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Interference Suppression and Jitter Elimination Ability-Based Adaption Tracking Guidance for Robotic Fishes

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 126-137页

作者： Dongfang Li Jie Huang Rob Law Xin Xu Limin Zhu Edmond Q.Wu IEEE the school of Electrical engineering and Automation Fuzhou University the Key Laboratory of System Control and information Processing Ministry of Education the school of Electrical engineering and Automation Fuzhou University 5G+Industrial Internet Institute Fuzhou University the University of Macau the College of Mechatronics and Automation National University of Defense Technology the school of Mechanical engineering Shanghai Jiao Tong University the Department of Computer Science and engineering Shanghai Jiao Tong University

This work presents an adaptive tracking guidance method for robotic fishes. The scheme enables robots to suppress external interference and eliminate motion jitter. An adaptive integral surge line-of-sight guidance rule is designed to eliminate dynamics interference and sideslip issues. Limited-time yaw and surge speed observers are reported to fit disturbance variables in the model. The approximation values can compensate for the system's control input and improve the robots' tracking ***, this work develops a terminal sliding mode controller and third-order differential processor to determine the rotational torque and reduce the robots' run jitter. Then, Lyapunov's theory proves the uniform ultimate boundedness of the proposed method. Simulation and physical experiments confirm that the technology improves the tracking error convergence speed and stability of robotic fishes.

关键词： Adaptive integral surge line-of-sight approximation robotic fish speed observer

State-Incomplete Intelligent Dynamic Multipath Routing Algorithm in LEO Satellite Networks

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China Communications 2025年第2期22卷 1-11页

作者： Peng Liang Wang Xiaoxiang school of information and Communication engineering Beijing University of Posts and TelecommunicationsBeijing 100876China

The low Earth orbit(LEO)satellite networks have outstanding advantages such as wide coverage area and not being limited by geographic environment,which can provide a broader range of communication services and has become an essential supplement to the terrestrial ***,the dynamic changes and uneven distribution of satellite network traffic inevitably bring challenges to multipath *** worse,the harsh space environment often leads to incomplete collection of network state data for routing decision-making,which further complicates this *** address this problem,this paper proposes a state-incomplete intelligent dynamic multipath routing algorithm(SIDMRA)to maximize network efficiency even with incomplete state data as ***,we model the multipath routing problem as a markov decision process(MDP)and then combine the deep deterministic policy gradient(DDPG)and the K shortest paths(KSP)algorithm to solve the optimal multipath routing *** use the temporal correlation of the satellite network state to fit the incomplete state data and then use the message passing neuron network(MPNN)for data *** results show that the proposed algorithm outperforms baseline algorithms regarding average end-to-end delay and packet loss rate and performs stably under certain missing rates of state data.

关键词： deep deterministic policy gradient LEO satellite network message passing neuron network multipath routing

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Carbon interconnected microsized Si film toward high energy room temperature solid-state lithium-ion batteries

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Chinese Chemical Letters 2025年第2期36卷 531-535页

作者： Xin Li Ling Zhang Yunyan Fan Shaojing Lin Yong Lin Yongsheng Ying Meijiao Hu Haiying Gao Xianri Xu Zhongbiao Xia Xinchuan Lin Junjie Lu Xiang Han school of information engineering Fujian Business University College of Artificial Intelligence Yango University College of Materials Science and engineering Co-Innovation Center of Efficient Processing and Utilization of Forest Resources Nanjing Forestry University

Solid-state batteries （SSBs） with high-capacity Si anodes have been regarded as one of the most promising candidates to meet the large scale energy storage and electrical vehicles due to its intrinsic safety and potential high energy ***,Si suffers from poor electrical conductivity and huge volume change and particles fracture during lithiaiotn and delithiation,which induces low practical energy *** addition,the SSBs are often operated at high temperature due to the poor physical contact and huge resistance between Si and solid-state electrolyte （SSE）.To improve the bulk electronic/ionic conductivity of Si and its interfacial compatibility with SSE,herein,a binder free and self-supporting Si/C film was *** monolithic carbon not only enhance the electric conductivity but also release huge stress during lithiation and *** addition,paired with the flexible and soft poly（vinylidene fluoride）-co-hexafluoropropylene （PVDF-HFP） and Li1.3Al0.3Ti1.7（PO4）3（LATP） solid-state electrolyte,a LiF-rich and electrochemical stable solid-electrolyte interphase （SEI） layer is in-situ *** fast bulk and interfacial ionic transportation as well as the mechanical integrity of MSi enable high performance SSBs at room *** a result,high specific capacity of 2137 m Ah/g with an initial Coulombic efficiency of 83.2%is obtained at a rate of 0.5 A/*** at a high rate of 3 A/g,the specific capacity is1793 m Ah/*** a rate of 1 A/g,the Si/C anode delivers a long cycling performance over 500 cycles while maintains a capacity of 1135 mAh/*** work provides a new strategy that combines charge transfer kinetics and interfacial chemistry design toward high energy density Si-based SSBs.

关键词： Carbon coating Interphase Lithium-ion battery Silicon anode Solid-state electrolyte

Local Strain engineering of Two-Dimensional Transition Metal Dichalcogenides Towards Quantum Emitters

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Nano-Micro Letters 2025年第5期17卷 78-116页

作者： Ruoqi Ai Ximin Cui Yang Li Xiaolu Zhuo College of Electronics and information engineering Shenzhen UniversityShenzhen 518060People’s Republic of China school of Science and engineering The Chinese University of Hong KongShenzhen 518172People’s Republic of China

Two-dimensional transition metal dichalcogenides(2D TMDCs)have received considerable attention in local strain engineering due to their extraordinary mechanical flexibility,electonic structure,and optical *** strain-induced out-of-plane deformations in 2D TMDCs lead to diverse excitonic behaviors and versatile modulations in optical properties,paving the way for the development of advanced quantum technologies,flexible optoelectronic materials,and straintronic *** on local strain engineering on 2D TMDCs has been delved into fabrication techniques,electronic state variations,and quantum optical *** review begins by summarizing the state-of-the-art methods for introducing local strain into 2D TMDCs,followed by an exploration of the impact of local strain engineering on optical *** intriguing phenomena resulting from local strain,such as exciton funnelling and anti-funnelling,are also *** then shift the focus to the application of locally strained 2D TMDCs as quantum emitters,with various strategies outlined for modulating the properties of TMDC-based quantum ***,we discuss the remaining questions in this field and provide an outlook on the future of local strain engineering on 2D TMDCs.

关键词： Two-dimensional transition metal dichalcogenides Local strain Excitonic behaviors Quantum emitters

Study on the Impact of Imbalance Between Transmission Lines on Crosstalk: A Novel Perspective of Displacement Current

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Chinese Journal of Electronics 2025年第1期34卷 114-124页

作者： Xiaozhu Lu Lingnan Song Hui Xu Donglin Su school of Electronics and information engineering Beihang University Research Institute for Frontier Science Beihang University

This paper systematically studies the impact of imbalances between adjacent lines and effects on crosstalk. A novel perspective of displacement current is introduced to analyze and explain the simulated observations. The imbalances caused by coupling between single-single, single-differential, and differential-differential lines are studied and analyzed by considering the near-field coupling through the generated displacement currents. Measurements are conducted for various cases of coupled adjacent lines. An equivalent model considering the variation of displacement current with geometrical parameters is also proposed, and the corresponding coupling coefficients are extracted based on simulations to characterize the impact of imbalances. The methods and results presented in this paper provide useful guidelines for designing high-speed circuit layouts with closely spaced transmission lines.

关键词： Couplings Voltage measurement Power transmission lines Systematics Current measurement Layout Crosstalk Transmission line measurements Topology Integrated circuit modeling

Low Latency Soft Fiberoptic Choledochoscope Robot Control System

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 43-52页

作者： ZHOU Hanwei ZHU Xinping MA Youwei WANG Kundong school of Electronic information and Electrical engineering Shanghai Jiao Tong University200240ShanghaiChina Shanghai Aerospace Control Technology Institute Shanghai 201109China

Soft fiberoptic choledochoscope is an important tool for the diagnose and surgical treatment of biliary ***,the traditional soft fiberoptic choledochoscope is hard to operate,due to the low position *** on the conventional soft fiberoptic choledochoscope,an electrical soft fiberoptic choledochoscope robot with a low latency was *** order to improve the controllability of the conventional choledochoscope,the wire traction mechanism and the rotation mechanism are used to bend and rotate the scope,so as to control its movement *** dead band compensation model and control algorithm of the wire traction mechanism are developed to improve the accuracy of the orientation *** human-computer interaction system and complex motion control system are developed based on ARM embedded system and *** to the high-speed synchronization channel between FPGA and peripheral,the design of low latency whole-procedure surgical mode was established and *** with a micro image sensor,real-time video back transmission was *** performance of the robot prototype was verified by animal experiment in vivo on a *** robot has an extremely low operating latency of no more than 0.402 ms,and a high bending positioning accuracy of±1.43°error margin within 99.7%confidence interval,which guarantees the safety of biliary surgery.

关键词： soft fiberoptic choledochoscope electrical control low latency in vivo animal experiment

DDoS Attack Autonomous Detection Model Based on Multi-Strategy Integrate Zebra Optimization Algorithm

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Computers, Materials & Continua 2025年第1期82卷 645-674页

作者： Chunhui Li Xiaoying Wang Qingjie Zhang Jiaye Liang Aijing Zhang school of information engineering Institute of Disaster PreventionLangfang065201China Langfang Key Laboratory of Network Emergency Protection and Network Security Langfang065201China

Previous studies have shown that deep learning is very effective in detecting known ***,when facing unknown attacks,models such as Deep Neural Networks(DNN)combined with Long Short-Term Memory(LSTM),Convolutional Neural Networks(CNN)combined with LSTM,and so on are built by simple stacking,which has the problems of feature loss,low efficiency,and low ***,this paper proposes an autonomous detectionmodel for Distributed Denial of Service attacks,Multi-Scale Convolutional Neural Network-Bidirectional Gated Recurrent Units-Single Headed Attention(MSCNN-BiGRU-SHA),which is based on a Multistrategy Integrated Zebra Optimization Algorithm(MI-ZOA).The model undergoes training and testing with the CICDDoS2019 dataset,and its performance is evaluated on a new GINKS2023 *** hyperparameters for Conv_filter and GRU_unit are optimized using the Multi-strategy Integrated Zebra Optimization Algorithm(MIZOA).The experimental results show that the test accuracy of the MSCNN-BiGRU-SHA model based on the MIZOA proposed in this paper is as high as 0.9971 in the CICDDoS 2019 *** evaluation accuracy of the new dataset GINKS2023 created in this paper is *** to the MSCNN-BiGRU-SHA model based on the Zebra Optimization Algorithm(ZOA),the detection accuracy on the GINKS2023 dataset has improved by 5.81%,precisionhas increasedby 1.35%,the recallhas improvedby 9%,and theF1scorehas increasedby 5.55%.Compared to the MSCNN-BiGRU-SHA models developed using Grid Search,Random Search,and Bayesian Optimization,the MSCNN-BiGRU-SHA model optimized with the MI-ZOA exhibits better performance in terms of accuracy,precision,recall,and F1 score.

关键词： Distributed denial of service attack intrusion detection deep learning zebra optimization algorithm multi-strategy integrated zebra optimization algorithm

Efficient OpenMP Based Z-curve Encoding and Decoding Algorithms

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Computers, Materials & Continua 2025年第1期82卷 1313-1327页

作者： Zicheng Zhou Shaowen Sun Teng Liang Mengjuan Li Fengling Xia school of Electronic Science and engineering University of Electronic Science and Technology of ChinaChengdu611731China Faculty of information engineering and Automation Kunming University of Science and TechnologyKunming650500China school of Communications information engineering Yunnan Communications Vocational and Technical CollegeKunming650500China Library Yunnan Normal UniversityKunming650500China Faculty of Civil Aviation and Aeronautics Kunming University of Science and TechnologyKunming650500China

Z-curve’s encoding and decoding algorithms are primely important in many Z-curve-based *** bit interleaving algorithm is the current state-of-the-art algorithm for encoding and decoding *** simple,its efficiency is hindered by the step-by-step coordinate shifting and bitwise *** tackle this problem,we first propose the efficient encoding algorithm LTFe and the corresponding decoding algorithm LTFd,which adopt two optimization methods to boost the algorithm’s efficiency:1)we design efficient lookup tables(LT)that convert encoding and decoding operations into table-lookup operations;2)we design a bit detection mechanism that skips partial order of a coordinate or a Z-value with consecutive 0s in the front,avoiding unnecessary iterative *** propose order-parallel and point-parallel OpenMP-based algorithms to exploit the modern multi-core *** results on discrete,skewed,and real datasets indicate that our point-parallel algorithms can be up to 12.6×faster than the existing algorithms.

关键词： Z-curve lookup table OpenMP bit detection mechanism

Compensation for Heterogeneous Unknowns and Performance-Prescribed Consensus

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 173-182页

作者： Linzhen Yu Yungang Liu the school of Control Science and engineering Shandong University

In this paper, the multi-agent systems(MASs) typically with heterogeneous unknown nonlinearities and nonidentical unknown control coefficients are studied. Although the model information of MASs is coarse, the leader-following consensus is still pursued, with a prescribed performance and zero consensus errors. Leveraging a powerful funnel control strategy, a fully distributed and completely relative-state-dependent protocol is designed. Distinctively, the time-varying function characterizing the performance boundary is introduced, not only to construct the funnel gains but also as an indispensable part of the protocol,enhancing the control ability and enabling the consensus errors to converge to zero(rather than a residual set). Remark that when control directions are unknown, coexisting with inherent system nonlinearities, it is essential to incorporate an additional compensation mechanism while imposing a hierarchical structure of communication topology for the control design and analysis. Simulation examples are given to illustrate the effectiveness of the theoretical results.

关键词： Fully distributed protocol funnel control nonidentical unknown control directions performance-prescribed consensus unknown heterogeneous nonlinearities