The Sliding Mode Control about ASR of Vehicle with Four Independently Driven In-Wheel Motors Based on the Exponent Approach Law

AbstractAcceleration slip regulation control system is a new active safety technology. In this paper, through the research of the four-wheel independent drive electric vehicle, a sliding mode variable structure control algorithm based on exponent approach law is proposed, which is applied to the ASR system. This paper establishes a seven DOFs vehicle dynamics model, tests whether the ASR control strategy is efficient on the poor condition road. The simulation results show that the vehicle acceleration performance improvement rate increases by 43.5% and 58.5% with the control strategy. During the two simulation processes, the results indicate that the sliding mode variable structure control algorithm applied to ASR system has a good adaptation to good and slippery roads. The algorithm can greatly improve the four-wheel independent drive electric vehicle's acceleration performance

Learning Image-Conditioned Dynamics Models for Control of Under-actuated Legged Millirobots

Millirobots are a promising robotic platform for many applications due to their small size and low manufacturing costs. Legged millirobots, in particular, can provide increased mobility in complex environments and improved scaling of obstacles. However, controlling these small, highly dynamic, and underactuated legged systems is difficult. Hand-engineered controllers can sometimes control these legged millirobots, but they have difficulties with dynamic maneuvers and complex terrains. We present an approach for controlling a real-world legged millirobot that is based on learned neural network models. Using less than 17 minutes of data, our method can learn a predictive model of the robot's dynamics that can enable effective gaits to be synthesized on the fly for following user-specified waypoints on a given terrain. Furthermore, by leveraging expressive, high-capacity neural network models, our approach allows for these predictions to be directly conditioned on camera images, endowing the robot with the ability to predict how different terrains might affect its dynamics. This enables sample-efficient and effective learning for locomotion of a dynamic legged millirobot on various terrains, including gravel, turf, carpet, and styrofoam. Experiment videos can be found at https://sites.google.com/view/imageconddy

Evaluation of polymyxin B AUC/MIC ratio for dose optimization in patients with carbapenem-resistant Klebsiella pneumoniae infection

Polymyxin B has been used as a last-line therapy for the treatment of carbapenem-resistant gram-negative bacterial infection. The pharmacokinetic/pharmacodynamic index (AUC/MIC) of polymyxin B has not been clinically evaluated, given that the broth microdilution method for polymyxin susceptibility testing is rarely used in hospitals. This study analyzed data from 77 patients with carbapenem-resistant Klebsiella pneumoniae infections. Among the samples, 63 K. pneumoniae isolates had MIC values of 1.0 mg/L as measured by broth microdilution but 0.5 mg/L as measured using the Vitek 2 system. Polymyxin B AUC/MIC was significantly associated with clinical response (p = 0.002) but not with 30-day all-cause mortality (p = 0.054). With a target AUC/MIC value of 50, Monte Carlo simulations showed that a fixed dose of 100 mg/12 h and three weight-based regimens (1.25 mg/kg/12 h for 80 kg and 1.5 mg/kg/12 h for 70 kg/80 kg) achieved a cumulative fraction of response >90% regardless of renal function, but the risk of nephrotoxicity was high. For patients with carbapenem-resistant K. pneumoniae infections, the underestimation of polymyxin resistance in automated systems need to be taken into account when optimizing polymyxin B dosing based on pharmacokinetic/pharmacodynamic principles

Oxide perovskite BaSnO3: A promising high-temperature thermoelectric material for transparent conducting oxides

The new technology of energy conversion must be developed to ensure energy sustainability. Thermoelectric (TE) materials provide an effective means to solve the energy crisis. As a potential TE candidate, the TE properties of perovskite have received extensively attention. We here investigate the TE transport properties of the transparent conducting oxide (TCO) BaSnO3 by first-principles calculations. We find that the BaSnO3 perovskite exhibits outstanding dynamic and thermal stabilities, which provide excellent electronic and thermal transport properties simultaneously. These properties contribute to the remarkable Seebeck coefficient and power factor, which gives rise to the ZT of n-1.03 and p-3.64 at 900 K. Additionally, doping and nanostructure open prospects for effectively improving the TE properties of BaSnO3. Our work provides a basis for further optimizing the TE transport properties of cubic BaSnO3 and may have worthwhile practical significance for applying cubic perovskite to the high-temperature thermoelectric field.Comment: 29 pages,6 figures,1 tabl

Superfolded configuration induced low thermal conductivity in two-dimensional carbon allotropes revealed via machine learning force constant potential

Understanding the fundamental link between structure and functionalization is crucial for the design and optimization of functional materials, since different structural configurations could trigger materials to demonstrate diverse physical, chemical, and electronic properties. However, the correlation between crystal structure and thermal conductivity (\k{appa}) remains enigmatic. In this study, taking two-dimensional (2D) carbon allotropes as study cases, we utilize phonon Boltzmann transport equation (BTE) along with machine learning force constant potential to thoroughly explore the complex folding structure of pure sp2 hybridized carbon materials from the perspective of crystal structure, mode-level phonon resolved thermal transport, and atomic interactions, with the goal of identifying the underlying relationship between 2D geometry and \k{appa}. We propose two potential structure evolution mechanisms for targeted thermal transport properties: in-plane and out-of-plane folding evolutions, which are generally applicable to 2D carbon allotropes. It is revealed that the folded structure produces strong symmetry breaking, and simultaneously produces exceptionally strongly suppressed phonon group velocities, strong phonon-phonon scattering, and weak phonon hydrodynamics, which ultimately lead to low \k{appa}. The insight into the folded effect of atomic structures on thermal transport deepens our understanding of the relationship between structure and functionalization, which offers straightforward guidance for designing novel nanomaterials with targeted \k{appa}, as well as propel developments in materials science and engineering

2D Janus Niobium Oxydihalide NbOXYXY: Multifunctional High-Mobility Piezoelectric Semiconductor for Electronics, Photonics and Sustainable Energy Applications

Two-dimensional (2D) niobium oxydihalide NbOI$_2$ has been recently demonstrated as an excellent in-plane piezoelectric and nonlinear optical materials. Here we show that Janus niobium oxydihalide, NbO$XY$ (X, Y = Cl, Br, I and X$\neq$Y), is a multifunctional anisotropic semiconductor family with exceptional piezoelectric, electronic, photocatalytic and optical properties. NbO$XY$ are stable and mechancially flexible monolayers with band gap around the visible light regime of $\sim 1.9$ eV. The anisotropic carrier mobility of NbO$XY$ lies in the range of $10^3 \sim 10^4$ cm$^2$V$^{-1}$s$^{-1}$, which represents some of the highest among 2D semiconductors of bandgap $\gtrsim 2$ eV. Inversion symmetry breaking in Janus NbO$XY$ generates sizable out-of-plane $d_{31}$ piezoelectric response while still retaining a strong in-plane piezoelectricity. Remarkably, NbO$XY$ exhibits an additional out-of-plane piezoelectric response, $d_{32}$ as large as 0.55 pm/V. G$_0$W$_0$-BSE calculation further reveals the strong linear optical dichroism of NbO$XY$ in the visible-to-ultraviolet regime. The optical absorption peaks with $14\sim18$ \% in the deep UV regime ($5\sim6$ eV), outperforming the vast majority of other 2D materials. The high carrier mobility, strong optical absorption, sizable built-in electric field and band alignment compatible with overall water splitting further suggest the strengths of NbO$XY$ in energy conversion application. We further propose a directional stress sensing device to demonstrate how the out-of-plane piezoelectricity can be harnessed for functional device applications. Our findings unveil NbO$XY$ as an exceptional multifunctional 2D semiconductor for flexible electronics, optoelectronics, UV photonics, piezoelectric and sustainable energy applications.Comment: 16 Pages, 7 Figures, 3 Table

Impact of Minor Alloy Components on the Electrocapillarity and Electrochemistry of Liquid Metal Fractals

Exploring and controlling surface tension-driven phenomena in liquid metals may lead to unprecedented possibilities for next-generation microfluidics, electronics, catalysis, and materials synthesis. In pursuit of these goals, the impact of minor constituents within liquid alloys is largely overlooked. Herein, it is showed that the presence of a fraction of solute metals such as tin, bismuth, and zinc in liquid gallium can significantly influence their electrocapillarity and electrochemistry. The instability-driven fractal formation of liquid alloy droplets is investigated with different solutes and reveals the formation of distinctive non-branched droplets, unstable fractals, and stable fractal modes under controlled voltage and alkaline solution conditions. In their individually unique fractal morphology diagrams, different liquid alloys demonstrate significantly shifted voltage thresholds in transition between the three fractal modes, depending on the choice of the solute metal. Surface tension measurements, cycle voltammetry and surface compositional characterizations provide strong evidence that the minor alloy components drastically alter the surface tension, surface electrochemical oxidation, and oxide dissolution processes that govern the droplet deformation and instability dynamics. The findings that minor components are able to regulate liquid alloys’ surface tensions, surface element distributions and electrochemical activities offer great promises for harnessing the tunability and functionality of liquid metals.</p