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Data-driven finite-time adaptive attitude tracking control for spacecraft

Advances in Space Research 2025年第12期75卷 8780-8791页

作者： Wang, Jianhui He, Guangping Bian, Guibin Geng, Shixiong College of Mechanical & Energy Engineering Beijing University Of Technology Beijing100124 China Department of Mechanical and Electrical Engineering North China University of Technology Beijing100144 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

This paper proposes a novel data-driven finite-time adaptive control method for the spacecraft attitude tracking control problem with inertial uncertainty. Based on the dynamic regression extension technique, the disturbance unit matrix is introduced, and the parameter estimation law in the form of algebraic equations is presented, which realizes the arbitrarily small convergence of parameter estimation error. The convergence of parameter estimation errors is verified through stability analysis. Globally non-singular fast terminal sliding mode control is designed to achieve finite-time arrival of the sliding surface and convergence of the system state error. The stability analysis of the closed-loop system demonstrates the effectiveness of the proposed method. Furthermore, the effectiveness and superiority of the proposed method are verified through numerical simulations of spacecraft attitude tracking control. © 2025 COSPAR

关键词： Attitude control

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Novel Insights into Gas Sorption Mechanisms in Multiscale Coal Nanopores via Molecular Simulation

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Energy and Fuels 2025年第20期39卷 9373-9387页

作者： Nie, Baisheng Zhu, Xiyang Liu, Peng Zhao, Dan Liu, Xianfeng Deng, Bozhi Lun, Jiayun Wang, Mengxia Qin, Feng State Key Laboratory Coal Resources and Safe Mining School of Emergency Management and Safety Engineering China University of Mining and Technology Beijing100083 China State Key Laboratory of Coal Mine Disaster Dynamics and Control School of Resources and Safety Engineering Chongqing University Chongqing400044 China Information Institute of the Ministry of Emergency Management of the PRC Beijing100029 China

The sorption and diffusion dynamics of gases in nanoscale coal pores are crucial for understanding and optimizing coalbed methane recovery. This study developed four nanoscale molecular models with pore sizes of 1, 2, 5, and 10 nm, based on X-ray photoelectron spectroscopy (XPS) and 13C nuclear magnetic resonance (13C-NMR) analyses of target coal samples. The research systematically explored how temperature, pressure, and moisture content affect the transport of CO2, CH4, and N2 in multiscale nanopores. Findings reveal that the overlapping sorption potential fields significantly enhance gas sorption on nanopore surfaces, accounting for the predominant storage of gases in these pores, and this effect weakens as pore size increases. Within the temperature range of 273.15 to 313.15 K, variations in pore size exert a more pronounced influence on gas sorption capacity than temperature itself. Furthermore, the presence of water in coal nanopores leads to capillary condensation, which obstructs pore channels and reduces gas sorption rates. This inhibitory effect is particularly significant in micropores smaller than 2 nm, while it has a minimal impact on mesopores. The study highlights that modifying nanoscale pore structures and effectively removing water from micropores could substantially enhance coalbed methane production efficiency, providing valuable insights for optimizing gas recovery strategies. © 2025 American Chemical Society.

关键词： Nanopores

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Macau's New ITSS Chapter: An Experiment With New Artificial Intelligence and Decentralized Autonomous Science for Future Mobility

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IEEE INTELLIGENT TRANSPORTATION SYSTEMS MAGAZINE 2025年第2期17卷 138-140页

作者： Wang, Fei Yue Chinese Acad Sci State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Macau Univ Sci & Technol Macau Inst Syst Engn Taipa Macau Peoples R China

Provides society information that may include news, reviews or technical notes that should be of interest to practitioners and researchers.

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Event-/Self-Triggered Adaptive Optimal Consensus control for Nonlinear Multiagent System With Unknown Dynamics and Disturbances

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IEEE TRANSACTIONS ON CYBERNETICS 2025年第3期55卷 1476-1485页

作者： Wei, Qinglai Jiang, Hao Macau Univ Sci & Technol Inst Syst Engn Macau Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China

In this article, the optimal consensus tracking control for nonlinear multiagent systems (MASs) with unknown dynamics and disturbances is investigated via adaptive dynamic programming (ADP) technology. Taking into account the disturbance as control inputs, the optimal control problem for the nonlinear MASs is reformulated as a multiplayer zero-sum differential game. In addition, a single network ADP structure is constructed to approach the optimal consensus control policies. Subsequently, an event triggering mechanism is implemented to reduce the workload of the controller and conserve computing and communication resources. Since then, in order to further streamline the intricacies of controller design, this work is extended to self-triggered cases to alleviate the need for hardware devices to continuously monitor signals. By using the Lyapunov method, the stability of the nonlinear MASs and the uniform ultimate boundedness (UUB) of the weight estimation error of the critic neural network (NN) is proved. Finally, the simulation results for an MAS consisting of a single-link robot validate the effectiveness of the proposed control method.

关键词： Consensus control Artificial neural networks Vectors Optimal control Event detection Nonlinear dynamical systems Multi-agent systems Monitoring Hardware Directed graphs Adaptive dynamic programming (ADP) event-triggered control (ETC) nonlinear multiagent systems optimal consensus control self-triggered control (STC)

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Improvement of coronary microcirculation in acute myocardial ischemia rats using a nanoscale carrier SiO2@PEG loaded with Nicorandil

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DRUG DELIVERY AND TRANSLATIONAL RESEARCH 2025年 1-14页

作者： Wang, Rui Mo, Yujing Liang, Yingcong Liu, Yuanhui Sun, Zhongchan Shang, Wenting Xue, Ling Southern Med Univ Guangdong Prov Peoples Hosp Guangdong Cardiovasc Inst Guangdong Acad Med SciDept Cardiol Guangzhou 510080 Peoples R China Chinese Acad Sci Inst Automat CAS Key Lab Mol Imaging State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China

Coronary microcirculatory dysfunction, affecting over half of acute myocardial infarction (AMI) patients, correlates significantly with AMI prognosis. Nicorandil is an effective drug that markedly improves coronary microcirculation, but current clinical formulations of Nicorandil exhibit a relatively short half-life and lack cardiac selectivity. We formulated and synthesized a variety of mesoporous silica nanoparticles (MSNs) as a drug carrier for loading and delivering Nicorandil. We performed PEG modification on MSNs to enhance their biocompatibility. The SiO2@PEG showed good serum stability, maintained a uniform spherical structure with a particle size distribution centered within 200 nm and exhibits good dispersibility. SiO2@PEG-Nicorandil showed no significant impact on AC 16 cells' viability at concentrations up to 50 mu g/mL. SiO2@PEG-Nicorandil significantly enhanced the viability of AC16 cells under oxidative stress conditions, while concurrently reducing intracellular levels of reactive oxygen species (ROS) and Ca2+. For the rat coronary microvascular dysfunction model, the SiO2@PEG-Nicorandil group demonstrated a greater decrease in thrombus formation and the expression of inflammatory cytokines, outperforming the Nicorandil group. In vivo imaging revealed that within one hour post-injection of SiO2@PEG-Nicorandil-CY7, a notable increase in CY7 fluorescence intensity was observed in the cardiac region compared to surrounding tissues. Drug concentration measurements demonstrated that Nicorandil maintained a stable concentration in cardiac blood at 48 h in the SiO2@PEG-Nicorandil group. Taken together, SiO2@PEG-Nicorandil had exhibited superior cardiac-targeting capabilities and sustained-release properties. Within a specific concentration range, it demonstrated enhanced therapeutic effects in the treatment of coronary microcirculation disorders in rats when compared to conventional Nicorandil formulations.

关键词： Acute myocardial ischemia Coronary microcirculation Nanoscale carrier Nicorandil

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Design and Performance Analysis of a Series-Parallel Self-Aligning Index Finger Exoskeleton

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IEEE Robotics and Automation Letters 2025年第6期10卷 6456-6463页

作者： Sun, Ning Wang, Zelong Cheng, Long Li, Houcheng Niu, Ben Sun, Xijin Li, Ke Shandong Normal University School of Information Science and Engineering Jinan China Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Institute of Automation Beijing China University of Chinese Academy of Sciences School of Artificial Intelligence Beijing China Shandong University Institute of Intelligent Medical Engineering School of Control Science and Engineering Jinan China

Hand exoskeletons have become increasingly crucial for the rehabilitation of hand function, as relevant studies have shown that using the exoskeletons to assist in rehabilitation training can improve hand motor function. However, developing a human-robot kinematic compatibility exoskeleton while providing sufficient assistance torque is still a challenge. This paper develops a series-parallel self-aligning index finger exoskeleton to assist the index finger in flexion/extension and adduction/abduction training. A series-parallel mechanism driven by two motors simultaneously was proposed for the metacarpophalangeal (MCP) joint, which can ensure human-robot joint axes self-alignment and increase the joint assistance torque. A kinematic compatibility analysis method was proposed, and the kinematic compatibility of the series-parallel mechanism was analyzed. The degrees of freedom and forward kinematics of the proposed mechanism were analyzed, and its workspace was calculated, which results show that the motion range of the MCP joint can meet the grasping training requirements. Preliminary experiments were carried out, and the results indicate that the motion trajectory coefficients of the marker points at the MCP, PIP, and DIP joints averaged for all subjects with and without the proposed exoskeleton are 0.993, 0.956, and 0.939, respectively, which can verify the kinematic transparency of the proposed mechanism. The assistance torque generated by the proposed mechanism on the MCP joint can meet the joint assistance torque requirements. In a word, the proposed exoskeleton can achieve flexion/extension and adduction/abduction training, human-robot joint axes self-alignment, and provide sufficient assistance torque. © 2016 IEEE.

关键词： Exoskeleton (Robotics)

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Exploring Latent Transferability of feature components

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PATTERN RECOGNITION 2025年 160卷

作者： Wang, Zhengshan Chen, Long He, Juan Yang, Linyao Wang, Fei-Yue Univ Macau Fac Sci & Technol Dept Comp & Informat Sci Macau 999078 Peoples R China Chinese Acad Sci Inst Automat State Key Lab Management & Control Complex Syst Beijing 100190 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China

Feature disentanglement techniques have been widely employed to extract transferable (domain-invariant) features from non-transferable (domain-specific) features in Unsupervised Domain Adaptation (UDA). However, due to the complex interplay among high-dimensional features, the separated "non-transferable" features may still be partially informative. Suppressing or disregarding them, as commonly employed in previous methods, can overlook the inherent transferability. In this work, we introduce two concepts: Partially Transferable Class Features and Partially Transferable Domain Features (PTCF and PTDF), and propose a succinct feature disentanglement technique. Different with prior works, we do not seek to thoroughly peel off the nontransferable features, as it is challenging practically. Instead, we take the two-stage strategy consisting of rough feature disentanglement and dynamic adjustment. We name our model as ELT because it can systematically Explore Latent Transferability of feature components. ELT can automatically evaluate the transferability of internal feature components, dynamically giving more attention to features with high transferability and less to features with low transferability, effectively solving the problem of negative transfer. Extensive experimental results have proved its efficiency. The code and supplementary file will be available at https://***/ njtjmc/ELT.

关键词： Unsupervised domain adaptation Feature disentanglement Adversarial learning Dynamic learning

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Alterations in the salivary gland microbiota of Haemaphysalis longicornis during tick-to-host transmission of severe fever with thrombocytopenia syndrome virus

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Zoological Research 2025年第2期46卷 459-468页

作者： Jingjing Chen Chuanfei Yuan Qiong Xu Yu Sun Rui Zheng Chenghong Zeng Yan Wu Zhen Zou Qianfeng Xia NHC Key Laboratory of Tropical Disease Control School of Tropical MedicineHainan Medical UniversityHaikouHainan 571199China State Key Laboratory of Integrated Management of Pest Insects and Rodents Institute of ZoologyChinese Academy of SciencesBeijing 100101China Department of Pathogen Microbiology School of Basic Medical SciencesCapital Medical UniversityBeijing 100069China

Haemaphysalis longicornis serves as the primary tick vector for severe fever with thrombocytopenia syndrome virus(SFTSV),the etiological agent responsible for severe fever with thrombocytopenia syndrome(SFTS).Understanding alterations in tick salivary gland microbiota during SFTSV transmission to vertebrate hosts is essential for developing novel control ***,microbial shifts in tick salivary glands during pathogen transmission to hosts have not been reported for any tick-borne *** this study,SFTSV transmission from *** to vertebrate hosts was confirmed using a tickrabbit transmission *** gland microbiota profiling via 16S rRNA gene sequencing identified significant changes in bacterial composition associated with viral *** relative abundance of three genera(Serratia,Bifidobacterium,and Akkermansia)increased,whereas five genera(Flavobacterium,Staphylococcus,Enhydrobacter,Massilia,and Stenotrophomonas)*** network analysis revealed a negative association between Akkermansia and *** findings demonstrated that SFTSV transmission alters the salivary gland microbiota of ***,providing insights for future functional studies and the development of targeted strategies for SFTS control.

关键词： SFTSV Microbiota Tick Salivary glands Haemaphysalis longicornis

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Denitrification enhanced by composite carbon sources in AAO-biofilter:Efficiency and metagenomics research

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Journal of Environmental Sciences 2025年第4期150卷 25-35页

作者： Fan Guo Guokai Yan Haiyan Wang Lingling Shi Yanjie Zhang Yu Ling Youfang Wei Huan Wang Weiyang Dong Yang Chang Ziyang Tian State Key Laboratory of Environmental Criteria and Risk Assessment Chinese Research Academy of Environmental SciencesBeijing 100012China Research Center of Environmental Pollution Control Technology Chinese Research Academy of Environmental ScienceBeijing 100012China Research Center for Environmental Management Chinese Research Academy of Environmental SciencesBeijing 100012China

Nitrogen removal from domestic sewage is usually limited by insufficient carbon source and electron *** economical solid carbon source was developed by composition of polyvinyl alcohol,sodium alginate,and corncob,which was utilized as external carbon source in the anaerobic anoxic oxic(AAO)-biofilter for the treatment of low carbon-to-nitrogen ratio domestic sewage,and the nitrogen removal was remarkably improved from 63.2%to 96.5%.Furthermore,the effluent chemical oxygen demand maintained at 35 mg/L or even lower,and the total nitrogenwas reduced to less than 2mg/*** analysis demonstrated that the microbial communities responsible for potential denitrification and organic matter degradation in both AAO and the biofilter reactors were mainly composed of Proteobacteria and Bacteroides,*** solid carbon source addition resulted in relatively high abundance of functional enzymes responsible for NO_(3)^(−)-N to NO_(2)^(−)-N con-version in both AAO and the biofilter reactors,thus enabled stable *** carbon source addition during glycolysis primarily led to the increase of genes associated with the metabolic conversion of fructose 1.6P2 to glycerol-3P The reactor maintained high abun-dance of genes related to the tricarboxylic acid cycle,and then guaranteed efficient carbon *** results indicate that the composite carbon source is feasible for denitri-fication enhancement of AAO-biofilter,which contribute to the theoretical foundation for practical nitrogen removal application.

关键词： AAO Biofilter Composite carbon source Nitrogen removal Metagenomics

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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

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Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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