Trajectory Tracking of Autonomous Vehicle with the Fusion of DYC and Longitudinal–Lateral Control

The current research of autonomous vehicle motion control mainly focuses on trajectory tracking and velocity tracking. However, numerous studies deal with trajectory tracking and velocity tracking separately, and the yaw stability is seldom considered during trajectory tracking. In this research, a combination of the longitudinal–lateral control method with the yaw stability in the trajectory tracking for autonomous vehicles is studied. Based on the vehicle dynamics, considering the longitudinal and lateral motion of the vehicle, the velocity tracking and trajectory tracking problems can be attributed to the longitudinal and lateral control. A sliding mode variable structure control method is used in the longitudinal control. The total driving force is obtained from the velocity error in order to carry out velocity tracking. A linear time-varying model predictive control method is used in the lateral control to predict the required front wheel angle for trajectory tracking. Furthermore, a combined control framework is established to control the longitudinal and lateral motions and improve the reliability of the longitudinal and lateral direction control. On this basis, the driving force of a tire is allocated reasonably by using the direct yaw moment control, which ensures good yaw stability of the vehicle when tracking the trajectory. Simulation results indicate that the proposed control strategy is good in tracking the reference velocity and trajectory and improves the performance of the stability of the vehicle.

Ultrafine Fe/Fe3C decorated on Fe-N_(x)-C as bifunctional oxygen electrocatalysts for efficient Zn-air batteries

Efficient bifunctional oxygen electrocatalysts for ORR and OER are fundamental to the development of high performance metal-air batteries.Herein,a facile cost-efficient two-step pyrolysis strategy for the fabrication of a bifunctional oxygen electrocatalyst has been proposed.The efficient non-preciousmetal-based electrocatalyst,Fe/Fe_(3)C@Fe-N_(x)-C consists of highly curved onion-like carbon shells that encapsulate Fe/Fe_(3)C nanoparticles,distributed on an extensively porous graphitic carbon aerogel.The obtained Fe/Fe_(3)C@Fe-N_(x)-C aerogel exhibited superb electrochemical activity,excellent durability,and high methanol tolerance.The experimental results indicated that the assembly of onion-like carbon shells with encapsulated Fe/Fe_(3)C yielded highly curved carbon surfaces with abundant Fe-Nxactive sites,a porous structure,and enhanced electrocatalytic activity towards ORR and OER,hence displaying promising potential for application as an air cathode in rechargeable Zn-air batteries.The constructed Zn-air battery possessed an exceptional peak power density of~147 mW cm^(-2),outstanding cycling stability(200 cycles,1 h per cycle),and a small voltage gap of 0.87 V.This study offers valuable insights regarding the construction of low-cost and highly active bifunctional oxygen electrocatalysts for efficient air batteries.

A UFLC/MS/MS method for simultaneous quantitation of alisol A and alisol B 23-acetate from Alisma orientale (Sam.) Juz. in rat plasma

A sensitive and reliable ultra fast liquid chromatography tandem mass spectrometry(UFLC-MS/MS)method has been developed and validated for simultaneous quantitation of alisol A and alisol B 23-acetate from Alisma orientale(Sam.)Juz.in rat plasma using diazepam as an internal standard(IS).The plasma samples were extracted by liquideliquid extraction with methyl tert-butyl ether and separated on a Venusil MP C18 column(100 mm×2.1 mm,3.0 mm)(Venusil,China)using gradient elution with the mobile phase consisting of methanol and 0.1%acetic acid in water at a flow rate of 0.4 ml/min.The two analytes were monitored with positive electrospray ionization by multiple reaction monitoring mode(MRM).The lower limit of quantitation was 5.00 ng/ml for alisol A and 5.00 ng/ml for alisol B 23-acetate.The calibration curves were linear in the range of 5.00 e2500 ng/ml for alisol A and 5e2500 ng/ml for alisol B 23-acetate.The mean extraction recoveries were above 63.8%for alisol A and 68.0%for alisol B 23-acetate from biological matrixes.Both intra-day and inter-day precision and accuracy of analytes were well within acceptance criteria(15%).The validated method was successfully applied to the pharmacokinetic study of alisol A and alisol B 23-acetate in rat plasma after oral administration of alcohol extract of Alismatis Rhizoma.

Emerging delivery systems based on aqueous two-phase systems:A review

The aqueous two-phase system(ATPS)is an all-aqueous system fabricated from two immiscible aqueous phases.It is spontaneously assembled through physical liquid-liquid phase separation(LLPS)and can create suitable templates like the multicompartment of the intracellular environment.Delicate structures containing multiple compartments make it possible to endow materials with advanced functions.Due to the properties of ATPSs,ATPS-based drug delivery systems exhibit excellent biocompatibility,extraordinary loading efficiency,and intelligently controlled content release,which are particularly advantageous for delivering drugs in vivo.Therefore,we will systematically review and evaluate ATPSs as an ideal drug delivery system.Based on the basic mechanisms and influencing factors in forming ATPSs,the transformation of ATPSs into valuable biomaterials is described.Afterward,we concentrate on the most recent cutting-edge research on ATPS-based delivery systems.Finally,the potential for further collaborations between ATPS-based drug-carrying biomaterials and disease diagnosis and treatment is also explored.

Simultaneous Optimization of Efficiency,Stretchability,and Stability in All-Polymer Solar Cells via Aggregation Control

With the emergence of Y-series small molecule acceptors,polymerizing the small molecule acceptors with aromatic linker units has attracted significant research attention,which has greatly advanced the photovoltaic performance of all-polymer solar cells.Despite the rapid increase in efficiency,the unique characteristics(e.g.,mechanical stretchability and flexibility)of all-polymer systems were still not thoroughly explored.In this work,we demonstrate an effective approach to simultaneously improve device performance,stability,and mechanical robustness of all-polymer solar cells by properly suppressing the aggregation and crystallization behaviors of polymerized Y-series acceptors.Strikingly,when introducing 50 wt%PYF-IT(a fluorinated version of PY-IT)into the well-known PM6:PY-IT system,the all-polymer devices delivered an impressive photovoltaic efficiency of 16.6%,significantly higher than that of the control binary cell(15.0%).Compared with the two binary systems,the optimal ternary blend exhibits more efficient charge separation and balanced charge transport accompanying with less recombination.Moreover,a high-performance 1.0 cm^(2)large-area device of 15%efficiency was demonstrated for the optimized ternary all-polymer blend,which offered a desirable PCE of 14.5%on flexible substrates and improved mechanical flexibility after bending 1000 cycles.Notably,these are among the best results for 1.0 cm^(2)all-polymer OPVs thus far.This work also heralds a bright future of all-polymer systems for flexible wearable energy-harvesting applications.

Protein O-GlcNAcylation homeostasis regulates facultative heterochromatin to fine-tune sog-Dpp signaling during Drosophila early embryogenesis

Protein O-GlcNAcylation is a monosaccharide post-translational modification maintained by two evolutionarily conserved enzymes, O-GlcNAc transferase (OGT) and O-GlcNAcase (OGA). Mutations in human OGT have recently been associated with neurodevelopmental disorders, although the mechanisms linking O-GlcNAc homeostasis to neurodevelopment are not understood. Here, we investigate the effects of perturbing protein O-GlcNAcylation using transgenic Drosophila lines that overexpress a highly active OGA. We reveal that temporal reduction of protein O-GlcNAcylation in early embryos leads to reduced brain size and olfactory learning in adult Drosophila. Downregulation of O-GlcNAcylation induced by the exogenous OGA activity promotes nuclear foci formation of Polycomb-group protein Polyhomeotic and the accumulation of excess K27 trimethylation of histone H3 (H3K27me3) at the mid-blastula transition. These changes interfere with the zygotic expression of several neurodevelopmental genes, particularly short gastrulation (sog), a component of an evolutionarily conserved sog-Decapentaplegic (Dpp) signaling system required for neuroectoderm specification. Our findings highlight the importance of early embryonic O-GlcNAcylation homeostasis for the fidelity of facultative heterochromatin redeployment and initial cell fate commitment of neuronal lineages, suggesting a possible mechanism underpinning OGT-associated intellectual disability.

A self-powered piezoelectret sensor based on foamed plastic garbage for monitoring human motions

Constructing piezoelectret based on foamed plastic garbage is an advisable strategy for obtaining self-powered flexible electromechanical sensors with good performances.Herein,a self-powered piezoelectret sensor with basic material of low density polyethylene(LDPE)foamed plastic garbage is proposed,with characteristics of easy fabrication,excellent flexibility,and high equivalent piezoelectric coefficient d33 value up to~1,100 pC/N.The output stability is verified by continuously stimulating a sensor for~180,000 cycles under low and high applied pressure,and the variations of peak outputs are less than 5.5%.Applications for measuring low-and high-pressure signals from human body are achieved.Assembled with a wristband,a sensor is demonstrated for detecting the human pulse waves.Moreover,real time human sitting information is wirelessly monitored with a smart chair based on 4 pixels sensors array.

中国北方温带草原植被恢复的氮限制

围栏禁牧被认为是退化草原植被恢复的有效手段。在植被的恢复过程中,植物需要从土壤中吸收更多的氮。氮素也是中国北方温带草原植被生长的一个主要限制因素。目前尚不清楚该地区的土壤氮素供应是否能够支持长期的植被恢复。本研究在植被的生长季期间对我国北方7个温带草原进行了野外调查。其中,围栏外侧草地保持持续放牧状态,围栏内侧草地保持完全禁牧状态。研究结果表明,禁牧显著提高了草地地上生物量、物种丰富度和香农-维纳多样性指数,其分别提高了126.2%、42.6%和18.8%。禁牧使土壤硝态氮和总无机氮浓度分别降低了51.9%和21.0%,这表明生长季氮素供应与植物需求可能存在错配现象。同时,围封草地地上生物量、物种丰富度和香农-维纳多样性指数与豆科植物群落优势度呈正相关。这些结果表明,温带草原植被恢复受土壤无机氮限制。群落中豆科植物的生物固氮可能缓解植被恢复的氮限制。

Ferroelectric polarization effect on the photocatalytic activity of Bi_(0.9)Ca_(0.1)FeO_(3)/CdS S-scheme nanocomposites

BiFeO_(3)(BFO),as a kind of narrow band-gap semiconductor material,has gradually emerged advantages in the application of photocatalysis.In this paper,Ca doped BFO nanoparticles Bi_(0.9)Ca_(0.1)FeO_(3)(BCFO)were prepared by sol-gel method.And BCFO and CdS nanocomposites with two morphologies were obtained by controlling the time of loading CdS under a low temperature liquid phase process.It is found that the band gap becomes narrower after doping Ca into BFO,which is conducive to the absorption of visible light.Among all the samples,the composite of CdS nanowires and BCFO nanoparticles obtained by reaction time of 10 min has the best photocatalytic performance.The degradation rate of Methyl Orange solutionwas 94%after 90min under visible light irradiation,whichwasmuch higher than that of pure BCFO and CdS.Furthermore,significant enhancement in the degradation rate(100%degradation in 60 min)can be achieved in poled samples after electric polarization process.The highest degradation rate is due to the promoted separation of photogenerated carriers induced by the internal polarization field and the formation of S-scheme heterostructure between BCFO and CdS.Such BCFO-CdS nanocomposites may bring new insights into designing highly efficient photocatalyst.

抗、感绿豆象绿豆种子差异蛋白的分离与鉴定

为寻找抗绿豆象绿豆种子中的重要抗虫成分,以抗虫绿豆晋绿7号、B20及感虫绿豆潍绿2117为试验材料,采用蛋白质双向电泳(2-DE)和质谱技术,对抗、感虫绿豆中差异蛋白及功能进行了鉴定与分析。结果表明,抗、感虫绿豆中差异蛋白表达量超过2.5倍的点共有15个。其中6个蛋白点通过数据库得到了成功鉴定,涉及3种蛋白质,分别为8S球蛋白(α亚型和β亚型)、核酮糖1,5-二磷酸羧化酶/加氧酶(RuBis CO)亚基结合蛋白和合成淀粉酶与胰蛋白酶两种抑制剂的前体多肽链。蛋白点B49(即8S球蛋白α亚型)和B31(RuBis CO亚基结合蛋白)在抗、感虫绿豆中的差异表达量分别达到10 000倍和23倍。抗虫绿豆中8S球蛋白α亚型及β亚型、RuBis CO伴侣蛋白及胰蛋白酶抑制剂的前体作为抗虫物质影响了绿豆象的生长发育甚至导致其死亡,与抗虫性的量效关系及联合效应还需进一步验证。

Electron transfer in Cu/Cu_(2)O generated by disproportionation promoting efficient CO_(2)photoreduction

Constructing a high-efficiency composite material for CO_(2)photoreduction is a key step to the achievement of carbon neutralization,but a comprehensive understanding of the factors that dictate CO_(2)reduction activity remains elusive.Here,we constructed a series of Cu in situ combined on Cu_(2)O(Cu/Cu_(2)O-1,-2,-3)via an acid disproportionation method with various processing time.The optimal photocatalyst(Cu/Cu_(2)O-2)affords CO at a rate of 10.43μmol·g^(−1)·h^(−1),which is more than fourfold to that of pristine Cu_(2)O.Electron transfer in the samples was detected by X-ray absorption spectroscopy(XAS)as well as X-ray photoelectron spectroscopy(XPS).Interestingly,the best photoreduction performance was not achieved by the sample possessing the most electron transfer(Cu/Cu_(2)O-1)but by the one with moderate electron transfer(Cu/Cu_(2)O-2).By virtue of density functional theory(DFT)calculations,a linear relationship between Bader charge variation(Δq)of the active sites and adsorption energy of CO_(2)reduction intermediates was discovered,wherein the moderate charge transfer corresponds to appropriate adsorption energy,which benefits CO_(2)photoreduction activity substantially.This work provides guidance for the construction of composite catalysts for efficient CO_(2)photoreduction in a perspective of the quantity of electron transfer.