This paper presents a Nonlinear Model Predictive Controller(NMPC)for the path following of autonomous vehicles and an algorithm to adaptively adjust the preview distance.The prediction model includes vehicle dynamics,...This paper presents a Nonlinear Model Predictive Controller(NMPC)for the path following of autonomous vehicles and an algorithm to adaptively adjust the preview distance.The prediction model includes vehicle dynamics,path following dynamics,and system input dynamics.The single-track vehicle model considers the vehicle’s coupled lateral and longitudinal dynamics,as well as nonlinear tire forces.The tracking error dynamics are derived based on the curvilinear coordinates.The cost function is designed to minimize path tracking errors and control effort while considering constraints such as actuator bounds and tire grip limits.An algorithm that utilizes the optimal preview distance vector to query the corresponding reference curvature and reference speed.The length of the preview path is adaptively adjusted based on the vehicle speed,heading error,and path curvature.We validate the controller performance in a simulation environment with the autonomous racing scenario.The simulation results show that the vehicle accurately follows the highly dynamic path with small tracking errors.The maximum preview distance can be prior estimated and guidance the selection of the prediction horizon for NMPC.展开更多
Non-alcoholic fatty liver disease(NAFLD)is the most common chronic liver disease,defined by several phases,ranging from benign fat accumulation to non-alcoholic steatohepatitis(NASH),which can lead to liver cancer and...Non-alcoholic fatty liver disease(NAFLD)is the most common chronic liver disease,defined by several phases,ranging from benign fat accumulation to non-alcoholic steatohepatitis(NASH),which can lead to liver cancer and cirrhosis.Although NAFLD is a disease of disordered metabolism,it also involves several immune cell-mediated inflammatory processes,either promoting and/or suppressing hepatocyte inflammation through the secretion of pro-inflammatory and/or anti-inflammatory factors to influence the NAFLD process.However,the underlying disease mechanism and the role of immune cells in NAFLD are still under investigation,leaving many open-ended questions.In this review,we presented the recent concepts about the interplay of immune cells in the onset and pathogenesis of NAFLD.We also highlighted the specific non-immune cells exhibiting immunological properties of therapeutic significance in NAFLD.We hope that this review will help guide the development of future NAFLD therapeutics.展开更多
The lattice-matched XBn structures of InAsSb,grown on GaSb substrates,exhibit high crystal quali⁃ty,and can achieve extremely low dark currents at high operating temperatures(HOT).Its superior performance is attribute...The lattice-matched XBn structures of InAsSb,grown on GaSb substrates,exhibit high crystal quali⁃ty,and can achieve extremely low dark currents at high operating temperatures(HOT).Its superior performance is attributed to the unipolar barrier,which blocks the majority carriers while allowing unhindered hole transport.To further explore the energy band and carrier transport mechanisms of the XBn unipolar barrier structure,this pa⁃per systematically investigates the influence of doping on the dark current,photocurrent,and tunneling character⁃istics of InAsSb photodetectors in the PBn structure.Three high-quality InAsSb samples with unintentionally doped absorption layers(AL)were prepared,with varying p-type doping concentrations in the GaSb contact layer(CL)and the AlAsSb barrier layer(BL).As the p-type doping concentration in the CL increased,the device’s turn-on bias voltage also increased,and p-type doping in the BL led to tunneling occurring at lower bias voltages.For the sample with UID BL,which exhibited an extremely low dark current of 5×10^(-6) A/cm^(2).The photocurrent characteristics were well-fitted using the back-to-back diode model,revealing the presence of two opposing space charge regions on either side of the BL.展开更多
The performance of the photodetector is significantly impacted by the inherent surface faults in GaAs nanowires(NWs).We combined three-dimensional(3D)gallium arsenide nanowires with zero-dimensional(0D)WS_(2) quantum ...The performance of the photodetector is significantly impacted by the inherent surface faults in GaAs nanowires(NWs).We combined three-dimensional(3D)gallium arsenide nanowires with zero-dimensional(0D)WS_(2) quantum dot(QDs)materials in a simple and convenient way to form a heterogeneous structure.Various performance enhancements have been realized through the formation of typeⅡenergy bands in heterostructures,opening up new research directions for the future development of photodetector devices.This work successfully fabricated a high-sensitivity photodetector based on WS_(2)QDs/GaAs NWs heterostructure.Under 660 nm laser excitation,the photodetector exhibits a responsivity of 368.07 A/W,a detectivity of 2.7×10^(12)Jones,an external quantum efficiency of 6.47×10^(2)%,a low-noise equivalent power of 2.27×10^(-17)W·Hz^(-1/2),a response time of 0.3 s,and a recovery time of 2.12 s.This study provides a new solution for the preparation of high-performance GaAs detectors and promotes the development of optoelectronic devices for GaAs NWs.展开更多
The effects of rare earth Ce on the microstructure and mechanical properties of impure copper containing Pb were investigated using OM,SEM,EPMA,TEM and tensile testing.TEM and EDS analysis reveal that spherical CePb3 ...The effects of rare earth Ce on the microstructure and mechanical properties of impure copper containing Pb were investigated using OM,SEM,EPMA,TEM and tensile testing.TEM and EDS analysis reveal that spherical CePb3 particles form after Ce addition.CePb3 particles,with average size of^3.6μm,homogenously distribute in the Cu matrix.Due to small lattice misfit(~4.62%)with Cu matrix,CePb3 particles can act as effective nucleation sites beneficial to the grain refinement.Pb at grain boundaries seriously deteriorates the mechanical properties of Cu.The tensile strength and the elongation of Cu-0.1 Pb are decreased by 43.1%and 56.7%compared with those of pure copper,respectively.Ce can purify grain boundaries,cause the precipitation of CePb3 particles and refine grain sizes,which contribute to significant improvement of the mechanical properties of Cu.Compared with Cu-0.1Pb,the tensile strength(179 MPa)and the elongation(38.5%)of Cu-0.1Pb-0.3Ce are increased by 117.6%and 151.6%,respectively.展开更多
A graded structural material(GSM)with a material transition from TA15 to TC11 was fabricated by wire arc additive manufacturing(WAAM)method.The grain morphology,chemical composition,microstructure and mechanical prope...A graded structural material(GSM)with a material transition from TA15 to TC11 was fabricated by wire arc additive manufacturing(WAAM)method.The grain morphology,chemical composition,microstructure and mechanical properties of the as-deposited GSM were all characterized to investigate their variations along the deposition direction.The results indicate that from TA15 to TC11,the grain size decreases and a transition from columnar grains to equiaxed grains occurs.The content of alloy element alters greatly within a short distance,and the width of the mutation zone is 800μm.Both TA15 and TC11 regions exhibit basketweave microstructure withα-phase andβ-phase.However,during the transition from TA15 to TC11,theα-lath becomes fine,which leads to an increase in microhardness.The tensile test shows that the bonding strength at the interface is higher than the longitudinal strength of TA15,and the lateral elongation at the interface is higher than that of TA15 and TC11.展开更多
The influence of cooling rate on the microstructure of Al0.6CoCrFeNi high entropy alloy（HEA） powders was investigated. The spherical HEA powders（D50≈78.65 μm） were prepared by high pressure gas atomization. The ...The influence of cooling rate on the microstructure of Al0.6CoCrFeNi high entropy alloy（HEA） powders was investigated. The spherical HEA powders（D50≈78.65 μm） were prepared by high pressure gas atomization. The different cooling rates were achieved by adjusting the powder diameter. Based on the solidification model, the relationship between the cooling rate and the powder diameter was developed. The FCC phase gradually disappears as particle size decreases. Further analysis reveals that the phase structure gradually changes from FCC＋BCC dual-phase to a single BCC phase with the increase of the cooling rate. The microstructure evolves from planar crystal to equiaxed grain with the cooling rate increasing from 3.19×10^4 to 1.11×10^6 K/s.展开更多
With the increasing concerns to energy shortage and environmental problems in modern society,the development of cheap,clean,and sustainable energy alternatives has been attracting tremendous attention globally.Among v...With the increasing concerns to energy shortage and environmental problems in modern society,the development of cheap,clean,and sustainable energy alternatives has been attracting tremendous attention globally.Among various strategies of renewable energy exploration,solar-driven water splitting into its compositional elements H2 and O2 is an ideal approach to convert and store renewable solar energy into chemical bonds.In recent few decades,as an emerging new type of catalysts,polyoxometalates(POMs)have been widely utilized for water splitting due to their versatile synthetic methodology and highly tunable physicochemical and photochemical properties.This critical review addresses the research advances of light-driven hydrogen evolution using polyoxometalate-based catalysts,including plenary POMs,transition-metal-substituted POMs,POM@MOF composites,and POM-semiconductor hybrids,under UV,near UV and visible light irradiation.In addition,the catalytic mechanism for each reaction system has been thoroughly discussed and summarized.Finally,a comprehensive outlook of this research area is also prospected.展开更多
基金“National Science and Technology Council”(NSTC 111-2221-E-027-088)。
文摘This paper presents a Nonlinear Model Predictive Controller(NMPC)for the path following of autonomous vehicles and an algorithm to adaptively adjust the preview distance.The prediction model includes vehicle dynamics,path following dynamics,and system input dynamics.The single-track vehicle model considers the vehicle’s coupled lateral and longitudinal dynamics,as well as nonlinear tire forces.The tracking error dynamics are derived based on the curvilinear coordinates.The cost function is designed to minimize path tracking errors and control effort while considering constraints such as actuator bounds and tire grip limits.An algorithm that utilizes the optimal preview distance vector to query the corresponding reference curvature and reference speed.The length of the preview path is adaptively adjusted based on the vehicle speed,heading error,and path curvature.We validate the controller performance in a simulation environment with the autonomous racing scenario.The simulation results show that the vehicle accurately follows the highly dynamic path with small tracking errors.The maximum preview distance can be prior estimated and guidance the selection of the prediction horizon for NMPC.
文摘Non-alcoholic fatty liver disease(NAFLD)is the most common chronic liver disease,defined by several phases,ranging from benign fat accumulation to non-alcoholic steatohepatitis(NASH),which can lead to liver cancer and cirrhosis.Although NAFLD is a disease of disordered metabolism,it also involves several immune cell-mediated inflammatory processes,either promoting and/or suppressing hepatocyte inflammation through the secretion of pro-inflammatory and/or anti-inflammatory factors to influence the NAFLD process.However,the underlying disease mechanism and the role of immune cells in NAFLD are still under investigation,leaving many open-ended questions.In this review,we presented the recent concepts about the interplay of immune cells in the onset and pathogenesis of NAFLD.We also highlighted the specific non-immune cells exhibiting immunological properties of therapeutic significance in NAFLD.We hope that this review will help guide the development of future NAFLD therapeutics.
基金Supported by the Candidate Talents Training Fund of Yunnan Province(202205AC160054)the National Natural Science Foundation of China(62174156)。
文摘The lattice-matched XBn structures of InAsSb,grown on GaSb substrates,exhibit high crystal quali⁃ty,and can achieve extremely low dark currents at high operating temperatures(HOT).Its superior performance is attributed to the unipolar barrier,which blocks the majority carriers while allowing unhindered hole transport.To further explore the energy band and carrier transport mechanisms of the XBn unipolar barrier structure,this pa⁃per systematically investigates the influence of doping on the dark current,photocurrent,and tunneling character⁃istics of InAsSb photodetectors in the PBn structure.Three high-quality InAsSb samples with unintentionally doped absorption layers(AL)were prepared,with varying p-type doping concentrations in the GaSb contact layer(CL)and the AlAsSb barrier layer(BL).As the p-type doping concentration in the CL increased,the device’s turn-on bias voltage also increased,and p-type doping in the BL led to tunneling occurring at lower bias voltages.For the sample with UID BL,which exhibited an extremely low dark current of 5×10^(-6) A/cm^(2).The photocurrent characteristics were well-fitted using the back-to-back diode model,revealing the presence of two opposing space charge regions on either side of the BL.
文摘The performance of the photodetector is significantly impacted by the inherent surface faults in GaAs nanowires(NWs).We combined three-dimensional(3D)gallium arsenide nanowires with zero-dimensional(0D)WS_(2) quantum dot(QDs)materials in a simple and convenient way to form a heterogeneous structure.Various performance enhancements have been realized through the formation of typeⅡenergy bands in heterostructures,opening up new research directions for the future development of photodetector devices.This work successfully fabricated a high-sensitivity photodetector based on WS_(2)QDs/GaAs NWs heterostructure.Under 660 nm laser excitation,the photodetector exhibits a responsivity of 368.07 A/W,a detectivity of 2.7×10^(12)Jones,an external quantum efficiency of 6.47×10^(2)%,a low-noise equivalent power of 2.27×10^(-17)W·Hz^(-1/2),a response time of 0.3 s,and a recovery time of 2.12 s.This study provides a new solution for the preparation of high-performance GaAs detectors and promotes the development of optoelectronic devices for GaAs NWs.
基金Projects(ZR2018MEE005,ZR2018MEE016)supported by the Natural Science Foundation of Shandong Province,ChinaProject(J18KA059)supported by the Higher Educational Science and Technology Program of Shandong Province,ChinaProject(HJ16B01)supported by the Doctoral Fund of Yantai University,China。
文摘The effects of rare earth Ce on the microstructure and mechanical properties of impure copper containing Pb were investigated using OM,SEM,EPMA,TEM and tensile testing.TEM and EDS analysis reveal that spherical CePb3 particles form after Ce addition.CePb3 particles,with average size of^3.6μm,homogenously distribute in the Cu matrix.Due to small lattice misfit(~4.62%)with Cu matrix,CePb3 particles can act as effective nucleation sites beneficial to the grain refinement.Pb at grain boundaries seriously deteriorates the mechanical properties of Cu.The tensile strength and the elongation of Cu-0.1 Pb are decreased by 43.1%and 56.7%compared with those of pure copper,respectively.Ce can purify grain boundaries,cause the precipitation of CePb3 particles and refine grain sizes,which contribute to significant improvement of the mechanical properties of Cu.Compared with Cu-0.1Pb,the tensile strength(179 MPa)and the elongation(38.5%)of Cu-0.1Pb-0.3Ce are increased by 117.6%and 151.6%,respectively.
基金financial supports from the National Natural Science Foundation of China(Nos.51875041,51875042)。
文摘A graded structural material(GSM)with a material transition from TA15 to TC11 was fabricated by wire arc additive manufacturing(WAAM)method.The grain morphology,chemical composition,microstructure and mechanical properties of the as-deposited GSM were all characterized to investigate their variations along the deposition direction.The results indicate that from TA15 to TC11,the grain size decreases and a transition from columnar grains to equiaxed grains occurs.The content of alloy element alters greatly within a short distance,and the width of the mutation zone is 800μm.Both TA15 and TC11 regions exhibit basketweave microstructure withα-phase andβ-phase.However,during the transition from TA15 to TC11,theα-lath becomes fine,which leads to an increase in microhardness.The tensile test shows that the bonding strength at the interface is higher than the longitudinal strength of TA15,and the lateral elongation at the interface is higher than that of TA15 and TC11.
基金Project(51471035)supported by the National Natural Science Foundation of China
文摘The influence of cooling rate on the microstructure of Al0.6CoCrFeNi high entropy alloy（HEA） powders was investigated. The spherical HEA powders（D50≈78.65 μm） were prepared by high pressure gas atomization. The different cooling rates were achieved by adjusting the powder diameter. Based on the solidification model, the relationship between the cooling rate and the powder diameter was developed. The FCC phase gradually disappears as particle size decreases. Further analysis reveals that the phase structure gradually changes from FCC＋BCC dual-phase to a single BCC phase with the increase of the cooling rate. The microstructure evolves from planar crystal to equiaxed grain with the cooling rate increasing from 3.19×10^4 to 1.11×10^6 K/s.
文摘With the increasing concerns to energy shortage and environmental problems in modern society,the development of cheap,clean,and sustainable energy alternatives has been attracting tremendous attention globally.Among various strategies of renewable energy exploration,solar-driven water splitting into its compositional elements H2 and O2 is an ideal approach to convert and store renewable solar energy into chemical bonds.In recent few decades,as an emerging new type of catalysts,polyoxometalates(POMs)have been widely utilized for water splitting due to their versatile synthetic methodology and highly tunable physicochemical and photochemical properties.This critical review addresses the research advances of light-driven hydrogen evolution using polyoxometalate-based catalysts,including plenary POMs,transition-metal-substituted POMs,POM@MOF composites,and POM-semiconductor hybrids,under UV,near UV and visible light irradiation.In addition,the catalytic mechanism for each reaction system has been thoroughly discussed and summarized.Finally,a comprehensive outlook of this research area is also prospected.
