Optimal robust vehicle motion control under equality and inequality constraints

In this paper, a new robust controller is proposed to improve the motion control performance of an autonomous four-wheel steering vehicle. The vehicle is subject to time-varying uncertainties caused by parameter perturbation and unmodeled disturbance. First of all, the vehicle motion control problem is modeled as a constraint-following problem with the goal to drive the vehicle system to follow the given constraints. For safety reasons, inequality constraints are imposed on the lateral displacement of the vehicle. Next, the diffeomorphism mapping method is used to deal with the inequality constraints in the vehicle motion control, and the constrained lateral displacement space is mapped to an unbounded space. On this basis, a new multi-parameter robust constraint-following control is designed. Based on Lyapunov stability theory, the approximate constraint tracking performance of the path tracking system is proved. In order to make a trade-off between the system performance and control cost, a multi-parameter optimization problem is established, and the optimal robust controller is obtained. Last, the main theoretical results are verified by the Carsim-Simulink co-simulations.     

Harnessing Anti-Parity-Time Phase Transition in Coupled Topological Photonic Valley Waveguides

Topological and non-Hermitian physics provide powerful tools for manipulating light in different ways. Recently, intense studies have converged on the interplay between topology and non-Hermiticity, and have produced fruitful results in various photonic settings. Currently, the realization of this interplay falls under the paradigm of enabling energy exchange between topological systems and the environment. Beyond this paradigm, it is revealed that a non-Hermitian phenomenon, i.e., the anti-parity-time phase transition, naturally emerges from a Hermitian system realized by coupled topological valley waveguides. Such phase transition gives two exotic topological superstates in the spectral domain. By further combining the two phases with topological robustness, a photonic topological bi-functional device is realized on a silicon-on-insulator platform at telecommunications frequencies. The results provide a new perspective on light manipulation and integrated device applications.     

All Resistive Pressure–Temperature Bimodal Sensing E-Skin for Object Classification

Electronic skin (E-skin) with multimodal sensing ability demonstrates huge prospects in object classification by intelligent robots. However, realizing the object classification capability of E-skin faces severe challenges in multiple types of output signals. Herein, a hierarchical pressure–temperature bimodal sensing E-skin based on all resistive output signals is developed for accurate object classification, which consists of laser-induced graphene/silicone rubber (LIG/SR) pressure sensing layer and NiO temperature sensing layer. The highly conductive LIG is employed as pressure-sensitive material as well as the interdigital electrode. Benefiting from high conductivity of LIG, pressure perception exhibits an excellent sensitivity of −34.15 kPa⁻¹. Meanwhile, a high temperature coefficient of resistance of −3.84%°C⁻¹ is obtained in the range of 24–40 °C. More importantly, based on only electrical resistance as the output signal, the bimodal sensing E-skin with negligible crosstalk can simultaneously achieve pressure and temperature perception. Furthermore, a smart glove based on this E-skin enables classifying various objects with different shapes, sizes, and surface temperatures, which achieves over 92% accuracy under assistance of deep learning. Consequently, the hierarchical pressure–temperature bimodal sensing E-skin demonstrates potential application in human-machine interfaces, intelligent robots, and smart prosthetics.     

面向服装面料自动缝合的缝纫工艺参数建模

为了解决缝纫中面料性能与缝纫加工工艺参数仅依靠技术工的经验完成匹配的问题，通过建立面料在缝纫过程中的多力场耦合模型智能选择缝纫加工工艺参数。以纬编织物为例，首先建立了织物单元的三维结构模型；其次分析了穿刺过程中织物组织与纱线间的抱合力对缝纫针的影响，并对面料在缝纫过程中的运动进行分析，创新性地建立了缝纫过程中基于面料力学性能的多力场耦合模型；然后建立了织物的有限元模型和缝纫针的几何模型，分析面料在缝纫过程中应力、应变的分布情况，得到面料在缝纫过程中因受外力作用而发生的形变并验证模型的正确性；最后搭建了协同自动缝纫实验平台进行实验验证数学多力场耦合模型的正确性。结果表明，该方法相比于工人凭借着经验完成缝纫可减少面料的形变和皱缩率，提高服装缝纫质量，为下一步服装面料自动缝合提供工艺参数，并为服装智能制造提供理论及技术参考。     

基于跑步动作肌纤维主动力仿真的下肢皮肤形变表征

为探究跑步运动时女性下肢肌肉、皮肤形变与服装运动功能性之间的关系，通过生物力学仿真系统对周期跑步运动人体下肢肌肉的肌纤维主动力进行分析，选取肌纤维主动力均值明显的肌肉，将其峰值所在的时间帧对应的动作作为关键帧动作，并使用手持式三维扫描仪对关键帧动作的下肢皮肤进行扫描；综合左右半身的皮肤形变情况，分析不同动作的下肢皮肤形变数据差异性，同时对比动静态人体模型展开的细分曲面。研究发现：臀围到中腿围区域的体后侧、臀围至大腿围区域的体前侧的变化幅度最大，膝关节附近区域变化幅度较大，其它区域变化不明显。本文研究可为相关裤装结构设计与研究提供参考。     

基于高速载波通信高频采集数据的电能表运行误差监测模型

为实时精准掌握电能表运行状况,降低现场抄表人员工作量,提出了基于高速载波通信(high-speed power line communication,HPLC)高频采集数据的电能表运行误差监测模型.首先发送操控指令,通过HPLC数据采集模块采集各待测电能表的电压、电流及脉冲信号等数据,并对数据进行处理,将所得结果传送到后台管理中心;然后通过数据管理软件生成待误差监测数据报表,实现电能表运行误差的远程监测.结果 表明,模型的采集成功率与效率高,可进行误差高精度监测,监测性能稳定,为电力公司提供有价值的信息.     

长双歧杆菌A17胞外多糖合成基因簇的分析

为探究长双歧杆菌A17胞外多糖（exopolysaccharides，EPS）生物合成途径，作者依托全基因组测序，利用eggNOG-mapper、KEGG、GO数据注释和局部序列比对等方法对EPS合成相关的基因进行注释与同源性分析。根据同源性分析得到一个长度约为20 kb由19个基因组成的A17 eps基因簇，预测到EPS前体糖核苷酸合成途径，同时发现该途径中的关键基因pgm并进行了异源表达。eps基因簇负责eps单体重复单元合成以及输出相关的EPS合成过程，在EPS前体糖核苷酸合成途径中双歧杆菌A17利用葡萄糖、乳糖形成UDP-Gal、UDP-Glc两种前体糖核苷酸。其中，pgm 编码1→6葡萄糖磷酸变位酶，该酶的产量和活性与EPS合成有关。     

悬索桥隧道锚工程应用与研究现状分析

基于国内外重要文献数据库,采用文献计量技术,整理完善了隧道锚内外工程应用现状,分析了30座隧道锚建设地点、应用数量、主跨度、锚塞体轴向长度、围岩性质等特点,推测了未来隧道锚建设趋势。通过文献统计手段,概括了隧道锚材料与结构选型,并对20多年来隧道锚国内外相关中英文论文发表情况进行了调研,统计了隧道锚文献来源期刊与学位论文、分析了相关论文的发表机构,并采用可视化技术构建关键词共现网络,对目前隧道锚研究热点与重点进行整理。针对隧道锚应用地质特点以及相关研究进行分析评价,基于隧道锚的上述研究现状,对隧道锚未来的研究方向提出简要的思考,认为隧道锚的应用会更加广泛,同时还需要对复杂地质作更深入全面的研究。     

A review on structure–property relationships in dielectric ceramics using high-entropy compositional strategies

High-entropy strategy is a design that uses multiple elements to increase configurational entropy. As an emerging research field, high-entropy was originally applied to metals, but it has shown great potential in inorganic nonmetallic materials. Since the first discovery of colossal dielectric permittivity in high-entropy ceramics, it indicates that the high-entropy strategy is feasible in dielectric ceramics. The multi-ion solid solution will bring a broader space for the material structure and property tailoring. With the research of domestic and foreign scholars in high-entropy dielectrics, we believe that entropic engineering can effectively regulate dielectric properties. The review paper explores the potential of the high-entropy strategy in dielectric ceramics. It provides a detailed overview of the structural properties and the potential benefits of utilizing high-entropy materials in dielectric ceramics. The review also covers the current research advancements in the field and provides insights into future directions for further development of high-performance dielectric ceramics.     

Over 13% Efficient Single-Component Organic Solar Cells Enabled by Adjusting the Conjugated-Length of Intermediate PBDB-T Block

Batch-to-batch variation widely exists in conjugated donor-acceptor (D-A) block copolymer materials and plays a crucial role in photovoltaic performance of organic solar cells (OSCs). To investigate the influence of conjugated-length of the intermediate block on the performance of single-component OSC (SCOSCs), herein, four batches of conjugated block copolymers (CBCs, PB-b-PY-1, PB-b-PY-2, PB-b-PY-3, and PB-b-PY-4) are synthesized, which possess different D/A block lengths. As the conjugation length of intermediate D-block increases, the lamellar packing order of these CBCs shows a monotonically increasing trend, leading to stronger absorption spectra in the visible region, efficient charge transfer, and suppressed carrier recombination loss. Consequently, the PB-b-PY-4 device yields a higher efficiency of 13.28% than those of other CBCs. This study demonstrates the effectiveness of the conjugated length of intermediate D-blocks in designing high-performance conjugated D-A block copolymers, which paves the way toward developing high-performance SCOSCs.