In this paper,we investigate a leader-following tracking problem for multi-agent systems with boundedinputs.We propose a distributed bounded protocol for each follower to track a leader whose states may not be complet...In this paper,we investigate a leader-following tracking problem for multi-agent systems with boundedinputs.We propose a distributed bounded protocol for each follower to track a leader whose states may not be completelymeasured.We theoretically prove that each agent can follow the leader with estimable track errors.Finally,somenumerical simulations are presented to illustrate our theoretical results.展开更多
In this article, a method to control power-assisted carts with motor torque limiter that achieves the desired load-reduction ratio even if torque saturation occurs, is proposed to reduce the size and power consumption...In this article, a method to control power-assisted carts with motor torque limiter that achieves the desired load-reduction ratio even if torque saturation occurs, is proposed to reduce the size and power consumption of power-assist systems. This method uses the ratio of the assist-force impulse to the operator-force impulse as an indicator for evaluating proposed method. Proposed method predicts the needs of the operator and delivers the desired load-reduction ratio by predicting operation. The results show that the target load-reduction ratio can be obtained with proposed control method and indicate that the target load-reduction ratio can be obtained with 80% force. By applying our proposed method, short available time of power-assisted carts will be improved.展开更多
Shape control has proven to be a powerful and versatile means of tailoring the properties of Bi2Se3 nanostructures for a wide variety of applications. Here, three different Bi2Se3 nanostructures, i.e., spiral-type nan...Shape control has proven to be a powerful and versatile means of tailoring the properties of Bi2Se3 nanostructures for a wide variety of applications. Here, three different Bi2Se3 nanostructures, i.e., spiral-type nanoplates, smooth nanoplates, and dendritic nanostructures, were prepared by manipulating the supersaturation level in the synthetic system. This mechanism study indicated that, at low supersaturation, defects in the crystal growth could cause a step edge upon which Bi2Se3 particles were added continuously, leading to the formation of spiral-type nanoplates. At intermediate supersaturation, the aggregation of amorphous Bi2Se3 particles and subsequent recrystallization resulted in the formation of smooth nanoplates. Furthermore, at high supersaturation, polycrystalline Bi2Se3 cores formed initially, on which anisotropic growth of Bi2Se3 occurred. This work not only advances our understanding of the growth mechanism but also offers a new approach to control the morphology of Bi2Se3 nanostructures.展开更多
基金Supported by the National Science Foundation of China under Grant Nos.10702023,10832006,and 60704041the Research Fund for the Doctoral Program of Higher Education under Grant No.20070487090
文摘In this paper,we investigate a leader-following tracking problem for multi-agent systems with boundedinputs.We propose a distributed bounded protocol for each follower to track a leader whose states may not be completelymeasured.We theoretically prove that each agent can follow the leader with estimable track errors.Finally,somenumerical simulations are presented to illustrate our theoretical results.
文摘In this article, a method to control power-assisted carts with motor torque limiter that achieves the desired load-reduction ratio even if torque saturation occurs, is proposed to reduce the size and power consumption of power-assist systems. This method uses the ratio of the assist-force impulse to the operator-force impulse as an indicator for evaluating proposed method. Proposed method predicts the needs of the operator and delivers the desired load-reduction ratio by predicting operation. The results show that the target load-reduction ratio can be obtained with proposed control method and indicate that the target load-reduction ratio can be obtained with 80% force. By applying our proposed method, short available time of power-assisted carts will be improved.
基金Acknowledgements This work was supported by Collaborative Innovation Center of Suzhou Nano Science and Technology, MOST of China （No. 2014CB932700）, 2015SRG-HSC049, National Natural Science Foundation of China （Nos. 21203173, 21573206, 11574281, 51371164, 51132007, and J1030412）, Strategic Priority Research Program B of the CAS （No. XDB01020000）, and Fundamental Research Funds for the Central Universities （Nos. WK2340000050, WK2060190025, and WK3510000002）.
文摘Shape control has proven to be a powerful and versatile means of tailoring the properties of Bi2Se3 nanostructures for a wide variety of applications. Here, three different Bi2Se3 nanostructures, i.e., spiral-type nanoplates, smooth nanoplates, and dendritic nanostructures, were prepared by manipulating the supersaturation level in the synthetic system. This mechanism study indicated that, at low supersaturation, defects in the crystal growth could cause a step edge upon which Bi2Se3 particles were added continuously, leading to the formation of spiral-type nanoplates. At intermediate supersaturation, the aggregation of amorphous Bi2Se3 particles and subsequent recrystallization resulted in the formation of smooth nanoplates. Furthermore, at high supersaturation, polycrystalline Bi2Se3 cores formed initially, on which anisotropic growth of Bi2Se3 occurred. This work not only advances our understanding of the growth mechanism but also offers a new approach to control the morphology of Bi2Se3 nanostructures.
