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Adaptive Trajectory Tracking Control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 1007-1021页

作者： Yunjun Zheng Jinchuan Zheng Ke Shao Han Zhao Hao Xie Hai Wang the school of Mechanical engineering Hefei University of TechnologyHefei 230009China the school of science Computing and Engineering TechnologiesSwinburne University of TechnologyHawthorn VIC 3122Australia the school of Civil Aviation Northwestern Polytechnical UniversityXi’an 710072China the Shanghai Aerospace Control Technology Institute Shanghai 201109 the school of Automation science and Electrical engineering Beihang UniversityBeijing 100191China the College of science HealthEngineering and EducationMurdoch UniversityPerth WA6150Australia

The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external *** paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for *** with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances *** advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier *** benefit is that the overestimation of control gain can be eliminated,resulting in chattering ***,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the *** stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.

关键词： Adaptive sliding mode barrier function nonholonomic wheeled mobile robot(NWMR) trajectory tracking control

Nanomedicine-mediated immunogenic cell death and its combination with immune checkpoint blockade therapy

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science China(Technological sciences) 2024年第8期67卷 2350-2362页

作者： CHEN JunBin ZHANG YuXi SU Miao ZHU YueQiang YANG XianZhu school of biomedical sciences and engineering South China University of TechnologyGuangzhou International CampusGuangzhou 511442China National engineering Research Center for Tissue Restoration and Reconstruction Guangdong Provincial Key Laboratory of Biomedical EngineeringKey Laboratory of Biomedical Materials and Engineering of the Ministry of EducationSouth China University of TechnologyGuangzhou 510006China

Cancer immunotherapies, which train the natural immune system to specifically kill tumor cells while sparing the healthy cells,have helped revolutionize cancer treatments and demonstrated promising clinical therapeutic benefits for decades. However, the therapeutic outcome of immunotherapies, even for the most successful immune checkpoint blockade(ICB) therapy, remains unsatisfactory in the clinical practice, mainly due to the low immunogenicity of solid tumors and its immunosuppressive tumor microenvironment(TME). Notably, several cancer treatment modalities, including chemotherapy, radiotherapy, and phototherapy, have been revealed to evoke tumor immunogenicity and reverse immunosuppressive TME via inducing immunogenic cell death(ICD) of tumor cells, which synergistically sensitized tumors to ICB therapy. Nanomedicines have been extensively applied to augment ICD-inducing treatment modalities and potentiate ICB therapeutic efficacy therapy due to the opportune convergence of immunotherapy and nanotechnology. Here, we discuss the recent advances in nanomedicine-mediated ICD and its combination with ICB therapy.

关键词： cancer immunotherapy nanomedicine immunogenic cell death immune checkpoint blockade

Lignite-Based Hierarchical Porous C/SiOx Composites as High-Performance Anode for Potassium-Ion Batteries

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Energy & Environmental Materials 2024年第4期7卷 107-117页

作者： Zexu Yang Shouwang Zhao Rongji Jiao Gengyu Hao Yunying Liu Wenxiu He Jingwei Chen Guixiao Jia Jinlong Cui Shaohui Li school of Chemistry and Chemical engineering Aerogel Functional Nanomaterials Laboratory Inner Mongolia University of Science & Technology school of Materials science and engineering Ocean University of China school of Materials science and engineering Zhengzhou University

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关键词： anode hierarchical porous C/SiOx K4SiO4 lignite potassium-ion batteries

Tailoring the austenite characteristics via dual nanoparticles to synergistically optimize the strength-ductility in cold rolled medium Mn steel

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Journal of Materials science & Technology 2024年第2期169卷 158-171页

作者： Qizhe Ye Haokai Dong Qinyi Guo Yishuang Yu Lijie Qiao Yu Yan Beijing Advanced Innovation Center for Materials Genome engineering Corrosion and Protection CenterInstitute for Advanced Materials and TechnologyUniversity of Science and Technology BeijingBeijing 100083China school of Mechanical and Automotive engineering South China University of TechnologyGuangzhou 510641China school of Metallurgical and Ecological engineering University of Science and Technology BeijingBeijing 100083China school of biomedical engineering Shanghai Jiao Tong UniversityShanghai 200240China

In this work,we proposed a novel Cu/θdual nanoparticles strategy to tailor the austenite characteris-tics of a medium Mn steel via a tempering-annealing process to optimize the mechanical *** explored the effects of Cu-rich particles and cementite precipitated in the tempering process on the austenite reversion during the subsequent annealing *** experiments and numerical simula-tions verified that the austenite inherited from cementite had a finer size and a higher Mn enrichment compared with the austenite originating from the tempered martensite *** addition,quantitative evaluations revealed that the pinning effect exerted by the Cu-rich particles could significantly hinder theα/γinterface migration and the recrystallized grain growth,thereby further refining the final *** contributions from the effects of dual nanoprecipitates on the austenite reversion,the heterogeneous austenite grains inherited from varying nucleation sites ensured the sustained and gradual deformation-induced martensite and twinning ***,the Cu-added steels subjected to a tempering-annealing process achieved synergetic enhancement of the tensile strength from 1055 MPa to 1250 MPa and elongation from 33%to 45%.This strategy may provide new guidance for the development and alloy design of high-performance medium Mn steels.

关键词： Dual nanoparticles Medium Mn steel Tempering-annealing process Austenite reversion Mechanical properties

Cocktail effect of ionic patch driven by triboelectric nanogenerator for diabetic wound healing

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Chinese Chemical Letters 2024年第8期35卷 460-465页

作者： Yixia Zhang Caili Xue Yunpeng Zhang Qi Zhang Kai Zhang Yulin Liu Zhaohui Shan Wu Qiu Gang Chen Na Li Hulin Zhang Jiang Zhao Da-Peng Yang College of biomedical engineering Taiyuan University of TechnologyTaiyuan 030024China College of Electronic Information and Optical engineering Taiyuan University of TechnologyTaiyuan 030024China Shanxi-Zheda Institute of Advanced Materials and Chemical engineering Taiyuan 030024China College of Integrated Circuit science and engineering Nanjing University of Posts and TelecommunicationsNanjing 210023China school of Rehabilitation science and engineering University of Health and Rehabilitation SciencesQingdao 266024China school of Materials and Chemical engineering Quanzhou Normal UniversityQuanzhou 362000China

There is increasing evidence shows that either electrical stimulation(ES)or metal ion is an effective way to accelerate ulcerative wound ***,less attention is paid to investigating the synergistic effect between ***,we explore the combined effects of ES and multiple metal ions on dia-betic wound healing assisted by a triboelectric nanogenerator(TENG).Firstly,the novel Eggshell@CuFe_(2)O_(4)nanocomposites(NCs)are prepared,which show unique structure and intrinsic antimicrobial ***,the as-prepared nanocomposites are embedded in oxidized starch hydrogel to form a mul-tifunctional composite gel,which is further assembled into a wearable ionic triboelectric nanogenerator(iTENG)patch with polydimethylsiloxane(PDMS).It can convert the mechanical energy produced by a human body motion to electric energy and mediate the sequential release of metal ions(Fe^(2+)/Ca^(2+)/Cu^(2+)),thereby resulting in the“cocktail effect”on impaired *** their effects,a satisfying healing re-sult in diabetic mouse is identified,which can effectively accelerate wound healing process by relieving inflammation,promoting angiogenesis and collagen *** work puts forward the cocktail effect of electric simulation coupled with the multiple metal ions,and opens up a new perspective in designing iTENG patch towards repair of hard-to-heal wounds.

关键词： iTENG Cocktail effect CuFe_(2)O_(4) Eggshell Diabetic wound

Interface engineering on Constructing Physical and Chemical Stable Solid-State Electrolyte Toward Practical Lithium Batteries

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Energy & Environmental Materials 2024年第4期7卷 28-47页

作者： Honggang He Litong Wang Malek Al-Abbasi Chunyan Cao Heng Li Zhu Xu Shi Chen Wei Zhang Ruiqing Li Yuekun Lai Yuxin Tang Mingzheng Ge school of Textile and Clothing Nantong University school of science Qingdao University of Technology Department of biomedical sciences City University of Hong Kong Institute of Applied Physics and Materials engineering University of Macau College of Chemical engineering Fuzhou University

Solid-state lithium batteries (SSLBs) with high safety have emerged to meet the increasing energy density demands of electric vehicles,hybrid electric vehicles,and portable electronic ***,the dendrite formation,high interfacial resistance,and deleterious interfacial reactions caused by solid-solid contact between electrode and electrolyte have hindered the commercialization of SSLBs.

关键词： dendrite formation high energy density interface instability interfacial resistance solid-state electrolyte

Preparation and Structure-Property Regulation Mechanism of Reversible Thermochromic Polydiacetylene

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Chinese Journal of Polymer science 2024年第8期42卷 1111-1121页

作者： Zhi-Qing Ge Shuo Yan Zu-Xiong Pan Shan Lei Xuan-Zhi Mao Chu Zhao Mo-Zhen Wang Xue-Wu Ge Key Laboratory of Precision and Intelligent Chemistry Department of Polymer Science and EngineeringUniversity of Science and Technology of ChinaHefei 230026China Marshall Laboratory of biomedical engineering International Cancer CenterLaboratory of Evolutionary Theranostics(LET)School of Biomedical EngineeringShenzhen University Medical SchoolShenzhen UniversityShenzhen 518055China Shanghai Institute of Applied Physics Chinese Academy of SciencesShanghai 201800China University of Chinese Academy of sciences Beijing 100049China

The thermochromic mechanism and the structure-property regulation principle of reversible thermochromic polydiacetylene(PDA)materials have always been a challenging *** this work,a series of diacetylene monomers(m-PCDA)containing phenyl and amide or carboxyl groups were synthesized from 10,12-pentacosadiynoic acid(PCDA)through the esterification or amidation *** effects of the number and the distribution of the functional groups in m-PCDA molecules on their solid-state polymerization capability,and the thermochromic mechanism of their corresponding polymers(m-PDA)were investigated and discussed in *** results show that the m-PCDA monomers containing both benzene ring and groups that can form hydrogen bonding interactions have strong intermolecular interaction,and are easy to carry out the solid phase polymerization under 254-nm UV irradiation to obtain the corresponding new thermochromic m-PDA *** thermochromic behavior of m-PDA depends on its melting *** initial color-change temperature(blue to red)is determined by the onset melting tem perature,and the temperature range in which reversible color recovery can be achieved by repeat heating-cooling treatment is determined by its melting *** to the proposed thermochromic mechanism of PDA,various new PDA materials with precise thermochromic temperatu res and reversible thermochromic temperature ra nges can be designed and synthesized through the appropriate introduction of benzene ring and groups that can form hydrogen bonding interactions into the molecular structure of linear diacetylene *** work provides a perspective to the precise molecular structure design and the property regulation of the reversible thermochromic PDA materials.

关键词： Polydiacetylene Thermochromism Hydrogen bonding Chemical modification

Accumulated-state-error-based event-triggered sampling scheme and its application to H∞ control of sampled-data systems

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science China(Information sciences) 2024年第6期67卷 328-341页

作者： Xian-Ming ZHANG Qing-Long HAN Bao-Lin ZHANG Xiaohua GE Dawei ZHANG school of science Computingand Engineering TechnologiesSwinburne University of Technology College of Automation and Electronic engineering Qingdao University of Science & Technology school of Mathematics Shandong University

This paper is concerned with event-triggered H∞control of sampled-data systems. Its novelties lie in three aspects:（i） A novel accumulated-state-error-based event-triggered scheme is introduced by comparing the integral of the state error from tk to t with the system state sampled at tk. This condition works well due to the fact that the so-called Zeno behaviour does not occur.（ii） A novel Lyapunov functional is constructed to establish a criterion to ensure some certain H∞performance of the closed-loop system. This Lyapunov functional is dependent on the integral of the state error involved in the event-triggered scheme.（iii） Under the event-triggered sampling scheme, suitable state-feedback controllers can be designed rather than be given a priori. Moreover, a self-triggered implementation of the proposed event-triggered sampling scheme is presented as well. Finally, a batch reactor model and an inverted pendulum system are given to demonstrate the effectiveness of the proposed method.

关键词： event-triggered sampling self-triggered implementation $H_\infty$ control looped-functional

Simulation of Dynamic Recrystallization in 7075 Aluminum Alloy Using Cellular Automaton

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Journal of Wuhan University of Technology(Materials science) 2024年第2期39卷 425-435页

作者：赵晓东 SHI Dongxing 李亚杰 QIN Fengming CHU Zhibing YANG Xiaorong school of Materials science and engineering Taiyuan University of Science and TechnologyTaiyuan 030024China

The evolution of microstructure during hot deformation is key to achieving good mechanical properties in aluminum *** have developed a cellular automaton(CA) based model to simulate the microstructural evolution in 7075 aluminum alloy during hot *** compression tests were conducted to obtain material parameters for 7075 aluminum alloy,leading to the establishment of models for dislocation density,nucleation of recrystallized grains,and grain *** these aspects with grain topological deformation,our CA model effectively predicts flow stress,dynamic recrystallization(DRX) volume fraction,and average grain size under diverse deformation conditions.A systematic comparison was made between electron back scattered diffraction(EBSD) maps and CA model simulated under different deformation temperatures(573 to 723 K),strain rates(0.001 to 1 s^(-1)),and strain amounts(30% to 70%).These analyses indicate that large strain,high temperature,and low strain rate facilitate dynamic recrystallization and grain *** results from the CA model show good accuracy and predictive capability,with experimental error within 10%.

关键词： cellular automaton dynamic recrystallization 7075 aluminum alloy hot compression