One of the major respects of the autonomous capability of underwater robots in unknown environment is to be capable of global path planning and obstacles avoiding when encountering abrupt *** the Spherical Underwater ...
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One of the major respects of the autonomous capability of underwater robots in unknown environment is to be capable of global path planning and obstacles avoiding when encountering abrupt *** the Spherical Underwater Robot(SUR)to fulfill autonomous task execution,this paper proposed a novel fuzzy control method that incorporates multi-sensor technology to guide underwater robots in unknown *** attain the objective,a SUR we designed is used to design the *** to its kinematic model,the safety distance was calculated and sensors(US1000-21 A)were *** novel fuzzy control method was then explored for robot's path planning in an unknown environment through *** simulation results demonstrate the capability of the proposed method to guide the robot,and to generate a safe and smooth trajectory in an unknown *** effectiveness of the proposed method was further verified through experiments with a SUR in a real *** real environment experiments by using the novel fuzzy control method were compared with the basic control *** experimental results show that in unknown environments,the proposed method improves the execution efficiency and flexibility of the SUR.
Adversarial robustness and generalization are both crucial properties of reliable machine learning models. In this paper, we study these properties in the context of quantum machine learning based on Lipschitz bounds....
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Marine biofouling poses significant global challenges for maritime activities, resulting in serious economic losses and environmental issues. Biomimetic coatings have drawn extensive attentions due to their environmen...
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This study pioneered a concentration-engineered interfacial polymerization (IP) strategy using Pluronic F127 (PF-127) to solve the persistent permeability-selectivity trade-off in thin-film composite nanofiltration (T...
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Pharmaceuticals and Personal Care Products (PPCPs) are significant organic pollutants in the environment. This study conducted extensive sampling and investigation of surface water from Lipu River and its main tribu...
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AgNbO_(3) is an antiferroelectric (AFE) material with double hysteresis loop. Both the antiferroelectricityand ferroelectricity can be enhanced by doping. Herein, the ferroelectricity of AgNbO_(3) ceramics wasenhanced...
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AgNbO_(3) is an antiferroelectric (AFE) material with double hysteresis loop. Both the antiferroelectricityand ferroelectricity can be enhanced by doping. Herein, the ferroelectricity of AgNbO_(3) ceramics wasenhanced via K-doping and the phase diagram of the (Ag_(1-x)K_(x))NbO_(3) ceramics was upgraded. In details,(Ag_(1-x)K_(x))NbO_(3) ceramics are ferrielectric (FIE) M1 phase as x=5.00-5.50 mol% and ferroelectric (FE) Ophase as x=5.75-6.00 mol% before poling, and FE O phase as x=5.00-6.00 mol% after poling at roomtemperature. With increasing temperature, (Ag_(1-x)K_(x))NbO_(3) ceramics show the phase evolutions from FIEM1, AFE M2 to paraelectric (PE) T phase at x=5.00-5.50 mol% and from FE O, FE T to PE T phase at x=5.75-6.00 mol% before poling, and from FE O, FE T to PE T phase at x=5.00-6.00 mol% after *** d33 values of 180 pC/N and 285 pC/N are obtained at the FE O-FE T and FE T-PE T phase *** work sheds light on a novel and promising lead-free piezoelectric system.
This paper deals with the integration of input move-blocking into the framework of suboptimal model predictive control. The blocked input parameterization is explicitly considered as a source of suboptimality. A strai...
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Willems' Fundamental Lemma provides a powerful data-driven parametrization of all trajectories of a controllable linear time-invariant system based on one trajectory with persistently exciting (PE) input. In this ...
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Under certain conditions, the power system will produce chaotic oscillation, which may impact the safety and stability of the power grid. Under the action of inductive load, the power system will generate a certain am...
Under certain conditions, the power system will produce chaotic oscillation, which may impact the safety and stability of the power grid. Under the action of inductive load, the power system will generate a certain amount of reactive power. Excessive reactive power will lead to the deviation of the voltage phase angle of the power system. Usually, reactive compensation equipment is used to absorb the reactive power in the power system and adjust the voltage phase angle. In this article, the dynamics analysis of chaotic oscillation of the second-order power system model (SOPSM) is firstly carried out, and a global adaptive sliding mode controller based on finite time is designed by comprehensively using backstepping, fixed-time controller and adaptive sliding mode control methods (ASM), which not only realizes the suppression of chaotic oscillation of the power system, but also reduces the computational burden and improves the convergence speed of the system, Finally, MATLAB/Simulink numerical simulation shows that the designed controller can quickly restore the power system from chaotic state to equilibrium state, thus verifying the effectiveness and efficiency of the controller.
In this study, the release behavior of fertilizers (NH4+-N, PO43- and K) and heavy metals (HMs;Mn, Zn, Ni, Cu, Pb and Cr) from iron-loaded sludge biochar (ISBC) was investigated. The initial pH and solid-to-liquid rat...
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