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Pattern Formation Control Using QR-Code for Mobile Robots

Journal of Mechanics Engineering and Automation 2012年第10期2卷 594-600页

作者： kuo-lan su Jr-Hung Guo Bo-Yi Li Department of Electrical Engineering National Yunlin University of Science & Technology Yunlin Taiwan Graduate School of Engineering Science and Technology National Yunlin University of Science & Technology Yunlin Taiwan

The article presents multi-pattern formation exchange of mobile robots according to the image signals, programs motion paths using A＊ searching algorithm, and avoids the collision points of motion paths. The system contains an image system, a grid based motion platform, some wireless Radio Frequency （RF） modules and five mobile robots. We use image recognition algorithm to classify variety pattern formation according to variety Quick Response （QR） code symbols on the user interface of the supervised computer. The supervised computer controls five mobile robots to execute formation exchange and presents the movement scenario on the grid based motion platform. We have been developed some pattern formations according to game applications, such as long snake pattern formation, phalanx pattern formation, crane wing pattern formation, sword pattern formation, cone pattern formation, sward pattern tbrmation, T pattern formation, rectangle pattern formation and so on. We develop the user interface of the multi-robot system to program motion paths for variety pattern formation exchange according to the minimum displacement. In the experimental results, the supervised computer recognizes the various QR-code symbols using image system and decides which pattern formation to be selected on real-time. Mobile robots can receive the pattern formation command from the supervised computer, present the movement scenario from the original pattern formation to the assigned pattern formation on the motion platform, and avoid other mobile robots on real-time.

关键词： Multi-pattern formation exchange A* searching algorithm snake pattern formation wireless RF (radio frequency)interface.

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Path Planning of the Multiple Mobile Robot System Applied in Chinese Chess Game

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Journal of Mechanics Engineering and Automation 2011年第3期1卷 217-226页

作者： Jr-Hong Guo kuo-lan su Sheng-Ven Shiau Graduate School Engineering Science and Technology National Yunlin University of Science ＆ Technology Yunlin Taiwan Department of Electrical Engineering National Yunlin University of Science ＆ Technology Yunlin Taiwan

The article presents the path planning algorithm to be applied in the Chinese chess game, and uses multiple mobile robots to present the experimental scenario. Users play the Chinese chess game using the mouse on the supervised computer. The supervised computer programs the motion paths using A＊ searching algorithm, and controls mobile robots moving on the grid based chessboard platform via wireless radio frequency （RF） interface. The A＊ searching algorithm solves shortest path problems of mobile robots from the start point to the target point, and avoids the obstacles on the chessboard platform. The supervised computer calculates the total time to play the game, and computes the residual time to play chess in the step for each player. The simulation results can fired out the shortest motion paths of the mobile robots （chesses） moving to target points from start points in the monitor, and decides the motion path to be existence or not. The eaten chess can moves to the assigned position, and uses the A＊ searching algorithm to program the motion path, too. Finally, the authors implement the simulation results on the chessboard platform using mobile robots. Users can play the Chinese chess game on the supervised computer according to the Chinese chess game rule, and play each step of the game in the assigned time. The supervised computer can suggests which player don＇t obey the rules of the game, and decides which player to be a winner. The scenario of the Chinese chess game feedback to the user interface using the image system.

关键词： Path planning Chinese chess game multiple mobile robots A* searching algorithm wireless RF (radio frequency) interface.

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Robust interface and excellent as-built mechanical properties of Ti–6Al–4V fabricated through laser-aided additive manufacturing with powder and wire

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International Journal of Minerals,Metallurgy and Materials 2025年第1期32卷 154-168页

作者： Fei Weng Guijun Bi Youxiang Chew Shang sui Chaolin Tan Zhenglin Du Jinlong su Fern lan Ng Key Laboratory for Liquid-Solid Structural Evolution and Processing of Materials Ministry of EducationShandong Engineering&Technology Research Center for Superhard MaterialSchool of Materials Science and EngineeringShandong UniversityJinan 250061China Institute of Intelligent Manufacturing Guangdong Academy of SciencesGuangzhou 510095China Singapore Institute of Manufacturing Technology 5 Cleantech Loop636732Singapore

The feasibility of manufacturing Ti-6Al-4V samples through a combination of laser-aided additive manufacturing with powder(LAAM_(p))and wire(LAAM_(w))was explored.A process study was first conducted to successfully circumvent defects in Ti-6Al-4V deposits for LAAM_(p) and LAAM_(w),*** the optimized process parameters,robust interfaces were achieved between powder/wire deposits and the forged substrate,as well as between powder and wire *** characterization results revealed the epitaxial prior β grains in the deposited Ti-6Al-4V,wherein the powder deposit was dominated by a finerα′microstructure and the wire deposit was characterized by lamellar α *** mechanisms of microstructure formation and correlation with mechanical behavior were analyzed and *** mechanical properties of the interfacial samples can meet the requirements of the relevant Aerospace Material Specifications(AMS 6932)even without post heat *** fracture occurred within the interfacial area,further suggesting the robust *** findings of this study highlighted the feasibility of combining LAAM_(p) and LAAM_(w) in the direct manufacturing of Ti-6Al-4V parts in accordance with the required dimensional resolution and deposition rate,together with sound strength and ductility balance in the as-built condition.

关键词： laser-aided additive manufacturing powder deposition wire deposition interfacial characteristic mechanical behavior

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Multi-Scenario Probabilistic Load Flow Calculation Considering Wind Speed Correlation

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Energy Engineering 2025年第2期122卷 667-680页

作者： Xueqian Wang Hongsheng su School of Automation and Electrical Engineering Lanzhou Jiaotong UniversityLanzhou730070China

As the proportion of newenergy increases,the traditional cumulant method(CM)produces significant errorswhen performing probabilistic load flow(PLF)calculations with large-scale wind power *** the wind speed correlation,a multi-scenario PLF calculation method that combines random sampling and segmented discrete wind farm power was ***,based on constructing discrete scenes of wind farms,the Nataf transform is used to handle the correlation between wind ***,the random sampling method determines the output probability of discrete wind power scenarios when wind speed exhibits ***,the PLF calculation results of each scenario areweighted and superimposed following the total probability formula to obtain the final power flow calculation *** in the IEEE standard node system,the absolute percent error(APE)for the mean and standard deviation(SD)of the node voltages and branch active power are all within 1%,and the average root mean square(AMSR)values of the probability curves are all less than 1%.

关键词： Wind speed correlation probabilistic load flow multi-scenario piecewise cumulant method

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Geographical Engineering and Its Role in Promoting Integrated Geography Research

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Chinese Geographical Science 2025年第1期35卷 1-23页

作者： LIU Yansui su Sixin LI Xuhong Institute of Geographic Science and Natural Resources Research Chinese Academy of SciencesBeijing 100101China Faculty of Geographical Science and Engineering Henan UniversityZhengzhou 450046China College of Resource and Environment University of Chinese Academy of SciencesBeijing 100049China

Throughout the contemporary Chinese history of geography,geographical engineering has consistently played a pivotal role as a fundamental scientific *** possesses its distinct ontological basis and value orientation,rendering it inseparable from being merely a derivative of geographical science or *** paper defines geographical engineering and introduces its development history through the lens of Chinese geographical engineering ***,it is highlighted the logical and functional consistency between the theory of human-earth system and the praxis of geographical *** modern cases of geographical engineering projects are presented in detail to demonstrate the points and characteristics of different types of modern geographical *** engineering serves as an engine for promoting integrated geography research,and in response to the challenge posed by fragmented geographies,this paper advocates for an urgent revitalization of geographical *** feasibility of revitalizing geographical engineering is guaranteed because it aligns with China’s national strategies.

关键词： geographical engineering geographical science and engineering integrated geography research human-earth system Chinese geography

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A mitochondria targeting Ir(Ⅲ)complex triggers ferroptosis and autophagy for cancer therapy:A case of aggregation enhanced PDT strategy for metal complexes

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Chinese Chemical Letters 2025年第1期36卷 374-380页

作者： Panpan Wang Hongbao Fang Mengmeng Wang Guandong Zhang Na Xu Yan su Hongke Liu Zhi su Jiangsu Collaborative Innovation Center of Biomedical Functional Materials College of Chemistry and Materials ScienceNanjing Normal UniversityNanjing 210023China

Metal complexes hold significant promise in tumor diagnosis and ***,their potential applications in photodynamic therapy(PDT)are hindered by issues such as poor photostability,low yield of reactive oxygen species(ROS),and aggregation-induced ROS *** address these challenges,we present a molecular self-assembly strategy utilizing aggregation-induced emission(AIE)conjugates for metal *** a proof of concept,we synthesized a mitochondrial-targeting cyclometalated Ir(Ⅲ)photosensitizer *** approach significantly enhances the photodynamic effect while mitigating the dark toxicity associated with AIE ***-TPE readily self-assembles into nanoaggregates in aqueous solution,leading to a significant production of ROS upon light *** Ir-TPE triggers multiple modes of death by excessively accumulating ROS in the mitochondria,resulting in mitochondrial DNA *** damage can lead to ferroptosis and autophagy,two forms of cell death that are highly cytotoxic to cancer *** aggregation-enhanced photodynamic effect of Ir-TPE significantly enhances the production of ROS,leading to a more pronounced cytotoxic *** vitro and in vivo experiments demonstrate this aggregation-enhanced PDT approach achieves effective in situ tumor *** study not only addresses the limitations of metal complexes in terms of low ROS production due to aggregation but also highlights the potential of this strategy for enhancing ROS production in PDT.

关键词： Metal complex AIEgens Mitochondria targeting Enhanced photodynamic therapy Anticancer agent

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Distributed State and Fault Estimation for Cyber-Physical Systems Under DoS Attacks

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 261-263页

作者： Limei Liang Rong su Haotian Xu the School of Control Science and Engineering Shandong University IEEE the School of Electrical and Electronic Engineering Nanyang Technological University

Dear Editor,The letter deals with the distributed state and fault estimation of the whole physical layer for cyber-physical systems(CPSs) when the cyber layer suffers from DoS attacks. With the advancement of embedded computing, communication and related hardware technologies, CPSs have attracted extensive attention and have been widely used in power system, traffic network, refrigeration system and other fields.

关键词： Observers Estimation error Sensors Physical layer Sensor systems Security Power system stability

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Bluish-green emission of novel BaAl_(2)Ge_(2)O_(8):Eu^(2+) phosphors under near-ultraviolet excitation

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Journal of Rare Earths 2025年第1期43卷 30-38,I0002页

作者： Sk.Khaja Hussain Jae su Yu Department of Electronic Engineering Institute for Wearable Convergence ElectronicsKyung Hee University1 Seocheon-dongGiheung-guYongin-sGyeonggi-do446-701Republic of Korea Nanosensor Research Institute Hanyang University55 Hanyangdaehak-roSangnok-guAnsanGyeonggi-do15588Republic of Korea

A new class of phosphor samples,denoted as Ba_(1-x)Al_(2)Ge_(2)O_(8):xEu^(2+)(BAGO:xEu^(2+))was synthesized using a Pechini-type sol-gel technique and subsequent thermal reduction in CO *** morphology and structural characteristics of both the BAGO host lattice and the Eu^(2+)ions activated BAGO phosphors were investigated through field-emission scanning electron microscopy and X-ray diffractometry analyses,*** BAGO host lattice has micro-sized particles and the Rietveld refinement reveals the presence of a monoclinic crystal phase,characterized by the space group I2/c(No.15).Introducing Eu^(2+)ions into Ba^(2+)sites under CO condition reduces the particle size,switching from microscale to *** the near-ultraviolet spectrum(353 nm),the BAGO:xEu^(2+)phosphors exhibit a broadband bluish-green photoluminescence(PL)emission characterized by a peak band at 492 *** phenomenon is attributed to the 4f^(6)5d^(1)→4f^(7) electronic *** BAGO:0.02Eu^(2+)phosphor shows the strongest bluish-green PL emission,and a co mprehensive description of the concentration quenching mechanism between Eu^(2+)ions is ***,the thermal stability of the optimized BAGO:0.02Eu^(2+)phosphor was investigated,and its activation energy was ***,the synthesized bluish-green BAGO:0.02Eu^(2+)phosphor holds the promise of being a novel and potential candidate for utilization in white light-emitting diode applications.

关键词： Broadband bluish-green Ba1Al_(2)Ge_(2)O_(8):Eu^(2+) Near-ultraviolet excitation cothermal reduction White light-emitting diodes Rare earths

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Statistical characteristics and classification of ionospheric mid-latitude trough as revealed by the observations of DMSP-F18

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Earth and Planetary Physics 2025年第1期9卷 137-147页

作者： Yi Liu JiuHou Lei FuQing Huang su Zhou School of Earth and Space Sciences University of Science and Technology of ChinaHefei 230026China School of Science Guiyang UniversityGuiyang 550005China

Statistical characteristics and the classification of the topside ionospheric mid-latitude trough are systemically analyzed,using observations from the Defense Meteorological Satellite Program F18(DMSP-F18)*** data was obtained at an altitude of around 860 km in near polar orbit,throughout *** study identified the auroral boundary based on the in-situ electron density and electron spectrum,allowing us to precisely determine the location of the mid-latitude *** differs from most previous works,which only use Total Electron Content(TEC)or in-situ electron *** our study,the troughs exhibited a higher occurrence rate in local winter than in summer,and extended to lower latitudes with increasing geomagnetic *** was found that the ionospheric mid-latitude trough,which is associated with temperature changes or enhanced ion drift,exhibited distinct ***,the ionospheric mid-latitude troughs related to electron temperature(Te)peak were located more equatorward of auroral oval boundary in winter than in *** ionospheric mid-latitude troughs related to Te-maximum were less frequently observed at 60−70°S magnetic latitude and 90−240°E ***,the troughs related to ion temperature(Ti)maximums were observed at relatively higher latitudes,occurring more frequently in *** addition,the troughs related to ion velocity(Vi)maximums could be observed in all *** troughs with the maximum-Ti and maximum-Vi were located closer to the equatorward boundary of the auroral oval at the nightside,and in both *** implies that enhanced ion drift velocity contributes to increased collisional frictional heating and enhanced ion temperatures,resulting in a density depletion within the trough region.

关键词： topside ionosphere mid-latitude trough ionospheric main trough auroral oval boundary temperature maximum

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Rock fracture mechanism of buffer blasting with cushion layer at the borehole bottom

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International Journal of Minerals,Metallurgy and Materials 2025年第2期32卷 325-334页

作者： Xinguang Zhu Chenxi Ding Zhe sui Hong su Xu Guo School of Civil and Resources Engineering University of Science and Technology BeijingBeijing 100083China Key Laboratory for Mechanics in Fluid Solid Coupling Systems Institute of MechanicsChinese Academy of SciencesBeijing 100190China School of Mechanics and Civil Engineering China University of Mining and Technology(Beijing)Beijing 100083China School of Chemical and Blasting Engineering Anhui University of Science and TechnologyHuainan 232001China

This study primarily investigates the rock fracture mechanism of bottom cushion layer blasting and explores the effects of the bottom cushion layer on rock *** involves analyses of the evolution patterns of blasting stress,characteristics of crack distribution,and rock fracture features in the ***,blasting model experiments were carried out using the dynamic caustics principle to investigate the influence of bottom cushion layers and initiation methods on the integrity of the bottom rock *** experimental results indicate that the combined use of bottom cushion layers and inverse initiation effectively protects the integrity of the bottom rock ***,the process of stress wave propagation and dynamic crack propagation in rocks was simulated using the continuum-discontinuum element method(CDEM)and the landau explosion source model,with varying thicknesses of bottom cushion *** numerical simulation results indicate that with increasing cushion thickness,the absorption of energy generated by the explosion becomes more pronounced,resulting in fewer cracks in the bottom rock *** illustrates the positive role of the cushion layer in protecting the integrity of the bottom rock mass.

关键词： bottom cushion layer blasting crack propagation continuum-discontinuum element method dynamic stress intensity factor

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