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Time-Varying Formation Tracking control of Heterogeneous Multi-Agent systems With Intermittent Communications and Directed Switching Networks

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 294-296页

作者： Yuhan Wang Zhuping Wang Hao Zhang Huaicheng Yan the Shanghai Research Institute for Intelligent Autonomous Systems Tongji University the National Key Laboratory of Autonomous Intelligent Unmanned Systems the Frontiers Science Center for Intelligent Autonomous System of Ministry of Education the College of Electronic and Information Engineering the Department of Control Science and Engineering Tongji University the Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education the School of Information Science and Engineering East China University of Science and Technology

Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present so... 详细信息

关键词： Switches Topology Observers Formation control Event detection Switched systems Multi-agent systems control theory Autonomous systems Stability

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Robotic mobile and mirror milling of large-scale complex structures

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National Science Review 2023年第5期10卷 10-13页

作者： Zenghui Xie Fugui Xie Limin Zhu Xin-Jun Liu State Key Laboratory of Tribology in Advanced Equipment Department of Mechanical Engineering(DME) Tsinghua University Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control Tsinghua University State Key Laboratory of Mechanical System and Vibration School of Mechanical EngineeringShanghai Jiao Tong University

Large-scale complex structures,such as spacecraft cabins,aircraft composite skins and launch vehicle fuel tanks,are the core components of the equipment in aerospace,energy,shipbuilding and other *** milling quality and efficiency are factors directly affecting the performance and productivity of spacecraft,aircraft and other key *** kind of structure generally features large dimension,high accuracy,

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Development of a Bio-inspired Tailless FWMAV with High-Frequency Flapping Wings Trajectory Tracking control

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Journal of Bionic Engineering 2024年第5期21卷 2145-2166页

作者： Qingcheng Guo Chaofeng Wu Yichen Zhang Feng Cui Wu Liu Xiaosheng Wu Junguo Lu National Key Laboratory of Advanced Micro and Nano Manufacture Technology Shanghai Jiao Tong UniversityShanghai200240China Department of Micro/Nano Electronics School of Electronic Information and Electrical EngineeringShanghai Jiao Tong UniversityShanghai200240China Department of Automation Shanghai Jiao Tong UniversityShanghai200240China The Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China

The development of a tailless Flapping Wing Micro Aerial Vehicle(FWMAV)inspired by the hummingbird is presented in this *** implementing mechanical simplifications,it is possible to use planar machining technology for manufacturing of the FWMAV’s body,greatly reducing assembly ***,studies on flapping wing aircraft are limited to open-loop wing kinematics *** this work,an instantaneous closed-loop wing trajectory tracking control system is introduced to minimize wings’trajectory tracking *** control system is based on Field-Oriented control(FOC)with a loop shaping compensation technique near the flapping *** frequency analysis,the loop shaping compensator ensures the satisfactory bandwidth and performance for the closed-loop flapping *** implement the proposed controller,a compact autopilot board integrated with FOC hardware is designed,weighing only 2.5 *** utilizing precise wing trajectory tracking control,the hummingbird-inspired FWMAV demonstrates superior ability to resist external disturbances and exhibits reduced attitude tracking errors during hovering flight compared to the open-loop wing motion.

关键词： Flapping Wing Micro Aerial Vehicle(FWMAV) Bio-inspired robotics Trajectory control Loop shaping compensator Field-Oriented control(FOC)

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Broadband Optical Nonlinearities and Ultrafast Carrier Dynamics of GO-CuS Hybrid Film

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Journal of Lightwave Technology 2025年第11期43卷 5381-5389页

作者： Zhang, Xuefeng Bai, Xuli Liu, Xiaofei Wang, Dan Han, Hong Xiao, Zhengguo Zhang, Jianguo Nie, Zhongquan Taiyuan University of Technology College of Materials Science and Engineering Institute of New Carbon Materials Taiyuan030024 China Taiyuan University of Technology Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education and Shanxi Province College of Electronic Information and Optical Engineering Taiyuan030024 China Taiyuan Institute of Technology Department of Science Taiyuan030008 China Tongren University Department of Physics and Electronic Engineering Tongren China National University of Defense Technology College of Advanced Interdisciplinary Studies Changsha410073 China

We report the broadband optical nonlinearities and ultrafast carrier dynamics of GO doped with CuS nanoparticles (GO-CuS) following the femtosecond pulse lasers. Both the pure GO and GO-CuS hybrid films are first synthesized by the vacuum filter deposition method and their optical nonlinearities are then examined in the wide wavelength range (400 nm-1064 nm) based on the femtosecond Z-scan technique. The results reveal that, compared to the pristine GO, the introduction of CuS not only makes the GO-CuS hybrid film switched from saturated absorption to reverse saturated absorption possible, but also achieves strong broadband optical nonlinear absorption responses and optical limiting effects. It is demonstrated that the strongest nonlinear absorption coefficient (∼3.6×10-7 m/W) appears at 400 nm excitation, which is dozens of times larger than that under the illumination of 1064 nm. By leveraging the femtosecond pump-probe technique, we further study the ultrafast carrier dynamics of the GO-CuS hybrid film carrying the fast and slow relaxation processes. Moreover, the physical mechanisms behind these excellent nonlinear optical responses are elucidated. The findings presented here indicate that the GO-CuS hybrid film can be regarded as a potential promising candidate in various ultrafast photonics devices. © 1983-2012 IEEE.

关键词： Femtosecond lasers

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An asymmetrically substituted dithieno[3,2-b:2',3'-d]pyrrole organic small-molecule hole-transporting material for high-performance perovskite solar cells

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Chinese Journal of Chemical Engineering 2022年第5期35卷 51-57页

作者： Jingwen Jia Yue Zhang Liangsheng Duan Quanping Wu Yu Chen Song Xue Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical EngineeringTianjin University of TechnologyTianjin 300384China Tianjin Key Laboratory of Organic Solar Cells and Photochemical Conversion Department of Applied ChemistryTianjin University of TechnologyTianjin 300384China

Hole-transporting materials play a vital role in terms of the performance of perovskite solar cells(PSCs).The dithieno[3,2-b:2’,3’-d]pyrrole(DTP),an S,N-heterocyclic building block,has been proved to be desirable for molecular design of hole-transporting materials in *** developed an asymmetrically substituted DTP small-molecule(JW12)and a reference compound(JW11).The asymmetrical structure of JW12 leads to different absorption properties and electron *** device in a planar n-i-p architecture using JW12 shows a much higher PCE(18.07%)than that based on JW11(15.46%),which is also better than the device based on spiro-OMe TAD(17.47%).We hope our research can provide a new perspective in molecular design of organic HTMs for perovskite solar cells.

关键词： Hole-transporting materials DTP Perovskite Photovoltaic performance

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3D bioprinting of in vitro porous hepatoma models:establishment,evaluation,and anticancer drug testing

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Bio-Design and Manufacturing 2024年第2期7卷 137-152页

作者： Xiaoyuan Wang Zixian Liu Qianqian Duan Boye Zhang Yanyan Cao Zhizhong Shen Meng Li Yanfeng Xi Jianming Wang Shengbo Sang Shanxi Key Laboratory of Micro Nano Sensors and Artificial Intelligence Perception College of Electronic Information and Optical EngineeringTaiyuan University of TechnologyTaiyuan 030024China Key Lab of Advanced Transducers and Intelligent Control System of the Ministry of Education Taiyuan University of TechnologyTaiyuan 030024China Shanxi Institute of 6D Artificial Intelligence Biomedical Science Taiyuan 030031China Shanxi-Zheda Institute of Advanced Materials and Chemical Engineering Taiyuan 030024China Department of Pathology Shanxi Provincial Cancer HospitalTaiyuan 030024China General Hospital of Taiyuan Iron and Steel Company Taiyuan 030809China

Traditional tumor models do not tend to accurately simulate tumor growth in vitro or enable personalized treatment and are particularly unable to discover more beneficial targeted *** address this,this study describes the use of threedimensional(3D)bioprinting technology to construct a 3D model with human hepatocarcinoma SMMC-7721 cells(3DP-7721)by combining gelatin methacrylate(GelMA)and poly(ethylene oxide)(PEO)as two immiscible aqueous phases to form a bioink and innovatively applying fluorescent carbon quantum dots for long-term tracking of *** GelMA(10%,mass fraction)and PEO(1.6%,mass fraction)hydrogel with 3:1 volume ratio offered distinct pore-forming characteristics,satisfactorymechanical properties,and biocompatibility for the creation of the 3DP-7721 *** analysis and quantitative real-time fluorescence polymerase chain reaction(PCR)were used to evaluate the biological properties of the *** with the two-dimensional culture cell model(2D-7721)and the 3D mixed culture cell model(3DM-7721),3DP-7721 significantly improved the proliferation of cells and expression of tumor-related proteins and ***,we evaluated the differences between the three culture models and the effectiveness of antitumor drugs in the three models and discovered that the efficacy of antitumor drugs varied because of significant differences in resistance proteins and genes between the three *** addition,the comparison of tumor formation in the three models found that the cells cultured by the 3DP-7721 model had strong tumorigenicity in nude *** evaluation of the levels of biochemical indicators related to the formation of solid tumors showed that the 3DP-7721 model group exhibited pathological characteristics of malignant tumors,the generated solid tumors were similar to actual tumors,and the deterioration was *** research therefore acts as a foundation for the application of 3DP-7721 models in drug devel

关键词： 3D bioprinting Hepatoma tumor models Drug screening Antitumor drug development

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Machine Learning for Signal Demodulation in Underwater Wireless Optical Communications

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China Communications 2024年第5期21卷 297-313页

作者： Ma Shuai Yang Lei Ding Wanying Li Hang Zhang Zhongdan Xu Jing Li Zongyan Xu Gang Li Shiyin Department of Strategic and Advanced Interdisciplinary Research Peng Cheng LaboratoryShenzhen 518055China School of Information and Control Engineering China University of Mining and TechnologyXuzhou 221116China Data-driven Intelligent Information System Laboratory Shenzhen Research Institute of Big DataShenzhen 518172China Ocean College Zhejiang UniversityZhoushan 316021China State Key Laboratory of Millimeter Waves Southeast UniversityNanjing 210096China

The underwater wireless optical communication(UWOC)system has gradually become essential to underwater wireless communication *** other existing works on UWOC systems,this paper evaluates the proposed machine learningbased signal demodulation methods through the selfbuilt experimental *** on such a platform,we first construct a real signal dataset with ten modulation ***,we propose a deep belief network(DBN)-based demodulator for feature extraction and multi-class feature *** also design an adaptive boosting(Ada Boost)demodulator as an alternative scheme without feature filtering for multiple modulated ***,it is demonstrated by extensive experimental results that the Ada Boost demodulator significantly outperforms the other *** also reveals that the demodulator accuracy decreases as the modulation order increases for a fixed received optical power.A higher-order modulation may achieve a higher effective transmission rate when the signal-to-noise ratio(SNR)is higher.

关键词： AdaBoost DBN machine learning signal demodulation

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A theoretical and deep learning hybrid model for predicting surface roughness of diamond-turned polycrystalline materials

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International Journal of Extreme Manufacturing 2023年第3期5卷 620-644页

作者： Chunlei He Jiwang Yan Shuqi Wang Shuo Zhang Guang Chen Chengzu Ren Tianjin Key Laboratory of Equipment Design and Manufacturing Technology Department of Mechanical EngineeringTianjin UniversityTianjin 30054People’s Republic of China Department of Mechanical Engineering Keio UniversityYokohama 223-8522Japan Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System School of Mechanical EngineeringTianjin University of TechnologyTianjin 300384People’s Republic of China School of Mechanical Engineering Yanshan UniversityQinhuangdao 066004People’s Republic of China

Polycrystalline materials are extensively employed in *** surface roughness significantly affects the working *** defects,particularly grain boundaries,have a great impact on the achieved surface roughness of polycrystalline ***,it is difficult to establish a purely theoretical model for surface roughness with consideration of the grain boundary effect using conventional analytical *** this work,a theoretical and deep learning hybrid model for predicting the surface roughness of diamond-turned polycrystalline materials is *** kinematic–dynamic roughness component in relation to the tool profile duplication effect,work material plastic side flow,relative vibration between the diamond tool and workpiece,etc,is theoretically *** material-defect roughness component is modeled with a cascade forward neural *** the neural network,the ratio of maximum undeformed chip thickness to cutting edge radius RT S,work material properties(misorientation angle θ_(g) and grain size d_(g)),and spindle rotation speed n s are configured as input *** material-defect roughness component is set as the output *** validate the developed model,polycrystalline copper with a gradient distribution of grains prepared by friction stir processing is machined with various processing parameters and different diamond *** with the previously developed model,obvious improvement in the prediction accuracy is observed with this hybrid prediction *** on this model,the influences of different factors on the surface roughness of polycrystalline materials are *** influencing mechanism of the misorientation angle and grain size is quantitatively *** fracture modes,including transcrystalline and intercrystalline fractures at different RTS values,are ***,optimal processing parameters are obtained with a simulated annealing *** experiments are performed with

关键词： diamond turning material-defect roughness component polycrystalline copper neural network simulated annealing algorithm

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Mn-based MXene with high lithium-ion storage capacity

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Nano Research 2024年第5期17卷 4181-4191页

作者： Yanyan Wu Dongqing Liu Xiaonan Wang Usman Ghani Muhammad Asim Mushtaq Jinfeng Yang Huarui Sun Panagiotis Tsiakaras Xingke Cai School of Science and Ministry of Industry and Information Technology Key Laboratory of Micro-Nano Optoelectronic Information System Harbin Institute of Technology ShenzhenShenzhen 5180552 China Collaborative Innovation Center of Extreme Optics Shanxi UniversityTaiyuan 030006China Institute for Advanced Study Shenzhen UniversityShenzhen 518060China College of Mechatronics and Control Engineering Shenzhen UniversityShenzhen 518060China Laboratory of Alternative Energy Conversion Systems Department of Mechanical EngineeringSchool of EngineeringUniversity of ThessalyPedion Areos 38834Greece

3d-transition metal(Fe,Co,Ni,and Mn)-based MXene materials have been predicted to demonstrate exceptional electrochemical performance because of their good electrical conductivity and the presence of metallic atoms with multiple charge ***,until now,there have been no reports on MXenes based on Fe,Co,Ni,and Mn,due to the lack of 3d-metal-layered ***,we successfully synthesized the first 3d-transition metal-based MXenes,Mn_(2)CT_(x) by exfoliating a layered precursor derived from the anti-perovskite bulk *** as-prepared Mn_(2)CT_(x) MXene nanosheets were employed as anode materials in lithium-ion batteries,which exhibited stable storage capacity of 764.7 mAh·g^(-1) at 0.5 C,placing its storage capacities at an upper-middle level compared with other reported MXene materials as well as other Mn-based anode ***,this study opens a new avenue for MXene research by synthesizing 3d-transition metal-based MXenes for electrochemical applications.

关键词： Mn_(3)GaC Mn_(2)CT_(x) MXenes lithium-ion battery anode materials negative fading capacity

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Research on workflow recognition for liver rupture repair surgery

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Mathematical Biosciences and Engineering 2024年第2期21卷 1844-1856页

作者： Men, Yutao Zhao, Zixian Chen, Wei Wu, Hang Zhang, Guang Luo, Feng Yu, Ming Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China Medical Support Technology Research Department Systems Engineering Institute Academy of Military Sciences People’s Liberation Army Tianjin300161 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China

Liver rupture repair surgery serves as one tool to treat liver rupture, especially beneficial for cases of mild liver rupture hemorrhage. Liver rupture can catalyze critical conditions such as hemorrhage and shock. Surgical workflow recognition in liver rupture repair surgery videos presents a significant task aimed at reducing surgical mistakes and enhancing the quality of surgeries conducted by surgeons. A liver rupture repair simulation surgical dataset is proposed in this paper which consists of 45 videos collaboratively completed by nine surgeons. Furthermore, an end-to-end SA-RLNet, a self attention-based recurrent convolutional neural network, is introduced in this paper. The self-attention mechanism is used to automatically identify the importance of input features in various instances and associate the relationships between input features. The accuracy of the surgical phase classification of the SA-RLNet approach is 90.6%. The present study demonstrates that the SA-RLNet approach shows strong generalization capabilities on the dataset. SA-RLNet has proved to be advantageous in capturing subtle variations between surgical phases. The application of surgical workflow recognition has promising feasibility in liver rupture repair surgery. ©2024 the Author(s), licensee AIMS Press. This is an open access article distributed under the terms of the Creative Commons.

关键词： Image classification

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