Quantized-states-based adaptive control against unknown slippage effects of uncertain mobile robots with input and state quantization

An adaptive tracking design strategy based on quantized state feedback is developed for uncertain nonholonomic mobile robots with unknown wheel slippage effects. All state variables and control torques are assumed to be quantized by the state and input quantizers, respectively, in a network control environment. Thus, the quantized state feedback information is only available for the tracking control design. An approximation-based adaptive controller using quantized states is recursively designed to ensure the robust adaptive tracking against unknown wheel slippage effects where the quantized-states-based adaptive mechanism is derived to compensate for unknown wheel slippage effects, system nonlinearities, and quantization errors. The boundedness of the quantization errors and estimated parameters in the closed-loop system is analyzed by presenting some theoretical lemmas. Based on these lemmas, we prove the uniform ultimate boundedness of closed-loop signals and the convergence of the trajectory tracking error in the presence of wheel slippage effects. Simulations verify the effectiveness of the resulting tracking scheme.     

Lithium–Lanthanide Bimetallic Metal–Organic Frameworks towards Negative Electrode Materials for Lithium-Ion Batteries

Novel lithium–lanthanide (Ln: cerium and praseodymium) bimetallic coordination polymers with formulas C₁₀H₂LnLiO₈ (Ln: Ce (CeLipma) and Pr (PrLipma)) and C₁₀H₃CeO₈ (Cepma) were prepared through a simple hydrothermal method. The three compounds were characterized by means of FTIR spectroscopy, X-ray diffraction, single-crystal X-ray diffraction, SEM, TEM, and X-ray photoelectron spectroscopy. The results of structural refinement show that they belong to triclinic symmetry and P space group with cerium (or praseodymium) and lithium cations, forming coordination bonds to oxygen atoms from different pyromellitic acid molecules, and leading to the construction of 3D structures. It is interesting to note that the frameworks exclude any coordination water and lattice water. As an electrode material for lithium-ion batteries, CeLipma exhibits a maximum capacity of 800.5 mAh g⁻¹ and a retention of 91.4 % after 50 cycles at a current density of 100 mA g⁻¹. The favorable electrochemical properties of the lanthanide coordination polymers show potential application prospects in the field of electrode materials.     

Carbon dots and polyurethane composite for photo-induced elimination of uranium under air atmosphere

Uranium is the main fuel of nuclear power and elimination uranium from nuclear wastewater is significant both in environmental protection and fuel recycle. Here we report for the first time the synthesis of carbon dots/polyurethane(CDs/PU) composite materials for the photoinduced elimination of uranium from water. Irradiated with visible light, CDs/PU could eliminate uranium efficiently with the generation of(UO₂)O₂·2H₂O as solid products in air. The further inve...     

Effect of spatial configuration on adhesion of 1,2-disubstituted cyclohexane derivatives

Spatial configuration has a significant effect on chemical self-assembly. However, the importance of spatial configuration in supramolecular adhesive materials has been frequently ignored. In this study, the effects of the spatial configuration on cohesion and adhesion were investigated. Owing to the diversities of the chemical structures and assembly patterns, 1,2-disubstituted cyclohexane derivatives were used in this combined experimental and theoretical investigation. The self-sorting assembly of enantiopure isomers improved cohesion but had a negative effect on adhesion. In contrast, racemic mixtures displayed stronger adhesion effects. Moreover, it was proven that the cis-configuration was more favorable for supramolecular adhesion than the trans-counterpart. In addition, the influence of the spatial configuration of 1,2-disubstituted cyclohexane derivatives could be effectively mitigated by hydrogen bond donors or acceptors. The addition of natural acids yielded three-dimensional polymeric networks, in which the spatial configuration was not the decisive factor for supramolecular adhesion.     

Correlation between conformation change of polyelectrolyte brushes and lubrication

We directly monitor the absolute separation profiles that function as film thickness between a single glass disk and the charged polyelectrolyte brushes decorated steel slider in water using a home-made slider-on-disk apparatus, which reflects the structural conformation variations and interactions of polymer brushes under externally applied pressure, in addition to probing the relative variation of friction forces under different applied loads and sliding velocities. We find that the polyelectrolyte brushes modified surfaces can sustain high pressure and have extremely low friction coefficients(around 0.006 at pressures of 0.13 MPa; 0.5-0.6 without brushes). The water-lubrication characteristics are correlated to the structural conformation changes of the polyelectrolyte brushes that are mainly governed by electrostatic interactions and the osmotic pressure of counterions inside the polymer chains, which can be used to support and distribute the normal pressure. The apparent thickness of the brush decreases with the increase of loading forces, an increase in the ionic strength causes the polymer chains collapse, and the friction forces increase. This fundamental research is of great importance to understand the mechanical and structural properties of polyelectrolyte brushes and their influences on the tribological behaviors, and helps to design friction/lubrication-controlled surface/interface by taking advantage of polyelectrolyte brushes.     

Gamma spectrum analysis for in situ automatic monitoring of radioactivity in seawater

The NaI(Tl) detector has been an important research topic and application in the field of in situ marine radioactive automatic monitoring because of its advantages of low power consumption, low cost, and good efficiency. However, its energy resolution is not high enough. This paper investigated an analytical method: spectrum de-noising, background correction based on the SNIP operator, peak search based on the top-hat transform and peak fitting using Gaussian distribution. Simulation and gamma spectra measured from seawater showed that the established energy spectrum analysis method presents satisfactory automatic analytical ability for identification and quantitatively analysis.

     

3-periodic traveling wave solutions for a dynamical coupled map lattice

In this paper, the existence of periodic traveling wave solutions with a priori unknown velocity is considered for a coupled map lattice dynamical system. By trasforming our problem into one that involves polynomials, explicit 2- and 3-periodic traveling wave solutions are found, while the other solutions can be computed numerically. Since there does not seem to be any reports on explicit traveling wave solutions, we hope that our results will lead to the discovery of many others.     

轴心受压H型截面钢柱火灾行为的试验研究

本文对4根H型截面钢柱进行了火灾行为的试验研究。全部火灾试验采用自行研制的火灾试验炉,试验结果表明炉子性能稳定,使用方便。试验采用足尺试验形式,柱长3300mm。钢柱轴心受压,其中两个限制轴向变形,另两个不限制轴向变形。柱两端采用单向刀口支座,允许钢柱绕强轴转动。钢柱试验中考虑荷载大小和是否限制轴向变形两个因素。通过试验,得出了钢柱在火灾下的侧向变形和轴向变形随温度变化情况。试验证明:钢柱受火时,轴向变形明显的分为膨胀阶段和压缩阶段。压缩阶段很短,一旦进入压缩阶段,钢柱很快破坏。钢柱受到的外加荷载越大,其极限温度越低。限制轴向变形的钢柱极限温度降低。试验研究为今后钢结构火灾行为研究提供了依据。     

水润滑环境下聚合物PLL-g-PEG的宏观摩擦学性能的研究

将聚(L-赖氨酸)-g-聚(乙二醇)(以下简称PLL-g-PEG)溶解在HEPES水溶液中时，通过球-3板式摩擦试验机研究了添加聚合物PLL-g-PEG对摩擦磨损性能的影响；利用光干涉法在球-盘式纳米薄膜测量装置上初步研究了水基润滑环境下PLL-g-PEG对成膜特性的影响. 结果表明:PLL-g-PEG可降低摩擦并减小磨损，主要归因于表面接枝PLL-g-PEG后形成的一层“刷”状的水化层(Hydration)起到了良好润滑作用，且摩擦性能的改善程度主要受接触应力、卷吸速度和摩擦表面基底材料的影响. 试验过程中发现了水基润滑条件下，PLL-g-PEG聚合物刷在摩擦过程中不断遭到破坏，与此同时又快速吸附到摩擦表面上而进行“自我治愈”的行为，故而有效改善了润滑效果. 光干涉的测量结果表明:添加PLL-g-PEG后，在接枝聚合物刷的球和玻璃盘的接触面间形成了一层由聚合物刷促成的且具有一定承载能力的水化层，这层水膜保护层虽然非常薄，却可以在卷吸速度为1~64 mm/s时有效分离上下接触面从而达到良好的润滑效果. 该研究工作将为深入理解水基润滑的成膜特性及机理提供必要的支持.      

语音通信降噪研究

语音通信系统中，语音通过信道传输将不可避免地引入码间串扰和信号畸变，同时受到噪声污染。本文在分析自适应盲均衡算法CMA(constant modulus algorithm）和改进盲均衡算法的基础上，考虑到自适应盲均衡技术在语音噪声控制方面能力有限，将自适应盲均衡技术与小波包掩蔽阈值降噪算法联合使用，形成一种基带语音增强新方法。仿真试验结果显示自适应盲均衡技术可以使星座图变得清晰而紧凑，有效减小误码率。研究证实该方法在语音信号ISI和畸变严重情况下，在白噪及有色噪声不同的噪声环境中都具有稳定的降噪能力，消噪同时可获得汉语普通话良好的听觉效果。