Autopilot Control Synthesis for Path Tracking Maneuvers of Underwater Vehicles

This paper is concerned with the robust control synthesis of autonomous underwater vehicle （AUV） for general path following maneuvers. First, we present maneuvering kinematics and vehicle dynamics in a unified framework. Based on H∞ loop-shaping procedure, the 2-DOF autopilot controller has been presented to enhance stability and path tracking. By use of model reduction, the high-order control system is reduced to one with reasonable order, and further the scaled low-order controller has been analyzed in both the frequency and the time domains. Finally, it is shown that the autopilot control system provides robust performance and stability against prescribed levels of uncertainty.

Stability analysis and control synthesis of uncertain Roesser-type discrete-time two-dimensional systems

We study the stability analysis and control synthesis of uncertain discrete-time two-dimensional（2D） systems.The mathematical model of the discrete-time 2D system is established upon the well-known Roesser model,and the uncertainty phenomenon,which appears typically in practical environments,is modeled by a convex bounded（polytope type） uncertain domain.The stability analysis and control synthesis of uncertain discrete-time 2D systems are then developed by applying the Lyapunov stability theory.In the processes of stability analysis and control synthesis,the obtained stability/stabilzaition conditions become less conservative by applying some novel relaxed techniques.Moreover,the obtained results are formulated in the form of linear matrix inequalities,which can be easily solved via standard numerical software.Finally,numerical examples are given to demonstrate the effectiveness of the obtained results.

Controllable Synthesis of Au NRs and Its Flexible SERS Optical Fiber Probe with High Sensitivity

The surface-enhanced Raman scattering(SERS) optical fiber probes were successfully prepared by self-assembling on polyelectrolyte multilayers. Gold nanorods(Au NRs) were used as SERS enhancement material to give excellent biological affinity and stability to the SERS optical fiber probes. Au NRs were synthesized by seed growth method. The synergistic effect between AgNO_(3) and surfactant was investigated, and the highest yield was found when AgNO_(3) was 500 uL. Meanwhile, different SERS optical fiber probes were obtained by selecting silane coupling agent, polyelectrolyte multilayer and graphene oxide(GO) to treat quartz fiber. It was found that the SERS optical fiber probes obtained by the self-assembled on polyelectrolyte multilayers method performed better than those by other methods. In addition, Mapping was combined with finite element simulation to analyze the electromagnetic field distribution at the fiber end face.The electromagnetic field distribution of Au NRs was investigated, the difference of electromagnetic field intensity around the Au NRs with different arrangements was compared, the strongest signal was obtained when the Au NRs were head-to-head. Finally, sensitivity of the optimized SERS optical fiber probes could reach 10^(-9)mol/L, with excellent stability and repeatability.

Synthesis and Modulation of Low-Dimensional Transition Metal Chalcogenide Materials via Atomic Substitution

In recent years,low-dimensional transition metal chalcogenide(TMC)materials have garnered growing research attention due to their superior electronic,optical,and catalytic properties compared to their bulk counterparts.The controllable synthesis and manipulation of these materials are crucial for tailoring their properties and unlocking their full potential in various applications.In this context,the atomic substitution method has emerged as a favorable approach.It involves the replacement of specific atoms within TMC structures with other elements and possesses the capability to regulate the compositions finely,crystal structures,and inherent properties of the resulting materials.In this review,we present a comprehensive overview on various strategies of atomic substitution employed in the synthesis of zero-dimensional,one-dimensional and two-dimensional TMC materials.The effects of substituting elements,substitution ratios,and substitution positions on the structures and morphologies of resulting material are discussed.The enhanced electrocatalytic performance and photovoltaic properties of the obtained materials are also provided,emphasizing the role of atomic substitution in achieving these advancements.Finally,challenges and future prospects in the field of atomic substitution for fabricating low-dimensional TMC materials are summarized.

Synthesis and structures of cdq‑topological quaternary and(4,4,8)‑c topological quinary Zn‑MOFs with both oxalic acid and triazole ligands

Different solvothermal reactions of ZnC2O_(4)with oxalic acid(H_(2)ox)and 1,2,4-triazole(Htrz)successfully gave a new quaternary(NJTU-Bai83,NJTU-Bai=Nanjing Tech University Bai's group)and a new quinary(NJTU-Bai84)anionic metal-organic frameworks(MOFs),where NJTU-Bai83=(Me_(2)NH_(2))2[Zn_(3)(trz)_(2)(ox)_(3)]·2H_(2)O and NJTU-Bai84=(Me_(2)NH_(2))[Zn_(3)(trz)_(3)(ox)_(2)]·H_(2)O,respectively.With the[Zn_(2)(ox)4(trz)_(2)]secondary building unit(SBU)in NJTU-Bai83 replaced by the[Zn_(3)(ox)_(2)(trz)_(6)]and planar[Zn(ox)_(2)(trz)_(2)]ones in NJTU-Bai84,2D supramolecular building layers(SBLs)are changed from the A-layer and B-layer to another A-layer,while pillars are transformed from the tetrahedral[Zn(ox)_(2)(trz)_(2)]SBU to the irregular tetrahedral[Zn(ox)_(2)(trz)_(2)]and planar[Zn(ox)_(2)(trz)_(2)]SBUs.Thus,cdq-topological quaternary NJTU-Bai83 is tuned to(4,4,8)-c new topological quinary NJTU-Bai84.Two MOFs were well characterized by powder X-ray diffraction,thermogravimetric analysis,elemental analysis,etc.CCDC:2351819,NJTU-Bai83;2351820,NJTU-Bai84.

Noise-Tolerant ZNN-Based Data-Driven Iterative Learning Control for Discrete Nonaffine Nonlinear MIMO Repetitive Systems

Aiming at the tracking problem of a class of discrete nonaffine nonlinear multi-input multi-output(MIMO) repetitive systems subjected to separable and nonseparable disturbances, a novel data-driven iterative learning control(ILC) scheme based on the zeroing neural networks(ZNNs) is proposed. First, the equivalent dynamic linearization data model is obtained by means of dynamic linearization technology, which exists theoretically in the iteration domain. Then, the iterative extended state observer(IESO) is developed to estimate the disturbance and the coupling between systems, and the decoupled dynamic linearization model is obtained for the purpose of controller synthesis. To solve the zero-seeking tracking problem with inherent tolerance of noise,an ILC based on noise-tolerant modified ZNN is proposed. The strict assumptions imposed on the initialization conditions of each iteration in the existing ILC methods can be absolutely removed with our method. In addition, theoretical analysis indicates that the modified ZNN can converge to the exact solution of the zero-seeking tracking problem. Finally, a generalized example and an application-oriented example are presented to verify the effectiveness and superiority of the proposed process.

Precisely Controlled Synthesis of Pt-Pd Octahedral Nanoframes as a Superior Catalyst towards Oxygen Reduction Reaction

Pt-based nanoframes represent a class of promising catalysts towards oxygen reduction reaction. Herein, we, for the first time, successfully prepared Pt-Pd octahedral nanoframes with ultrathin ridges less than 2 nm in thickness. The Pt-Pd octahedral nanoframes were obtained through site-selected deposition of Pt atoms onto the edge sites of Pd octahedral seeds, followed by selective removal of the Pd octahedral cores via chemical etching. Due to that a combination of three-dimensional opens geometrical structure and Pt-skin surface compositional structure, the Pt-Pd octahedral nanoframes/C catalyst shows a mass activity of 1.15 A/mgPt towards oxygen reduction reaction, 5.8 times enhancement in mass activity relative to commercial Pt/C catalyst （0.20 A/mgPt）. Moreover, even after 8000 cycles of accelerated durability test, the Pt-Pd octahedral nanoframes/C catalyst still exhibits a mass activity which is more than three times higher than that of pristine Pt/C catalyst.

Doping effects of manganese on the catalytic performance and structure of NiMgO catalysts for controllabe synthesis of multi-walled carbon nanotubes

Doping effects of manganese （Mn） on catalytic performance and structure evolution of NiMgO catalysts for synthesis of multi-walled carbon nanotubes （MWCNTs） from methane were investigated for the first time. Addition of Mn in NiMgO catalyst can greatly improve the MWCNTs yield. Mno.2NiMgO catalyst among the tested ones gives the highest MWCNTs yield as 2244%, which is two times higher than that of the catalyst without Mn. The structure evolution, reduction behaviors and surface chemical properties of MnNiMgO catalysts with various Mn contents were studied in detail. It was found that the stable solid solution of NiMgO2 formed in NiMgO catalyst was disturbed by the addition of Mn. Instead, another solid solution of MnMg608 is formed. More amount of Ni can be reduced and dispersed on the catalyst surface to be acted as active sites. Importantly, the changes of Ni content on the surface are correlated with the Ni particle size and the outer diameter of MWCNTs, suggesting the controllable synthesis of MWCNTs over MnNiMgO catalysts.

Controlled synthesis of ferromagnetic MnSe_x particles

The MnSe(x = 1,2) nanoparticles were synthesized under hydrothermal condition,by reaction of the reduced selenium and Mnion in the presence of hydrazine and acetic acid.By precisely controlling the pH value of the solution,a series of MnSeparticles were synthesized.The structure and morphology of as-prepared particles were examined with x-ray diffractometer(XRD),transmission electron microscopy(TEM),and scanning electron microscopy(SEM).The average sizes of as-prepared particles varied from nanoscale to microscale with pH value increase.Furthermore,the nucleation and growth mechanism associated with pH values were discussed,which can be applied to the hydrothermal synthesis of metal chalcogenide in general.Finally,the optical and magnetic properties of as-prepared particles were measured.All as-made particles exhibit a ferromagnetic behavior with low coercivity and remanence at room temperature.

Controllable synthesis of Fe–N4 species for acidic oxygen reduction

Controllable design and synthesis of catalysts with the target active sites are extremely important for their applications such as for the oxygen reduction reaction(ORR)in fuel cells.However,the controllably synthesizing electrocatalysts with a single type of active site still remains a grand challenge.In this study,we developed a facile and scalable method for fabricating highly efficient ORR electrocatalysts with sole atomic Fe-N4 species as the active site.Herein,the use of cost-effective highly porous carbon as the support not only could avoid the aggregation of the atomic Fe species but also a feasible approach to reduce the catalyst cost.The obtained atomic Fe-N4 in activated carbon(aFe@AC)shows excellent ORR activity.Its half-wave potential is 59 mV more negative but 47 mV more positive than that of the commercial Pt/C in acidic and alkaline electrolytes,respectively.The full cell performance test results show that the aFe@AC sample is a promising candidate for direct methanol fuel cells.This study provides a general method to prepare catalysts with a certain type of active site and definite numbers.

Controllable synthesis of Au-TiO2 nanodumbbell photocatalysts with spatial redox region

Photocatalytic water splitting has increasingly attracted attention as one of the most useful methods of converting solar energy into chemical fuel.However,the undesirable reverse reaction significantly limits the enhancement of efficiency.Herein,we fabricated an Au nanorods/TiO2 nanodumbbells structure photocatalyst(Au NRs/TiO2 NDs)via a facile synthetic strategy,which has spatially separated oxidation and reduction reaction zones.Owing to the unique structure,the charge separation of these photocatalysts can be significantly improved and the reverse reaction can be efficiently inhibited.The photogenerated electrons were injected from the TiO2 to the Au NRs,and a positively charged TiO2 region and negatively charged Au region were formed under UV irradiation.An enhanced hydrogen production performance was obtained compared with that seen in normal Au-TiO2 heterostructure.Under optimized conditions,the H2-production rate can reach up to 60,264μmol/g/h,about six times higher than previously reported Au/TiO2 photocatalysts.Besides this,our work also demonstrates the key factors of precise synthesis of the Au NRs/TiO2 NDs structure,which provides a new perspective and experience for the design of similar catalysts.

Morphology, Size-controlled Synthesis of CoO Nanostructure and Its Magnetic Property

CoO nanostructures with tunable morphology and size have been prepared via a simple one-pot solvothermal synthesis. The as-prepared nanoparticles were fully characterized using X-ray diffraction（XRD）, transmission electron microscopy（TEM）, field-emission scanning electron microscope（FESEM）, etc. The morphology and size of the product can be easily controlled by adjusting the raw materials added. Reaction time and the solvent ratio also play important roles in the synthesis of octahedral nanostructures. The magnetic property of the as-prepared samples was also investigated.

CONTROLLED ANIONIC SYNTHESIS OF FUNCTIONALIZED AND STAR-BRANCHED POLYMERS

The use of living, alkyllithium-initiated anionic polymerization to prepare chain-end functionalized polymers and heteroarm, star-branched polymers is discussed. The scope and limitations of specific termination reactions with a variety of electrophilic species are illustrated for carbonation, hydroxyethylation, amination, and sulfonation. The methodology of using substituted 1,1-diphenylethylenes to provide a general, quantitative functionalization procedure is outlined and illustrated with examples of amine and phenol end-functionalization. A methodology is described for the synthesis of functionalized, star-branched copolymers with compositionally heterogeneous arms of controlled molecular weight and narrow molecular weight distribution using 1, 3-bis(1-pbenylethenyl) benzene.

Temperature Fluctuation Synthesis/Simultaneous Densification and Microstructure Control of Titanium Silicon Carbide (Ti_3SiC_2) Ceramics

A novel temperature fluctuation synthesis/simultaneous densification process was developed for the preparation of Ti3SiC2 bulk ceramics. In this process. Si is used as an in-situ liquid forming phase and it is favorable for both the solid-liquid synthesis and the densification of Ti3SiC2 rainies. The present work demonstrated that the temperature fluctuation synthesis/simultaneous densification process is one of the most effective and simple methods for the preparation of Ti3SiC2 bulk materials providing relatively low synthesis temperature. short reaction time; and simultaneous synthesis and densification. This work also showed the capability to control the microstructure, e.g., the preferred orientation, of the bulk Ti3SiC2 materials simply by applying the hot pressing pressure at different Stages of the temperature fluctuation process. And textured Ti3SiC2 bulk materials with {002} faces of laminated Ti3SiC2 grains normal to the hot pressing axis were prepared.

Controllable Synthesis and Magnetic Properties of Monodisperse Fe_3O_4 Nanoparticles

Magnetite （Fe3O4） nanoparticles with different sizes and shapes are synthesized by the thermal decomposition method. Two approaches, non-injection one-pot and hot-injection methods, are designed to investigate the growth mechanism in detail. It is found that the size and shape of nanoparticles are determined by adjusting the precursor concentration and duration time, which can be well explained by the mechanism based on the LaMer model in our synthetic system. The monodisperse Fe3O4 nanoparticles have a mean diameter from 5nm to 16nm, and shape evolution from spherical to triangular and cubic. The magnetic properties are size-dependent, and Fe3O4 nanoparticles in small size about 5 nm exhibit superparamagnetie properties at room temperature and maximum saturation magnetization approaches to 78 emu/g, whereas Fe3O4 nanoparticles develop ferromagnetic properties when the diameter increases to about 16nm.

Multi-objective robust controller synthesis for discrete-time systems with convex polytopic uncertain domain

Multi-objective robust state-feedback controller synthesis problems for linear discrete-time uncertain systems are addressed. Based on parameter-dependent Lyapunov functions, the Gl2 and GH2 norm expressed in terms of LMI (Linear Matrix Inequality) characterizations are further generalized to cope with the robust analysis for convex polytopic uncertain system. Robust state-feedback controller synthesis conditions are also derived for this class of uncertain systems. Using the above results, multi-objective state-feedback controller synthesis procedures which involve the LMI optimization technique are developed and less conservative than the existing one. An illustrative example verified the validity of the approach.

Pattern Synthesis via Accurate Array Response Control:An Overview

Array pattern synthesis is an important research direction in array processing.It is a signal processing technology that uses sensor arrays to send and receive signals directionally.Pattern design and synthesis play an important role in the high performance of the array system.In this paper,we give an overview about the recently developed pattern synthesis algorithms with the concept of accurate array response control theory.

Controllable Modulation of Morphology and Property of CsPbCl_(3)Perovskite Microcrystals by Vapor Deposition Method

As a direct wide bandgap semiconductor,CsPbCl_(3)has great potential applications in the eld of near-ultraviolet photodetectors,lasers and higher-order multiphoton uores-cent detectors.In this work,we synthesized CsPbCl_(3)micro/nanocrystals by vapor depo-sition method with CsCl and PbCl_(2)powders as the source materials.It was con rmed that the formation of CsPbCl_(3)perovskite through the chemical reaction of CsCl with PbCl_(2)occurred in the quartz boat before the source evaporation,not in vapor or on sub-strate surface.The evaporated CsPbCl_(3)can form micro/nanocrystals on substrate surfaces under appropriate conditions.Various morphologies including irregular polyhedrons,rods and pyramids could be observed at lower temperature,while stable and uniform CsPbCl_(3)single crystal microplatelets were controllably synthesized at 450℃.Prolonging the growth time could modulate the size and density of the microcrystals,but could not change the morphology.Substrate types made little di erence to the morphology of CsPbCl_(3)crystals.The photoluminescence spectra indicated that the crystallinity and morphology of CsPbCl_(3)micro/nanocrystals have signi cant e ects on their optical properties.The work is expected to be helpful to the development of optoelectronic devices based on individual CsPbCl_(3)microcrystal.

Melamine-assisted pyrolytic synthesis of bifunctional cobalt-based core–shell electrocatalysts for rechargeable zinc–air batteries

Designing a highly active-and stable non-noble metal bifunctional oxygen catalyst for rechargeable Znair battery remains a great challenge. Herein, we develop a facile and melamine-assisted-pyrolysis(MAP)strategy for the synthesis of core–shell Co-based electrocatalysts@N-doped carbon nanotubes(Co@CNTs)derived from metal–organic frameworks. The Co@CNTs exhibited excellent bifunctional electrocatalytic performance for both oxygen evolution and reduction. DFT calculations demonstrated that the Gibbs free energy of the rate-determining step was small enough to improve ORR activities. As a result, a Zn-air battery assembled with Co@CNTs proves a lager power density, low voltage gap between charge–discharge and excellent stability. Thus, this work offers a facile strategy to realize the synthesis of non-noble metal electrocatalyst for Zn-air battery materials with high electrochemical performance.

Synthesis,Growth Mechanism,and Applications of Zinc Oxide Nanomaterials

This article reviews recent progresses in growth mechanism, synthesis, and applications of zinc oxide nano-materials （mainly focusing on one-dimensional （1D） nanomaterials）. In the first part of this article, we briefly introduce the importance, the synthesis methods and growth mechanisms, the properties and applications of ZnO 1D nanomaterials. In the second part of this article, the growth mechanisms of ZnO 1D nanomaterials will be discussed in detail in the framework of vapor-liquid-solid （VLS）, vapor-solid （VS）, and aqueous solution growth （ASG） approaches. Both qualitative and quantitative information will be provided to show how a controlled synthesis of ZnO 1D nanomaterials can be achieved. In the third part of this article, we present recent progresses in our group for the synthesis of ZnO 1D nanomaterials, and the results from other groups will only be mentioned briefly. Especially, experiment designing according to theories will be elaborated to demonstrate the concept of controlled synthesis. In the fourth part of this article, the properties and potential applications of ZnO 1D nanomaterials will be treated. Finally, a summary part will be presented in the fifth section. The future trend of research for ZnO 1D nanomaterials will be pointed out and key issues to be solved will be proposed.