This paper investigates the consensus tracking control problem for high order nonlinear multi-agent systems subject to non-affine faults,partial measurable states,uncertain control coefficients,and unknown external di...This paper investigates the consensus tracking control problem for high order nonlinear multi-agent systems subject to non-affine faults,partial measurable states,uncertain control coefficients,and unknown external disturbances.Under the directed topology conditions,an observer-based finite-time control strategy based on adaptive backstepping and is proposed,in which a neural network-based state observer is employed to approximate the unmeasurable system state variables.To address the complexity explosion problem associated with the backstepping method,a finite-time command filter is incorporated,with error compensation signals designed to mitigate the filter-induced errors.Additionally,the Butterworth low-pass filter is introduced to avoid the algebraic ring problem in the design of the controller.The finite-time stability of the closed-loop system is rigorously analyzed with the finite-time Lyapunov stability criterion,validating that all closed-loop signals of the system remain bounded within a finite time.Finally,the effectiveness of the proposed control strategy is verified through a simulation example.展开更多
With the rapid development of generative artificial intelligence(GenAI),the task of story visualization,which transforms natural language narratives into coherent and consistent image sequences,has attracted growing r...With the rapid development of generative artificial intelligence(GenAI),the task of story visualization,which transforms natural language narratives into coherent and consistent image sequences,has attracted growing research attention.However,existing methods still face limitations in balancing multi-frame character consistency and generation efficiency,which restricts their feasibility for large-scale practical applications.To address this issue,this study proposes a modular cloud-based distributed system built on Stable Diffusion.By separating the character generation and story generation processes,and integratingmulti-feature control techniques,a cachingmechanism,and an asynchronous task queue architecture,the system enhances generation efficiency and scalability.The experimental design includes both automated and human evaluations of character consistency,performance testing,and multinode simulation.The results show that the proposed system outperforms the baseline model StoryGen in both CLIP-I and human evaluation metrics.In terms of performance,under the experimental environment of this study,dual-node deployment reduces average waiting time by approximately 19%,while the four-node simulation further reduces it by up to 65%.Overall,this study demonstrates the advantages of cloud-distributed GenAI in maintaining character consistency and reducing generation latency,highlighting its potential value inmulti-user collaborative story visualization applications.展开更多
Tristable energy harvesters(TEHs)have been proposed to achieve broad frequency bandwidth and superior low-frequency energy harvesting performance.However,due to the coexistence of three potential wells and the sensiti...Tristable energy harvesters(TEHs)have been proposed to achieve broad frequency bandwidth and superior low-frequency energy harvesting performance.However,due to the coexistence of three potential wells and the sensitivity to system conditions and external disturbances,the desired high-amplitude inter-well oscillation in the TEHs may be replaced by the chaotic or intra-well oscillations with inferior energy output.Specifically,the chaos has an unpredictable trajectory and may cause system damages,lessen the structural durability as well as require a more complicated circuit for power management.Therefore,in this paper,we firstly propose an adaptive finite-time disturbance observer(AFTDO)for performance enhancement of TEHs by detecting the external disturbances that induce the chaos,and reject them for the recovery of the desired inter-well motion.The proposed AFTDO eliminates the need to know in advance the upper bounds of imposed perturbations in conventional observers by means of the proposed adaptive protocols,leading to the higher efficacy of estimation.The mathematical model of the piezoelectric TEH system and the AFTDO is provided.To demonstrate the effectiveness of the AFTDO,a series of numerical simulations have been performed.Results show that for both cases with sinusoidal and impulsive disturbances,the AFTDO can successfully track the trajectories of the disturbance signals with the adaptive gain,and reject the disturbance to enable the TEH to sustain the periodic inter-well oscillation with effective energy harvesting performance.展开更多
The properties of electrolytes are critical for fast-charging and stable-cycling applications in lithium metal batteries(LMBs).However,the slow kinetics of Li^(+)transport and desolvation in commercial carbonate elect...The properties of electrolytes are critical for fast-charging and stable-cycling applications in lithium metal batteries(LMBs).However,the slow kinetics of Li^(+)transport and desolvation in commercial carbonate electrolytes,cou pled with the formation of unstable solid electrolyte interphases(SEI),exacerbate the degradation of LMB performance at high current densities.Herein,we propose a versatile electrolyte design strategy that incorporates cyclohexyl methyl ether(CME)as a co-solvent to reshape the Li^(+)solvation environment by the steric-hindrance effect of bulky molecules and their competitive coordination with other solvent molecules.Simulation calculations and spectral analysis demonstrate that the addition of CME molecules reduces the involvement of other solvent molecules in the Li solvation sheath and promotes the formation of Li^(+)-PF_(6)^(-)coordination,thereby accelerating Li^(+)transport kinetics.Additionally,this electrolyte composition improves Li^(+)desolvation kinetics and fosters the formation of inorganic-rich SEI,ensuring cycle stability under fast charging.Consequently,the Li‖LiNi_(0.8)Co_(0.1)Mn_(0.1)O_(2)battery with the modified electrolyte retains 82% of its initial capacity after 463 cycles at 1 C.Even under the extreme fast-charging condition of 5 C,the battery can maintain 80% capacity retention after 173 cycles.This work provides a promising approach for the development of highperformance LMBs by modulating solvation environment of electrolytes.展开更多
For large-scale heterogeneous multi-agent systems(MASs)with characteristics of dense-sparse mixed distribution,this paper investigates the practical finite-time deployment problem by establishing a novel crossspecies ...For large-scale heterogeneous multi-agent systems(MASs)with characteristics of dense-sparse mixed distribution,this paper investigates the practical finite-time deployment problem by establishing a novel crossspecies bionic analytical framework based on the partial differential equation-ordinary differential equation(PDE-ODE)approach.Specifically,by designing a specialized network communication protocol and employing the spatial continuum method for densely distributed agents,this paper models the tracking errors of densely distributed agents as a PDE equivalent to a human disease transmission model,and that of sparsely distributed agents as several ODEs equivalent to the predator population models.The coupling relationship between the PDE and ODE models is established through boundary conditions of the PDE,thereby forming a PDE-ODE-based tracking error model for the considered MASs.Furthermore,by integrating adaptive neural control scheme with the aforementioned biological models,a“Flexible Neural Network”endowed with adaptive and self-stabilized capabilities is constructed,which acts upon the considered MASs,enabling their practical finite-time deployment.Finally,effectiveness of the developed approach is illustrated through a numerical example.展开更多
This paper presents a robust finite-time visual servo control strategy for the tracking problem of omni-directional mobile manipulators(OMMs)subject to mismatched disturbances.First,the nonlinear kinematic model of vi...This paper presents a robust finite-time visual servo control strategy for the tracking problem of omni-directional mobile manipulators(OMMs)subject to mismatched disturbances.First,the nonlinear kinematic model of visual servoing for OMMs with mismatched disturbances is explicitly presented to solve the whole-body inverse kinematic problem.Second,a sliding mode observer augmented with an integral terminal sliding mode controller is proposed to handle these uncertainties and ensure that the system converges to a small region around the equilibrium point.The boundary layer technique is employed to mitigate the chattering phenomenon.Furthermore,a strict finite-time Lyapunov stability analysis is conducted.An experimental comparison between the proposed algorithm and a traditional position-based visual servo controller is carried out,and the results demonstrate the superiority of the proposed control algorithm.展开更多
Despite the promising progress in conductive hydrogels made with pure conducting polymer,great challenges remain in the interface adhesion and robustness in longterm monitoring.To address these challenges,Prof.Seung H...Despite the promising progress in conductive hydrogels made with pure conducting polymer,great challenges remain in the interface adhesion and robustness in longterm monitoring.To address these challenges,Prof.Seung Hwan Ko and Taek-Soo Kim’s team introduced a laserinduced phase separation and adhesion method for fabricating conductive hydrogels consisting of pure poly(3,4-ethylenedioxythiophene):polystyrene sulfonate on polymer substrates.The laser-induced phase separation and adhesion treated conducting polymers can be selectively transformed into conductive hydrogels that exhibit wet conductivities of 101.4 S cm^(−1) with a spatial resolution down to 5μm.Moreover,they maintain impedance and charge-storage capacity even after 1 h of sonication.The micropatterned electrode arrays demonstrate their potential in long-term in vivo signal recordings,highlighting their promising role in the field of bioelectronics.展开更多
Biomarker and stable carbon isotope analyses are presented for the Garau Formation of the Cretaceous Age,an important source rock in western Iran,to reveal its potential as an oilprone source rock.The C_(28)/C_(29)ste...Biomarker and stable carbon isotope analyses are presented for the Garau Formation of the Cretaceous Age,an important source rock in western Iran,to reveal its potential as an oilprone source rock.The C_(28)/C_(29)sterane ratio value range(0.72 to 0.83)of bitumen samples from the formation suggests that they were likely formed during phytoplankton blooms.Sterane,hopane,and isoprenoid/n-alkane ratios indicate that the formation's organic matter predominantly consists of algae,and bacteria,accompanied by some reworked material derived from higher plants.Due to the predominance of anoxic conditions and the actions of sulfate-reducing bacteria,the bitumen present is enriched with sulfur compounds.The percentages of saturates,aromatics,and nitrogen-sulfuroxygen(NSO)fractions in the bitumen samples classify them as naphthenic oils.Isotope analysis reveals that biodegradation and water-washing have reduced the concentrations of some volatile saturates and low molecular weight aromatics in the bitumen samples.These actions have resulted in distinctiveδ^(13)C values for the formation's kerogen and bitumen fractions.The formation's organic matter has been subjected to high-temperature thermal regimes and has entered the oil-generation window at the sampled localities,with vitrinite reflectance(%R_(C))varying between 0.7%and 0.75%.展开更多
Aqueous zinc-ion batteries (AZIBs) are fundamentally challenged by the instability of the electrode/electrolyte interface,predominantly due to irreversible zinc (Zn) deposition and hydrogen evolution.Particularly,the ...Aqueous zinc-ion batteries (AZIBs) are fundamentally challenged by the instability of the electrode/electrolyte interface,predominantly due to irreversible zinc (Zn) deposition and hydrogen evolution.Particularly,the intricate mechanisms behind the electrochemical discrepancies induced by interfacial Zn^(2+)-solvation and deposition behavior demand comprehensive investigation.Organic molecules endowed with special functional groups (such as hydroxyl,carboxyl,etc.) have the potential to significantly optimize the solvation structure of Zn^(2+)and regulate the interfacial electric double layer (EDL).By increasing nucleation overpotential and decreasing interfacial free energy,these functional groups facilitate a lower critical nucleation radius,thereby forming an asymptotic nucleation model to promote uniform Zn deposition.Herein,this study presents a pioneering approach by introducing trace amounts of n-butanol as solvation regulators to engineer the homogenized Zn (H-Zn) anode with a uniform and dense structure.The interfacial reaction and structure evolution are explored by in/ex-situ experimental techniques,indicating that the H-Zn anode exhibits dendrite-free growth,no by-products,and weak hydrogen evolution,in sharp contrast to the bare Zn.Consequently,the H-Zn anode achieves a remarkable Zn utilization rate of approximately 20% and simultaneously sustains a prolonged cycle life exceeding 500 h.Moreover,the H-Zn//NH_(4)V_(4)O^(10)(NVO) full battery showcases exceptional cycle stability,retaining 95.04%capacity retention after 400 cycles at a large current density of 5 A g^(-1).This study enlightens solvation-regulated additives to develop Zn anode with superior utilization efficiency and extended operational lifespan.展开更多
In this paper,we study the Bowen entropy of stable sets in positive entropy G-system of amenable group actions.The lower bound of the Bowen entropy of these sets are estimated.
基金supported in part by the Beijing Natural Science Foundation under Grant 4252050in part by the National Science Fund for Distinguished Young Scholars under Grant 62425304in part by the Basic Science Center Programs of NSFC under Grant 62088101.
文摘This paper investigates the consensus tracking control problem for high order nonlinear multi-agent systems subject to non-affine faults,partial measurable states,uncertain control coefficients,and unknown external disturbances.Under the directed topology conditions,an observer-based finite-time control strategy based on adaptive backstepping and is proposed,in which a neural network-based state observer is employed to approximate the unmeasurable system state variables.To address the complexity explosion problem associated with the backstepping method,a finite-time command filter is incorporated,with error compensation signals designed to mitigate the filter-induced errors.Additionally,the Butterworth low-pass filter is introduced to avoid the algebraic ring problem in the design of the controller.The finite-time stability of the closed-loop system is rigorously analyzed with the finite-time Lyapunov stability criterion,validating that all closed-loop signals of the system remain bounded within a finite time.Finally,the effectiveness of the proposed control strategy is verified through a simulation example.
文摘With the rapid development of generative artificial intelligence(GenAI),the task of story visualization,which transforms natural language narratives into coherent and consistent image sequences,has attracted growing research attention.However,existing methods still face limitations in balancing multi-frame character consistency and generation efficiency,which restricts their feasibility for large-scale practical applications.To address this issue,this study proposes a modular cloud-based distributed system built on Stable Diffusion.By separating the character generation and story generation processes,and integratingmulti-feature control techniques,a cachingmechanism,and an asynchronous task queue architecture,the system enhances generation efficiency and scalability.The experimental design includes both automated and human evaluations of character consistency,performance testing,and multinode simulation.The results show that the proposed system outperforms the baseline model StoryGen in both CLIP-I and human evaluation metrics.In terms of performance,under the experimental environment of this study,dual-node deployment reduces average waiting time by approximately 19%,while the four-node simulation further reduces it by up to 65%.Overall,this study demonstrates the advantages of cloud-distributed GenAI in maintaining character consistency and reducing generation latency,highlighting its potential value inmulti-user collaborative story visualization applications.
基金This work was supported by the National Key R&D Program of China(Grant No.2020YFA0711700)the International Science and Technology Cooperation Project of Guangdong Province(Grant No.2021A0505030012)the Hong Kong Innovation and Technology Commission(Grant No.MRP/030/21).
文摘Tristable energy harvesters(TEHs)have been proposed to achieve broad frequency bandwidth and superior low-frequency energy harvesting performance.However,due to the coexistence of three potential wells and the sensitivity to system conditions and external disturbances,the desired high-amplitude inter-well oscillation in the TEHs may be replaced by the chaotic or intra-well oscillations with inferior energy output.Specifically,the chaos has an unpredictable trajectory and may cause system damages,lessen the structural durability as well as require a more complicated circuit for power management.Therefore,in this paper,we firstly propose an adaptive finite-time disturbance observer(AFTDO)for performance enhancement of TEHs by detecting the external disturbances that induce the chaos,and reject them for the recovery of the desired inter-well motion.The proposed AFTDO eliminates the need to know in advance the upper bounds of imposed perturbations in conventional observers by means of the proposed adaptive protocols,leading to the higher efficacy of estimation.The mathematical model of the piezoelectric TEH system and the AFTDO is provided.To demonstrate the effectiveness of the AFTDO,a series of numerical simulations have been performed.Results show that for both cases with sinusoidal and impulsive disturbances,the AFTDO can successfully track the trajectories of the disturbance signals with the adaptive gain,and reject the disturbance to enable the TEH to sustain the periodic inter-well oscillation with effective energy harvesting performance.
基金supported by the Lithium Resources and Lithium Materials Key Laboratory of Sichuan Province(LRMKF202405)the National Natural Science Foundation of China(52402226)+3 种基金the Natural Science Foundation of Sichuan Province(2024NSFSC1016)the Scientific Research Startup Foundation of Chengdu University of Technology(10912-KYQD2023-10240)the opening funding from Key Laboratory of Engineering Dielectrics and Its Application(Harbin University of Science and Technology)(KFM202507,Ministry of Education)the funding provided by the Alexander von Humboldt Foundation。
文摘The properties of electrolytes are critical for fast-charging and stable-cycling applications in lithium metal batteries(LMBs).However,the slow kinetics of Li^(+)transport and desolvation in commercial carbonate electrolytes,cou pled with the formation of unstable solid electrolyte interphases(SEI),exacerbate the degradation of LMB performance at high current densities.Herein,we propose a versatile electrolyte design strategy that incorporates cyclohexyl methyl ether(CME)as a co-solvent to reshape the Li^(+)solvation environment by the steric-hindrance effect of bulky molecules and their competitive coordination with other solvent molecules.Simulation calculations and spectral analysis demonstrate that the addition of CME molecules reduces the involvement of other solvent molecules in the Li solvation sheath and promotes the formation of Li^(+)-PF_(6)^(-)coordination,thereby accelerating Li^(+)transport kinetics.Additionally,this electrolyte composition improves Li^(+)desolvation kinetics and fosters the formation of inorganic-rich SEI,ensuring cycle stability under fast charging.Consequently,the Li‖LiNi_(0.8)Co_(0.1)Mn_(0.1)O_(2)battery with the modified electrolyte retains 82% of its initial capacity after 463 cycles at 1 C.Even under the extreme fast-charging condition of 5 C,the battery can maintain 80% capacity retention after 173 cycles.This work provides a promising approach for the development of highperformance LMBs by modulating solvation environment of electrolytes.
基金The National Key R&D Program of China(2021ZD0201300)the National Natural Science Foundation of China(624B2058,U1913602 and 61936004)+1 种基金the Innovation Group Project of the National Natural Science Foundation of China(61821003)the 111 Project on Computational Intelligence and Intelligent Control(B18024).
文摘For large-scale heterogeneous multi-agent systems(MASs)with characteristics of dense-sparse mixed distribution,this paper investigates the practical finite-time deployment problem by establishing a novel crossspecies bionic analytical framework based on the partial differential equation-ordinary differential equation(PDE-ODE)approach.Specifically,by designing a specialized network communication protocol and employing the spatial continuum method for densely distributed agents,this paper models the tracking errors of densely distributed agents as a PDE equivalent to a human disease transmission model,and that of sparsely distributed agents as several ODEs equivalent to the predator population models.The coupling relationship between the PDE and ODE models is established through boundary conditions of the PDE,thereby forming a PDE-ODE-based tracking error model for the considered MASs.Furthermore,by integrating adaptive neural control scheme with the aforementioned biological models,a“Flexible Neural Network”endowed with adaptive and self-stabilized capabilities is constructed,which acts upon the considered MASs,enabling their practical finite-time deployment.Finally,effectiveness of the developed approach is illustrated through a numerical example.
基金supported by the Artificial Intelligence Innovation and Development Special Fund of Shanghai(No.2019RGZN01041)the National Natural Science Foundation of China(No.92048205).
文摘This paper presents a robust finite-time visual servo control strategy for the tracking problem of omni-directional mobile manipulators(OMMs)subject to mismatched disturbances.First,the nonlinear kinematic model of visual servoing for OMMs with mismatched disturbances is explicitly presented to solve the whole-body inverse kinematic problem.Second,a sliding mode observer augmented with an integral terminal sliding mode controller is proposed to handle these uncertainties and ensure that the system converges to a small region around the equilibrium point.The boundary layer technique is employed to mitigate the chattering phenomenon.Furthermore,a strict finite-time Lyapunov stability analysis is conducted.An experimental comparison between the proposed algorithm and a traditional position-based visual servo controller is carried out,and the results demonstrate the superiority of the proposed control algorithm.
基金supported by the National Natural Science Foundation of China(52475610)Zhejiang Provincial Natural Science Foundation of China(LDQ24E050001).
文摘Despite the promising progress in conductive hydrogels made with pure conducting polymer,great challenges remain in the interface adhesion and robustness in longterm monitoring.To address these challenges,Prof.Seung Hwan Ko and Taek-Soo Kim’s team introduced a laserinduced phase separation and adhesion method for fabricating conductive hydrogels consisting of pure poly(3,4-ethylenedioxythiophene):polystyrene sulfonate on polymer substrates.The laser-induced phase separation and adhesion treated conducting polymers can be selectively transformed into conductive hydrogels that exhibit wet conductivities of 101.4 S cm^(−1) with a spatial resolution down to 5μm.Moreover,they maintain impedance and charge-storage capacity even after 1 h of sonication.The micropatterned electrode arrays demonstrate their potential in long-term in vivo signal recordings,highlighting their promising role in the field of bioelectronics.
文摘Biomarker and stable carbon isotope analyses are presented for the Garau Formation of the Cretaceous Age,an important source rock in western Iran,to reveal its potential as an oilprone source rock.The C_(28)/C_(29)sterane ratio value range(0.72 to 0.83)of bitumen samples from the formation suggests that they were likely formed during phytoplankton blooms.Sterane,hopane,and isoprenoid/n-alkane ratios indicate that the formation's organic matter predominantly consists of algae,and bacteria,accompanied by some reworked material derived from higher plants.Due to the predominance of anoxic conditions and the actions of sulfate-reducing bacteria,the bitumen present is enriched with sulfur compounds.The percentages of saturates,aromatics,and nitrogen-sulfuroxygen(NSO)fractions in the bitumen samples classify them as naphthenic oils.Isotope analysis reveals that biodegradation and water-washing have reduced the concentrations of some volatile saturates and low molecular weight aromatics in the bitumen samples.These actions have resulted in distinctiveδ^(13)C values for the formation's kerogen and bitumen fractions.The formation's organic matter has been subjected to high-temperature thermal regimes and has entered the oil-generation window at the sampled localities,with vitrinite reflectance(%R_(C))varying between 0.7%and 0.75%.
基金National Natural Science Foundation of China (52301273, 52072411)Science and Technology Innovation Program of Hunan Province (2024RC3222)+3 种基金Key project of scientific research project of Hunan Provincial Department of Education (22A0479)China Postdoctoral Science Foundation (2024M753668)Central South University Innovation-Driven Research Programme (2023CXQD038)Hunan Provincial Postgraduate Research Innovation Programme(CX20240970)。
文摘Aqueous zinc-ion batteries (AZIBs) are fundamentally challenged by the instability of the electrode/electrolyte interface,predominantly due to irreversible zinc (Zn) deposition and hydrogen evolution.Particularly,the intricate mechanisms behind the electrochemical discrepancies induced by interfacial Zn^(2+)-solvation and deposition behavior demand comprehensive investigation.Organic molecules endowed with special functional groups (such as hydroxyl,carboxyl,etc.) have the potential to significantly optimize the solvation structure of Zn^(2+)and regulate the interfacial electric double layer (EDL).By increasing nucleation overpotential and decreasing interfacial free energy,these functional groups facilitate a lower critical nucleation radius,thereby forming an asymptotic nucleation model to promote uniform Zn deposition.Herein,this study presents a pioneering approach by introducing trace amounts of n-butanol as solvation regulators to engineer the homogenized Zn (H-Zn) anode with a uniform and dense structure.The interfacial reaction and structure evolution are explored by in/ex-situ experimental techniques,indicating that the H-Zn anode exhibits dendrite-free growth,no by-products,and weak hydrogen evolution,in sharp contrast to the bare Zn.Consequently,the H-Zn anode achieves a remarkable Zn utilization rate of approximately 20% and simultaneously sustains a prolonged cycle life exceeding 500 h.Moreover,the H-Zn//NH_(4)V_(4)O^(10)(NVO) full battery showcases exceptional cycle stability,retaining 95.04%capacity retention after 400 cycles at a large current density of 5 A g^(-1).This study enlightens solvation-regulated additives to develop Zn anode with superior utilization efficiency and extended operational lifespan.
基金Supported by NSFC(No.11861010),also supported by NSFC(No.12171175),also supported by NSFC(No.12261006)NSF of Guangxi Province(No.2018GXNSFFA281008)Project of Guangxi First Class Disciplines of Statistics(No.GJKY-2022-01)。
文摘In this paper,we study the Bowen entropy of stable sets in positive entropy G-system of amenable group actions.The lower bound of the Bowen entropy of these sets are estimated.
