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Adaptive Robust Control Integrated With Gaussian Processes for Quadrotors: Enhanced Accuracy, Fault Tolerance and Anti-Disturbance

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IEEE Transactions on systems, Man, and Cybernetics: systems 2025年第5期55卷 3235-3248页

作者： Liang, Weisheng Amer, Abdelhakim Mehndiratta, Mohit Chen, Zheng Yao, Bin Kayacan, Erdal Zhejiang University State Key Laboratory of Fluid Power and Mechatronic Systems Hangzhou310027 China Aarhus University Artificial Intelligence in Robotics Laboratory Department of Electrical and Computer Engineering Aarhus8000 Denmark GIM Robotics Espoo02650 Finland Zhejiang University Ocean College Ocean Research Center of Zhoushan Zhoushan316021 China Purdue University School of Mechanical Engineering West Lafayette47907 United States Department of Electrical Engineering and Information Technology Paderborn33098 Germany

With increasingly challenging applications for quadrotors, higher requirements are emerging for tracking accuracy and safety. While high accuracy is a prerequisite for complex tasks, safety is ensured through tolerance to actuator faults and resistance to external disturbances. In this article, adaptive robust control (ARC) integrated with Gaussian processes (GPs), i.e., ARC-GP, is proposed to achieve enhanced accuracy, fault tolerance, and anti-disturbance. These three requirements are interrelated and affected by uncertainties. The primary idea of this article is to categorize uncertainties into parametric and nonparametric types, which are then addressed through parameter adaptation and GP, respectively. First, a detailed dynamic model is established, including actuator models that reflect different types of faults corresponding to changes in different physical parameters. Then, parameter adaptation is designed, with direct and indirect methods adopted for different parameters. In particular, the actuator parameters are effectively estimated to achieve targeted fault compensation. Regarding GP for nonparametric uncertainties, its model parameters are also updated via parameter adaptation. The GP thereby also learns parameter estimation errors along with external disturbances. Accordingly, ARC controllers are designed, for which robust feedback terms are constructed to further mitigate uncertainties on the basis of the covariances predicted by GP. The experiments demonstrate that the proposed ARC-GP can actively tolerate various types of actuator faults and better resist wind disturbances. © 2013 IEEE.

关键词： Robust control

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Design,synthesis and biological evaluation of Leu_(10)-teixobactin analogues

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Chinese Chemical Letters 2025年第4期36卷 157-161页

作者： Yanye Fan Jingjing Chen Bichun Chen Jinyu Bai Bowen Yang Feng Liang Lijing Fang The State Key Laboratory of Refractories and Metallurgy School of Chemistry and Chemical EngineeringWuhan University of Science and TechnologyWuhan 430081China Guangdong Key Laboratory of Nanomedicine CAS-HK Joint Lab of BiomaterialsACS Key Laboratory of Biomedical Imaging Science and SystemInstitute of Biomedicine and BiotechnologyShenzhen Institute of Advanced Technology(SIAT)Chinese Academy of SciencesShenzhen 518055China University of Chinese Academy of Sciences Beijing 100049China Sino-Euro Center of Biomedicine and Health Shenzhen 518024China School of Pharmacy Lanzhou UniversityLanzhou 730000China

Two thioamino acids and four fiuorinated amino acids were employed to substitute either partially or entirely the Ile_(2),Ser_(3),Ile_(6),and Ser_(7) residues of Leu_(10)-teixobactin to prepare ten analogues and the bioactivity of them was *** SAR studies revealed that Ile_(6) was tolerable for both thioamidation and fiuoridation,while Ser_(7) was identified as the most tolerable site for *** 1a demonstrated comparable or slightly improved antibacterial activity,superior protease stability compared to Leu_(10)-teixobactin,while not exhibiting obvious cytotoxicity against mammalian cells.

关键词： Leu_(10)-teixobactin Thioamidation Fluorination Antibacterial activity Protease stability

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A deep learning-based model for automated STN localization using local field potentials in Parkinson’s disease

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Soft Computing 2025年第4期29卷 2343-2362页

作者： Hosny, Mohamed Naeem, Mohamed A. Zhu, Minwei Gao, Wenpeng Elshenhab, Ahmed M. Fu, Yili Department of Electrical Engineering Benha Faculty of Engineering Benha University Benha Egypt State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin150080 China Department of Mechatronics and Robotics Engineering Faculty of Engineering South Valley University Qena Egypt First Affiliated Hospital Harbin Medical University Harbin150001 China School of Life Science and Technology Harbin Institute of Technology Harbin150080 China Department of Mathematics Faculty of Science Mansoura University Mansoura35516 Egypt

Accurate identification of the subthalamic nucleus (STN) borders is time-consuming, relying heavily on the neurosurgeon expertise in manually interpreting the electrophysiological signals. Local field potentials (LFPs) have garnered imperative attention due to their strong correlation with the STN. However, existing detection models often face challenges with high computational complexity, hyperparameter optimization and lack of explainability, making them unreliable for clinicians. Therefore, this study introduces an explanatory framework using convolutional neural networks (CNN) for detecting the STN region from LFPs. Continuous wavelet transform is employed to convert LFPs signals into scalogram images, which are then processed by sixteen CNN models. We evaluated our framework by examining the impact of various limiting factors on the classification performance, including model size, learning rate (LR), optimizers and data scaling. Deep features are extracted from the top-performing CNN architectures to capture rich representations of the scalograms. These features are then fused and classified using k-nearest neighbour algorithm. Gradient-weighted class activation mapping is used to explain the decisions made by the proposed model. Our approach achieved an accuracy of 99.61%, outperforming individual CNN models for STN localization. The experimental results revealed that CNN models, embedded with additional hyperparameters and layers, generally outperformed smaller models. Besides, low LR significantly enhanced the performance compared to high LR. Moreover, features extracted from untuned networks produced lower performance than tuned networks. The proposed system could revolutionize deep brain stimulation surgery by increasing efficiency and reducing reliance on clinician expertise for STN detection. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2025.

关键词： Wavelet transforms

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Photonics-assisted intensity-modulation and direct-detection MIMO millimeter-wave system in the D-band

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Chinese Optics Letters 2025年第1期23卷 7-12页

作者： Jingwen Tan Peng Tian Jianjun Yu Xianming Zhao Xinglin Dou Long Zhang Xiongwei Yang YangHan Yi Wei Bing Zhang Qinyi Zhang Luhan Jiang Weiping Li Rahim Uddin Kaihui Wang Wen Zhou State Key Laboratory of ASIC and System Key Laboratory for Information Science of Electromagnetic Waves(MoE)School of Information Science and TechnologyFudan UniversityShanghai 200433China Beijing Hongshan Information Technology Research Institute Co. Ltd.Beijing 100176China

We experimentally demonstrate the transmission of discrete multi-tone(DMT)millimeter-wave(mm-wave)signals over a 1.2-km distance at the D-band(110–170 GHz)in a cost-effective intensity-modulation and direct-detection(IM/DD)communication *** the experiment,we successfully achieve the transmission of DMT-QPSK and DMT-16QAM mm-wave signals over multiple-input multiple-output(MIMO)*** the 1.2-km free-space transmission,the bit error rate(BER)of the DMT-16QAM is below the 25%soft decision forward error correction(25%SD-FEC)threshold of 4×10-2,with a maximum net bit rate of 24.62 Gbit/s achieved in this system.

关键词： D-band discrete multi-tone intensity modulation and direct detection long-distance wireless transmission photonics-assisted technique

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A review of solar concentration technology applications in deep space exploration: Environmental adaptability and performance comparison

Space Solar Power and Wireless Transmission

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Space Solar Power and Wireless Transmission 2025年第1期2卷 43-53页

作者： Yanlong Zhang Pengzhen Guo Mengfan Tian Huazhi Chen Rongqiang Liu Zongquan Deng Lifang Li National Key Laboratory of Aerospace Mechanism Harbin Institute of Technology Harbin 150001 PR China National Key Laboratory of Laser Spatial Information Harbin Institute of Technology Harbin 150001 PR China National Key Laboratory of Space Environment and Matter Behaviors Harbin Institute of Technology Harbin 150001 PR China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 PR China

Deep space exploration missions and the construction of planetary research stations impose strict demands on energy self-sufficiency systems. Solar energy, due to its abundant availability and sustainability, has become the preferred solution. However, extreme environmental conditions in space – including drastic temperature fluctuations, vacuum environments, high-energy particles, and intense radiation – pose significant challenges to the performance and lifespan of solar energy systems. Concentration technology, which enhances photoelectric and photothermal conversion efficiency by focusing sunlight, is crucial for space missions. This review examines the primary environmental factors affecting the performance of solar concentrators, including solar irradiance, thermal cycling, vacuum-induced outgassing, radiation effects, and impacts from micrometeoroids and orbital debris. The analysis focuses on three types of high-temperature concentrators: Fresnel lenses, Scheffler concentrators, and parabolic dish concentrators. Fresnel lenses are characterized by low cost and simple structure but are susceptible to optical degradation at high temperatures. Scheffler concentrators utilize geometric optimization to improve uniformity of light distribution, while parabolic dish concentrators achieve high optical efficiency, making them suitable for high-energy applications though requiring precise solar tracking. Performance comparisons in the thermal power range of 0 to 25 kW reveal that parabolic dish concentrators excel in high-power scenarios with greater efficiency and smaller aperture sizes. Conversely, Fresnel lenses and Scheffler concentrators are more effective in medium to low-temperature applications. Based on these findings, this review emphasizes the need to select concentrators according to mission requirements and outlines future research directions. These include the development of advanced materials, optimized optical designs, and improvements in system integr

关键词： Deep space exploration Solar concentrators Extreme environmental conditions

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Understanding the Decoupled Effects of Cations and Anions Doping for High-Performance Perovskite Solar Cells

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Nano-Micro Letters 2025年第6期17卷 411-426页

作者： Tianxiang Hu Yixi Wang Kai Liu Jia Liu Haoyang Zhang Qudrat Ullah Khan Shijie Dai Weifan Qian Ruochen Liu Yanyan Wang Chongyuan Li Zhenru Zhang Mingxiang Luo Xiaofei Yue Chunxiao Cong Yuan Yongbo Anran Yu Jia Zhang Yiqiang Zhan Center of Micro-Nano System School of Information Science and TechnologyFudan UniversityShanghai 200438People’s Republic of China The State Key Laboratory of Photovoltaic Science and Technology Institute of OptoelectronicsFudan UniversityShanghai 200438People’s Republic of China Institute for Electric Light Sources School of Information Science and TechnologyFudan UniversityShanghai 200438People’s Republic of China Hunan Key Laboratory of Nanophotonics and Devices School of PhysicsCentral South UniversityChangsha 410083People’s Republic of China Vanced Materials Technology(Zhongshan)Co. Ltd.Guangdong 528437People’s Republic of China

The past decade has witnessed the rapid increasement in power conversion efficiency of perovskite solar cells(PSCs).However,serious ion migration hampers their operational *** dopants composed of varied cations and anions are introduced into perovskite to suppress ion migration,the impact of cations or anions is not individually explored,which hinders the evaluation of different cations and further application of doping *** we report that a special group of sulfonic anions(like CF_(3)SO_(3)^(-))successfully introduce alkaline earth ions(like Ca^(2+))into perovskite lattice compared to its halide ***,with effective crystallization regulation and defect passivation of sulfonic anions,perovskite with Ca(CF_(3)SO_(3))_(2)shows reduced PbI2 residue and metallic Pb0 defects;thereby,corresponding PSCs show an enhanced PCE of 24.95%.Finally by comparing the properties of perovskite with Ca(CF_(3)SO_(3))_(2)and FACF_(3)SO_(3),we found that doped Ca^(2+)significantly suppressed halide migration with an activation energy of 1.246 eV which accounts for the improved operational stability of Ca(CF_(3)SO_(3))_(2-)doped PSCs,while no obvious impact of Ca^(2+)on trap density is *** the benefits of cations and anions,this study presents an effective method to decouple the effects of cations and anions and fabricate efficient and stable PSCs.

关键词： Perovskite solar cells Interstitial doping Effect decoupling Ion migration

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Bearing Wear Characteristics of a Locomotive Motor under the Effect of Electromechanical Coupling 3

Bearing Wear Characteristics of a Locomotive Motor under the...

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3rd International Conference on Rail Transportation, ICRT 2024

作者： Zhou, Ziwei Ye, Zirui Chen, Zaigang State Key Laboratory of Rail Transit Vehicle System Southwest Jiaotong Univ. Chengdu China Faculty of Transportation Engineering Kunming Univ. of Science and Technology Kunming China

ISBN: (数字)9780784485941

ISBN: (纸本)9780784485941

This paper investigates the dynamics and wear characteristics of bearings in a locomotive's traction transmission system, emphasizing the electromechanical coupling effects. A comprehensive locomotive-track coupled dynamics model, integrating electrical and mechanical subsystems, is utilized to simulate the behavior under typical operational conditions without considering track irregularities. The study introduces a wear model based on Archard's theory, applied to cylindrical roller bearings, which quantifies wear evolution via dynamic contact parameters and stress distributions. Simulations at 80 km/h reveal significant wear differences between models with and without electromechanical coupling, underscoring the impact of such coupling on bearing durability and locomotive performance. The findings illustrate that electromechanical interactions exacerbate wear, particularly on the driving end, and suggest that incorporating these factors can lead to more accurate predictions of bearing lifespan and maintenance scheduling. © ASCE.

关键词： Roller bearings

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Scoliosis detection method based on fringe projection profilometry and deep learning

Scoliosis detection method based on fringe projection profil...

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2024 International Conference on Optical and Photonic Engineering, icOPEN 2024

作者： Wang, Meng He, Dong Xu, Shaolei Tang, Qijian Peng, Xiang Liu, Xiaoli State Key Laboratory of Radio Frequency Heterogeneous Integration College of Physics and Optoelectronic Engineering Shenzhen University Guangdong China Key Laboratory of Intelligent Optical Measurement and Detection of Shenzhen Shenzhen Institute of Information Technology Shenzhen Guangdong China School of Sino-German Robotics Shenzhen Institute of Information Technology Shenzhen Guangdong China

ISBN: (数字)9781510688117

ISBN: (纸本)9781510688100

In this paper, a fringe projection profilometry (FPP) system for three-dimensional (3D) imaging of the human back is proposed to assess scoliosis, which has developed into one of the top four health concerns affecting adolescents. The FPP system includes a binocular stereo vision system and an infrared projector, with a Field Programmable Gate Array (FPGA) based synchronization control system enabling a 240Hz acquisition frame rate. This high frame rate mitigates the impact of involuntary body movement on 3D image quality. Various features can be extracted from the generated 3D model of the back for quantitative postural assessment. Specifically, a deep learning approach is employed to analyze the extracted trunk rotation angle curve for scoliosis detection. Experimental results demonstrate a correlation between this method and X-ray detection, offering a promising exploratory approach to reduce reliance on X-ray imaging in scoliosis monitoring. © 2025 SPIE.

关键词： Stereo image processing

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Engineering design of feedstock powder and relevant thermal-mechanical performance of thermal/environmental barrier coatings

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Journal of Advanced Ceramics 2025年第2期14卷 37-56页

作者： Xinchang Feng Fangwei Guo Lirong Luo Yuzhang Wang Yun Long Xiaofeng Zhao Fei Pan Lei Guo Qingfeng Zeng Jing Feng Chunlei Wan Shanghai Key Laboratory of Advanced High-temperature Materials and Precision Forming School of Materials Science and EngineeringShanghai Jiao Tong UniversityShanghai 200240China National Engineering Research Center of Special Equipment and Power System for Ship and Marine Engineering Shanghai 200030China School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Advanced Nuclear Energy Technology Nuclear Power Institute of ChinaChengdu 610213China Innovative Sensor Technology IST AG Ebnat-Kappel 9642Switzerland School of Materials Science and Engineering Tianjin UniversityTianjin 300072China Tianmushan Laboratory Hangzhou 311115China School of Materials Science and Engineering Kunming University of Science and TechnologyKunming 650093China State Key Laboratory of New Ceramics and Fine Processing School of Materials Science and EngineeringTsinghua UniversityBeijing 100084China

The development of aeroengine with a high thrust-weight ratio poses great challenges for current top-coating thermal barrier coatings (TBCs) and environmental barrier coatings (EBCs) in service. Medium/high-entropy ceramics are highly promising candidate material for advanced TBCs/EBCs owing to their low thermal conductivity, high melting point, high-temperature stability, and calcium–magnesium–alumino–silicate (CMAS) resistance. Most feedstock powder used for medium/high-entropy TBCs/EBCs is prepared via traditional spray drying, which cannot fully exploit the advantages of multicomponent ceramics. The density, sphericity, inner structure, and flowability of feedstock powder affect their melting state during the thermal spraying process, which strongly affects the microstructure and properties of the deposited coatings. Therefore, the deposited coatings exhibit phase segregation, amorphous phases, and microstructure defects owing to unpredictable variations in feedstock powder with random morphologies and structures. Here, the structure and properties of feedstock powder prepared by state-of-the-art granulation technologies and their influences on the deposited coatings were systematically investigated, which can provide guidance for configuration optimization of feedstock powder and the manufacturing accuracy of the deposited coating. This review aims to bridge the gap between cutting-edge ceramics and advanced engineering technologies, thus providing concrete background knowledge and crucial guidelines for designing and developing TBCs/EBCs.

关键词： thermal/environmental barrier coatings(TBCs/EBCs) spraying ceramic powder multiscale structure control high-entropy ceramics thermal-mechanical performance

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Centra-Net: A Centralized Network for Visual Localization Spanning Multiple Scenes

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IEEE Transactions on Multimedia 2025年

作者： Jiang, Zhiqiang Dai, Kun Wang, Ke Xie, Tao Fan, Zhendong Li, Ruifeng Kang, Peng Zhao, Lijun Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin150006 China Harbin Institute of Technology Zhengzhou Research Institute Zhengzhou450000 China Jianghuai Advance Technology Center Hefei230000 China

We present Centra-Net, a centralized network that concurrently optimizes visual localization over numerous scenes under heterogeneous dataset domains. Centra-Net exemplifies storage efficiency by amalgamating multiple models with task-shared parameters into a singular cohesive structure. Technically, we develop a basic feature extraction unit (BFEU) with two parallel branches: one dedicated to local feature extraction and the other adept at adaptively generating a task-specific attention mask for feature calibration, thus bolstering its feature extraction capability across diverse scenes. Based on the BFEU, we introduce a filter-wise sharing mechanism (FSM) that adaptively determines parameter sharing within the unit, thus facilitating fine-grained parameter allocation. The key insight of FSM resides in reconceptualizing the parameter sharing of the unit as a learnable paradigm, enabling the determination of shared parameters to be made post-training. Finally, we suggest a complexity-prioritized gradient algorithm (CPGA) that capitalizes on task complexity to attain a harmonious learning space for various tasks, thus safeguarding optimal performances across all tasks. Through rigorous experiments on numerous benchmarks, Centra-Net demonstrates a notable edge over existing state-of-the-art works while operating with a significantly reduced parameter footprint. © 1999-2012 IEEE.

关键词： Deep learning Feature extraction Task complexity Visual localization

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