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Abstract This paper proposes a adaptive reaching law-based sliding mode control (SMC) method for maintaining favorable velocity control performance of permanent magnet synchronous motors (PMSMs) under internal and external perturbations. An adaptive switching power reaching law (ASPRL) is designed, which contains adaptive terms and state variables of the sliding mode surface function. This augmented reaching law decreases the chatter of the control system and increases the rate at which the state variables of the system reach the sliding mode surface. Additionally, a Luenberger observer load torque (LOLT) is designed to observe the external load and provide feedback to the velocity controller, reducing the impact of load disturbances and improving the jamming performance of the controller. Simulation experiments confirm that ASPRL reduces buffeting, decreases overshoot, and shortens response time, demonstrating its advantages in PMSM control.

CD36 is a transmembrane glycoprotein that binds to a wide range of ligands, including fatty acids (FAs), cholesterol, thrombospondin-1 (TSP-1) and thrombospondin-2 (TSP-2), and plays an important role in lipid metabolism, immune response, and angiogenesis. Recent studies have highlighted the role of CD36 in mediating lipid uptake by tumor-associated immune cells and in promoting tumor cell progression. In cancer-associated fibroblasts (CAFs), CD36 regulates lipid uptake and matrix protein production to promote tumor proliferation. In addition, CD36 can promote tumor cell adhesion to the extracellular matrix (ECM) and induce epithelial mesenchymal transition (EMT). In terms of tumor angiogenesis, CD36 binding to TSP-1 and TSP-2 can both inhibit tumor angiogenesis and promote tumor migration and invasion. CD36 can promote tumor angiogenesis through vascular mimicry (VM). Overall, we found that CD36 exhibits diverse functions in tumors. Here, we summarize the recent research findings highlighting the novel roles of CD36 in the context of tumors.

In social interactions, people frequently encounter gain (i.e., all outcomes are gains from the status-quo) or loss (all outcomes are losses from the status-quo) social dilemmas, where their personal interests conflict with social interests. We ask whether there are any behavioral differences in social interactions when it comes to gains and losses. Using the Prisoner’s Dilemma games, in three studies we observed that participants were less cooperative in the loss domain than in the gain domain. This effect was robust, not moderated by payoff amount (Study 1), cooperation index (Study 1), domain comparison (Studies 1 and 2), and personal loss aversion (Study 3). Social motive and belief explained this effect: compared to the gain domain, participants in the loss domain aroused more pro-self motive and less prosocial motive, and showed stronger beliefs that their partner would defect, which led them to cooperate less. These findings suggest that gain and loss domains affect individual motivation and belief, subsequently affecting strategic choices in social dilemmas.

PurposeTo evaluate the relationship between endoscopic ureteral inflammatory edema (UIE) and ureteral lumen, formulate a preliminary grading method for the severity of UIE, and analyze the impact of different grades of UIE on endoscopic ureteral calculi surgery and prognosis.Materials and methodsWe retrospectively analyzed 185 patients who underwent ureteroscopic lithotripsy (URSL) for upper urinary tract stones between January 2021 and November 2021. The UIE grade and lumen conditions were assessed by endoscopic observation. The effect of UIE grade on URSL and on patient prognosis were analyzed by multiple linear regression and binary logistic regression.ResultsA total of 185 patients were included in the study. UIE grade showed a significant correlation with age, hydronephrosis grading (HG), ureteroscope placement time (UPT), surgery time (ST), hemoglobin disparity value (HDV), and postoperative ureteral stenosis (PUS) (P

Abstract Introduction The analgesic efficacy of magnesium sulphate added to bupivacaine for arthroscopy remains controversial. We conduct a systematic review and meta-analysis to explore the efficacy of magnesium sulphate in combination with bupivacaine for arthroscopy. Methods We searched PubMed, EMbase, Web of science, EBSCO, and Cochrane library databases through July 2020 for randomized controlled trials (RCTs) assessing the effect of magnesium sulphate plus bupivacaine versus bupivacaine for arthroscopy. This meta-analysis is performed using the random-effect model. Results Six RCTs were included in the meta-analysis. Overall, compared with bupivacaine for arthroscopy, combination analgesia using magnesium plus bupivacaine was associated with significantly prolonged duration of analgesia (SMD=0.93; 95% CI=0.27 to 1.60; P=0.006) and first time to analgesic requirement (SMD=196.57; 95% CI=13.90 to 379.24; P=0.03), reduced pain scores (SMD=-1.71; 95% CI=-2.96 to -0.46; P=0.007) and analgesic consumption (SMD=-1.04; 95% CI=-1.49 to -0.60; P

Hydrogel-based supercapacitors with excellent mechanical properties can overcome several unsettled challenges that current wearable power supply devices confront as a result of the distinctive dense intriguing nanostructures of hydrogels, which serve as an ideal candidate with durability and reliability for supplying power to truly wearable electronics. More importantly, benefiting from the broadly tunable physicochemical characterizations, the hydrogel electrolyte components with high ionic conductivity could possess several additional functions including ultrahigh stretchability, strong self-healability, and low-temperature tolerance, which qualifies these multifunctional supercapacitors for application in a variety of extreme working environments, especially in significant deformations caused by human-motion, conditions of applied destructive external force, and extremely frigid circumstances. Herein, the state-of-the-art advanced multifunctional supercapacitors are discussed, focusing on the introductions and explanations of particularly functionalized hydrogel electrolytes, ultra-flexible textile-based electrodes or hydrogel-based electrodes, and the combination strategies of electrolytes and electrodes.

Two-dimensional (2D) Ti3C2Tx MXene sheet possesses its interesting electrical and optical properties and has thus aroused widespread interest in a wide range of flexible optoelectronic device applications. A clear understanding of the friction behavior and performance, of MXene and other transparent materials (e.g., SiO2) will enable these promising applications. In this study, the frictional behaviors between the SiO2 (100) plane and the MXene sheet have been measured by a lateral force atomic force microscopy (AFM), based on the realization of the friction experiments in the single crystal heterojunction. The results on the two-dimensional single–layer interface between MXene and SiO2 clearly show that the corresponding heterostructure owns a strong friction anisotropy with a six-fold symmetry. The friction coefficient for the misaligned contact is 0.067, while it is 0.031 for the aligned one. We find that the measurement of friction anisotropy is highly related to the number of atomic layers of MXene. The increase of the layer number is found to significantly reduce the friction anisotropy and beyon 10 layers it is no longer related to the thickness. These findings will have general applicability and can be used in other MXene heterojunction configurations to realize the advantages of adaptive nanodevices and the development of flexible optoelectronics.

Recently developed ingenious devices fabrication, van der Waals (vdW) heterojunction integration, and characterization techniques of the novel two-dimensional layered materials (2DLMs) have profoundly promoted the in-depth research in terms of the extraordinary properties of 2DLMs, which are conducive to the precise manipulation of atomically thin layered materials. It is possible to realize the fabrication of the extremely complex electronic and optoelectronic devices in combination with the current hybrid structure at the single atomic–layer scale, which can maximize the unique properties of 2DLMs. Herein, we review the sophisticated and progressive mechanical processing techniques ranging from the exfoliation, the stack methods of vdW heterostructures to the mechanical characterization techniques, and discuss the fundamental principles and detailed steps of each technique. Then, their advantages and drawbacks are pointed out to help the experimentalists to choose a more appropriate experimental method. We hope that this review would broaden the reader's horizon in the matter of the mechanical processing of 2DLMs.

This paper proposed control schemes to realize the collaborative control as well as enhance the control precision for the distributed driving electric vehicle (DDEV). Firstly, we suggested an electronic line-shafting (ELS) to realize the cooperative control for the Multi-Motor system which is installed in the DDEV. Secondly, we adopted a nonsingular terminal sliding mode control (NTSMC) method combined with a sliding mode observer (SMO) to quicken the response velocity and strengthen the robustness of the single motor controller. Finally, for the chattering value caused by the internal parameter variation and external disturbance, a fuzzy algorithm is proposed to obtain the controller parameters of NTSMC in real-time to eliminate the chattering value of DDEV. Through several simulations and experiments, the results demonstrate that the proposed strategies can realize ideal collaborative control for the Multi-Motor system, as well as improve the dynamic performance and anti-jamming ability for the whole control system of DDEV.

N-heterocyclic carbene (NHC) has been widely used as an organocatalyst for both umpolung and non-umpolung chemistry. Previous works mainly focus on species including Breslow intermediate, azolium enolate intermediate, homoenolate intermediate, alkenyl acyl azolium intermediate, etc. Notably, the NHC-bound alkynyl acyl azolium has emerged as an effective intermediate to access functionalized cyclic molecular skeleton until very recently. In this review, we summarized the generation and reactivity of the NHC-bound alkynyl acyl azolium intermediates, which covers the efforts and advances in the synthesis of achiral and axially chiral cyclic scaffolds via the NHC-bound alkynyl acyl azolium intermediates. In particular, the mechanism related to this intermediate is discussed in detail.

A cross coupling control strategy based on second-order global fast terminal sliding mode control(2-GFTSMC) is proposed in this paper aiming to improve the synchronization accuracy of dual-motor under external load and disturbance. Firstly, the global fast terminal sliding mode controller is designed to improve the starting performance and dynamic performance of single motor and eliminate chattering phenomenon. Secondly, in order to improve the synchronization accuracy, enhance the stability of the dual-motor system and shorten the response time, a second-order global fast terminal sliding mode controller is designed by combining the global fast terminal sliding mode control with the cross-coupling control strategy. Finally, an experimental platform of dual-motor synchronous control is built, and the effectiveness of the proposed synchronization control strategy is verified by experiments.

A nonsingular terminal sliding mode control (NTSMC) scheme based on beetle antennae search (BAS) algorithm is employed in this paper to overcome the internal interference of permanent magnet in-wheel motor (PMIWM) applied in the hybrid electric vehicles (HEVs). Firstly, a nonsingular terminal sliding mode approaching is applied to accelerate approaching speed and improve the response speed of the PMIWM system. Secondly, aiming at the undesired chattering caused by the large switching gain during the sliding mode control, fuzzy rules and fuzzy controller are designed to adjust sliding mode approaching parameter in online to inhibit the chattering phenomenon. Finally, a BAS algorithm based on sensor-cloud system (SCS) is adopted in this paper to obtain the ideal control parameters for the NTSMC control strategy, which can effectively improve the dynamic performance of the PMIWM. Through various simulation and experiments, the results demonstrate the proposed BAS-NTSMC strategy has optimal control performance and robustness, as well as reducing the chattering phenomenon during the control process significantly.

People are more likely to make choices themselves than delegate to an agent, even when it may not be the most optimal decision based on a cost-benefit analysis. Previous studies have demonstrated that retaining authority and controllability might be the primary reason for preferring self-choice. The current study asks whether impairment of controllability associated with self-choice can increase the rate of delegation and whether there are self-other discrepancies in self-choice preference. In three studies, we directly manipulated participants' controllability associated with choice through literal instructions (experiment 1) and visual presentation (experiments 2 and 3). We found that participants showed a robust propensity to under-delegate even when they were aware of their impaired controllability associated with self-choice. Moreover, only 40% impairment of controllability (but not 20%) can decrease the propensity to under-delegate. This trend differed between decision-for-self and decision-for-other. These findings suggest that pursuing a sense of control cannot fully explain self-choice preference and appears to occur equally in decisions for oneself as well as for others.

In view of the shortcomings of the existing multimotor synchronous control strategy, a new method of mean deviation coupling control for multimotor system via global fast terminal sliding mode control is proposed. Firstly, the mathematical model of permanent magnet synchronous motor (PMSM) under a d-q reference frame is established. Next, based on the deviation coupling control, the deviation is calculated by the average speed, and the structure of the deviation coupling control strategy is optimized. The speed controller of the multimotor system is designed based on the global fast terminal sliding mode control (GFTSMC) algorithm to improve the synchronization accuracy of the system. In addition, a load torque Luenberger observer is designed to observe the load in real time. Then, the stability analysis of the controller is carried out by using the Lyapunov function. Finally, a four-motor experimental platform is built to verify the effectiveness of the proposed control strategy.

ZnO material is a crucial layer for organic solar cell due to its excellent photoelectric properties. However, the influence of ZnO fabricated by various methods as well as the effect of 2-dimensional (2D) and 3-dimensional (3D) configuration is still under debate. In this study, a comprehensive study of 2D ZnO made by sol-gel, atomic layer deposition (ALD) method, 3D ZnO nanorods grown from sol-gel seed layer and ALD seed layer was carried out. Scanning electron microscopy (SEM) and atomic force microscopy (AFM) were used to characterize the morphology of the films. X-ray photoelectron spectroscopy (XPS) were used to probe bonding nature as well as defects present in different forms of ZnO. Band gap and crystal quality were characterized by UV-vis spectra. The inverted structure of organic solar cells was fabricated using these forms of ZnO, and the I-V curves as well as the power conversion efficiency (PCE) were measured to evaluate the photoelectric property of the synthesized ZnO nanostructures. It is found that 2D ZnO made by the sol-gel method yields the best PCE of 2.53%.

Large-scale printing fabrication of organic solar cells (OSCs) has attracted much attention in recent decades due to its efficient industrial application. Additive in the organic layer is one of the crucial factors that promote both quality of transferred pattern and the power conversion efficiency of the solar cell. Here, an organic material, 3-Glycidyloxypropyl trimethoxysilane (GLYMO), as an additive was used in cost-efficient multi-layer inking and stamping processes to fabricate OSCs. Polydimethylsiloxane (PDMS) was used as a transfer carrier that carries patterns from silicon mold to indium tin oxide (ITO) glass or polyethylene terephthalate (PET) to fabricate rigid or flexible organic solar cell devices. By investigating the effects of chemical additives on OSCs performance in a regular procedure, the amount of additive was found which provides the best power conversion efficiency of 1.71%. Further refining the multi-layer inking and stamping process by using the amount of additive found in previous experiments, high-resolution transferred patterns with maximum efficiency were produced. The overall OSCs efficiency and high yield pattern transfers indicate high potential for future printing processing and will thus reduce OSCs production costs. Keywords: Organic solar cells, Pattern transfer, Additives, Flexible substrate, Power conversion efficiency