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In this work, cobalt-doped oxygen-vacancies-rich BiVO4(Co/BiVO4-Vo) was successfully synthesized for the degradation of tetracycline (TC) by activated peroxymonosulfate (PMS) under visible light. The morphologies, microstructures, and optical properties of the photocatalysts were analyzed in detail. Co/BiVO4-Voexhibited significantly enhanced degradation, removing 92.3% of TC within 10 min, which was greater than those of pure BiVO4(62.2%) and oxygen-vacancies-rich BiVO4(BiVO4-Vo) (72.0%), respectively. The photogenerated charge separation and transport properties were explored through surface photovoltage (SPV), photoluminescence spectrum (PL), and UV–vis diffuse reflectance spectroscopy (UV–vis DRS) measurements. Additionally, an in-depth investigation was conducted on the photocatalytically assisted advanced oxidation processes based on SO4•–(SR-AOPs) for the degradation of organic pollutants. The experimental results showed that the introduction of oxygen vacancies and Co doping achieved an effective separation of photogenerated carriers, which could accelerate the cycling between Co3+and Co2+and further activate PMS. The results of free radical capture experiments and electron spin resonance (ESR) experiments showed that reactive oxygen species (ROSs) such as 1O2, •O2–, and SO4•–played a dominant role in the removal of pollutants. This work provides a novel insight into the further development of efficient and rapid PMS photoactivators for environmental remediation of water bodies.

α-Fe2O3is a promising photoanode that is limited by its high surface charge recombination and slow water oxidation kinetics. In this study, we synthesized a TiO2layer on Ti-Fe2O3by annealing Ti-MOFs, followed by ZIF-67 as a co-catalyst, to fabricate a ZIF-67/TiO2/Ti-Fe2O3photoanode for photoelectrochemical (PEC) water splitting. The systematic experimental and theoretical results revealed that the improvement in performance was due to multiple effects of the MOF-derived TiO2. This molecule not only passivates the acceptor surface states of Ti-Fe2O3, thereby reducing the number of surface recombination centers, but also acts as an electron barrier to promote charge separation in the Ti-Fe2O3bulk. Moreover, MOF-derived TiO2can dramatically reduce the energy barrier for the OER of Ti-Fe2O3, thus promoting the conversion of the intermediate *OH into *O. The synergistic improvement in the bulk and surface properties effectively enhanced the water oxidation performance of Ti-Fe2O3. The ZIF-67/TiO2/Ti-Fe2O3photoanode exhibits a photocurrent density of up to 4.04 mA cm−2at 1.23 V vs. RHE, which is 9.4 times as that of pure Ti-Fe2O3, and has long-term stability. Our work provides a feasible strategy for constructing efficient organic-inorganic hybrid photoelectrodes.

Actuator fault will lead to the damage of vehicle driving ability. How to analyze the residual driving ability of the vehicle and use the residual driving ability to carry out targeted fault tolerance control (FTC) is the difficulty of FTC for automatic driving vehicles. In this article, an active FTC strategy for actuator fault of four wheels independent drive vehicles and a reference target reshaped scheme (RTRS) are proposed. The method consists of two parts. The first part calculates the limit of the vehicle's resultant longitudinal force, lateral force and yaw moment through the analysis of the friction limit between the tire and the ground and the vehicle's driving demand, which is called the driving capability feasible region (DCFR). Considering the impact of actuator fault on the tire force, the second analysis obtains the vehicle's residual driving limit, which is called the fault tolerant feasible region (FTFR). The upper Model Predictive Control (MPC) motion controller based on the FTFR and the lower allocation controller are designed to realize the FTC algorithm of the vehicle. The second part focuses on the fault scenes that can not be solved by a fault-tolerant controller alone. By weakening the driving task, priority is given to ensuring that the vehicle driving meets the driving capacity limit. The specific way is based on the optimization dynamic solution method, which comprehensively considers the FTC and the original reference target and uses the future output matrix equation of the upper MPC motion controller to design the optimization target to solve the feasible vehicle driving state, so as to achieve the RTRS. Carsim Simulink joint simulation is used to conduct FTC simulation of vehicle stability system actuator faults. The experimental results verify the effectiveness of the proposed FTC method and the RTRS to solve the problem of vehicle stability system actuator fault.