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Stabilization Controller of An Extended Chained Nonholonomic System With Disturbance:An FAS Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第5期11卷 1262-1273页

作者： Zhongcai Zhang Guangren Duan School of engineering Qufu Normal UniversityRizhao 276826China center for Control Science and technology Southern University of Science and TechnologyShenzhen 518055 center for Control Theory and Guidance technology Harbin Institute of TechnologyHarbin 150001China

This study examines the stabilization issue of extended chained nonholonomic systems(ECNSs)with external *** the existing approaches,we transform the considered system into a fully actuated system(FAS)model,simplifying the stabilizing controller *** implement a separate controller design and propose exponential stabilization controller and finite-time stabilization controller under finite-time disturbance observer(FTDO)for the two system *** addition,we discuss the specifics of global stabilization control *** approach demonstrates that two system states exponentially or asymptotically converge to zero under the provided switching stabilization control strategy,while all other system states converge to zero within a finite time.

关键词： design stabilization system

Combined effects of sea urchin-like structure and mixed Cu^(+)/Cu^(0)states on promoting C_(2)formation in electrocatalytic CO_(2)reduction

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Frontiers of Chemical Science and engineering 2024年第3期18卷 63-73页

作者： Mengqing Shan Dongsheng Lu Jiatong Dong Shen Yan Jinyu Han Hua Wang Collaborative Innovation center of Chemical Science and engineering Key Laboratory for Green Chemical Technology of the Ministry of EducationSchool of Chemical Engineering and TechnologyTianjin UniversityTianjin300354China

Surface engineering and Cu valence regulation are essential factors in improving the C_(2)selectivity during the electrochemical reduction of CO_(2).Herein,we present a sea urchin-like CuO/Cu_(2)O catalyst derived from rhombic dodecahedra Cu_(2)O through one-step oxidation/etching method where the mixed Cu^(+)/Cu^(0)states are formed via in situ reduction during *** combined effects of the morphology and the mixed Cu^(+)/Cu^(0)states on C–C coupling are evaluated by the Faradaic efficiency of C_(2)and the C_(2)/C1 ratio obtained in an H-cell.R-Cu^(O)/Cu_(2)O exhibited 49.5%Faradaic efficiency of C_(2)with a C_(2)/C1 ratio of 3.1 at−1.4 V *** hydrogen electrode,which are 1.5 and 3.2 times higher than those of R-Cu_(2)O,*** a flow-cell,68.0%Faradaic efficiency of C_(2)is achieved at a current density of 500 mA·cm^(−2).The formation of the mixed Cu^(+)/Cu^(0)states was confirmed by in situ Raman ***,the sea urchin-like structure provides more active sites and enables faster electron *** a result,the excellent C_(2)production on R-CuO/Cu_(2)O is primarily attributed to the synergistic effects of the sea urchin-like structure and the stable mixed Cu^(+)/Cu^(0)***,this work presents an integrated strategy for developing Cu-based electrocatalysts for C_(2)production through electrochemical CO_(2)reduction.

关键词： CO_(2)electrolysis sea urchin-like structure Cu^(+)/Cu^(0) C_(2)products

A model reduction approach for discrete-time linear time-variant systems with delayed inputs

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Science China(Information Sciences) 2024年第4期67卷 197-217页

作者： Ai-Guo WU Guang-Ren DUAN Yu WANG Jie ZHANG School of Mechanical engineering and Automation Harbin Institute of Technology(Shenzhen) HIT Wuhu Robot technology Research Institute center for Control Science and technology Southern University of Science and Technology

A model reduction approach is presented for discrete-time linear time-variant input-delayed systems. According to this proposed approach, a dynamical variable is constructed by taking advantage of the current state and historical information of input. It is revealed that the behavior of this dynamical variable is governed by a discrete-time linear delay-free system. It is worth noting that the presented variable transformation does not require the system matrix to be invertible. Based on the reduced delay-free models,stabilizing control laws can be easily obtained for the original delayed system. For the case with a single input delay, the constructed variable is an exact prediction for the future state, and thus the stabilizing control law could be designed by replacing the future state with its prediction. Finally, three discrete-time periodic systems with delayed input are employed to illustrate how to utilize the presented model reduction approaches.

关键词： reduction approach predictor-based feedback time-varying systems delayed input periodic system

Sampling-efficient path planning and improved actor-critic-based obstacle avoidance for autonomous robots

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Science China(Information Sciences) 2024年第5期67卷 197-214页

作者： Yefeng YANG Tao HUANG Tianqi WANG Wenyu YANG Han CHEN Boyang LI Chih-yung WEN Department of Aeronautical and Aviation engineering The Hong Kong Polytechnic University center for Control Theory and Guidance technology Harbin Institute of Technology School of engineering The University of Newcastle Research center for Unmanned Autonomous Systems The Hong Kong Polytechnic University

Autonomous robots have garnered extensive utilization in diverse fields. Among the critical concerns for autonomous systems, path planning holds paramount importance. Notwithstanding considerable efforts in its development over the years, path planning for autonomous systems continues to grapple with challenges related to low planning efficiency and inadequate obstacle avoidance response in a timely *** study proposes a novel and systematic solution to the path planning problem within intricate office buildings. The solution consists of a global planner and a local planner. To handle the global planning aspect, an adaptive clustering-based dynamic programming rapidly exploring random tree(ACDP-RRT) algorithm is proposed. ACDP-RRT effectively identifies obstacles on the map by leveraging geometric *** obstacles are then represented as a collection of sequentially arranged convex polygons, optimizing the sampling region and significantly enhancing sampling efficiency. For local planning, a network decoupling actor-critic(ND-AC) algorithm is employed. The proposed ND-AC simplifies the local planner design process by integrating planning and control loops into a neural network(NN) trained via an end-to-end model-free deep reinforcement learning(DRL) framework. Moreover, the adoption of network decoupling(ND) techniques leads to an improved obstacle avoidance success rate when compared to conventional actor-critic(AC)-based methods. Extensive simulations and experiments are conducted to demonstrate the effectiveness and robustness of the proposed approach.

关键词： rapidly exploring random tree (RRT) adaptive clustering network decoupling actor critic (AC) path planning

Growth,optical dispersion and magnetic behavior of Dy^(3+) doped yttrium iron garnet crystals

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Journal of Rare Earths 2024年第6期42卷 1110-1117,I0004页

作者： Yating Fang Hui Shen Yudie Ma Shijie Liao Shuang Xia Tian Tian Ding Zhou Yunfeng Ma Jiayue Xu Institute of Crystal Growth School of Materials Science and EngineeringShanghai Institute of Technology National engineering center of Electromagnetic Radiation Control Materials School of Electronic Science and EngineeringUniversity of Electronic Science and Technology of China

Y_(3)Fe_(5)O_(12)(YIG)crystals are highly desirable for the fabrication of mid-infrared isolators with the rapid growth of optical communications,although it is rather challenging to grow large size and high-quality single ***^(3+)doping is expected to improve the optical and magneto-optical prope ***,high quality Dy:YIG crystals and the adjustment of Dy^(3+)on the structure and optical behavior of YIG crystal remain unclear,impeding its practical ***,a series of Y_(3-x)Dy_(x)Fe_(5)O_(12)(x=0,0.5,1.0,1.5,3)solid solution crystals was grown by the flux-Bridgman method and single crystals up to 25 mm were *** the introduction of Dy^(3+),lattice parameters are gradually enlarged from 1.2379 nm(YIG)to 1.2420 nm(DyIG).Typical Dy^(3+)absorption peaks are observed around 1070,1265 and 1670 *** refractive index decreases from 2.37(500 nm)to 2.10(2500 nm)for YIG crystal,and it reduces from 2.47(500 nm)to 2.16(2500 nm)for DyIG *** optical bandgaps remain almost unchanged for Dy:YIG *** optical dispersion of the refractive indices was finely fitted by the Wemple and DiDomenico(WDD)and the Sellmeier models,*** the increase of Dy^(3+)content,the saturation magnetization(Ms)decreases significantly from 23.62 emu/g(YIG)to 5.33 emu/g(DyIG).Small coercive field is persisted for this system,endowing small external magnetic *** results provide valuable references for the manipulation of rare earths on the properties of magnetooptical crystals,which is beneficial to the design of high-performance garnet crystals for the application of optical switching and non-reciprocal related devices.

关键词： Magneto-optical crystal Yttrium iron garnet Dy^(3+)doping Crystal growth Optical dispersion Rare earths

Observation of an upward lightning flash with 21 upward positive leaders initiated from different wind turbines in wind farm

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High Voltage 2024年第1期9卷 163-171页

作者： Li Cai Yifeng Ke Wenchao Fan Ruisheng Yan Mi Zhou Jianguo Wang Yadong Fan engineering Research center of Ministry of Education for Lightning Protection and Grounding technology School of Electrical Engineering and AutomationWuhan UniversityWuhanChina

As the wind turbine height increases,the probability of multiple upward leaders flashes within the wind farm *** this study,an upward lightning flash containing 21 upward positive leaders(UPLs)initiated from different wind turbines in Zhangbei Wind Farm was *** average speed of the UPLs was 1.2×10^(5) m/s,which mostly decreased to zero before reaching the cloud *** four UPLs developed to cloud height,with prolonged periods of bright light on three of them and with a minimum duration of 126 ms.A total of nine return strokes occurred on the other two dissipated leader channels,and the numbers of strokes on the two channels was six and three,*** average interstroke interval for the return strokes was 10.5 *** of these nine return strokes had peak currents smaller than 10 *** high-speed video frames confirmed that competition does exist between the UPLs,and the range of shielding effects increases as the height of the ULs *** effect of fan rotation on the initiation of upward leaders and the shielding effect between the wind turbines and upward leaders are discussed.

关键词： flash return initiated

Solidification crack characteristics and sensitivity of peritectic steel

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Journal of Iron and Steel Research International 2024年第7期31卷 1668-1679页

作者： Ya-qiang Li Jian-hua Liu Zi-ming Wang Ying-ying Li Yang He Xiao-wei Li Department of Automotive engineering Hebei Vocational University of Technology and EngineeringXingtai 054000HebeiChina Hebei Special Vehicle Modification technology Innovation center Hebei Vocational University of Technology and EngineeringXingtai 054000HebeiChina Institute of engineering technology University of Science and Technology BeijingBeijing 100083China School of Petroleum and Natural Gas engineering Changzhou UniversityChangzhou 213164JiangsuChina

The characteristics and sensitivity of solidification cracks in peritectic steels were investigated using directional solidifi-cation *** cracks were observed in both hypoperitectic steels(12CrlMoV,15CrMo)and hyper-peritectic steel(20CrMo)during solidification at growth velocities of 15,50,and 80 pm/*** the dendritic boundaries,sulphide precipitates were found,promoting crack *** on the statistical analysis of interdendritic cracks in peritectic steels,the area ratio(RA)of interdendritic cracks in a directional solidification structure was proposed to evaluate the crack sensitivity of peritectic ***,the crack sensitivities of peritectic steels(12CrlMoV,15CrMo,and 20CrMo)were tested,evaluated,and compared with the surface crack rates of three types of steels produced from a steel *** results demonstrated that RA was in good agreement with that of the steel plant,and the crack sensitivity of 12CrlMoV steel was the strongest,followed by that of 15CrMo and 20CrMo ***,RA can be used to evaluate the crack sensitivity of peritectic steel.

关键词： Peritectic steel-Directional solidification Growth velocity Dendritic structure Solidification crack Crack sensitivity

Near-field wideband beam training for ELAA with uniform circular array

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Science China(Information Sciences) 2024年第6期67卷 370-383页

作者： Yuhao CHEN Linglong DAI Department of Electronic engineering Tsinghua UniversityBeijing National Research Center for Information Science and Technology (BNRist)

Extremely large-scale antenna array(ELAA) at millimeter wave(mmWave) and Terahertz(THz)band has been considered a key technology for combating high attenuation in high-frequency bands in future6G communications. Uniform circular arrays(UCAs) have attracted much attention because of their ability to provide flat beamforming gain at all angles. To realize efficient beamforming, beam training is widely used to acquire channel state information. However, with a large antenna number, the beam training overhead in ELAA systems becomes overwhelming. Moreover, with a large bandwidth, the beam defocus effect severely degrades beam training accuracy. To address these issues, this paper proposes a frequency-dependent focusing(FDF)-based beam training scheme to realize effective beam training in near-field wideband ELAA systems with UCA. Specifically, we first analyze the FDF property of UCA, where signals at different subcarriers can simultaneously focus on different distances. Then, by exploiting the FDF property to search different distances using different subcarriers simultaneously, we design a hierarchical codebook and propose an FDFbased beam training scheme. To reveal the effectiveness of the proposed scheme, we compare its necessary beam training overhead with that of existing schemes. Finally, the simulation results demonstrate that the proposed scheme can achieve accurate beam training in near-field wideband UCA systems with a low beam training overhead.

关键词： extremely large-scale antenna array (ELAA) uniform circular array (UCA) near-field wideband beam training

Lattice Boltzmann simulation study of anode degradation in solid oxide fuel cells during the initial aging process

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International Journal of Minerals,Metallurgy and Materials 2024年第2期31卷 405-411页

作者： Shixue Liu Zhijing Liu Shuxing Zhang Hao Wu Hydrogen Energy Industrial technology Innovation center China Nuclear Power Technology Research InstituteShenzhen 518031China Shenzhen engineering Research center for Hydrogen Safety Shenzhen 518031China

For present solid oxide fuel cells(SOFCs),rapid performance degradation is observed in the initial aging process,and the dis-cussion of the degradation mechanism necessitates quantitative ***,focused ion beam-scanning electron microscopy was em-ployed to characterize and reconstruct the ceramic microstructures of SOFC *** lattice Boltzmann method(LBM)simulation of multiphysical and electrochemical processes in the reconstructed models was *** samples collected from industrial-size cells were characterized,including a reduced reference cell and a cell with an initial aging *** parameters of the reconstructed microstructures revealed a significant decrease in the active triple-phase boundary and Ni connectivity in the aged cell compared with the reference *** LBM simulation revealed that activity degradation is dominant compared with microstructural degradation during the initial aging process,and the electrochemical reactions spread to the support layer in the aged *** microstructural and activity de-gradations are attributed to Ni migration and coarsening.

关键词： solid oxide fuel cell anode degradation focused ion beam-scanning electron microscopy lattice Boltzmann method