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Safety-Certified Distributed Formation control of Networked Autonomous Surface Vehicles by Unifying control Lyapunov and control Barrier Functions

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Journal of Systems Science & Complexity 2025年第2期38卷 837-856页

作者： CONG Siming GU Nan WANG Haoliang WANG Dan PENG Zhouhua School of Marine Electrical Engineering Dalian Maritime University State Key Laboratory of Maritime Technology and Safety Dalian Maritime University Dalian Key Laboratory of Swarm Control and Electrical Technology for Intelligent Ships School of Marine Engineering Dalian Maritime University Department of Automation Shanghai Jiaotong University Dalian KeyLaboratory of Swarm Control and Electrical Technology for Intelligent Ships

This paper investigates the path-guided distributed formation control of networked autonomous surface vehicles(ASVs) subject to model uncertainties and environmental disturbances. A safety-certified path-guided coordinated control method is proposed for multiple ASVs to achieve a distributed formation in obstacle environments. Specifically, a neural predictor with a high-order tuner is presented to approximate unknown nonlinearities with accelerated learning performance. Subsequently, control Lyapunov functions(CLFs) and control barrier functions(CBFs) are constructed for mapping stability constraints and safety constraints on states to control inputs. A quadratic optimization problem is constructed with the norm of control inputs as the objective function, CLFs and CBFs as constraints. Neurodynamic optimization is used to deal with the quadratic programming problem and generate the optimal kinetic control signals, thereby attaining the desired safe formation. Unlike the high-order CBF, a CBF backstepping method is proposed to establish safety constraints such that repeated time derivatives of system nonlinearities can be avoided. The multi-ASVs system is ensured to be input-to-state safe irrespective of high-order relative degree. Through the Lyapunov theory, the multi-ASVs system is proven to be input-to-state stable. Finally, simulation results are presented to validate the efficacy of the presented safety-certified distributed formation control for networked ASVs.

关键词： Autonomous surface vehicles control barrier functions neurodynamic optimization path-guided formation control safety-certified control

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A self-supported P-TiO2（B）/Ni2P hybrid achieves efficient sunlight-driven seawater splitting

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Science China Chemistry 2025年第5期68卷 1888-1896页

作者： Zhijie Cheng Xianghui Yu Shuang Cao Chunhu Li Qi Wang Lingyu Piao CAS Key Laboratory of Standardization and Measurement for Nanotechnology CAS Center for Excellence in NanoscienceNational Center for Nanoscience and Technology Key Laboratory of Marine Chemistry Theory and Technology (Ministry of Education) College of Chemistry & Chemical EngineeringOcean University of China College of Chemistry and Chemical Engineering Institute for Sustainable Energy and ResourcesQingdao University Center of Materials Science and Optoelectronics Engineering University of Chinese Academy of Sciences

The low hydrogen（H2） production efficiency and catalyst deactivation for seawater splitting are the significant challenges that should be addressed to achieve practical *** study develops a highly efficient seawater splitting system and extends the utilization of the solar spectrum to the infrared region using a phosphorus-doped Ti O2（B）-based photocatalyst decorated Ni2P on nickel foam(P-TiO2（B）/Ni2P/NF) ***2P serves not only as a co-catalyst for H2production but also as a photothermal conversion layer,harnessing the concentrated heat from solar radiation to vaporize *** far significance is it shifts the H2production from the traditional three-phase system involving solid,liquid,and gas to a more efficient two-phase system involving solids and gases,which effectively reduces the barrier to the thermodynamic reactions and accelerates the processes of transferring mass,resulting in improved efficiency and stability of the *** efficient light absorption,super hydrophilic surfaces,and excellent mechanical stability,this system achieves a H2production rate of 4.22μmol cm-2h-1under AM 1.5G light irradiation without using any noble metals or sacrificial *** rate is line with its performance in pure water and exceeds that of similar reported *** importantly,after more than 300 h of irradiation,the system still demonstrated high H2production activity,indicating the potential for practical *** work provides a valuable strategy to improve both the efficiency and stability of the photothermal catalytic seawater splitting under natural sunlight conditions.

关键词： seawater splitting photothermal catalysis titanium dioxide nickel phosphide

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High-temperature wear mechanisms of TiNbWN films:Role of nanocrystalline oxides formation

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Friction 2023年第3期11卷 460-472页

作者： Leilei CHEN Zhenyu ZHANG Ming LOU Kai XU Lu WANG Fanning MENG Denis MUSIC Keke CHANG Key Laboratory for Precision and Non-Traditional Machining Technology of Ministry of Education Dalian University of TechnologyDalian 116024China Key Laboratory of Marine Materials and Related Technologies Zhejiang Key Laboratory of Marine Materials and Protective TechnologiesNingbo Institute of Materials Technology and EngineeringChinese Academy of SciencesNingbo 315201China Department of Materials Science and Applied Mathematics Malmo UniversityMalmö20506Sweden

Réfractory high/medium entropy nitrides(HENs/MENs)exhibit comprehensive application prospects as protective films on mechanical parts,particularly those subjected to sliding contacts at elevated *** this study,a new MEN system TiNbWN,forming a single fc solution,is designed and its wear performance at temperatures ranging from 25 to 750℃is *** wear mechanisms can be rationalized by examining the subsurface microstructural evolutions using the transmission electron microscopy as well as calculating the phase diagrams and interfacial adhesion behavior employing calculation of phase diagram(CALPHAD)and density functional theory(DFT).To be specific,increased wear losses occur in a temperature range of 25-600℃,being predominantly caused by the thermally-induced hardness degradation;whereas at the ultimate temperature(750℃),the wear loss is refrained due to the formation of nanocrystalline oxides(WnO_(3n-2r)TiO_(2),and TiOx),as synergistically revealed by microscopy and CALPHAD,which not only enhance the mechanical properties of the pristine nitride film,but also act as solid lubricants,reducing the interfacial ***,our work delineates the role of the in situ formed nanocrystalline oxides in the wear mechanism transition of TiNbWN thin films,which could shed light on the high-temperature wear behavior of refractory HEN/MENfilms.

关键词： high/medium entropy nitrides(HENs/MENs) TiNbWN thin films wear mechanisms nanocrystalline oxides

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PRI modulation recognition and sequence search under small sample prerequisite

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Journal of Systems engineering and Electronics 2023年第3期34卷 706-713页

作者： ZHANG Chunjie LIU Yuchen SI Weijian College of Information and Communication Engineering Harbin Engineering UniversityHarbin 150001China Key Laboratory of Advanced Marine Communication and Information Technology Ministry of Industry and Information TechnologyHarbin Engineering UniversityHarbin 150001China

Pulse repetition interval(PRI)modulation recognition and pulse sequence search are significant for effective electronic support *** modern electromagnetic environments,different types of inter-pulse slide radars are highly *** are few available training samples in practical situations,which leads to a low recognition accuracy and poor search effect of the pulse *** this paper,an approach based on bi-directional long short-term memory(BiLSTM)networks and the temporal correlation algorithm for PRI modulation recognition and sequence search under the small sample prerequisite is *** simulation results demonstrate that the proposed algorithm can recognize unilinear,bilinear,sawtooth,and sinusoidal PRI modulation types with 91.43% accuracy and complete the pulse sequence search with 30% missing pulses and 50% spurious pulses under the small sample prerequisite.

关键词： inter-pulse slide pulse repetition interval(PRI)modulation type bi-directional long short-term memory(BiLSTM)network sequence search

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Generalized response displacement methods for seismic analysis of underground structures with complex cross section

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Earthquake engineering and engineering Vibration 2023年第4期22卷 979-993页

作者： Xu Zigang Ding Linling Du Xiuli Xu Chengshun Zhuang Haiyang Jiangxi Key Laboratory of Infrastructure Safety Control in Geotechnical Engineering East China Jiaotong UniversityNanchang 330013China Key Laboratory of Urban Security and Disaster Engineering of the Ministry of Education Beijing University of TechnologyBeijing 100124China

The response displacement method(RDM)is recommended for the seismic analysis of underground structures in the transverse direction for many codes,including bases for design of structures-seismic actions for designing geotechnical works(ISO 23469)and code for seismic design of urban rail transit structures(GB 50909-2014).However,there are some obvious limitations in the application of *** and the shear stress of the soil could be approximately evaluated for the structures having a simple cross section,such as rectangular and circular *** is necessary to propose simplified seismic analysis methods for structures with complex cross *** paper refers to the idea of RDM and proposes three generalized response displacement methods(GRDM).In GRDM1,a part of the soil surrounding a structure is selected to generate a generalized underground structure with a rectangular cross section,and the same analysis model as RDM is applied to analyze the responses of the *** GRDM2,a hollow soil model without a generalized structure is used to compute the equivalent load caused by the relative displacement of the soil,and the soil-structure interaction model is applied to calculate the responses of the *** GRDM3,a continuous soil model is applied to compute the equivalent load caused by the relative displacement and shear stress of the soil,and the soil-structure interaction model is applied to analyze the responses of the structure,which is the same as the model used in *** time-history analysis method(THAM)is used to evaluate the accuracy of the proposed simplified *** show that the error of GRDM1 is about 20%,while the error is only 5%for GRDM2 and *** the three proposed methods,GRDM3 has obvious advantages regarding calculation efficiency and ***,it is recommended to use GRDM3 for the seismic response analysis of underground structures that have conventional simple or complex cross sections.

关键词： underground structures seismic analysis response displacement method equivalent seismic load complex cross section

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Interval analysis for neural networks with application to fault detection

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Science China(Information Sciences) 2024年第11期67卷 222-237页

作者： Zhenhua WANG Youdao MA Song ZHU Thach Ngoc DINH Yi SHEN Department of Control Science and Engineering Harbin Institute of Technology National Key Laboratory of Complex System Control and Intelligent Agent Cooperation School of Mathematics China University of Mining and Technology The CEDRIC-Lab Conservatoire National des Arts et Métiers (CNAM)

This paper investigates an interval analysis method for neural networks and applies it to fault detection for systems with unknown but bounded measurement noise. First, a novel interval analysis method is presented, which can compute the bounds of the output of a feedforward neural network subject to a bounded input. By applying the proposed interval analysis method to a network trained with fault-free system data, adaptive thresholds for fault detection are computed. Finally, one can acquire fault detection results via a fault detection strategy. The proposed method can achieve tight bounds of the network output and employ simple operations, which leads to accurate fault detection results and a low computational burden.A numerical simulation and an experiment on an AC servo motor are given to illustrate the effectiveness and superiority of the proposed method.

关键词： interval analysis feedforward neural network fault detection adaptive thresholds

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Interbasin groundwater flows in the Yarlung Zangbo River Basin and its surrounding areas:A perspective

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Science China(Technological Sciences) 2025年第4期68卷 299-301页

作者： Jianxin CHEN Xingxing KUANG Linfeng FAN Chunmiao ZHENG Guangdong Provincial Key Laboratory of Soil and Groundwater Pollution Control School of Environmental Science and EngineeringSouthern University of Science and TechnologyShenzhen518000China State Key Laboratory of Mountain Hazards and Engineering Resilience Institute of Mountain Hazards and EnvironmentChinese Academy of SciencesChengdu610000China

Interbasin groundwater flows(IGFs)are movements of groundwater across topographic basin boundaries,which can either contribute to or deplete the water resources of a basin[1].Basins that net-export groundwater beyond their topographic boundaries are termed groundwater exporters,whereas those that receive groundwater from beyond their topographic confines are known as groundwater *** studies have highlighted that the Yarlung Zangbo River Basin(YZRB)is under the impact of IGFs[2,3].

关键词： interbasin groundwater flows interbasin groundwater flows igfs groundwater importers water resources movements groundwater groundwater exporters Yarlung Zangbo River Basin

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Construction of target detection teaching platform based on improved YOLOv5s algorithm

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International Journal of Wireless and Mobile Computing 2025年第2期28卷 216-222页

作者： Li, Gongfa Zhu, Housheng Tang, Xinjie Jiang, Du Zou, Chunlong Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology Hubei Wuhan China Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Hubei Wuhan China Hubei University of Automotive Technology College of Mechanical Engineering Shiyan442002 China

Measurement and control technology and instrumentation, as a high-tech intensive specialty integrating disciplines such as electrical engineering, optics, control theory, computer science and instrumentation science, has a strong interdisciplinary nature. This presents challenges to traditional teaching methods which often fail to fully cultivate students' practical and innovative abilities. To address this, a multi-level teaching model focused on the cultivation of practical and innovative skills has been developed, reforming the original experimental teaching mode and integrating the establishment of experimental teaching platforms. The proposed teaching model integrates theoretical knowledge with practical application, utilising improved experimental platforms such as YOLOv5s for hands-on teaching. The reformed teaching model has enhanced students' comprehensive abilities and achieved noticeable success in teaching practice. Copyright © 2025 Inderscience Enterprises Ltd.

关键词： Students

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Energy dissipation mechanism and ballistic characteristic optimization in foam sandwich panels against spherical projectile impact

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Defence technology（防务技术） 2024年第5期35卷 108-122页

作者： Jianqiang Deng Tao Liu Liming Chen Xin Pan Jingzhe Wang Shaowei Zhu Weiguo Li College of Aerospace Engineering Chongqing UniversityChongqing 400030China State Key Laboratory of Coal Mine Disaster Dynamics and Control Chongqing UniversityChongqing 400030China Chongqing Key Laboratory of Heterogeneous Material Mechanics Chongqing UniversityChongqing 400030China State Key Laboratory of Explosion Science and Technology Beijing Institute of TechnologyBeijing 100081China

This study systematically examines the energy dissipation mechanisms and ballistic characteristics of foam sandwich panels(FSP)under high-velocity impact using the explicit non-linear finite element *** on the geometric topology of the FSP system,three FSP configurations with the same areal density are derived,namely multi-layer,gradient core and asymmetric face sheet,and three key structural parameters are identified:core thickness(t_(c)),face sheet thickness(t_(f))and overlap face/core number(n_(o)).The ballistic performance of the FSP system is comprehensively evaluated in terms of the ballistic limit velocity(BLV),deformation modes,energy dissipation mechanism,and specific penetration energy(SPE).The results show that the FSP system exhibits a significant configuration dependence,whose ballistic performance ranking is:asymmetric face sheet>gradient core>*** mass distribution of the top and bottom face sheets plays a critical role in the ballistic resistance of the FSP *** BLV and SPE increase with tf,while the raising tcor noleads to an increase in BLV but a decrease in ***,a face-core synchronous enhancement mechanism is discovered by the energy dissipation analysis,based on which the ballistic optimization procedure is also conducted and a design chart is *** study shed light on the anti-penetration mechanism of the FSP system and might provide a theoretical basis for its engineering application.

关键词： Sandwich panel Numerical simulation Ballistic resistance Specific penetration energy Energy analysis

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A zeroth-order algorithm for distributed optimization with stochastic stripe observations

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Science China(Information Sciences) 2023年第9期66卷 297-298页

作者： Yinghui WANG Xianlin ZENG Wenxiao ZHAO Yiguang HONG School of Automation and Electrical Engineering University of Science and Technology Beijing Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Department of Control Science and Engineering Tongji University

Recent years have seen a rising interest in distributed optimization problems because of their widespread applications in power grids, multi-robot control, and regression *** the last few decades, many distributed algorithms have been developed for tackling distributed optimization problems. In these algorithms, agents over the network only have access to their own local functions and exchange information with their neighbors.

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