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Distributed Leader-Following Formation Control of Networked Mobile Robots via Global Orientation Estimation

IEEE Transactions on Network science and engineering 2025年第3期12卷 2135-2150页

作者： Wang, Siqi Wang, Heng Che, Weiwei Li, Qing University of Science and Technology Beijing Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical Engineering Beijing100083 China Northeastern University College of Information Science and Engineering Shenyang110819 China

This article proposes a novel distributed leader-following formation control strategy for multiple networked mobile robots, utilizing the relative position measurements among robots. In particular, the leader is assumed to have the same kinematics as the followers and all the robots do not rely on orientation measurements. Firstly, a global orientation estimation law is proposed in the sense that the followers' orientation information is estimated in the leader's reference frame, only based on the leader's orientation estimation and relative bearing information. Secondly, since the leader is not directly connected to all the followers, a new distributed state observer is designed for each follower to estimate the leader's states. Especially, the designed observer not only removes the algebraic loops issue but also eliminates the requirement for the leader's acceleration information. Furthermore, a distributed formation control law is proposed by incorporating the previous estimations, and it is proved that the closed-loop system consisting of the observer and controller is asymptotically stable. Finally, simulation results validate the effectiveness and superiority of the proposed method. © 2013 IEEE.

关键词： Observers Formation control Estimation Robot sensing systems Position measurement Robot kinematics Mobile robots Topology Decentralized control Accuracy

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Experimental demonstration of D-band signals wireless transmission over 30 km

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science China(Technological sciences) 2025年第2期68卷 318-320页

作者： Yi WEI Xiongwei YANG Jianjun YU Xianming ZHAO Mingxu WANG Jingwen TAN Weiping LI Feng ZHAO Chengzhen BIAN Hansong MA Qinyi ZHANG Qiutong ZHANG Bing Zhang Wen ZHOU Kaihui WANG Sicong XU Jianguo YU State Key Laboratory of ASIC and System Key Laboratory for Information Science of Electromagnetic Waves(MoE)and School of Information Science and TechnologyFudan UniversityShanghai 200433China Harbin Institute of Technology Harbin 150001China School of Automation Xi’an University of Posts and TelecommunicationsXi’an 710121China School of Electronic Engineering Beijing University of Posts and TelecommunicationsBeijing 100876China

Due to the rise of innovative technologies like artificial intelligence(AI),the Internet of Things(IoT),and telemedicine,the demand for internet traffic is rapidly *** order to achieve ultra-high-speed wireless communication,many researchers are directing their efforts towards the *** D-band,spanning the frequency band 110-170 GHz,has abundant spectrum resources and license-free characteristics[1,2].

关键词： IoT wireless band

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Joint AP Clustering and Beamforming Design for RIS-Aided Cell-Free Networks

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IEEE Transactions on Vehicular technology 2025年第5期74卷 8315-8320页

作者： Xu, Chunmei Jia, Yuanqi Chen, Youjia Huang, Wei Southeast University National Mobile Communications Research Laboratory School of Information Science and Engineering Nanjing210096 China Southeast University School of Information Science and Engineering Nanjing210096 China Fuzhou University Fujian Key Lab for Intelligent Processing and Wireless Transmission of Media Information College of Physics and Information Engineering Fuzhou350108 China Hefei University of Technology School of Computer Science and Information Engineering Hefei230601 China

Cell-free networks and reconfigurable intelligent surfaces (RIS) are two promising techniques for future wireless communications. The integration of RIS into cell-free networks, termed RIS-aided cell-free networks, offers the potential to significantly enhance network performance. However, the realization of this potential is constrained by the limited capacities of the fronthaul links. To address this challenge, we investigate the joint design of access point (AP) clustering, transmit and passive beamforming in RIS-aided cell-free networks. The objective is to maximize the weighted sum-rate performance while minimizing the number of clustered APs to alleviate the fronthaul overhead. The problem is formulated in a group sparse manner, employing a mixed zero-norm/two-norm term to represent the number of the clustered APs. To solve this problem, we first approximate the mixed zero-norm/two-norm term by the mixed one-norm/two-norm term and provide its equivalent formulation by introducing receive beamforming vectors and weight parameters. Then, an iterative method is proposed based on the block coordinate descent (BCD) technique, which is guaranteed to converge to a stationary point. Simulation results demonstrate the effectiveness of the proposed method. © 1967-2012 IEEE.

关键词： Iterative methods

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Suppressing high voltage chemo-mechanical degradation in single crystal nickel-rich cathodes for high-performance all-solid-state lithium batteries

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Journal of Energy Chemistry 2025年第3期102卷 377-385页

作者： Yirong Xiao Le Yang Chaoyuan Zeng Ze Hua Shuangquan Qu Niaz Ahmad Ruiwen Shao Wen Yang Key Laboratory of Cluster Science of Ministry of Education Beijing Key Laboratory of Photoelectronic/Electrophotonic Conversion MaterialsSchool of Chemistry and Chemical EngineeringBeijing Institute of TechnologyBeijing 100081China Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Medical TechnologyBeijing Institute of TechnologyBeijing 100081China School of Chemistry and Chemical Engineering Key Laboratory of Ministry of Education for Advanced Materials in Tropical Island ResourcesCollaborative Innovation Center of Ecological CivilizationHainan UniversityHaikou 570228HainanChina

Sulfide-based all-solid-state lithium batteries suffer from electrochemo-mechanical damage to Ni-rich oxide-based cathode active materials(CAMs),primarily caused by severe volume changes,results in significant stress and strain,causes micro-cracks and interfacial contact loss at potentials>4.3 V(***/Li^(+)).Quantifying micro-cracks and voids in CAMs can reveal the degradation mechanisms of Ni-rich oxidebased cathodes during electrochemical ***,the origin of electrochemical-mechanical damage remains ***,We have developed a multifunctional PEG-based soft buffer layer(SBL)on the surface of carbon black(CB).This layer functions as a percolation network in the single crystal LiNi_(0.83)Co_(0.07)Mn_(0.1)O_(2)and Li_(6)PS_(5)Cl composite cathode layer,ensuring superior ionic conductivity,reducing void formation and particle cracking,and promoting uniform utilization of the cathode active material in all-solid-state lithium batteries(ASSLBs).High-angle annular dark-field STEM combined with nanoscale X-ray holo-tomography and plasma-focused ion beam scanning electron microscopy confirmed that the PEG-based SBL mitigated strain induced by reaction heterogeneity in the *** strain produces lattice stretches,distortions,and curved transition metal oxide layers near the surface,contributing to structural degradation at elevated ***,ASSLBs with a LiNi_(0.83)Co_(0.07)Mn_(0.1)O_(2)cathode containing LCCB-10(CB/PEG mass ratio:100/10)demonstrate a high areal capacity(2.53 mAh g^(-1)/0.32 mA g^(-1))and remarkable rate capability(0.58 mAh g^(-1)at 1.4 mA g^(-1)),with88%capacity retention over 1000 cycles.

关键词： Single crystal nickel-rich oxide cathode Lattice stretches and distortions Reaction heterogeneity Percolation network All-solid-state lithium batteries

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Optimization of transverse unidirectional scattering by morphology modification of irregular V-shaped silicon nanoantennas

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Optoelectronics Letters 2025年第3期21卷 129-135页

作者： ZENG Ming ZHAO Feng WANG Xianghui School of Electrical and Information Engineering Tianjin UniversityTianjin300072China Institute of Modern Optics Tianjin Key Laboratory of Micro-scale Optical Information Science and TechnologyNankai UniversityTianjin300350China

A scheme based on irregular V-shaped silicon nanoantennas is proposed to optimize transverse unidirectional scattering under plane wave *** methods of designing regular shapes offer fewer parameters and higher search ***,due to the limitations of regular shapes,it is challenging to meet high-precision design *** shape design allows for a broader range of adjustments,but the complexity of shape parameters leads to lower search efficiency and a higher likelihood of converging to local optima.

关键词： irregular v shaped silicon nanoantennas plane wave irradiation design efficiency plane wave irradiationtraditional optimize transverse unidirectional scattering morphology modification transverse unidirectional scattering search efficiency

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Buried interface bridging for inverted cesium-formamidinium triiodide perovskite solar cells with long operational stability

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science China Chemistry 2025年第1期68卷 163-173页

作者： Chenhui Zhang Chunjun Liang Fulin Sun Ting Zhu Xinghai Huang Yuzhu Guo Xinyu Guo Kunyang Ge Dan Li Fangtian You Zhiqun He Key Laboratory of Luminescence and Optical Information Ministry of EducationInstitute of Optoelectronic TechnologyBeijing Jiaotong UniversityBeijing 100044China Department of Physics School of Physical Science and EngineeringBeijing Jiaotong UniversityBeijing 100044China

In the field of perovskite solar cells(PSCs),the research on defects in the buried interface has been relatively limited due to its non-exposure;however,this interface significantly impacts the performance enhancement of inverted *** study employs phenylethylammonium chloride(PEACl)molecules as a buffer layer to modify the buried interface of p-i-n structured PSCs,aiming to enhance the uniformity of self-assembled monolayers(SAMs)and facilitate the uniform nucleation and growth of perovskite films on the ***,the introduction of the PEACl buffer layer effectively passivates defects at the bottom of the perovskite layer and notably enhances the crystal quality of the perovskite film by mitigating residual stress,thereby reducing nonradiative recombination *** these optimizations,the MA-free PSCs treated with PEACl achieve a power conversion efficiency(PCE)of 24.11%,with significant improvements in storage,thermal stability,and operational *** noteworthy is the device's performance in an unencapsulated state,whereas after 1,500 hours of continuous light operation stability testing,it retains 97%of its original *** study not only enriches the systematic understanding of the characteristics of the buried interface in PSCs but also contributes significantly to advancing the commercial production of perovskite photovoltaic technology.

关键词： defect-induced recombination buried interfaces inverted perovskite solar cells crystallization lattice mismatch

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Dynamic and Heterogeneous Identity-Based Cooperative Co-Evolution for Distributed Lot-Streaming Flowshop Scheduling Problem

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Complex System Modeling and Simulation 2025年第1期5卷 86-106页

作者： Wang, Juan Zhang, Guanghui Li, Xiaoling Feng, Yanxiang School of Information Science and Technology Hebei Agricultural University Baoding071001 China Xi'an Jiaotong University State Key Laboratory for Manufacturing Systems Engineering Xi'an710049 China School of Electronics and Control Engineering Chang'an University Xi'an710064 China School of Automation Science and Engineering Xi'an Jiaotong University Xi'an710049 China

In this research, a novel dynamic and heterogeneous identity based cooperative co-evolutionary algorithm (DHICCA) is proposed for addressing the distributed lot-streaming flowshop scheduling problem (DLSFSP) with the objective to minimize the makespan. A two-layer-vector representation is devised to bridge the solution space of DLSFSP and the search space of DHICCA. In the evolution of DHICCA, population individuals are endowed with heterogeneous identities according to their quality, including superior individuals, ordinary individuals, and inferior individuals, which serve local exploitation, global exploration, and diversified restart, respectively. Because individuals with different identities require different evolutionary mechanisms to fully unleash their respective potentials, identity-specific evolutionary operators are devised to evolve them in a cooperative co-evolutionary way. This is important to use limited population resources to solve complex optimization problems. Specifically, exploitation is carried out on superior individuals by devising three exploitative operators with different intensities based on techniques of variable neighborhood, destruction-construction, and gene targeting. Exploration is executed on ordinary individuals by a newly constructed discrete Jaya algorithm and a probability crossover strategy. In addition, restart is performed on inferior individuals to introduce new evolutionary individuals to the population. After the cooperative co-evolution, all individuals with different identities are merged as a population again, and their identities are dynamically adjusted by new evaluation. The influence of parameters on the algorithm is investigated based on design-of-experiment and comprehensive computational experiments are used to evaluate the performance of all algorithms. The results validate the effectiveness of special designs and show that DHICCA performs more efficient than the existing state-of-the-art algorithms in solving

关键词： Vector spaces

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Prospects on mangrove knowledge services in the smart era:From plant atlas to knowledge graphs

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science China Earth sciences 2025年第1期68卷 111-127页

作者： Zhi-Wei HOU Wenlong JING Cheng-Zhi QIN Ji YANG Qing XIA Xiaoling YIN Key Laboratory of Guangdong for Utilization of Remote Sensing and Geographical Information System Guangdong Open Laboratory of Geospatial Information Technology and ApplicationGuangzhou Institute of GeographyGuangdong Academy of SciencesGuangzhou510070China Southern Marine Science and Engineering Guangdong Laboratory(Guangzhou) Guangzhou511458China State Key Laboratory of Resources and Environmental Information System Institute of Geographic Sciences and Natural Resources ResearchChinese Academy of SciencesBeijing100101China College of Resources and Environment University of Chinese Academy of SciencesBeijing100049China School of Traffic&Transportation Engineering Changsha University of Science and TechnologyChangsha410114China

Mangroves are crucial to the ecological security of the Earth and human *** management,conservation,and restoration are of great importance and necessitate the support of spatio-temporal information and multidisciplinary knowledge such as biology and *** knowledge services such as plant atlas provide illustrated textual knowledge of ***,this kind of service is oriented to information retrieval and is incapable of effectively mining and utilizing fragmented knowledge from multi-source heterogeneous data,facing the problem of“massive data,rare knowledge”.Knowledge graphs are capable of extracting,organizing,and fusing the knowledge contained in massive data into semantic networks that can be understood and computed by *** provide a solution for the realization of intelligent knowledge *** on the urgent need for mangrove knowledge acquisition,formal representation,and intelligent services,this paper proposes a research prospect on mangrove knowledge graphs and knowledge *** first analyze the similarities and differences between various domain-specific concepts of *** this basis,we define the mangrove knowledge graph as a large-scale knowledge base that integrates multi-disciplinary knowledge and spatio-temporal information with mangrove ecosystems as the ***,we propose a research framework for mangrove knowledge services that can realize the transformation from multi-modal data to intelligent knowledge services,including multiple research levels such as ubiquitous data sensing and aggregation,knowledge organization and graph construction,and intelligent mangrove knowledge ***,the methods and workflow for constructing mangrove knowledge graphs are ***,we discuss the challenges and possible future directions of mangrove knowledge services in the smart era,including the construction of a mangrove knowledge system that integrates the domain-specific charac

关键词： Mangrove Tupu Knowledge graph Multi-modal Knowledge service

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Modulation of inactive Li_(2)O via iodinated MOF nanocapsules interfacial transformation engineering for high-performance solid electrolyte interphase

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Journal of Energy Chemistry 2025年第5期104卷 482-493页

作者： Xingxing Zhang Qingmei Su Gaohui Du Bingshe Xu Xuehan Hou Xiaowei Yang Weihao Shi Zhuo Chen Yang Shi Yujie Lv Wenhuan Huang School of Materials Science&Engineering Shaanxi University of Science and TechnologyXi’an 710021ShaanxiChina Key Laboratory of Chemical Additives for China National Light Industry College of Chemistry and Chemical EngineeringShaanxi University of Science and TechnologyXi’an 710021ShaanxiChina Materials Institute of Atomic and Molecular Science School of Physics&Information ScienceShaanxi University of Science and TechnologyXi’an 710021ShaanxiChina School of Chemistry and Chemical Engineering Shanghai Jiaotong UniversityShanghai 200240China

Lithium(Li)deposition and nucleation at solid electrolyte interphase(SEI)is the main origin for the capacity decay in Li metal batteries(LMBs).SEI conversion with enhanced electrochemical and mechanical properties is an effective approach to achieve uniform nucleation of Li^(+)and stabilize the lithium metal ***,complex interfacial reaction mechanisms and interface compatibility issues hinder the development of SEI conversion strategies for stabilizing lithium metal ***,we presented the release of I_(3)^(-)in–NH_(2)-modified metal–organic frameworks for a Li metal surface SEI phase conversion ***–NH_(2)group in MOF pores induced the formation of I_(3)^(-)from I_(2),which was further spontaneously reacted with inactive Li_(2)O transforming into high-performance LiI and LiIO_(3)***,theoretical calculation provided deeply insight into the unique reconstructed interfacial formation and electrochemical mechanism of rich LiI and LiIO_(3)*** a result,the Li^(+)deposition and nucleation were improved,facilitating the transport kinetics of Li^(+)and inhibiting the growth of lithium *** assembled solid-state Li||LiFePO_(4)full cells exhibited superior long-term stability of 800 cycles and high Coulombic efficiency(>99%),Li||LiNi_(0.8)Co_(0.1)Mn_(0.1)O_(2)pouch cell also displayed superior practical performance over 200 cycles at 2 C,high loading of 5 mg cm^(-2)and safety *** innovative SEI design strategy promotes the development of high-performance solid-state Li metal batteries.

关键词： Solid electrolyte interphase(SEI) SEI phase conversion MOF Nano-capsule Solid-state electrolytes Li metal battery

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Regional Sea Surface Skin Temperature Retrieval From HY-1C and HY-1D COCTS

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IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing 2025年 18卷 11502-11511页

作者： Li, Zhuomin Chen, Rui Liu, Mingkun Guan, Lei Ocean University of China Sanya Oceanographic Laboratory Key Laboratory of Ocean Observation and Information of Hainan Province Sanya Oceanographic Institution Sanya572024 China Ocean University of China Laboratory for Regional Oceanography and Numerical Modeling Qingdao Marine Science and Technology Center College of Marine Technology Faculty of Information Science and Engineering Qingdao266100 China

Haiyang-1C (HY-1C) and Haiyang-1D (HY-1D) are Chinese satellites for marine observation. They operationally work to form the networking of morning and afternoon satellites, improving the capacity of coverage in the temporal and spatial dimensions. These satellites carry Chinese ocean color and temperature scanners (COCTS), containing two thermal bands with central wavelengths of 10.8 and 12.0 μm and enabling sea surface temperature (SST) observations. Herein, regional algorithms for SST retrieval are developed for the South China Sea (SCS) by applying radiative transfer modeling. The SCS has unique atmospheric conditions characterized by high temperature and humidity, particularly in the central and southern regions. Atmospheric profiles sufficient to represent the atmospheric conditions of the SCS are selected. The relationship between the top-of-the-atmosphere simulated brightness temperature and the reanalysis skin SST of the selected profiles is determined. The HY-1C and HY-1D COCTS SSTs in the SCS are retrieved utilizing the obtained algorithm. The HY-1C/COCTS SSTs are evaluated using the sea and land surface temperature radiometer SST, and the HY-1D/COCTS SSTs are evaluated using the Visible Infrared Imaging Radiometer Suite SST. For the HY-1C/1D COCTS SSTs, the biases are around 0, and the standard deviations are around 0.5°C. The differences between the HY-1C and HY-1D COCTS SSTs are analyzed to further validate the accuracy of the retrieval method. The difference is 0.38°C during the day and 0.03°C at night, which indicates a diurnal warming phenomenon in the SCS. © 2008-2012 IEEE.

关键词： Atmospheric temperature

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