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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Hao, Ze Yu, Jianglong Chen, Yang Hu, Yangxiu Dong, Xiwang Ren, Zhang School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China Institute of Artificial Intelligence Science and Technology on Aircraft Control Laboratory Beihang University Beijing100191 China Shanghai Academy of Spaceflight Technology Shanghai201109 China

ISBN: (纸本)9789819733279

This paper investigates the problem of aggregation control and robust formation tracking control for the fixed-wing UAV swarm system after aggregation. Firstly, the dynamic models for aggregation control and formation tracking control of the fixed-wing UAV swarm system are established. Secondly, to solve the problem of large initial takeoff position deviation for multiple unmanned aerial vehicles, a consensus-based aggregation control algorithm is designed to converge the UAV swarm system to any position on a hovering circle to provide proper initial conditions for subsequent tasks. Thirdly, in the formation tracking control process, a nonlinear path tracking control algorithm is employed for leader UAV, and a formation tracking control algorithm based on leader-following navigation is designed for follower UAV swarm system. Finally, simulation results demonstrate that the proposed aggregation control algorithm enables rapid convergence of the UAV swarm system’s initial positions, and the designed formation tracking control achieves algorithm achieves fine formation tracking performance. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Unmanned aerial vehicles (UAV)

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Informative Path Planning based on Global and Local Active Sensing for Environmental Field Mapping

Informative Path Planning based on Global and Local Active S...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Li, Jiahui Yang, Bingyu Yang, Kaibo Li, Teng School of Control Science and Engineering Shandong University Jinan250061 China School of Statistics Beijing Normal University Zhuhai519085 China Key Laboratory of Machine Intelligence and System Control Ministry of Education of the People's Republic of China Jinan250061 China

ISBN: (纸本)9781665481090

Mobile robots can reconstruct environmental fields through active sensing and autonomous navigation, so as to achieve online environmental monitoring. Active sensing enables determine the target sampling location by exploiting the critical information in the target monitored environments. The key information for active sensing is commonly determined by the objective function based on environmental field statistics. In this paper, a novel global and local informative path planning method based on Gaussian process (GP) and multivariate conditional mutual information (MCMI) is proposed, which can achieve effective and reliable execution of information-based active sensing and path planning. Experimental results demonstrate the performance of the proposed method for robotic mobile sensing and environmental field mapping. © 2024 IEEE.

关键词： Environmental monitoring

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Synergistically Improved Mechanical Properties and Thermal Conductivity of Hypoeutectic AlSiNiFeMg Alloy Prepared by Ultrasonic-assisted Casting

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Journal of Wuhan University of Technology(Materials science) 2024年第6期39卷 1565-1568页

作者： ZHANG Wenda YUAN Xuan ZHOU Yuli ZHONG Gu BAI Peikang WANG Hongfu LIU Jun School of Materials Science and Engineering North University of ChinaTaiyuan 030051China Chinalco Materials Application Research Institute Co. Ltd.Suzhou BranchSuzhou 215026China Department of Materials Science and Engineering University of Science and Technology BeijingBeijing 100083China Standard&Quality Control Research Institute Ministry of Water ResourcesHangzhou 310024China School of Mechanical Engineering North University of ChinaTaiyuan 030051China Delta Aluminum Corporation in Zhaoqing Zhaoqing 526029China

We employed a melt ultrasonic treatment near the liquidus to prepare a high-thermal-conductivity Al-4Si-2Ni-0.8Fe-0.4Mg *** influences of various ultrasonic powers on its microstructure,mechanical properties,and thermal conductivity were *** is shown that near-liquidus ultrasonication significantly refines the alloy grains and eutectic structure,synergistically improving the alloy’s mechanical properties and thermal ***,the grain size decreased by 84.5%from 941.4 to 186.2μ*** the ultrasonic power improved the thermal conductivity of the alloy slightly and significantly enhanced its mechanical *** an ultrasonic power of 2100 W,the tensile strength,yield strength,elongation rate,and thermal conductivity were 216 MPa,142 MPa,6.3%,and 169 W/(m·k),respectively.

关键词： Al-Si alloy mechanical property thermal conductivity ultrasonic treatment solidification microstructure

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A VNS-NPGA approach to multi-objective optimization of hub-and-spoke logistics network

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Journal of Traffic and Transportation engineering(English Edition) 2025年第2期12卷 390-409页

作者： Changxi Ma Chuwei Shi Yun Yang Yongpeng Zhao Zhuye Xu Bo Du School of Traffic and Transportation Lanzhou Jiaotong University Key Laboratory of Railway Industry on Plateau Railway Transportation Intelligent Management and Control Lanzhou Jiaotong University School of Tourism and Management Yangling Vocational and Technical College School of New Energy and Power Engineering Lanzhou Jiaotong University National Engineering Research Center of Highway Maintenance Technology Changsha University of Science & Technology Department of Management Griffith University

To realize low-cost freight transport in the logistics network and improve the network operation efficiency, a multi-objective optimization model and the corresponding algorithm for a hub-and-spoke logistics network are proposed based on the multi-level location of hub points and channels layout. By considering the structure of the multi-level hub-andspoke logistics network and the features of the connectivity between the hub and spoke points, the multi-objective optimization model is constructed with two objectives of minimizing the total network operation costs and the total network service time. By considering the characteristics of decision variables and models, a variable neighborhood search(VNS)-niched Pareto genetic algorithm(NPGA) approach with a three-stage encoding structure chromosome is proposed, where the VNS algorithm nested in NPGA is used for individual variable neighborhood search to optimize individual channel level genes,and NPGA is adopted to solve the multi-objective optimization model. To evaluate the performance of the proposed VNS-NPGA approach, a real-life case study based on a smallscale Australia Post data set was conducted, and 25 nodes of the Australia Post and 14nodes of the Gansu Province 3-level hub-and-spoke logistics networks were established,respectively. The analysis results indicated that the network structure of multi-level hub points could avoid the detour problem existing in the traditional hub-and-spoke network,and showed better applicability in the narrow geographical structure. Compared to the traditional multi-objective evolutionary algorithms, VNS-NPGA can obtain better solutions through the distributed optimization of channel levels, avoiding the problem that a single algorithm cannot effectively deal with coupling relationships in genes.

关键词： Multi-level hub-and-spoke logistics network Multi-objective optimization model VNS-NPGA Three-stage encoding Individual variable neighborhood search

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Model Predictive control with Incremental Input Constraints for Trajectory Tracking of Wheeled Mobile Robots

Model Predictive Control with Incremental Input Constraints ...

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： SiYu Zhang PingPing Han Liang Gao YongFeng Gao School of Control Science and Control Engineering Dalian University of Technology Dalian China

ISBN: (数字)9798350379228

ISBN: (纸本)9798350390780

In this paper, we propose a model predictive control algorithm with incremental input constraints for trajectory tracking of wheeled mobile robot (WMR). This algorithm ensures that the rate of change of control inputs remains within a certain range, avoiding deterioration in the control performance or mechanical damage caused by excessive changes in control inputs. Firstly, based on the kinematics equations of WMR, we establish a trajectory tracking error model. Then, combining this model, we present a model predictive control algorithm with control increment constraints. Furthermore, by utilizing the properties of cost function monotonically decreasing along predicted trajectories and system states converging to equilibrium points, together with Lyapunov Theorem, we prove the asymptotic stability of the system. Finally, simulation results demonstrate that under this algorithm’s control, the trajectory tracking error model can stably converge to equilibrium point while satisfying incremental input constraints.

关键词： Asymptotic stability Trajectory tracking Simulation Kinematics Predictive models Prediction algorithms Mathematical models

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Multi-Scale Prediction of RUL and SOH for Lithium-Ion Batteries Based on WNN-UPF Combined Model

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Chinese Journal of Electronics 2021年第1期30卷 26-35页

作者： JIA Jianfang WANG Keke PANG Xiaoqiong SHI Yuanhao WEN Jie ZENG Jianchao School of Electrical and Control Engineering North University of China School of Data Science and Technology North University of China

The prediction of Remaining useful life(RUL) and the estimation of State of health(SOH) are extremely important issues for operating performance of Lithium-ion(Li-ion) batteries in the Battery management system(BMS). A multi-scale prediction approach of RUL and SOH is presented, which combines Wavelet neural network(WNN) with Unscented particle filter(UPF)model. The capacity degradation data of Li-ion batteries are decomposed into the low-frequency degradation trend and high-frequency fluctuation components by Discrete wavelet transform(DWT). Based on the WNN-UPF model, the long-term RUL of Li-ion batteries is predicted with the low-frequency degradation trend data. The high-frequency fluctuation data and RUL prediction results are integrated effectively to estimate the short-term SOH of Li-ion batteries. The experimental results show that the proposed method achieves high accuracy and strong robustness, even if the prediction starting point is set to the early stage of Li-ion batteries' lifespan.

关键词： low-frequency degradation trend data WNN-UPF model Kalman filters high-frequency fluctuation components secondary cells RUL prediction results prediction starting point short-term SOH high-frequency fluctuation data remaining life assessment multiscale prediction approach wavelet neural nets particle filtering (numerical methods) Unscented particle filter model power engineering computing WNN-UPF combined model battery management systems capacity degradation data Lithium-ion batteries discrete wavelet transforms long-term RUL Battery management system Li-ion batteries

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Changes in physiology, antioxidant system, and gene expression in Microcystis aeruginosa under fenoxaprop-p-ethyl stress

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Environmental science and Pollution Research 2024年第19期31卷 28754-28763页

作者： Liu, Sijia Ni, Jiawei Guan, Ying Tao, Jianwei Wu, Liang Hou, Meifang Wu, Shichao Xu, Wenwu Zhang, Chu Ye, Jing School of Chemical and Environmental Engineering Shanghai Institute of Technology Shanghai201418 China Los Angeles Regional Water Quality Control Board Los AngelesCA90013 United States School of Ecological Technology and Engineering Shanghai Institute of Technology Shanghai201418 China School of Computer Science and Information Engineering Shanghai Institute of Technology Shanghai201418 China

Fenoxaprop-p-ethyl (FE) is one of the typical aryloxyphenoxypropionate herbicides. FE has been widely applied in agriculture in recent years. Human health and aquatic ecosystems are threatened by the cyanobacteria blooms caused by Microcystis aeruginosa, which is one of the most common cyanobacteria responsible for freshwater blooming. Few studies have been reported on the physiological effects of FE on M. aeruginosa. This study analyzed the growth curves, the contents of chlorophyll a and protein, the oxidative stress, and the microcystin-LR (MC-LR) levels of M. aeruginosa exposed to various FE concentrations (i.e., 0, 0.5, 1, 2, and 5 mg/L). FE was observed to stimulate the cell density, chlorophyll a content, and protein content of M. aeruginosa at 0.5- and 1-mg/L FE concentrations but inhibit them at 2 and 5 mg/L FE concentrations. The superoxide dismutase and catalase activities were enhanced and the malondialdehyde concentration was increased by FE. The intracellular (intra-) and extracellular (extra-) MC-LR contents were also affected by FE. The expression levels of photosynthesis-related genes psbD1, psaB, and rbcL varied in response to FE exposure. Moreover, the expressions of microcystin synthase-related genes mcyA and mcyD and microcystin transportation-related gene mcyH were significantly inhibited by the treatment with 2 and 5 mg/L FE concentrations. These results might be helpful in evaluating the ecotoxicity of FE and guiding the rational application of herbicides in modern agriculture. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2024.

关键词： Gene expression

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Ultrahigh energy storage performance realized in AgNbO_(3)-based antiferroelectric materials via multiscale engineering

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Journal of Advanced Ceramics 2023年第6期12卷 1166-1177页

作者： Mingyuan Zhao Jing Wang Ji Zhang Li-Feng Zhu Lei Zhao Key Laboratory of High-Precision Computation and Application of Quantum Field Theory of Hebei Province College of Physics Science&TechnologyHebei UniversityBaoding 071002China State Key Laboratory of Mechanics and Control of Mechanical Structures College of Aerospace EngineeringNanjing University of Aeronautics and AstronauticsNanjing 210016China School of Materials Science and Engineering Nanjing University of Science&TechnologyNanjing 210094China School of Materials Science and Engineering University of Science and Technology BeijingBeijing 100083China

Antiferroelectric(AFE)materials are promising for the applications in advanced high-power electric and electronic *** them,AgNbO_(3)(AN)-based ceramics have gained considerable attention due to their excellent energy storage ***,multiscale synergistic modulation is proposed to improve the energy storage performance of AN-based materials,whereby the multilayer structure is employed to improve the breakdown strength(Eb),and Sm/Ta doping is utilized to enhance the AFE *** a result,ultrahigh recoverable energy storage density(Wrec)up to 15.0 J·cm^(-3) and energy efficiency of 82.8%are obtained at 1500 kV·cm^(-3) in Sm/Ta co-doped AN multilayer ceramic capacitor(MLCC),which are superior to those of the state-of-the-art AN-based ceramic ***,the discharge energy density(Wa)in direct-current charge-discharge performance reaches 9.1 J·cm^(-3),which is superior to that of the reported lead-free energy storage *** synergistic design of composition and multilayer structure provides an applicable method to optimize the energy storage performance in all dielectric energy storage systems.

关键词： antiferroelectric(AFE) AgNbO_(3)(AN)-based ceramics energy storage multilayer structure

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Numerical modelling of spatially and temporally distributed on‑fault induced seismicity:implication for seismic hazards

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International Journal of Coal science & Technology 2023年第1期10卷 108-123页

作者： Atsushi Sainoki Adam Karl Schwartzkopf Lishuai Jiang Hani Mitri Faculty of Advanced Science and Technology KumamotoUniversityKumamotoJapan School of Engineering The University of Western AustraliaPerthAustralia State Key Laboratory of Mining Disaster Preventionand Control Shandong University of Scienceand TechnologyShandongChina Department of Mining and Materials Engineering McGillUniversityMontrealCanada

Induced seismicity is strongly related to various engineering projects that cause anthropogenic in-situ stress change at a great ***,there is a need to estimate and mitigate the associated *** the past,various simulation methods have been developed and applied to induced seismicity analysis,but there is still a fundamental diference between simulation results and feld observations in terms of the spatial distribution of seismic events and its *** present study aims to develop a method to simulate spatially distributed on-fault seismicity whilst reproducing a complex stress state in the fault ***,an equivalent continuum model is constructed,based on a discrete fracture network within a fault damage zone,by employing the crack tensor theory.A fault core is simulated at the center of the model as a discontinuous *** the model,a heterogeneous stress state with stress anomalies in the fault zone is frst simulated by applying tractions on the model outer ***,the efective normal stress on the fault plane is decreased in a stepwise manner to induce *** simulation result is validated in terms of the b-value and other seismic source parameters,hence demonstrating that the model can reproduce spatially and temporally distributed on-fault *** analysis on the parameters shows the variation of frequency-magnitude distribution before the occurrence of large seismic *** variation is found to be consistent with feld observations,thus suggesting the potential use of this simulation method in evaluating the risk for seismic hazards in various engineering projects.

关键词： Induced seismicity Fracture network Fault damage zone Crack tensor theory

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Novel titanium vanadate with superior Na^(+) transport kinetics for rapid charging and low-temperature sodium ion batteries

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Green Energy & Environment 2025年第2期10卷 374-381页

作者： Dan Lv Liehao Wei Cheng Wang Mingyue Wang Zhongchao Bai Yameng Fan Dongdong Wang Nana Wang Jian Yang Key Laboratory of Advanced Ceramics and Machining Technology(Ministry of Education) School of Materials Science and EngineeringTianjin UniversityTianjin300072China Key Laboratory of Colloid and Interface Chemistry Ministry of EducationSchool of Chemistry and Chemical EngineeringShandong UniversityJinan250100China Tianjin Key Lab of Indoor Air Environmental Quality Control School of Environmental Science and TechnologyTianjin UniversityTianjin300072China Institute for Superconducting and Electronic Materials University of WollongongWollongongAustralia Institute of Energy Materials Science(IEMS) University of Shanghai for Science and Technology516 Jungong RoadShanghai200093China

Sodium-ion batteries(SIBs)hold great promise for large-scale energy storage in the post-lithium-ion battery era due to their high rate performance and long lifespan,although their sluggish Na^(+) transformation kinetics still require *** by the excellent electrochemical performance of titanium-based anode materials,here,we present a novel titanium vanadate@carbon(TVO@C)material as anode for *** TVO@C material is synthesized via a facile coprecipitation method,with the following annealing process in an acetylene *** opened ion channel and the oxygen vacancies within TVO@C facilitate the diffusion of Na^(+) ions,reducing their diffusion ***,an ultrahigh rate of 100 A g^(-1)and long life of 10,000 cycles have been ***,the TVO@C electrode exhibits stable performance,not only at room temperature,but also at temperatures as low as 20 *** TVO@CjjNa_(3)V_(2)(PO_(4))_(3)@C full cells have also achieved stable discharge/charge for 500 *** is believed that this strategy provides new insight into the development of advanced electrodes and provides a new opportunity for constructing novel high rate electrodes.

关键词： Anode High rate Titanium vanadate Sodium ion batteries

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