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The performance of the extended state observer (ESO) in an Active Disturbance Rejection Control (ADRC) is limited by the operational load in stepper motor control, which has high real-time requirements and may cause delays. Additionally, the complexity of parameter tuning, especially in high-order systems, further limits the ESO's performance. This paper proposes a composite ADRC (LTDRO-ADRC) based on a load torque dimensionality reduction observer (LTDRO). Firstly, the LTDRO is designed to estimate abrupt load disturbances that are difficult to compensate for using the ESO. Secondly, the transfer function under the double-closed loop is deduced. Additionally, the LTDRO uses a magnetic encoder to gather the system state and calculate the load torque. It then outputs a compensating current feedforward to the current loop input. This method reduces the delay and complexity of the ESO, improving the response speed of the ADRC speed ring and the overall response of the system to load changes. Simulation and experimental results demonstrate that it significantly enhances dynamic control performance and steady-state errors. LTDRO-ADRC can stabilize the speed again within 49 ms and 17 ms, respectively, in the face of sudden load increase and sudden load removal. At the same time, in terms of steady-state error, compared with ADRC and CADRC, they have increased by 94% and 88%, respectively. In terms of zero-speed starting motors, the response speed is increased by 58% compared to a traditional ADRC.

Assessing bladder function is pivotal in urological health, with bladder volume a critical indicator. Traditional devices, hindered by high costs and cumbersome sizes, are being increasingly supplemented by portable alternatives; however, these alternatives often fall short in measurement accuracy. Addressing this gap, this study introduces a novel A-mode ultrasound-based bladder volume estimation algorithm optimized for portable devices, combining efficient, precise volume estimation with enhanced usability. Through the innovative application of a wavelet energy ratio adaptive denoising method, the algorithm significantly improves the signal-to-noise ratio, preserving critical signal details amidst device and environmental noise. Ultrasonic echoes were employed to acquire positional information on the anterior and posterior walls of the bladder at several points, with an ellipsoid fitted to these points using the least squares method for bladder volume estimation. Ultimately, a simulation experiment was conducted on an underwater porcine bladder. The experimental results indicate that the bladder volume estimation error of the algorithm is approximately 8.3%. This study offers a viable solution to enhance the accuracy and usability of portable devices for urological health monitoring, demonstrating significant potential for clinical application.

The Multi-Point Relay (MPR) is one of the core technologies for Optimizing Link State Routing (OLSR) protocols, offering significant advantages in reducing network overhead, enhancing throughput, maintaining network scalability, and adaptability. However, due to the restriction that only MPR nodes can forward control messages in the network, the current evaluation criteria for selecting MPR nodes are relatively limited, making it challenging to flexibly choose MPR nodes based on current link states in dynamic networks. Therefore, the selection of MPR nodes is crucial in dynamic networks. To address issues such as unstable links, poor transmission accuracy, and lack of real-time performance caused by mobility in dynamic networks, we propose a comprehensive evaluation algorithm of MPR based on link-state awareness. This algorithm defines five state evaluation parameters from the perspectives of node mobility and load. Subsequently, we use the entropy weight method to determine weight coefficients and employing the method of Technique for Order Preference by Similarity to Ideal Solution (TOPSIS) for comprehensive evaluation to select MPR nodes. Finally, the Comprehensive Evaluation based on Link-state awareness of OLSR (CEL-OLSR) protocol is proposed, and simulated experiments are conducted using NS-3. The results indicate that, compared to PM-OLSR, ML-OLSR, LD-OLSR, and OLSR, CEL-OLSR significantly improves network performance in terms of packet delivery rate, average end-to-end delay, network throughput, and control overhead.

In the realm of sensorless control for a permanent magnet synchronous motor (PMSM), the flux observer algorithm is widely recognized. However, the estimation accuracy of rotor position is adversely impacted by the interference from DC bias and high-order harmonics. To address these issues, an advanced flux observation method, second-order generalized integrator flux observer extend (SOGIFO-X), is introduced in this paper. The study begins with a theoretical analysis to establish the relationship between flux observation error and rotor position error. The SOGIFO-X method, developed in this study, is compared with traditional methods such as the Low Pass Filter (LPF) and second-order generalized integrator flux observer (SOGIFO), employing mathematical rigor and Bode plot analysis. The emphasis is on the methodology and the general performance improvements SOGIFO-X offers over conventional methods. Simulations and experiments were conducted to assess the impact of SOGIFO-X on the steady-state and dynamic performances of sensorless control. Findings indicate that SOGIFO-X demonstrates significant enhancements in terms of reducing the reduced flux observation error, contributing to the advancement of position estimation accuracy and sensorless motor control technology.

Organic compounds have become a potentially important choice for a new generation of energy-storage electrode materials due to their designability, flexibility, green sustainability, and abundance. However, the applications of organic electrode materials are still limited because of their dissolution in electrolytes and low electrical conductivity, which in turn cause poor cycling stability. Here, for the first time, we report 2-amino-4-thiazole-acetic acid (ATA) and its sodium salt, sodium 2-amino-4-thiazol-derived polymer (PATANa), as an anode. The PATANa showed a two-dimensional (2D) nanosheet structure, offering a larger contact area with the electrolyte and a shorter ion-migration path, which improved the ion-diffusion kinetics. The polymer showed excellent cycling stability and outstanding rate capability when tested as an anode for sodium-ion batteries (SIBs). It could deliver a high reversible specific capacity of 303 mA h g -1 at 100 mA g -1 for 100 cycles and maintain a high discharge capacity of 190 mA h g -1 after 1000 long cycle numbers even at a high current density of 1000 mA g -1 . This approach of salinizing the polymer opens a new way to develop anode materials for sodium-ion batteries.

Molybdenum-based oxides have been widely investigated as promising material for lithium ion batteries owing to their unique physical and chemical properties as well as the large specific capacities. However, the fast capacity fading and poor cyclability originated from the large volume expansion and the sluggish electrode kinetics still inhibit their practical application. Herein, Ag nanoparticles combined with amorphous MoO x -in-plane nanoconfined on three dimensional N-doped porous carbon networks (3DNC) are designed and synthesized through salt-template strategy accompanied by annealing treatment and hydrothermal method (3DNC-MoO x -Ag). The synergistic effect of Ag nanoparticles and amorphous MoO x can inhibit the "dead volume" and aggregation of the electrode, accommodate the volume change, accelerate the diffusion kinetics during the lithium ion intercalation and de-intercalation processes. As a result, the designed 3DNC-MoO x -Ag delivers prominent cycling stability (834 mAh g -1 after 100 cycles at 200 mA g -1 ) and excellent rate performance (419 mAh g -1 after 70 cycles at 5000 mA g -1 ). Even at 5000 mA g -1 , a specific capacity as high as 369 mAh g -1 can be achieved after 500 cycles., Competing Interests: Declaration of Competing Interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (Copyright © 2022 Elsevier Inc. All rights reserved.)

Transition metal chalcogenides are considered as promising alternative materials for lithium-ion batteries owing to their relatively high theoretical capacity. However, poor cycle stability combined with low rate capacity still hinders their practical applications. In this work, the Cu-N chemical bonding directed the stacking Cu 2-x Se nanoplates (DETA-Cu 2-x Se) is developed to solve this issue. Such unique structure with small nanochannels can enhance the reactive site, facilitate the Li-ion transport as well as inhibit the structural collapse. Benefitting of these advantages, the DETA-Cu 2-x Se exhibits high specific capacity, better rate capacity and long cyclability with the specific capacities of 565mAhg -1 after 100 cycles at 200 mA g -1 and 368mAhg -1 after 500 cycles at 5000 mA g -1 . This novel DETA-Cu 2-x Se structure with nanochannels is promising for next generation energy storage and the synthetic process can be extended to fabricate other transition metal chalcogenides with similar structure., Competing Interests: Declaration of Competing Interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (Copyright © 2021 Elsevier Inc. All rights reserved.)

Wireless sensor networks (WSNs) are widely applied in environmental monitoring, target tracking, military, and industrial fields. However, the battery energy of sensor nodes in WSNs is limited, which limits its development. Previous studies have shown that clustering protocols and multi-hop communication are beneficial to reduce nodes energy consumption. The multi-hop protocol based on low energy adaptive clustering hierarchy (LEACH) has been proven to significantly reduce energy dissipation. However, LEACH-based multi-hop protocols generally have the problem of unbalanced energy dissipation and data conflicts. In this paper, we propose a centralized multi-hop routing based on multi-start minimum spanning forest (LEACH-CMF) to optimize LEACH. In order to realize multi-hop communication, we introduced a multi-start minimum spanning tree algorithm to select relay nodes with the minimum relay cost and generate appropriate multi-hop paths. To avoid data collision in multi-hop communication and make nodes including the cluster heads sleep as much as possible in the non-working state, we design a bottom-up continuous time slot allocation method to improve the time division multiple access (TDMA) cycle. We performed simulation in NS2. The simulation results show that the network lifetime is approximately doubled compared to LEACH and centralized low energy adaptive clustering hierarchy (LEACH-C). The simulation results show that the proposed protocol can effectively balance the energy dissipation of nodes and prolong network lifetime.

Transition metal oxides, as one of the most promising anode materials for lithium-ion batteries, often suffer from poor electronic conductivity and serious structural collapse. In this work, oxygen-vacancy-abundant CoFe 2 O 4 and NiFe 2 O 4 deposited on N-doped carbon nanosheets are designed and fabricated through a calcination procedure and a solvothermal strategy using Zn-hexamine coordination frameworks as precursors. The as-prepared NC@CoFe 2 O 4 and NC@NiFe 2 O 4 hybrids display improved cycle performances and rate capacities compared with CoFe 2 O 4 , NiFe 2 O 4 , and Fe 2 O 3 . The enhanced lithium storage performances of NC@CoFe 2 O 4 and NC@NiFe 2 O 4 are attributed to the oxygen vacancies and conductive N-doped carbon nanosheets, which increase the electronic conductivity and electrochemical reaction kinetics. The synthetic process in this work provides a new perspective for designing other high-performance transition metal oxide anodes., (© 2020 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.)

Co 0.85 Se nanosheets assembled layer by layer on N-doped carbon nanosheets (NC@Co 0.85 Se) are designed and fabricated through a facile solvothermal process. The hexamethylenetetramine as the solvent and complexing agent promotes the accumulation of Co 0.85 Se layer by layer. The long chain diethylenetriamine between the Co 0.85 Se nanosheets provides buffer space and nanochannels for accelerating the Li + transportation. The N-doped carbon nansheets in NC@Co 0.85 Se provide effective conductive network during charge-discharge process. As an anode material for lithium-ion batteries, the NC@Co 0.85 Se nanocomposites deliver a high specific capacity of 636 mAh g -1 after 100 cycles at current density of 200 mA g -1 , and 399 mAh g -1 for 500 cycles at high current density of 5000 mA g -1 ., Competing Interests: Declaration of Competing Interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (Copyright © 2020 Elsevier Inc. All rights reserved.)

Owing to the excellent electrical conductivity and high theoretical capacity, binary transition metal sulfides have attracted extensive attention as promising anodes for lithium ion batteries (LIBs). However, the relatively poor electrical conductivity and serious capacity fading originated from large volume change still hinder their practical applications. Herein, binary NiMoS 4 nanoparticles are deposited on N doped carbon nanosheets (NC@NiMoS 4 ) through a facile hydrothermal method. The N doped carbon nanosheets and the strong chemical bonding between NC and NiMoS 4 can accommodate the volume change, keep the structural integrity and promote the ion/electron transfer during electrochemical reaction. The extra voids between NiMoS 4 nanoparticles enlarge the contact area and reduce the lithium migration barriers. As anode for LIBs, the NC@NiMoS 4 exhibits the excellent cycle stability with 834 mAh g -1 after 100 cycles at the current density of 100 mA g -1 . Even at high rate of 2000 mA g -1 , the specific capacity of 544 mAh g -1 can be achieved after 500 cycles., (Copyright © 2019 Elsevier Inc. All rights reserved.)

Ag-AgBr nanospheres were synthesized on the tubular surface of TiO 2 nanotube arrays (TiO 2 NTA/Ag-AgBr) by the one-pot hydrothermal deposition strategy using cetyltrimethyl ammonium bromide (CTAB) as bromine source and morphology controlling agent. The results showed that the TiO 2 NTA/Ag-AgBr (0.025) prepared with 0.025 g CTAB had the uniform particle distribution, high visible light absorption, photoelectric conversion activity and photoelectrocatalytic (PEC) removal of organic dyes and heavy metal ions. The high photocatalytic decomposition of organic pollutants in waste water was attributed to the synergistic effect of Ag-AgBr nanospheres with the strong visible light response and effective separation of electron-hole pairs. The active group and photocatalytic mechanism for the rapid pollutant removal were systematically explored. This work will open the window of TiO 2 NTA based photoelectrodes for the applications in solar energy conversion and dyeing waste water purification., (Copyright © 2019 Elsevier B.V. All rights reserved.)

Compared to single-component materials, hybrid materials with various components display superior electrochemical performance. In this work, two-dimensional CoS x @NC@Sb nanosheets assembled by ultrathin CoS x nanosheets (∼4 nm) and a thin layer of N-doped amorphous carbon (NC) combined with colloidlike Sb nanoparticles are designed and synthesized via a solvothermal route accompanied by a carbonization and Sb deposition procedure. If applied in lithium-ion batteries (LIBs), the hybrids exhibit a specific capacity of 960 mA h g -1 at the 100th cycle at 0.1 A g -1 . Moreover, the reversible capacity still maintains at 494 mA h g -1 after 500 cycles at a high rate of 10 A g -1 . All enhanced electrochemical properties of the hybrids are attributed to the synergistic effect of the two components and their unique structural features, which can effectively increase the electrical conductivity, shorten the pathway of Li + diffusion, accommodate the volume variation, and inhibit the aggregation and pulverization of the electrode. We believe that the current work can provide a new strategy for designing and fabricating high-performance anode materials for LIBs.

Amorphous MoSe 2 and Se anchored on amorphous carbon coated multiwalled carbon nanotubes (CNTs@C@MoSe 2 @Se) have been synthesized by a facile solvothermal strategy. The one dimensional CNTs@C@MoSe 2 @Se can effectively buffer the volume variation, prohibit the aggregation and facilitate electron and ion transport throughout the electrode. Furthermore, the combination of MoSe 2 and Se also provides buffer spaces for the volumetric change during cycling. Thus, the obtained CNTs@C@MoSe 2 @Se hybrids display the enhanced cycle stability and excellent high rate capacity. The reversible capacity of 1010mAhg -1 can be achieved after 100 cycles at the current density of 0.1Ag -1 . Even after 500 cycles, a reversible capacity of 508mAhg -1 is still retained at 5Ag -1 ., (Copyright © 2017 Elsevier Inc. All rights reserved.)

Cobalt sulfide and molybdenum sulfide, with high theoretical capacities, have been considered as one of most promising anode materials for lithium-ion batteries (LIBs). However, the poor cyclability and low rate performances originating from the large volume expansion and poor electrical conductivity extremely inhibit their practical application. Here, the electrochemical performances are effectively improved by growing amorphous cobalt sulfide and molybdenum sulfide onto amorphous carbon-coated multiwalled carbon nanotubes (CNTs@C@CoS 2 and CNTs@C@MoS 2 ). The CNTs@C@CoS 2 presents a high reversible specific capacity of 1252 mAh g -1 at 0.2 Ag -1 , excellent rate performance of 672 mAh g -1 (5 Ag -1 ), and enhanced cycle life of 598 mAh g -1 after 500 cycles at 2 Ag -1 . For CNTs@C@MoS 2 , it exhibits a specific capacity of 1395 mAh g -1 , superior rate performance of 727 mAh g -1 at 5 Ag -1 , and long cycle stability (796 mAh g -1 after 500 cycles at 2 Ag -1 ). The enhanced electrochemical properties of the electrodes are probably ascribed to their amorphous nature, the combination of CNTs@C that adhered and hindered the agglomeration of CoS 2 and MoS 2 as well as the enhanced electronic conductivity., (© 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.)

The controlled synthesis of one-dimensional and three-dimensional Sb(2)Se(3) nanostructures has been achieved by a facile solvothermal process in the presence of citric acid. By simply controlling the concentration of citric acid, the nucleation, growth direction and exposed facet can be readily tuned, which brings the different morphologies and nanostructures to the final products. The as-prepared products have been characterized by means of X-ray diffraction, field-emission scanning electron microscopy, transmission electron microscopy (TEM), high-resolution TEM and selected area electron diffraction. Based on the electron microscope observations, a possible growth mechanism of Sb(2)Se(3) with distinctive morphologies including ultralong nanobelts, hierarchical urchin-like nanostructures is proposed and discussed in detail. The electrochemical hydrogen storage measurements reveal that the morphology plays a key role on the hydrogen storage capacity of Sb(2)Se(3) nanostructures. The Sb(2)Se(3) ultralong nanobelts with high percentage of {-111} facets exhibit higher hydrogen storage capacity (228.5 mA h g(-1)) and better cycle stability at room temperature.