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Path Tracking controller Design of Automated Parking Systems via NMPC with an Instructible Solution

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Chinese Journal of Mechanical Engineering 2024年第3期37卷 353-367页

作者： Liang Chen Zhaobo Qin Manjiang Hu Yougang Bian Xiaoyan Peng State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle College of Mechanical and Vehicle EngineeringHunan UniversityChangsha 410082China Wuxi Intelligent control Research institute of hunan University Wuxi 214115China

Parking difficulties have become a social issue that people have to *** parking system is practicable for quick par operations without a driver which can also greatly reduces the probability of parking *** paper proposes a Lyapunov-based nonlinear model predictive controller embedding an instructable solution which is generated by the modified rear-wheel feedback method(RF-LNMPC)in order to improve the overall path tracking accuracy in parking ***,A discrete-time RF-LNMPC considering the position and attitude of the parking vehicle is proposed to increase the success rate of automated parking ***,the RF-LNMPC problem with a multi-objective cost function is solved by the Interior-Point Optimization,of which the iterative initial values are described as the instructable solutions calculated by combining modified rear-wheel feedback to improve the performance of local optimal ***,the details on the computation of the terminal constraint and terminal cost for the linear time-varying case is *** closed-loop stability is verified via Lyapunov techniques by considering the terminal constraint and terminal cost ***,the proposed RF-LNMPC is implemented on a selfdriving Lincoln MKZ platform and the experiment results have shown improved performance in parallel and vertical parking *** Monte Carlo analysis also demonstrates good stability and repeatability of the proposed method which can be applied in practical use in the near future.

关键词： Automated parking Path tracking controller Nonlinear model predictive control Monte Carlo analysis

Erosion-induced recovery CO_(2) sink offset the horizontal soil organic carbon removal at the basin scale

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Science China Earth Sciences 2024年第6期67卷 2019-2033页

作者： Lingxia WANG Xiaodong NIE Jiaqi LI Yaojun LIU Hui WANG Yazhe LI Zhongwu LI School of Geographic Science Hunan Normal UniversityChangsha 410081China institute of Interdisciplinary Studies Hunan Normal University and Hunan Provincial Key Laboratory for Eco-environmental Changes and Carbon Sequestration of the Dongting Lake BasinChangsha 410081China College of Environmental Science and Engineering Hunan University and Key Laboratory of Environmental Biology and Pollution Control(Hunan University)Ministry of EducationChangsha 410082China

To improve soil carbon sequestration capacity,the full soil carbon cycle process needs to be understood and *** is essential to evaluate whether water erosion acts as a net source or sink of atmospheric CO_(2)at the basin scale,which encompasses the entire hydrological *** study introduced an approach that combined a spatially distributed sediment delivery model and biogeochemical model to estimate the lateral and vertical carbon fluxes by water erosion at the basin *** this coupling model to the Dongting Lake Basin,the results showed that the annual average amount of soil erosion during 1980-2020 was 1.33×10^(8)t,displaying a decreasing trend followed by a slight *** 12% of the soil organic carbon displacement was ultimately lost in the riverine systems,and the rest was deposited downhill within the *** average lateral soil organic carbon loss induced by erosion was 8.86×10^(11)g C in 1980 and 1.50×10^(11)g C in 2020,with a decline rate of 83%.A net land sink for atmospheric CO_(2)of 5.54×1011g C a^(-1)occurred during erosion,primarily through sediment burial and dynamic ***,ecological restoration projects and tillage practice policies are still significant in reducing erosion,which could improve the capacity of the carbon sink for recovery beyond the rate of horizontal carbon ***,our model enables the spatial explicit simulation of erosion-induced carbon fluxes using costeffective and easily accessible input data across large spatial scales and long ***,it offers a valuable tool for predicting the interactions between carbon dynamics,land use changes,and future climate.

关键词： Water erosion Sediment transfer Lateral soil carbon loss Land-atmosphere CO_(2) flux Dongting Lake Basin

Tourmaline guiding the electric field and dechlorination pathway of 2,3-dichlorophenol by Desulfitobacterium hafniense

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Journal of Environmental Sciences 2024年第1期135卷 262-273页

作者： Yue Lu Fangyi Liang Fanzhi Qin Linrui Zhong Jianhong Jiang Qi Liu Shoujuan Zhang Ming Yan Changzheng Fan Haoran Dong College of Environmental Science and Engineering Hunan UniversityChangsha 410082China Shenzhen Research institute Hunan UniverisyShenzhen 510082China Key Laboratory of Environment Biology and Pollution control Hunan UniversityMinistry of EducationChangsha 410082China China Machinery International Engineering Design&Research institute Co. Ltd.Changsha 410007China hunan Engineering Research Center for Water Treatment Process&Equipment Changsha 410007China

The dehalogenation of organohalides has been a research hotspot in bioremediation field;however,the influence of tourmaline,a natural ore that can generate spontaneous electric field,on organohalide-respiring bacteria(OHRB)and their dechlorination process is not well *** this study,the effect and mechanism of tourmaline on the reductive dechlorination of 2,3-dichlorophenol(2,3-DCP)by Desulfitobacterium hafniense DCB-2Twere *** characterization results confirmed that tourmaline had good stability and the optimal dosage of tourmaline was 2.5 g/L,which shortened the total time required for dechlorination reaction to 72 ***,tourmaline amendment also increased the proportion of 2-chlorophenol(2-CP)from 18%to 30%of end products,while that of 3-CP decreased *** theoretical calculations showed that the bond charge of the orthosubstituted chlorine declined from-0.179 to-0.067,and that of meta-substituted chlorine increased from-0.111 to-0.129,which indicated that the spontaneous electric field of tourmaline affected the charge distribution of 2,3-DCP and was more conducive to the generation of ***,tourmaline with the spontaneous electric field affected the reductive dechlorination pathway of Desulfitobacterium,and the tourmaline-OHRB combining system might serve as a novel strategy for the bioremediation of environments polluted with chlorinated phenols.

关键词： Reductive dechlorination Desulfitobacterium hafniense Tourmaline Electric field 2 3-dichlorophenol

Geobacter sulfurreducens promoted the biosynthesis of reduced graphene oxide and coupled it for nitrobenzene reduction

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Journal of Environmental Sciences 2024年第4期138卷 458-469页

作者： Shoujuan Zhang Qi Liu Linrui Zhong Jianhong Jiang Xiaozhe Luo Xingxin Hu Qian Liu Yue Lu College of Environmental Science and Engineering Hunan UniversityChangsha 410082China Shenzhen Research institute Hunan UniversityShenzhen 510082China Key Laboratory of Environment Biology and Pollution control Hunan UniversityMinistry of EducationChangsha 410082China China Machinery International Engineering Design&Research institute Co. LtdChangsha 410007China hunan Engineering Research Center for Water Treatment Process&Equipment Changsha 410007China

In order to explore an efficient and green method to deal with nitrobenzene(NB)pollutant,reduced graphene oxide(r GO)as an electron shuttle was applied to enhance the extracellular electron transfer(EET)process of Geobacter sulfurreducens,which was a typical electrochemically active bacteria(EAB).In this study,r GO biosynthesis was achieved via the reduction of graphene oxide(GO)by *** PCA within 3 ***,the r GOPCA combining system completely reduced 50-200μmol/L of NB to aniline as end product within one *** characterization revealed that PCA cells were partly wrapped by rGO,and therefore the distance of electron transfer between strain PCA and r GO material was ***,the ID/IGof GO,r GO,and r GO-PCA combining system were 0.990,1.293 and 1.31,***,highest currents were observed in r GO-PCA-NB as 12.950μA/-12.560μA at -408 m V/156 m V,attributing to the faster electron transfer efficiency in EET ***,the NB reduction was mainly due to:(I)direct EET process from *** PCA to NB;(II)r GO served as electron shuttle and accelerated electron transfer to NB,which was the main degradation ***,the biosynthesis of r GO via GO reduction by Geobacter promoted the NB removal process,which provided a facile strategy to alleviate the problematic nitroaromatic pollution in the environment.

关键词： Reduced graphene oxide Geobacter Nitrobenzene Removal Extracellular electron transfer

Quantum phase transition of the Jaynes-Cummings model

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Science China(Physics,Mechanics & Astronomy) 2024年第1期67卷 1-9页

作者： Cheng Liu Jin-Feng Huang Key Laboratory of Low-Dimensional Quantum Structures and Quantum control of Ministry of Education Key Laboratory for Matter Microstructure and Function of Hunan ProvinceDepartment of Physics and Synergetic Innovation Center for Quantum Effects and ApplicationsInstitute of Interdisciplinary StudiesHunan Normal UniversityChangsha 410081China

Herein,we propose an experimentally feasible scheme to show the quantum phase transition of the Jaynes-Cummings(JC)model by modulating the transition frequency of a two-level system in a quantum Rabi model with strong *** tuning the modulation frequency and amplitude,the ratio of the effective coupling strength of the rotating terms to the effective cavity(atomic transition)frequency can enter the deep-strong coupling regime,while the counter-rotating terms can be ***,a deep-strong JC model is *** ratio of the coupling strength to resonance frequencies in the deep-strong JC model is two orders of magnitude larger than the corresponding ratio in the original quantum Rabi *** scheme can be employed in atom-cavity resonance and off-resonance cases,and it is valid over a broad *** nonzero average cavity photons of the ground state indicate the emergence of a quantum phase ***,we demonstrate the dependence of the phase diagram on the atom-cavity detuning and modulation *** the parameters used in our scheme are within the reach of current experimental *** scheme provides a new mechanism for investigating the critical phenomena of finite-sized systems without requiring classical field limits,thereby opening a door for studying fundamental quantum phenomena occurring in the ultrastrong and even deep-strong coupling regimes.

关键词： Jaynes-Cummings model quantum phase transition frequency modulation

Robust,self-adhesive,and low-contact impedance polyvinyl alcohol/polyacrylamide dual-network hydrogel semidry electrode for biopotential signal acquisition

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SmartMat 2024年第2期5卷 67-82页

作者： Guangli Li Ying Liu Yuwei Chen Yonghui Xia Xiaoman Qi Xuan Wan Yuan Jin Jun Liu Quanguo He Kanghua Li Jianxin Tang hunan Key Laboratory of Biomedical Nanomaterials and Devices College of Life Sciences and ChemistryHunan University of TechnologyZhuzhouChina Department of Neurology Zhuzhou People's HospitalZhuzhouChina Zhuzhou institute for Food and Drug control ZhuzhouChina

Herein,we fabricated a flexible semidry electrode with excellent mechanical performance,satisfactory self-adhesiveness,and low-contact impedance using physical/chemical crosslinked polyvinyl alcohol/polyacrylamide dual-network hydrogels(PVA/PAM DNHs)as an efficient saline *** resultant PVA/PAM DNHs showed admirable adhesive and compliance to the hairy scalp,facilitating the establishment of a robust electrode/skin interface for biopotential signal ***,the PVA/PAM DNHs steadily released trace saline onto the scalp to achieve the minimized potential drift(1.47±0.39 mV/min)and low electrode–scalp impedance(18.2±8.9 kΩ@10 Hz).More importantly,the application feasibility of real-world brain−computer interfaces(BCIs)was preliminarily validated by 10 participants using two classic BCI *** mean temporal cross-correlation coefficients between the semidry and wet electrodes in the eyes open/closed and the N200 speller paradigms are 0.919±0.054 and 0.912±0.050,*** electrodes demonstrate anticipated neuroelectrophysiological responses with similar *** semidry electrode could also effectively capture robust P-QRS-T peaks during electrocardiogram *** their outstanding advantages of fast setup,user-friendliness,and robust signals,the proposed PVA/PAM DNH-based electrode is a promising alternative to wet electrodes in biopotential signal acquisition.

关键词： brain-computer interface dual-network hydrogel electrocardiogram signals electroencephalography signals semidry electrode

State estimation for delayed switched positive systems: delayed radius approach

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Science China(Information Sciences) 2024年第8期67卷 190-205页

作者： Weizhong CHEN Zhongyang FEI Xudong ZHAO Zheng-Guang WU School of Electronics and Information Xi'an Polytechnic University Research institute of Intelligent control and Systems Harbin Institute of Technology Key Laboratory of Intelligent control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology School of control Science and Engineering Dalian University of Technology State Key Laboratory of Industrial control Technology Institute of Cyber-Systems and ControlZhejiang University

In this paper, an interval estimation scheme is developed for delayed switched positive systems（DSPS） with mode-dependent average dwell time switching. A lossless zonotopic estimation approach is proposed for the delayed intersection zonotope with the positive generator matrix. First, considering the existence of asynchronism between the system mode and the correction matrix mode, the mismatched intersection zonotope is constructed for DSPS to verify the consistency between the system model and ***, by utilizing the introduced radius definitions, the ?∞performance is addressed to optimize the size of delayed intersection zonotopes. Subsequently, we present a joint-design approach of switching signals and the mode-dependent correction matrix by constructing positive generator matrix-based delayed radius functions. Furthermore, guaranteed nonnegative state bounds are derived for the considered DSPS based on the proposed lossless zonotopic estimation criteria. Finally, detailed simulations are conducted to validate the feasibility and superiority of the developed methods.

关键词： delayed switched positive systems interval estimation asynchronous correction matrix zonotopes mode-dependent average dwell time

Shi-pi-xiao-ji formula suppresses hepatocellular carcinoma by reducing cellular stiffness through upregulation of acetyl-coA acetyltransferase 1

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World Journal of Gastrointestinal Oncology 2024年第6期16卷 2727-2741页

作者： Hui-Ying Jian Zi-Cheng Liang Huan Wen Zhen Zhang Pu-Hua Zeng Graduate School Hunan University of Chinese MedicineChangsha 410208Hunan ProvinceChina hunan Provincial Hospital of Integrated Traditional Chinese and Western Cancer Research Institute of Hunan Academy of Traditional Chinese MedicineHunan Academy of Chinese MedicineChangsha 410006Hunan ProvinceChina

BACKGROUND Previous studies have shown that the Shi-pi-xiao-ji(SPXJ)herbal decoction formula is effective in suppressing hepatocellular carcinoma(HCC),but the underlying mechanisms are not ***,this study investigated whether the antitumor effects of the SPXJ formula in treating HCC were mediated by acetyl-coA acetyltransferase 1(ACAT1)-regulated cellular *** a series of experiments,we concluded that SPXJ inhibits the progression of HCC by upregulating the expression level of ACAT1,lowering the level of cholesterol in the cell membrane,and altering the cellular stiffness,which provides a new idea for the research of traditional Chinese medicine against *** To investigate the anti-tumor effects of the SPXJ formula on the malignant progression of *** HCC cells were cultured in vitro with SPXJ-containing serum prepared by injecting SPXJ formula into wild-type *** apoptotic rate and proliferative,invasive,and migratory abilities of control and SPXJ-treated HCC cells were *** force microscopy was used to determine the cell surface morphology and the Young’s modulus values of the control and SPXJ-treated HCC *** membrane cholesterol levels in HCC cells were detected using the Amplex Red cholesterol detection ***1 protein levels were estimated using western *** Compared with the vehicle group,SPXJ serum considerably reduced proliferation of HCC cells,increased stiffness and apoptosis of HCC cells,inhibited migration and invasion of HCC cells,decreased plasma membrane cholesterol levels,and upregulated ACAT1 protein ***,treatment of HCC cells with the water-soluble cholesterol promoted proliferation,migration,and invasion of HCC cells as well as decreased cell stiffness and plasma membrane cholesterol levels,but did not alter the apoptotic rate and ACAT1 protein expression levels compared with the vehicle *** SPXJ formula inhibited proliferation,invasion,and migration

关键词： Shi-pi-xiao-ji formula Hepatocellular carcinoma Cellular stiffness Plasma membrane cholesterol level AcetylcoA acetyltransferase 1

Microscopic growth mechanism and edge states of monolayer 1T'-MoTe2

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Chinese Physics B 2024年第4期33卷 474-480页

作者：赵海鹏刘隐杨胜国林陈昉陈明星 Kai Braun 罗心仪李思宇潘安练王笑 Key Laboratory for Micro-Nano Physics and Technology of hunan Province School of Physics and ElectronicsCollege of Materials Science and Engineering Hunan University Key Laboratory of Low-Dimensional Quantum Structures and Quantum control of Ministry of Education Synergetic Innovation Centre for Quantum Effects and Applications (SICQEA) Hunan Normal University State Key Laboratory of Powder Metallurgy Central South University institute of Physical and Theoretical Chemistry and LISA+ University of Tübingen

Transition metal ditellurides（TMTDs） have versatile physical properties,including non-trivial topology,Weyl semimetal states and unique spin *** growth of high-quality and large-scale monolayer TMTDs with preferred crystal phases is crucial for their ***,we demonstrate the epitaxial growth of 1T'-MoTe2on Au（111）and graphitized silicon carbide（Gr/SiC） by molecular beam epitaxy（MBE）.We investigate the morphology of the grown1T'-MoTe2at the atomic level by scanning tunnelling microscopy（STM） and reveal the corresponding microscopic growth *** is found that the unique ordered Te structures preferentially deposited on Au（111） regulate the growth of monolayer single crystal 1T'-MoTe2,while the Mo clusters were preferentially deposited on the Gr/SiC substrate,which impedes the ordered growth of monolayer *** confirm that the size of single crystal 1T'-MoTe2grown on Au（111）is nearly two orders of magnitude larger than that on Gr/*** scanning tunnelling spectroscopy（STS）,we observe that the STS spectrum of the monolayer 1T'-MoTe2nano-island at the edge is different from that at the interior,which exhibits enhanced conductivity.

关键词： 1T′-MoTe2 microscopic growth mechanism scanning tunneling microscopy/spectroscopy (STM/S) transition metal ditellurides