Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion...Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion algorithm took advantage of the fast optimization ability of PSO to optimize the population screening link of GA.The Simulink simulation results showed that the convergence of the fitness function of the fusion algorithm was accelerated,the system response adjustment time was reduced,and the overshoot was almost zero.Then the algorithm was applied to the steering test of agricultural robot in various scenes.After modeling the steering system of agricultural robot,the steering test results in the unloaded suspended state showed that the PID control based on fusion algorithm reduced the rise time,response adjustment time and overshoot of the system,and improved the response speed and stability of the system,compared with the artificial trial and error PID control and the PID control based on GA.The actual road steering test results showed that the PID control response rise time based on the fusion algorithm was the shortest,about 4.43 s.When the target pulse number was set to 100,the actual mean value in the steady-state regulation stage was about 102.9,which was the closest to the target value among the three control methods,and the overshoot was reduced at the same time.The steering test results under various scene states showed that the PID control based on the proposed fusion algorithm had good anti-interference ability,it can adapt to the changes of environment and load and improve the performance of the control system.It was effective in the steering control of agricultural robot.This method can provide a reference for the precise steering control of other robots.展开更多
Chinese President Xi Jinping has guided China through a year of resilient growth via forward-looking reforms and innovation-driven transformation that is shaping the nation’s economic trajectory for 2026 and beyond.
Research has shown that when vehicles follow the Ackerman steering principle(ASP),the tire wear can be reduced and the path tracking performance can be improved.However,in the case of four-wheel independent steering(4...Research has shown that when vehicles follow the Ackerman steering principle(ASP),the tire wear can be reduced and the path tracking performance can be improved.However,in the case of four-wheel independent steering(4WIS)vehicles,the steering systems of the four wheels are relatively independent,and there are differences and uncertainties in individual steering dynamics,which lead to challenges for all four wheels in simultaneously satisfying the ASP and may deteriorate the vehicle path tracking performance.In response to this problem,this paper introduces a four-wheel consistent coordinated steering control for 4WIS vehicles.The algorithm innovatively reconfigures the Ackerman steering relationships as coupling constraints among the wheels,and utilizes the constraint-following method to design controller.The controller achieves uniform boundedness(UB)and uniform ultimate boundedness(UUB)of ASP constraint error.The Carsim/Simulink joint simulation results demonstrate that the algorithm guarantees the approximate satisfaction of ASP in both the transient and steady-state of the vehicle path tracking.Also,it significantly improves the path tracking performance.展开更多
During aircraft ground steering,the nose landing gear(NLG)tires of large transport aircraft often experience excessive lateral loads,leading to sideslip.This compromises steering safety and accelerates tire wear.To ad...During aircraft ground steering,the nose landing gear(NLG)tires of large transport aircraft often experience excessive lateral loads,leading to sideslip.This compromises steering safety and accelerates tire wear.To address this issue,the rear landing gear is typically designed to steer in coordination with the nose wheels,reducing sideslip and improving maneuverability.This study examines how structural parameters and weight distribution affect the performance of coordinated steering in landing gear design for large transport aircraft.Using the C-5 transport aircraft as a case study,we develop a multi-wheel ground steering dynamics model,incorporating the main landing gear(MLG)deflection.A ground handling dynamics model is also established to evaluate the benefits of coordinated steering for rear MLG during steering.Additionally,the study analyzes the impact of structural parameters such as stiffness and damping on the steering performance of the C-5.It further investigates the effects of weight distribution,including the center-of-gravity(CG)height,the longitudinal CG position,and the mass asymmetry.Results show that when the C-5 employs coordinated steering for rear MLG,the lateral friction coefficients of the NLG tires decrease by 22%,24%,26%,and 27%.The steering radius is reduced by 29.7%,and the NLG steering moment decreases by 19%,significantly enhancing maneuverability.Therefore,in the design of landing gear for large transport aircraft,coordinated MLG steering,along with optimal structural and CG position parameters,should be primary design objectives.These results provide theoretical guidance for the design of multi-wheel landing gear systems in large transport aircraft.展开更多
This study aims to enhance the maneuvering advantages of the waterjet unit through parametric design,performance evaluation,and optimization of the one-piece waterjet propulsion steering and reversing gear(SRG).The SR...This study aims to enhance the maneuvering advantages of the waterjet unit through parametric design,performance evaluation,and optimization of the one-piece waterjet propulsion steering and reversing gear(SRG).The SRG’s performance evaluation stems mainly from the effect of the free surface,the varying sailing speeds of the ship,and its performance while functioning at the stern of the waterjet-propelled vessel.Parameters such as the length,width,and height of the steering gear,as well as the inclination,width,and curvature of the reversing gear,significantly influence the SRG.Although the free surface has a great impact on the force of the SRG,its performance trend remains unaffected.When the SRG operates at the stern of the ship,the optimized scheme’s lateral force improves by an average of 8.08%for sailing with a rudder angle condition and an average of 45.69%for reversing sailing with a rudder angle condition.The longitudinal force of the optimized scheme improves by more than 23%when sailing without a rudder angle condition and by an average of 31.75%when sailing with a reversed rudder angle condition.Additionally,the speed of the rotor has a minimal effect on the lateral force and a significant effect on the longitudinal force.展开更多
From October 30 to November 1,2025,Chinese President Xi Jinping traveled to the Republic of Korea(ROK)to attend the 32nd Asia-Pacific Economic Cooperation(APEC)Economic Leaders’Meeting and also pay a state visit to t...From October 30 to November 1,2025,Chinese President Xi Jinping traveled to the Republic of Korea(ROK)to attend the 32nd Asia-Pacific Economic Cooperation(APEC)Economic Leaders’Meeting and also pay a state visit to the country.This was Xi Jinping’s first overseas trip following the conclusion of the fourth plenary session of the 20th Communist Party of China Central Committee,underscoring its importance on China’s diplomatic agenda.展开更多
With the urgently increasing demand for high-speed and large-capacity communication trans-mission,there remains a critical need for tunable terahertz(THz)devices with multi-channel in 5G/6G communication systems.A mag...With the urgently increasing demand for high-speed and large-capacity communication trans-mission,there remains a critical need for tunable terahertz(THz)devices with multi-channel in 5G/6G communication systems.A magnetic phase-coding meta-atom(MPM)is formed by the heterogeneous integration of La:YIG magneto-optical(MO)materials and Si microstructures.The MPM couples the magnetic induction phase of spin states with the propagation phase and can simultaneously satisfy the required output phase for dual frequencies under various external magnetic fields to realize the dynamic beam steering among multiple channels at 0.25 and 0.5 THz.The energy ratio of the target direction can reach 96.5%,and the nonreciprocal one-way transmission with a max isolation of 29.8 dB is realized due to the nonreciprocal phase shift of the MO layer.This nonreciprocal mechanism of magnetic induction reshaping of wavefront significantly holds promise for advancing integrated multi-functional THz devices with the characteristics of low-crosstalk,multi-channel,and multi-frequency,and has great potential to promote the development of THz large-capacity and high-speed communication.展开更多
We theoretically demonstrate that multipartite entanglement and one-way Einstein-Podolsky-Rosen(EPR)steering in a magnon frequency comb(MFC)can be generated in a hybrid magnon-skyrmion system.When the system is driven...We theoretically demonstrate that multipartite entanglement and one-way Einstein-Podolsky-Rosen(EPR)steering in a magnon frequency comb(MFC)can be generated in a hybrid magnon-skyrmion system.When the system is driven by two microwave fields at the magnonic whispering gallery mode(m WGM)and the skyrmion,the skyrmion can be simultaneously entangled with three magnon modes of the MFC and the entanglement of the first-order magnon pair in the MFC also appears.The results show that the perfect one-way steering between the skyrmion and the three magnons can be obtained.Interestingly,the steering direction can be manipulated by controlling the amplitudes of two drive fields,which provides flexibility in controlling the asymmetry of the EPR steering and may well have practical applications.Moreover,the genuine tripartite entanglement among the skyrmion and the first-order magnon pair can be achieved with appropriate parameters in the steady state.Our work exhibits that the MFC has great potential in preparing multi-mode entanglement resources,with promising applications in quantum communication.展开更多
We introduce a novel scheme for achieving quantum entanglement and Einstein–Podolsky–Rosen(EPR) steering between an atomic ensemble and a mechanical oscillator within a hybrid atom–optomechanical system. The system...We introduce a novel scheme for achieving quantum entanglement and Einstein–Podolsky–Rosen(EPR) steering between an atomic ensemble and a mechanical oscillator within a hybrid atom–optomechanical system. The system comprises an optical cavity, a two-level atomic ensemble and a mechanical resonator that possesses Duffing nonlinearity. The interaction between these components is mediated by the cavity mode, which is driven by an external laser. Our findings indicate that optimizing the coupling strengths between photons and phonons, as well as between atoms and the cavity,leads to maximal entanglement and EPR steering. The amplitude of the driving laser plays a pivotal role in enhancing the coupling between photons and phonons, and the system maintains robust entanglement and EPR steering even under high dissipation, thereby mitigating the constraints on initial conditions and parameter precision. Remarkably, the Duffing nonlinearity enhances the system's resistance to thermal noise, ensuring its stability and entanglement protection. Our analysis of EPR steering conditions reveals that the party with lower dissipation exhibits superior stability and a propensity to steer the party with higher dissipation. These discoveries offer novel perspectives for advancing quantum information processing and communication technologies.展开更多
President Xi Jinping’s APEC trip underscores China’s resolve to advance openness,cooperation,and shared prosperity across the Asia-Pacific region.FROM October 30 to November 1,2025,Chinese President Xi Jinping trave...President Xi Jinping’s APEC trip underscores China’s resolve to advance openness,cooperation,and shared prosperity across the Asia-Pacific region.FROM October 30 to November 1,2025,Chinese President Xi Jinping traveled to the Republic of Korea(ROK)to attend the 32nd Asia-Pacific Economic Cooperation(APEC)Economic Leaders’Meeting and also pay a state visit to the country.展开更多
In order to enhance the safety of autonomous driving vehicles,this work focuses on the issue of automatic-to-manual mode transition in the column electric power steering(C-EPS)system.First,we utilized an extended stat...In order to enhance the safety of autonomous driving vehicles,this work focuses on the issue of automatic-to-manual mode transition in the column electric power steering(C-EPS)system.First,we utilized an extended state observer to estimate the driver's steering torque and designed a steering mode transition unit.Second,we validated the mode switching function through an experimental platform.The results indicated that when using the extended state observer for torque estimation,the steering wheel angle and lower input angle errors were approximately±0.5%.The input and observed torque curves were closely aligned,demonstrating excellent tracking capability of the system.In addition,by adopting a steering mode conversion unit,the switch from autonomous control to manual control has been obtained,achieving a smooth and minimal change in steering wheel angle without significant bumps.The experimental results demonstrate that the designed mode switching strategy has the advantages of speed and smoothness,and has strong practical value.展开更多
In the parallel steering coordination control strategy for path tracking,it is difficult to match the current driver steering model using the fixed parameters with the actual driver,and the designed steering coordinat...In the parallel steering coordination control strategy for path tracking,it is difficult to match the current driver steering model using the fixed parameters with the actual driver,and the designed steering coordination control strategy under a single objective and simple conditions is difficult to adapt to the multi-dimensional state variables’input.In this paper,we propose a deep reinforcement learning algorithm-based multi-objective parallel human-machine steering coordination strategy for path tracking considering driver misoperation and external disturbance.Firstly,the driver steering mathematical model is constructed based on the driver preview characteristics and steering delay response,and the driver characteristic parameters are fitted after collecting the actual driver driving data.Secondly,considering that the vehicle is susceptible to the influence of external disturbances during the driving process,the Tube MPC(Tube Model Predictive Control)based path tracking steering controller is designed based on the vehicle system dynamics error model.After verifying that the driver steering model meets the driver steering operation characteristics,DQN(Deep Q-network),DDPG(Deep Deterministic Policy Gradient)and TD3(Twin Delayed Deep Deterministic Policy Gradient)deep reinforcement learning algorithms are utilized to design a multi-objective parallel steering coordination strategy which satisfies the multi-dimensional state variables’input of the vehicle.Finally,the tracking accuracy,lateral safety,human-machine conflict and driver steering load evaluation index are designed in different driver operation states and different road environments,and the performance of the parallel steering coordination control strategies with different deep reinforcement learning algorithms and fuzzy algorithms are compared by simulations and hardware in the loop experiments.The results show that the parallel steering collaborative strategy based on a deep reinforcement learning algorithm can more effectively assist the driver in tracking the target path under lateral wind interference and driver misoperation,and the TD3-based coordination control strategy has better overall performance.展开更多
We design dynamical Casimir arrays(DCA)consisting of giant atoms and coupled resonator waveguides(CRWs)to investigate the Einstein–Podolsky–Rosen(EPR)steering at finite temperatures.Our designed system exhibits an a...We design dynamical Casimir arrays(DCA)consisting of giant atoms and coupled resonator waveguides(CRWs)to investigate the Einstein–Podolsky–Rosen(EPR)steering at finite temperatures.Our designed system exhibits an asymmetry in its structure,which is caused by the differences in the sizes and the coupling positions of the giant atoms.The system achieves different types of EPR steering and the reversal of one-way EPR steering by modulating parameters.Furthermore,the symmetry and asymmetry of the system structure,in their responses to parameter modulation,both reveal the asymmetry of EPR steering.In this process,we discover that with the increase in temperature,different types of steering can be transferred from Casimir photons to giant atoms.We also achieve the monogamy of the multipartite system.These results provide important assistance for secure quantum communication,and further intuitively validating the asymmetry of EPR steering from multiple perspectives.展开更多
This paper proposes a differential-fatness-based active disturbance rejection control(ADRC)for high-speed steering control of tracked tank systems.Firstly,a high-speed steering model is established by considering the ...This paper proposes a differential-fatness-based active disturbance rejection control(ADRC)for high-speed steering control of tracked tank systems.Firstly,a high-speed steering model is established by considering the lateral component of the centrifugal force acting on the tank on the basis of modeling and analyzing the dynamic model of the low-speed steering system.Secondly,we propose a differential-flatness ADRC approach by converting the under-actuated system to a fully driven flat one.Moreover,we prove the differential flatness of the steering system,which facilitates a two-channel ADRC development.Finally,we show that both the states of the flat system and the original under-actuated system can track the reference trajectory.On the external interference condition,the system is observed to re-track the target signal within 2 s.展开更多
This paper aims to fuse two well-established and,at the same time,opposed control techniques,namely,model predictive control(MPC)and active disturbance rejection control(ADRC),to develop a dynamic motion controller fo...This paper aims to fuse two well-established and,at the same time,opposed control techniques,namely,model predictive control(MPC)and active disturbance rejection control(ADRC),to develop a dynamic motion controller for a laser beam steering system.The proposed technique uses the ADRC philosophy to lump disturbances and model uncertainties into a total disturbance.Then,the total disturbance is estimated via a discrete extended state disturbance observer(ESO),and it is used to(1)handle the system constraints in a quadratic optimization problem and(2)injected as a feedforward term to the plant to reject the total disturbance,together with the feedback term obtained by the MPC.The main advantage of the proposed approach is that the MPC is designed based on a straightforward integrator-chain model such that a simple convex optimization problem is performed.Several experiments show the real-time closed-loop performance regarding trajectory tracking and disturbance rejection.Owing to simplicity,the self-contained approach MPC+ESO becomes a Frugal MPC,which is computationally economical,adaptable,efficient,resilient,and suitable for applications where on-board computational resources are limited.展开更多
Dear Editor,This letter presents a new secure hierarchical control strategy for steering tracking of in-wheel motor driven(IWMD)electric vehicle(EV)subject to limited network resources,hybrid cyber-attacks,model nonli...Dear Editor,This letter presents a new secure hierarchical control strategy for steering tracking of in-wheel motor driven(IWMD)electric vehicle(EV)subject to limited network resources,hybrid cyber-attacks,model nonlinearities,actuator redundancy and airflow disturbance.A hierarchical control architecture is proposed specifically for solving the problems of nonlinear system modeling and actuator redundancy.By utilizing the advantages of fully actuated system(FAS)approach,a nonlinear virtual controller against airflow disturbance is constructed in upper layer system and an event-triggered nonlinear distributed controller is proposed in lower layer system under stochastic hybrid cyber-attacks.A case study of overtaking task is carried out to validate the FAS-based hierarchical control strategy.展开更多
The dynanaic model of a novel electric power steering（EPS） system integrated with active front steer- ing function and the three-freedom steering model are built. Based on these models, the concepts and the quanti- ...The dynanaic model of a novel electric power steering（EPS） system integrated with active front steer- ing function and the three-freedom steering model are built. Based on these models, the concepts and the quanti- tative expressions of road feel, sensitivity, and operation stability of the steering are introduced. Then, according to constrained optimization features of multi-variable function, a genetic algorithm is designed. Making the road feel of the steering as optimization objective, and operation stability and sensitivity of the steering as constraints, the system parameters are optimized by the genetic and the coordinate rotation algorithms. Simulation results show that the optimization of the novel EPS system by the genetic algorithm can effectively improve the road feel, thus providing a theoretical basis for the design and optimization of the novel EPS system.展开更多
The existing research of steering efficiency mainly focuses on the mechanism efficiency of steering system, aiming at designing and optimizing the mechanism of steering system. In the development of assist steering sy...The existing research of steering efficiency mainly focuses on the mechanism efficiency of steering system, aiming at designing and optimizing the mechanism of steering system. In the development of assist steering system especially the evaluation of its comfort, the steering efficiency of driver physiological output usually are not considered, because this physiological output is difficult to measure or to estimate, and the objective evaluation of steering comfort therefore cannot be conducted with movement efficiency perspective. In order to take a further step to the objective evaluation of steering comfort, an estimating method for the steering efficiency of the driver was developed based on the research of the relationship between the steering force and muscle activity. First, the steering forces in the steering wheel plane and the electromyography （EMG） signals of the primary muscles were measured. These primary muscles are the muscles in shoulder and upper ann which mainly produced the steering torque, and their functions in steering maneuver were identified previously. Next, based on the multiple regressions of the steering force and EMG signals, both the effective steering force and the total force capacity of driver in steering maneuver were calculated. Finally, the steering efficiency of driver was estimated by means of the estimated effective force and the total force capacity, which represented the information of driver physiological output of the primary muscles. This research develops a novel estimating method for driver steering efficiency of driver physiological output, including the estimation of both steering force and the force capacity of primary muscles with EMG signals, and will benefit to evaluate the steering comfort with an objective perspective.展开更多
The evaluation method on steering is based on qualitative manner in existence, which causes the result inaccurate and fuzziness. It reduces the efficiency of process execution. So the method by quantitative manner for...The evaluation method on steering is based on qualitative manner in existence, which causes the result inaccurate and fuzziness. It reduces the efficiency of process execution. So the method by quantitative manner for the shape-shifting robot in different configurations is proposed. Comparing to traditional evaluation method, the most important aspects which can influence the steering abilities of the robot in different configurations are researched in detail, including the energy, angular velocity, time and space. In order to improve the robustness of system, the ideal and slippage conditions are all considered by mathematical model. Comparing to the traditional weighting confirming method, the extent of robot steering method is proposed by the combination of subjective and objective weighting method. The subjective weighting method can show more preferences of the experts and is based on five-grade scale. The objective weighting method is based on information entropy to determine the factors. By the sensors fixed on the robot, the contract force between track grouser and ground, the intrinsic motion characteristics of robot are obtained and the experiment is done to prove the algorithm which is proposed as the robot in different common configurations. Through the method proposed in the article, fuzziness and inaccurate of the evaluation method has been solved, so the operators can choose the most suitable configuration of the robot to fulfil the different tasks more quickly and simply.展开更多
The existing research of steering comfort mainly focuses on the subjective evaluation,aiming at designing and optimizing the steering system.In the development of steering system,especially the evaluation of steering ...The existing research of steering comfort mainly focuses on the subjective evaluation,aiming at designing and optimizing the steering system.In the development of steering system,especially the evaluation of steering comfort,the objective evaluation methods considered the kinematic characteristics of driver steering maneuver are not proposed,which means that the objective evaluation of steering cannot be conducted with the evaluation of kinematic characteristics of driver in steering maneuver.In order to propose the objective evaluation methods of steering comfort,the evaluation of steering movement quality of driver is developed on the basis of the study of the kinematic characteristics of steering maneuver.First,the steering motion trajectories of the driver in both comfortable and certain extreme uncomfortable operation conditions are detected using the Vicon motion capture system.The operation conditions are under the restrictions of the vertical height and horizontal distance between steering wheel center and the H-point of driver,and the steering resisting torque else.Next,the movement quality evaluation of driver steering maneuver is assessed using twelve kinds of evaluation indices based on the kinematic analyses of the steering motion trajectories to propose an objective evaluation method.Finally,an integrated discomfort index of steering maneuver is proposed on the basis of the regression analysis of subjective evaluation rating and the movement quality evaluation indices,including the Jerk,Discomfort and Joint Torque indices.The test results show that the proposed integrated discomfort index gives a good fitting with the subjective evaluation of discomfort,which means it can be used to evaluate or predict the discomfort level of steering maneuver.This paper proposes an objective evaluation method of steering comfort based on the movement quality evaluation of driver steering maneuver.展开更多
文摘Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion algorithm took advantage of the fast optimization ability of PSO to optimize the population screening link of GA.The Simulink simulation results showed that the convergence of the fitness function of the fusion algorithm was accelerated,the system response adjustment time was reduced,and the overshoot was almost zero.Then the algorithm was applied to the steering test of agricultural robot in various scenes.After modeling the steering system of agricultural robot,the steering test results in the unloaded suspended state showed that the PID control based on fusion algorithm reduced the rise time,response adjustment time and overshoot of the system,and improved the response speed and stability of the system,compared with the artificial trial and error PID control and the PID control based on GA.The actual road steering test results showed that the PID control response rise time based on the fusion algorithm was the shortest,about 4.43 s.When the target pulse number was set to 100,the actual mean value in the steady-state regulation stage was about 102.9,which was the closest to the target value among the three control methods,and the overshoot was reduced at the same time.The steering test results under various scene states showed that the PID control based on the proposed fusion algorithm had good anti-interference ability,it can adapt to the changes of environment and load and improve the performance of the control system.It was effective in the steering control of agricultural robot.This method can provide a reference for the precise steering control of other robots.
文摘Chinese President Xi Jinping has guided China through a year of resilient growth via forward-looking reforms and innovation-driven transformation that is shaping the nation’s economic trajectory for 2026 and beyond.
基金Supported by National Natural Science Foundation of China(Grant Nos.52222216,52202493,52202466,U24B20124)Hunan Provincial Natural Science Foundation of China(Grant No.2022JJ40059).
文摘Research has shown that when vehicles follow the Ackerman steering principle(ASP),the tire wear can be reduced and the path tracking performance can be improved.However,in the case of four-wheel independent steering(4WIS)vehicles,the steering systems of the four wheels are relatively independent,and there are differences and uncertainties in individual steering dynamics,which lead to challenges for all four wheels in simultaneously satisfying the ASP and may deteriorate the vehicle path tracking performance.In response to this problem,this paper introduces a four-wheel consistent coordinated steering control for 4WIS vehicles.The algorithm innovatively reconfigures the Ackerman steering relationships as coupling constraints among the wheels,and utilizes the constraint-following method to design controller.The controller achieves uniform boundedness(UB)and uniform ultimate boundedness(UUB)of ASP constraint error.The Carsim/Simulink joint simulation results demonstrate that the algorithm guarantees the approximate satisfaction of ASP in both the transient and steady-state of the vehicle path tracking.Also,it significantly improves the path tracking performance.
基金supported in part by the Fundamental Research Funds for the Central Universi-ties(No.NP2022416)the Aeronautical Science Founda-tion of China(No.2022Z029052001).
文摘During aircraft ground steering,the nose landing gear(NLG)tires of large transport aircraft often experience excessive lateral loads,leading to sideslip.This compromises steering safety and accelerates tire wear.To address this issue,the rear landing gear is typically designed to steer in coordination with the nose wheels,reducing sideslip and improving maneuverability.This study examines how structural parameters and weight distribution affect the performance of coordinated steering in landing gear design for large transport aircraft.Using the C-5 transport aircraft as a case study,we develop a multi-wheel ground steering dynamics model,incorporating the main landing gear(MLG)deflection.A ground handling dynamics model is also established to evaluate the benefits of coordinated steering for rear MLG during steering.Additionally,the study analyzes the impact of structural parameters such as stiffness and damping on the steering performance of the C-5.It further investigates the effects of weight distribution,including the center-of-gravity(CG)height,the longitudinal CG position,and the mass asymmetry.Results show that when the C-5 employs coordinated steering for rear MLG,the lateral friction coefficients of the NLG tires decrease by 22%,24%,26%,and 27%.The steering radius is reduced by 29.7%,and the NLG steering moment decreases by 19%,significantly enhancing maneuverability.Therefore,in the design of landing gear for large transport aircraft,coordinated MLG steering,along with optimal structural and CG position parameters,should be primary design objectives.These results provide theoretical guidance for the design of multi-wheel landing gear systems in large transport aircraft.
基金supported by the Sanya Science and Education Innovation Park of Wuhan University of Technology(Grant No.2022KF0017)Hainan Provincial Natural Science Foundation of China(Grant No.522QN342)+1 种基金the National Natural Science Foundation of China(Grant No.52201376)Natural Science Foundation of Hubei Province,China(Grant No.2023AFB683).
文摘This study aims to enhance the maneuvering advantages of the waterjet unit through parametric design,performance evaluation,and optimization of the one-piece waterjet propulsion steering and reversing gear(SRG).The SRG’s performance evaluation stems mainly from the effect of the free surface,the varying sailing speeds of the ship,and its performance while functioning at the stern of the waterjet-propelled vessel.Parameters such as the length,width,and height of the steering gear,as well as the inclination,width,and curvature of the reversing gear,significantly influence the SRG.Although the free surface has a great impact on the force of the SRG,its performance trend remains unaffected.When the SRG operates at the stern of the ship,the optimized scheme’s lateral force improves by an average of 8.08%for sailing with a rudder angle condition and an average of 45.69%for reversing sailing with a rudder angle condition.The longitudinal force of the optimized scheme improves by more than 23%when sailing without a rudder angle condition and by an average of 31.75%when sailing with a reversed rudder angle condition.Additionally,the speed of the rotor has a minimal effect on the lateral force and a significant effect on the longitudinal force.
文摘From October 30 to November 1,2025,Chinese President Xi Jinping traveled to the Republic of Korea(ROK)to attend the 32nd Asia-Pacific Economic Cooperation(APEC)Economic Leaders’Meeting and also pay a state visit to the country.This was Xi Jinping’s first overseas trip following the conclusion of the fourth plenary session of the 20th Communist Party of China Central Committee,underscoring its importance on China’s diplomatic agenda.
基金supported by the National Natural Science Foun-dation of China(Grant Nos.62371258,62335012,62205160,and 62435010)the Tianjin Youth Science and Technology Talent Project(Grant No.QN20230227)+1 种基金the Natural Science Foundation of Tianjin(Grant No.24JCYBJC01860)the Fundamental Research Funds for the Central Universities,Nan-kai University(Grant No.075-63253215).
文摘With the urgently increasing demand for high-speed and large-capacity communication trans-mission,there remains a critical need for tunable terahertz(THz)devices with multi-channel in 5G/6G communication systems.A magnetic phase-coding meta-atom(MPM)is formed by the heterogeneous integration of La:YIG magneto-optical(MO)materials and Si microstructures.The MPM couples the magnetic induction phase of spin states with the propagation phase and can simultaneously satisfy the required output phase for dual frequencies under various external magnetic fields to realize the dynamic beam steering among multiple channels at 0.25 and 0.5 THz.The energy ratio of the target direction can reach 96.5%,and the nonreciprocal one-way transmission with a max isolation of 29.8 dB is realized due to the nonreciprocal phase shift of the MO layer.This nonreciprocal mechanism of magnetic induction reshaping of wavefront significantly holds promise for advancing integrated multi-functional THz devices with the characteristics of low-crosstalk,multi-channel,and multi-frequency,and has great potential to promote the development of THz large-capacity and high-speed communication.
基金supported by the National Key R&D Program of China(Grant No.2022YFA1402802)the National Natural Science Foundation of China(Grant Nos.12374103,12434003,and 12074057)。
文摘We theoretically demonstrate that multipartite entanglement and one-way Einstein-Podolsky-Rosen(EPR)steering in a magnon frequency comb(MFC)can be generated in a hybrid magnon-skyrmion system.When the system is driven by two microwave fields at the magnonic whispering gallery mode(m WGM)and the skyrmion,the skyrmion can be simultaneously entangled with three magnon modes of the MFC and the entanglement of the first-order magnon pair in the MFC also appears.The results show that the perfect one-way steering between the skyrmion and the three magnons can be obtained.Interestingly,the steering direction can be manipulated by controlling the amplitudes of two drive fields,which provides flexibility in controlling the asymmetry of the EPR steering and may well have practical applications.Moreover,the genuine tripartite entanglement among the skyrmion and the first-order magnon pair can be achieved with appropriate parameters in the steady state.Our work exhibits that the MFC has great potential in preparing multi-mode entanglement resources,with promising applications in quantum communication.
基金Project supported by the National Natural Science Foundation of China (Grant No. 12204440)Fundamental Research Program of Shanxi Province (Grant Nos. 20210302123063 and 202103021223184)。
文摘We introduce a novel scheme for achieving quantum entanglement and Einstein–Podolsky–Rosen(EPR) steering between an atomic ensemble and a mechanical oscillator within a hybrid atom–optomechanical system. The system comprises an optical cavity, a two-level atomic ensemble and a mechanical resonator that possesses Duffing nonlinearity. The interaction between these components is mediated by the cavity mode, which is driven by an external laser. Our findings indicate that optimizing the coupling strengths between photons and phonons, as well as between atoms and the cavity,leads to maximal entanglement and EPR steering. The amplitude of the driving laser plays a pivotal role in enhancing the coupling between photons and phonons, and the system maintains robust entanglement and EPR steering even under high dissipation, thereby mitigating the constraints on initial conditions and parameter precision. Remarkably, the Duffing nonlinearity enhances the system's resistance to thermal noise, ensuring its stability and entanglement protection. Our analysis of EPR steering conditions reveals that the party with lower dissipation exhibits superior stability and a propensity to steer the party with higher dissipation. These discoveries offer novel perspectives for advancing quantum information processing and communication technologies.
文摘President Xi Jinping’s APEC trip underscores China’s resolve to advance openness,cooperation,and shared prosperity across the Asia-Pacific region.FROM October 30 to November 1,2025,Chinese President Xi Jinping traveled to the Republic of Korea(ROK)to attend the 32nd Asia-Pacific Economic Cooperation(APEC)Economic Leaders’Meeting and also pay a state visit to the country.
基金Supported by the National Natural Science Foundation of China(52172324)Key Research and Development Plan of Shaanxi Province(2021GY-285,2021SF-483)+1 种基金Science and Technology Project of Shaanxi Provincial Department of Transport(21-20K,20-38T)Fundamental Research Funds for the Central Universities,CHD(300102323501)。
文摘In order to enhance the safety of autonomous driving vehicles,this work focuses on the issue of automatic-to-manual mode transition in the column electric power steering(C-EPS)system.First,we utilized an extended state observer to estimate the driver's steering torque and designed a steering mode transition unit.Second,we validated the mode switching function through an experimental platform.The results indicated that when using the extended state observer for torque estimation,the steering wheel angle and lower input angle errors were approximately±0.5%.The input and observed torque curves were closely aligned,demonstrating excellent tracking capability of the system.In addition,by adopting a steering mode conversion unit,the switch from autonomous control to manual control has been obtained,achieving a smooth and minimal change in steering wheel angle without significant bumps.The experimental results demonstrate that the designed mode switching strategy has the advantages of speed and smoothness,and has strong practical value.
基金Supported by National Natural Science Foundation of China(Grant Nos.U22A20246,52372382)Hefei Municipal Natural Science Foundation(Grant No.2022008)+1 种基金the Open Fund of State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures(Grant No.KF2023-06)S&T Program of Hebei(Grant No.225676162GH).
文摘In the parallel steering coordination control strategy for path tracking,it is difficult to match the current driver steering model using the fixed parameters with the actual driver,and the designed steering coordination control strategy under a single objective and simple conditions is difficult to adapt to the multi-dimensional state variables’input.In this paper,we propose a deep reinforcement learning algorithm-based multi-objective parallel human-machine steering coordination strategy for path tracking considering driver misoperation and external disturbance.Firstly,the driver steering mathematical model is constructed based on the driver preview characteristics and steering delay response,and the driver characteristic parameters are fitted after collecting the actual driver driving data.Secondly,considering that the vehicle is susceptible to the influence of external disturbances during the driving process,the Tube MPC(Tube Model Predictive Control)based path tracking steering controller is designed based on the vehicle system dynamics error model.After verifying that the driver steering model meets the driver steering operation characteristics,DQN(Deep Q-network),DDPG(Deep Deterministic Policy Gradient)and TD3(Twin Delayed Deep Deterministic Policy Gradient)deep reinforcement learning algorithms are utilized to design a multi-objective parallel steering coordination strategy which satisfies the multi-dimensional state variables’input of the vehicle.Finally,the tracking accuracy,lateral safety,human-machine conflict and driver steering load evaluation index are designed in different driver operation states and different road environments,and the performance of the parallel steering coordination control strategies with different deep reinforcement learning algorithms and fuzzy algorithms are compared by simulations and hardware in the loop experiments.The results show that the parallel steering collaborative strategy based on a deep reinforcement learning algorithm can more effectively assist the driver in tracking the target path under lateral wind interference and driver misoperation,and the TD3-based coordination control strategy has better overall performance.
基金Project supported by the Education Department of Jilin Province,China(Grant No.JJKH20231291KJ)。
文摘We design dynamical Casimir arrays(DCA)consisting of giant atoms and coupled resonator waveguides(CRWs)to investigate the Einstein–Podolsky–Rosen(EPR)steering at finite temperatures.Our designed system exhibits an asymmetry in its structure,which is caused by the differences in the sizes and the coupling positions of the giant atoms.The system achieves different types of EPR steering and the reversal of one-way EPR steering by modulating parameters.Furthermore,the symmetry and asymmetry of the system structure,in their responses to parameter modulation,both reveal the asymmetry of EPR steering.In this process,we discover that with the increase in temperature,different types of steering can be transferred from Casimir photons to giant atoms.We also achieve the monogamy of the multipartite system.These results provide important assistance for secure quantum communication,and further intuitively validating the asymmetry of EPR steering from multiple perspectives.
基金supported by the National Natural Science Foundation of China(62422305,62373049).
文摘This paper proposes a differential-fatness-based active disturbance rejection control(ADRC)for high-speed steering control of tracked tank systems.Firstly,a high-speed steering model is established by considering the lateral component of the centrifugal force acting on the tank on the basis of modeling and analyzing the dynamic model of the low-speed steering system.Secondly,we propose a differential-flatness ADRC approach by converting the under-actuated system to a fully driven flat one.Moreover,we prove the differential flatness of the steering system,which facilitates a two-channel ADRC development.Finally,we show that both the states of the flat system and the original under-actuated system can track the reference trajectory.On the external interference condition,the system is observed to re-track the target signal within 2 s.
基金support through his Master scholarshipThe Vicerrectoría de Investigación y Estudios de Posgrado(VIEP-BUAP)partially funded this work under grant number 00593-PV/2025.
文摘This paper aims to fuse two well-established and,at the same time,opposed control techniques,namely,model predictive control(MPC)and active disturbance rejection control(ADRC),to develop a dynamic motion controller for a laser beam steering system.The proposed technique uses the ADRC philosophy to lump disturbances and model uncertainties into a total disturbance.Then,the total disturbance is estimated via a discrete extended state disturbance observer(ESO),and it is used to(1)handle the system constraints in a quadratic optimization problem and(2)injected as a feedforward term to the plant to reject the total disturbance,together with the feedback term obtained by the MPC.The main advantage of the proposed approach is that the MPC is designed based on a straightforward integrator-chain model such that a simple convex optimization problem is performed.Several experiments show the real-time closed-loop performance regarding trajectory tracking and disturbance rejection.Owing to simplicity,the self-contained approach MPC+ESO becomes a Frugal MPC,which is computationally economical,adaptable,efficient,resilient,and suitable for applications where on-board computational resources are limited.
基金supported by the National Natural Science Foundation of China(62173209,61773238)the Science Center Program of National Natural Science Foundation of China(62188101).
文摘Dear Editor,This letter presents a new secure hierarchical control strategy for steering tracking of in-wheel motor driven(IWMD)electric vehicle(EV)subject to limited network resources,hybrid cyber-attacks,model nonlinearities,actuator redundancy and airflow disturbance.A hierarchical control architecture is proposed specifically for solving the problems of nonlinear system modeling and actuator redundancy.By utilizing the advantages of fully actuated system(FAS)approach,a nonlinear virtual controller against airflow disturbance is constructed in upper layer system and an event-triggered nonlinear distributed controller is proposed in lower layer system under stochastic hybrid cyber-attacks.A case study of overtaking task is carried out to validate the FAS-based hierarchical control strategy.
基金Supported by the National Natural Science Foundation of China(51005115)the Risiting Scholar Foundation of the State Key Lab of Mechanical Transmission in Chongqing University(SKLMT-KFKT-201105)theScience Fund of State Key Laboratory of Automotive Satefy and Energy in Tsinghua University(KF11202)~~
文摘The dynanaic model of a novel electric power steering（EPS） system integrated with active front steer- ing function and the three-freedom steering model are built. Based on these models, the concepts and the quanti- tative expressions of road feel, sensitivity, and operation stability of the steering are introduced. Then, according to constrained optimization features of multi-variable function, a genetic algorithm is designed. Making the road feel of the steering as optimization objective, and operation stability and sensitivity of the steering as constraints, the system parameters are optimized by the genetic and the coordinate rotation algorithms. Simulation results show that the optimization of the novel EPS system by the genetic algorithm can effectively improve the road feel, thus providing a theoretical basis for the design and optimization of the novel EPS system.
基金Supported by National Natural Science Foundation of China(Grant No.51005133)National Hi-tech Research and Development Program of China(863 Program,Grant No.2011AA11A244)Special Financial Grant of National Science Foundation for Post-doctoral Scientists of China(Grant No.201104098)
文摘The existing research of steering efficiency mainly focuses on the mechanism efficiency of steering system, aiming at designing and optimizing the mechanism of steering system. In the development of assist steering system especially the evaluation of its comfort, the steering efficiency of driver physiological output usually are not considered, because this physiological output is difficult to measure or to estimate, and the objective evaluation of steering comfort therefore cannot be conducted with movement efficiency perspective. In order to take a further step to the objective evaluation of steering comfort, an estimating method for the steering efficiency of the driver was developed based on the research of the relationship between the steering force and muscle activity. First, the steering forces in the steering wheel plane and the electromyography （EMG） signals of the primary muscles were measured. These primary muscles are the muscles in shoulder and upper ann which mainly produced the steering torque, and their functions in steering maneuver were identified previously. Next, based on the multiple regressions of the steering force and EMG signals, both the effective steering force and the total force capacity of driver in steering maneuver were calculated. Finally, the steering efficiency of driver was estimated by means of the estimated effective force and the total force capacity, which represented the information of driver physiological output of the primary muscles. This research develops a novel estimating method for driver steering efficiency of driver physiological output, including the estimation of both steering force and the force capacity of primary muscles with EMG signals, and will benefit to evaluate the steering comfort with an objective perspective.
基金Supported by National Key Technology R&D Program of China(Grant No.2014BAK12B01)
文摘The evaluation method on steering is based on qualitative manner in existence, which causes the result inaccurate and fuzziness. It reduces the efficiency of process execution. So the method by quantitative manner for the shape-shifting robot in different configurations is proposed. Comparing to traditional evaluation method, the most important aspects which can influence the steering abilities of the robot in different configurations are researched in detail, including the energy, angular velocity, time and space. In order to improve the robustness of system, the ideal and slippage conditions are all considered by mathematical model. Comparing to the traditional weighting confirming method, the extent of robot steering method is proposed by the combination of subjective and objective weighting method. The subjective weighting method can show more preferences of the experts and is based on five-grade scale. The objective weighting method is based on information entropy to determine the factors. By the sensors fixed on the robot, the contract force between track grouser and ground, the intrinsic motion characteristics of robot are obtained and the experiment is done to prove the algorithm which is proposed as the robot in different common configurations. Through the method proposed in the article, fuzziness and inaccurate of the evaluation method has been solved, so the operators can choose the most suitable configuration of the robot to fulfil the different tasks more quickly and simply.
基金Supported by National Natural Science Foundation of China(Grant Nos.51005133,51375009)National Hi-tech Research and Development Program of China(863 Program,Grant No.2011AA11A244)
文摘The existing research of steering comfort mainly focuses on the subjective evaluation,aiming at designing and optimizing the steering system.In the development of steering system,especially the evaluation of steering comfort,the objective evaluation methods considered the kinematic characteristics of driver steering maneuver are not proposed,which means that the objective evaluation of steering cannot be conducted with the evaluation of kinematic characteristics of driver in steering maneuver.In order to propose the objective evaluation methods of steering comfort,the evaluation of steering movement quality of driver is developed on the basis of the study of the kinematic characteristics of steering maneuver.First,the steering motion trajectories of the driver in both comfortable and certain extreme uncomfortable operation conditions are detected using the Vicon motion capture system.The operation conditions are under the restrictions of the vertical height and horizontal distance between steering wheel center and the H-point of driver,and the steering resisting torque else.Next,the movement quality evaluation of driver steering maneuver is assessed using twelve kinds of evaluation indices based on the kinematic analyses of the steering motion trajectories to propose an objective evaluation method.Finally,an integrated discomfort index of steering maneuver is proposed on the basis of the regression analysis of subjective evaluation rating and the movement quality evaluation indices,including the Jerk,Discomfort and Joint Torque indices.The test results show that the proposed integrated discomfort index gives a good fitting with the subjective evaluation of discomfort,which means it can be used to evaluate or predict the discomfort level of steering maneuver.This paper proposes an objective evaluation method of steering comfort based on the movement quality evaluation of driver steering maneuver.
