Barrier Function-based Safe Reinforcement Learning for Formation Control of Mobile Robots

Distributed model predictive control (DMPC) concerns how to online control multiple robotic systems with constraints effectively. However, the nonlinearity, nonconvexity, and strong interconnections of dynamic system models and constraints can make the real-time and real-world DMPC implementations nontrivial. Reinforcement learning (RL)...

Novel Solid-State Sodium-Ion Battery with Wide Band Gap NaTi₂(PO₄)₃ Nanocrystal Electrolyte

NaTi2(PO4)3 (NTP), a well-known anode material, could be used as a solid wide-band gap electrolyte. Herein, a novel solid-state sodium-ion battery (SSIB) with the thickness of electrolyte up to the millimeter level is proposed. The results of the difference in charge density investigated by the first-principles calculations imply that using...

Wireless, implantable catheter-type oximeter designed for cardiac oxygen saturation

Accurate, real-time monitoring of intravascular oxygen levels is important in tracking the cardiopulmonary health of patients after cardiothoracic surgery. Existing technologies use intravascular placement of glass fiber-optic catheters that pose risks of blood vessel damage, thrombosis, and infection. In addition, physical tethers to power...

A historical review of sediment export–import shift in the North Branch of Changjiang Estuary

Net sediment transport is predominantly seaward in fluvial-dominated estuaries worldwide. However, a distributary branch in the Changjiang Estuary, the North Branch, undergoes net landward sediment transport, which leads to severe channel aggradation. Its controlling mechanism and the role of human activities remain insufficiently understood,...

Changjiang Delta in the Anthropocene: Multi-scale hydro-morphodynamics and management challenges

The Changjiang Delta (CD) is one of well-studied large deltas of critical socio-economical and ecological importance regionally and global representativeness. Cumulated field data and numerical modeling has facilitated scientific understanding of its hydro-morphodynamics at multiple spatial and time scales, but the changing boundary forcing...

Effective Approaches of Improving the Performance of Chalcogenide Solid Electrolytes for All-Solid-State Sodium-Ion Batteries

All-solid-state sodium-ion batteries (SIBs) possess the advantages of rich resources, low price, and high security, which are one of the best alternatives for large-scale energy storage systems in the future. Also, the chalcogenide solid electrolytes (CSEs) of SIBs have the characteristics of excellent room-temperature ionic conductivity (10...