Model predictive control of steering torque in shared driving of autonomous vehicles.

The current path tracking control method is usually based on the steering wheel angle loop, which often makes the driver lose control of the automatic driving control loop. In order to involve the driver in the automatic driving control loop, and to solve the vehicle path tracking control problem with system robustness and model uncertainty, this paper puts forward a steering torque control method based on model predictive control algorithm. Based on the vehicle model, this method introduces the steering system model and the steering resistance torque model, and calculates the optimal control torque of the vehicle through the real-time vehicle status, so as to make up for the model mismatch, interference and other uncertainties, and ensure the real-time participation of the driver in the automatic driving control loop. To combine the nonlinear vehicle dynamics model with the steering column model, and to take the vehicle state parameters as the feedback variables of the model predictive controller model, then input the solution of the steering superposition control rate into the vehicle model, the design of the steering controller is realized. Finally, to carry out the simulation of lane keeping based on CarSim software and Simulink control model, and the hardware in-the-loop test on the hardware in-the-loop experimental platform of CarSim/LabVIEW-RT. The simulation and test results indicate that the designed torque loop path tracking control method based on model predictive control can help the driver track the target path better.

The charge regulation of electronic structure and optical properties of graphitic carbon nitride under strain.

The electronic structure of the graphitic carbon nitride (g-C6N6) under strain was obtained using the hybrid density functional HSE06 with a larger computational workload. The g-C6N6 could withstand 12% of the applied tensile strain. The electronic structure of g-C6N6 could be changed effectively under the tensile force. The band gap changed from direct to indirect under the strain and could be tuned in the range of 3.16 eV to 3.75 eV. At approximately 4% of the applied strain, there was a transition of the valence band maximum (VBM). A wider range of light absorption could be obtained under the strain. Our results provide a prospect for the future applications of two-dimensional materials in electronic and optoelectronic devices.

Primary Culture of Mouse Neurons from the Spinal Cord Dorsal Horn.

Primary afferents of sensory neurons mainly terminate in the spinal cord dorsal horn, which has an important role in the integration and modulation of sensory-related signals. Primary culture of mouse spinal dorsal horn neuron (SDHN) is useful for studying signal transmission from peripheral nervous system to the brain, as well as for developing cellular disease models, such as pain and itch. Because of the specific features of SDHN, it is necessary to establish a reliable culture method that is suitable for testing neural response to various external stimuli in vitro.

Forming heterojunction: an effective strategy to enhance the photocatalytic efficiency of a new metal-free organic photocatalyst for water splitting.

Photocatalytic water splitting is a new technology for the conversion and utilization of solar energy and has a potential prospect. One important aspect of enhancing the photocatalytic efficiency is how to improve the electron-hole separation. Up to now, there is still no ideal strategy to improve the electron-hole separation. In this article, for metal-free organic photocatalysts, we propose a good strategy- forming heterojunction, which can effectively improve the electron-hole separation. We provide a metal-free organic photocatalyst g-C12N7H3 for water splitting. The stability of g-C12N7H3 has been investigated, the X-ray diffraction spectra has been simulated. Using first-principles calculations, we have systematically studied the electronic structure, band edge alignment, and optical properties for the g-C12N7H3. The results demonstrated that g-C12N7H3 is a new organocatalyst material for water splitting. In order to enhance the photocatalytic efficiency, we provided four strategies, i.e., multilayer stacking, raising N atoms, forming g-C9N10/g-C12N7H3 heterojunction, and forming graphene/g-C12N7H3 heterojunction. Our research is expected to stimulate experimentalists to further study novel 2D metal-free organic materials as visible light photocatalysts. Our strategies, especially forming heterojunction, will substantially help to enhance the photocatalytic efficiency of metal-free organic photocatalyst.

Tensile strain induced half-metallicity in graphene-like carbon nitride.

Polymeric graphitic carbon nitride materials exhibit exotic properties superior to graphene which are promising for applications in energy conversion, environment protection, and spintronics devices. We propose a two-dimensional (2D) framework of graphene-like carbon nitride composing of C9N7 units connected by nitrogen atoms. From first-principles, we demonstrate that this 2D carbon nitride has a spin-polarized ground state and exhibits metallic electronic properties, in contrast to commonly studied graphitic carbon nitrides which are nonmagnetic semiconductors. Additionally, half-metallicity can be achieved in this framework by applying tensile strain. The realization will be beneficial for spintronics as a candidate material for a spin-current generator. More importantly, this provides a feasible way to realize half-metallicity in experiments.