each step of the backstepping design procedure, we let the corresponding virtual signal pass through a shunting neuron model to avoid the complexity of differentiation. The proposed tracking control algorithm is thus much simpler than that constructed based on the conventional backstepping approach. The stability of the control system is proved that all signals are uniformly ultimately bounded （UUB）, and the position-tracking error converges to a small neighborhood of the origin. Simulations demonstrate the effectiveness of the proposed approach.

关键词： Neurodynamics Backstepping Tracking Control Underactuated Systems Autonomous Surface Vehicles

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Neural Regeneration Research 2025年第4期20卷 917-935页

作者： Dian Jiao lai xu Zhen Gu Hua Yan Dingding Shen Xiaosong Gu Academy of Medical Engineering and Translational Medicine Tianjin UniversityTianjinChina Key Laboratory of Advanced Drug Delivery Systems of Zhejiang Province College of Pharmaceutical SciencesZhejiang UniversityHangzhouZhejiang ProvinceChina Affiliated Hospital of Nantong University NantongJiangsu ProvinceChina

Epilepsy is a severe,relapsing,and multifactorial neurological *** regarding the accurate diagnosis,prognosis,and in-depth pathogenesis are crucial for the precise and effective treatment of *** pathogenesis of epilepsy is complex and involves alterations in variables such as gene expression,protein expression,ion channel activity,energy metabolites,and gut microbiota *** results are lacking for conventional treatments for *** resection of lesions,drug therapy,and non-drug interventions are mainly used in clinical practice to treat pain associated with ***-pharmacological treatments,such as a ketogenic diet,gene therapy for nerve regeneration,and neural regulation,are currently areas of research *** review provides a comprehensive overview of the pathogenesis,diagnostic methods,and treatments of *** also elaborates on the theoretical basis,treatment modes,and effects of invasive nerve stimulation in neurotherapy,including percutaneous vagus nerve stimulation,deep brain electrical stimulation,repetitive nerve electrical stimulation,in addition to non-invasive transcranial magnetic stimulation and transcranial direct current *** studies have shown that electromagnetic stimulation-mediated neuromodulation therapy can markedly improve neurological function and reduce the frequency of epileptic ***,many new technologies for the diagnosis and treatment of epilepsy are being ***,current research is mainly focused on analyzing patients’clinical manifestations and exploring relevant diagnostic and treatment methods to study the pathogenesis at a molecular level,which has led to a lack of consensus regarding the mechanisms related to the disease.

关键词： diagnosis drug treatment electroencephalography epilepsy monitoring epilepsy nerve regeneration neurostimulation non-drug interventions pathogenesis prediction

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科学发展观与人类文明转型

上海市经济管理干部学院学报 2009年第5期7卷 56-59页

作者：徐志来上海华谊集团公司党校上海200235

科学发展观提出了经济、生态、社会和文化的可持续性发展观念,超越了以往以经济增长为主的发展理念;提出了以人为本思想,强调要从人民根本利益出发,谋发展、促发展,满足人民各种需要,而发展的最终目标是为了实现人的全面发展,体现了人... 详细信息

科学发展观提出了经济、生态、社会和文化的可持续性发展观念,超越了以往以经济增长为主的发展理念;提出了以人为本思想,强调要从人民根本利益出发,谋发展、促发展,满足人民各种需要,而发展的最终目标是为了实现人的全面发展,体现了人的主体性;提出了以生态为导向的现代化发展模式,大大推进了人类文明的转型。

关键词：发展科学发展观人类文明

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科学发展观与中国特色社会主义共命运

上海市经济管理干部学院学报 2010年第5期8卷 60-64页

作者：徐志来上海华谊集团公司党校上海200235

科学发展观结合了中国的国情,又借鉴了国外发展的经验。它站在新的历史高度,反映了全球化的特征;它在发展理念上的创新,丰富了中国特色社会主义理论;它提出的和谐社会思想,引领我国社会健康转型。科学发展观是与时俱进的科学理论,是当... 详细信息

科学发展观结合了中国的国情,又借鉴了国外发展的经验。它站在新的历史高度,反映了全球化的特征;它在发展理念上的创新,丰富了中国特色社会主义理论;它提出的和谐社会思想,引领我国社会健康转型。科学发展观是与时俱进的科学理论,是当代中国的马克思主义。

关键词：全球化发展科学发展中国特色社会主义

Based on non-targeted metabolomics for differential components screening of Rosae Chinensis Flos and Rosae Rugosae Flos and their quality evaluation

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Traditional Medicine Research 2025年第2期10卷 1-15页

作者： xu Liang Ni-Hui Zhang zhi-lai Zhan Guang-Lu Chang Yan Gao Xia Li Wen-Yuan Gao School of Pharmaceutical Science and Technology Faculty of MedicineTianjin UniversityTianjin 300193China State Key Laboratory for Quality Ensurance and Sustainable Use of Dao-di Herbs China Academy of Chinese Medical SciencesBeijing 100700China Key Laboratory of Modern Chinese Medicine Resources Research Enterprises Tianjin 300402China

Background:Rosa chinensis *** Rosa rugosa *** not only of ornamental value,but also edible flowers and the flower buds have been listed in the Chinese Pharmacopoeia as traditional *** two plants have some differences in efficacy,but the flower buds are easily confused for similar *** addition,large-scale cultivation of ornamental rose flowers may lead to a decrease in the effective components of medicinal ***,it is necessary to study the chemical composition and make quality evaluation of Rosae Chinensis Flos(Yueji)and Rosae Rugosae Flos(Meigui).Methods:In this study,40 batches of samples including Meigui and Yueji from different regions in China were collected to establish high-performance liquid chromatography ***,the fingerprints data was analyzed using principal component analysis,hierarchical cluster analysis,and partial least squares discriminant analysis analysis chemometrics to obtain information on intergroup differences,and non-targeted metabolomic techniques were applied to identify and compare chemical compositions of samples which were chosen from groups with large *** compounds were screened by orthogonal partial least-squares discriminant analysis and S-plot,and finally multi-component quantification was performed to comprehensively evaluate the quality of Yueji and ***:The similarity between the fingerprints of 40 batches roses and the reference print R was 0.73 to 0.93,indicating that there were similarities and differences between the *** principal component analysis and hierarchical cluster analysis of fingerprints data,the samples from different origins and varieties were intuitively divided into four *** least-squares discriminant analysis analysis showed that Meigui and Yueji cluster into two categories and the model was reliable.A total of 89 compounds were identified by high resolution mass spectrometry,mainly were flavonoids and flavon

关键词： Rosa chinensis Jacq. Rosa rugosa Thunb. metabolomics chemometrics multiple component quantification quality evaluation

A low redox potential and long life organic anode material for sodium-ion batteries

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Journal of Energy Chemistry 2025年第1期100卷 557-564页

作者： zhi Li Yang Wei Kang Zhou Xin Huang Xing Zhou Jie xu Taoyi Kong Junwei Lucas Bao Xiaoli Dong Yonggang Wang Department of Chemistry and Shanghai Key Laboratory of Molecular Catalysis and Innovative Materials Institute of New Energy Collaborative Innovation Center of Chemistry for Energy Materials (iChEM) Fudan University Department of Chemistry Boston College School of Materials Science and Engineering Anhui University of Technology

Sodium-ion batteries （SIBs） with organic electrodes are an emerging research direction due to the sustainability of organic materials based on elements like C,H,O,and sodium ***,organic electrode materials for SIBs are mainly used as cathodes because of their relatively high redox potentials（>1 V）.Organic electrodes with low redox potential that can be used as anode are ***,a novel organic anode material （tetrasodium 1,4,5,8-naphthalenetetracarboxylate,Na4TDC） has been developed with low redox potential （<0.7 V） and excellent cyclic *** three-sodium storage mechanism was demonstrated with various in-situ/ex-situ spectroscopy and theoretical calculations,showing a high capacity of 208 mAh/g and an average decay rate of merely 0.022%per ***,the Na4TDC-hard carbon composite can further acquire improved capacity and cycling stability for 1200 cycles even with a high mass loading of up to 20 mg *** pairing with a thick Na3V2（PO4）3cathode (20.6 mg cm-2),the as-fabricated full cell exhibited high operating voltage （2.8 V）,excellent rate performance and cycling stability with a high capacity retention of 88.7% after 200 cycles,well highlighting the Na4TDC anode material for SIBs.

关键词： Organic anode material Low redox potential Composite anode Sodium-ion batteries

Overview of in-situ oxygen production technologies for lunar resources

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International Journal of Minerals,Metallurgy and Materials 2025年第2期32卷 233-255页

作者： Youpeng xu Sheng Pang Liangwei Cong Guoyu Qian Dong Wang laishi Li Yusheng Wu zhi Wang College of Materials Science and Engineering Shenyang University of TechnologyShenyang 110870China CAS Key Laboratory of Green Process and Engineering National Engineering Research Center for Green Recycling of Strategic Metal ResourcesInstitute of Process EngineeringChinese Academy of SciencesBeijing 100190China Innovation Academy for Green Manufacture Chinese Academy of SciencesBeijing 100190China School of Chemical Engineering University of Chinese Academy of SciencesBeijing 100049China

The rich resources and unique environment of the Moon make it an ideal location for human expansion and the utilization of extraterrestrial ***,crucial for supporting human life on the Moon,can be extracted from lunar regolith,which is highly rich in oxygen and contains polymetallic *** oxygen and metal extraction can be achieved using existing metallurgical ***,the ample reserves of water ice on the Moon offer another means for oxygen *** paper offers a detailed overview of the leading technologies for achieving oxygen production on the Moon,drawing from an analysis of lunar resources and environmental *** delves into the principles,processes,advantages,and drawbacks of water-ice electrolysis,two-step oxygen production from lunar regolith,and one-step oxygen production from lunar *** two-step methods involve hydrogen reduction,carbothermal reduction,and hydrometallurgy,while the one-step methods encompass fluorination/chlorination,high-temperature decomposition,molten salt electrolysis,and molten regolith electrolysis(MOE).Following a thorough comparison of raw materials,equipment,technology,and economic viability,MOE is identified as the most promising approach for future in-situ oxygen production on the *** the corrosion characteristics of molten lunar regolith at high temperatures,along with the Moon's low-gravity environment,the development of inexpensive and stable inert anodes and electrolysis devices that can easily collect oxygen is critical for promoting MOE technology on the *** review significantly contributes to our understanding of in-situ oxygen production technologies on the Moon and supports upcoming lunar exploration initiatives.

关键词： lunar resources in-situ oxygen production space metallurgy molten lunar regolith electrolysis

Molecular simulation study of the microstructures and properties of pyridinium ionic liquid[HPy][BF_(4)]mixed with acetonitrile

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原子与分子物理学报 2025年第4期42卷 27-32页

作者： xu Jian-Qiang MA Zhao-Peng CHENG Si LIU zhi-Cong ZHU Guang-lai Department of Physics School of Physics and Electronic InformationAnhui Normal UniversityWuhu 241002China

The microstructures and thermodynamic properties of mixed systems comprising pyridinium ionic liquid[HPy][BF_(4)]and acetonitrile at different mole fractions were studied using molecular dynamics simulation in this *** following properties were determined:density,self-diffusion coefficient,excess molar volume,and radial distribution *** results show that with an increase in the mole fraction of[HPy][BF_(4)],the self-diffusion coefficient ***,the excess molar volume initially decreases,reaches a minimum,and then *** rules of radial distribution functions(RDFs)of characteristic atoms are *** increasing the mole fraction of[HPy][BF_(4)],the first peak of the RDFs of HA1-F decreases,while that of CT6-CT6 rises at first and then *** indicates that the solvent molecules affect the polar and non-polar regions of[HPy][BF_(4)]differently.

关键词： Pyridinium ionic liquids Thermodynamic properties Molecular dynamics simulation Radial distribution functions