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Abstract Topological materials with boundary (surface/edge/hinge) states have attracted tremendous research interest. Additionally, unconventional (obstructed atomic) materials have recently drawn lots of attention owing to their obstructed boundary states. Experimentally, Josephson junctions (JJs) constructed on materials with boundary states produce the peculiar boundary supercurrent, which was utilized as a powerful diagnostic approach. Here, we report the observations of boundary supercurrent in NiTe2-based JJs. Particularly, applying an in-plane magnetic field along the Josephson current can rapidly suppress the bulk supercurrent and retain the nearly pure boundary supercurrent, namely the magnetic field filtering of supercurrent. Further systematic comparative analysis and theoretical calculations demonstrate the existence of unconventional nature and obstructed hinge states in NiTe2, which could produce hinge supercurrent that accounts for the observation. Our results reveal the probable hinge states in unconventional metal NiTe2, and demonstrate in-plane magnetic field as an efficient method to filter out the bulk contributions and thereby to highlight the hinge states hidden in topological/unconventional materials.

The utilization of thermal reflective materials on the building surface is one of the most promising methods for energy-saving in tropical and subtropical regions. In this work, nano TiO2 (NT) is used to enhance the mechanical properties and thermal reflectance of inorganic decorative panels, which are widely used for building exterior walls in China. The obtained results show that NT can modify the pore size distribution of the decorative panels and reduce the presence of macropores, and the compressive strength of the decorative panels with 2% NT increased by 4.78%. The thermal reflective properties of the decorative panels initially increased and then decreased with increasing NT content and particle size. Notably, the panels made of 6% NT with a particle size of 100 nm exhibited higher thermal reflectivity, resulting in a surface temperature decrease of 3.9 °C compared to the reference sample. Furthermore, compounding different particle sizes NT is employed to produce the decorative panels, and about a 4.5 °C decrease can be observed in this study. Mid- and far-infrared absorption spectroscopy results show that the thermal emissivity is improved in the mid- and far-infrared region of 2.5–25 μm when 100-nm and 25-nm NT were compounded at a weight ratio of 1:1. Additionally, to further evaluate the energy-saving of the decorative panels, the Designer’s Simulation Toolkit (DeST) is employed, which demonstrates that the thermal reflective decorative panels with 6% NT can save 7.19% of building air-conditioning energy consumption and reduce the indoor temperature by 1.5 °C.

Abstract Memristors offer a promising solution to address the performance and energy challenges faced by conventional von Neumann computer systems. Yet, stochastic ion migration in conductive filament often leads to an undesired performance tradeoff between memory window, retention, and endurance. Herein, a robust memristor based on oxygen‐rich SnO2 nanoflowers switching medium, enabled by seed‐mediated wet chemistry, to overcome the ion migration issue for enhanced analog in‐memory computing is reported. Notably, the interplay between the oxygen vacancy (Vo) and Ag ions (Ag+) in the Ag/SnO2/p++‐Si memristor can efficiently modulate the formation and abruption of conductive filaments, thereby resulting in a high on/off ratio (>106), long memory retention (10‐year extrapolation), and low switching variability (SV = 6.85%). Multiple synaptic functions, such as paired‐pulse facilitation, long‐term potentiation/depression, and spike‐time dependent plasticity, are demonstrated. Finally, facilitated by the symmetric analog weight updating and multiple conductance states, a high image recognition accuracy of ≥ 91.39% is achieved, substantiating its feasibility for analog in‐memory computing. This study highlights the significance of synergistically modulating conductive filaments in optimizing performance trade‐offs, balancing memory window, retention, and endurance, which demonstrates techniques for regulating ion migration, rendering them a promising approach for enabling cutting‐edge neuromorphic applications.

The control of robot manipulator pose is significantly complicated by the uncertainties arising from flexible joints, presenting substantial challenges in incorporating practical operational constraints. These challenges are further exacerbated in teleoperation scenarios, where factors such as synchronization and external disturbances further amplify the difficulties. At the core of this research is the introduction of a pioneering teleoperation controller, ingeniously integrating a nonlinear extended state observer (ESO) with the barrier Lyapunov function (BLF) while effectively accommodating a steady time delay. The controller in our study demonstrates exceptional proficiency in accurately estimating uncertainties arising from both flexible joints and external disturbances using the nonlinear ESO. Refined estimates, in conjunction with operational constraints of the system, are integrated into our BLF-based controller. Consequently, a synchronized control mechanism for teleoperation is achieved, exhibiting promising performance. Importantly, our experimental findings provide substantial evidence that our proposed approach effectively reduces the tracking error of the teleoperation system to within 0.02 rad. This advancement highlights the potential of our controller in significantly enhancing the precision and reliability of teleoperated robot manipulators.

With the aim of correcting the problem of trajectory tracking control of a flexible joint space manipulator in environments with different gravity, a neural network adaptive inverse control algorithm based on singular perturbation theory is proposed to resist the disturbance caused by system uncertainty. Firstly, the dynamic model of a flexible joint space manipulator with the influence of gravity is established, and then the system is divided into a fast subsystem and a slow subsystem using singular perturbation theory. The velocity feedback control rate is designed for the fast subsystem to suppress the elastic vibration caused by the joint flexibility. For the slow subsystem, the uncertain term and known term are separated by the inverse control algorithm, where the uncertain term is approximated online by the RBF neural network, and the robust control rate is designed to compensate for the approximation error. The simulation results show that the control method can not only effectively reduce the high-frequency vibration caused by the flexible joint but also resist the system disturbance so that a good track control effect is achieved.

Abstract To enhance the efficiency of catalysis, it is crucial to comprehend the behavior of individual nanowires/nanosheets. A developed on-chip microcell facilitates this study by creating a reaction window that exposes the catalyst region of interest. However, this technology’s potential application is limited due to frequently-observed variations in data between different cells. In this study, we identify a conductance problem in the reaction windows of non-metallic catalysts as the cause of this issue. We investigate this problem using in-situ electronic/electrochemical measurements and atom-thin nanosheets as model catalysts. Our findings show that a full-open window, which exposes the entire catalyst channel, allows for efficient modulation of conductance, which is ten times higher than a half-open window. This often-overlooked factor has the potential to significantly improve the conductivity of non-metallic catalysts during the reaction process. After examining tens of cells, we develop a vertical microcell strategy to eliminate the conductance issue and enhance measurement reproducibility. Our study offers guidelines for conducting reliable microcell measurements on non-metallic single nanowire/nanosheet catalysts.

Vibration mixing, characterized by the high-frequency vibrations of the mixing shaft, can enhance the mechanical properties of ultra-high-performance concrete (UHPC). However, the effects of vibration mixing on carbon nanotube (CNT)-reinforced UHPC have not been previously reported. To investigate the impact of vibration mixing on the properties of CNT-reinforced UHPC, a comparative study was conducted using different vibration mixing durations and twin-shaft mixing. The results indicate that for CNT-reinforced UHPC, vibration mixing achieves better flowability, higher wet apparent density, and superior mechanical properties in shorter mixing times compared to twin-shaft mixing, making it a more favorable method. Considering vibration mixing times ranging from 3 to 7 min, the optimal time was found to be 3 min, during which the axial compressive strength increased by 3.3%, the elastic limit tensile strength and tensile strength improved by 14.6% and 15.8%, respectively, and the initial cracking strength and flexural strength increased by 12.6% and 13.4%, respectively, compared to values after 10 min of twin-shaft mixing.

To address the extended development cycle, high costs, and maintenance difficulties associated with existing microgravity simulation methods, this study has developed a semi-physical simulation platform for robotic arms tailored to different gravity environments and loading conditions. The platform represents difficult-to-model joints as physical objects, while the easily modeled components are simulated based on principles of similarity. In response to the strong coupling, nonlinearity, and excess force disturbance issues in the electric variable load loading system, a fractional-order linear active disturbance rejection control algorithm was employed. The controller parameters were tuned using an improved particle swarm algorithm with modified weight coefficients, and experimental results demonstrate that a fractional-order linear active disturbance rejection control improves response speed and disturbance rejection performance compared to linear sliding mode control. The study investigated the differences in the drive force of joint motors in space robotic arms under varying gravity environments and loading conditions. Experimental results indicate that load torque is the primary influencing factor on joint motor drive force, while radial force serves as a secondary influencing factor. Additionally, when the axis of the joint motor is perpendicular to the ground, it can, to some extent, simulate microgravity conditions on the ground.

Abstract This research proposed the modular prefabricated permanent formwork system made of ultra-high-performance concrete (UHPC). Two kinds of modular formwork shapes were designed: the flat formwork and the ribbed. The experimental investigation on the axial compression performance of the composite columns that consist of the normal strength concrete (NSC) core and the modular UHPC permanent formwork was demonstrated. Compared with the flat formwork, the ribbed formwork exhibited better bonding with the NSC core. As observed from the test results, the composite column with the ribbed formwork presented a similar axial behavior as the NSC column with a slight improvement in ultimate loads. Therefore, the modular UHPC ribbed permanent formwork could be regarded as the additional cover to the conventional NSC column. In addition, the finite element analysis (FEA) model was also developed to simulate the composite columns numerically. The predicted capacities agreed with the experimental results, which validated the numerical models. The crack pattern estimated by the FEA model revealed that the interaction between the permanent formwork and the inner concrete introduced many tiny cracks to the concrete core. However, as protected by the UHPC permanent formwork, the overall durability of the composite columns can still be enhanced.

Abstract Two-dimensional (2D) magnetic systems possess versatile magnetic order and can host tunable magnons carrying spin angular momenta. Recent advances show angular momentum can also be carried by lattice vibrations in the form of chiral phonons. However, the interplay between magnons and chiral phonons as well as the details of chiral phonon formation in a magnetic system are yet to be explored. Here, we report the observation of magnon-induced chiral phonons and chirality selective magnon-phonon hybridization in a layered zigzag antiferromagnet (AFM) FePSe3. With a combination of magneto-infrared and magneto-Raman spectroscopy, we observe chiral magnon polarons (chiMP), the new hybridized quasiparticles, at zero magnetic field. The hybridization gap reaches 0.25 meV and survives down to the quadrilayer limit. Via first principle calculations, we uncover a coherent coupling between AFM magnons and chiral phonons with parallel angular momenta, which arises from the underlying phonon and space group symmetries. This coupling lifts the chiral phonon degeneracy and gives rise to an unusual Raman circular polarization of the chiMP branches. The observation of coherent chiral spin-lattice excitations at zero magnetic field paves the way for angular momentum-based hybrid phononic and magnonic devices.

There has been a surge of research interest in the promising lead-free potassium−sodium niobate (KNN)-based ceramics, applications of which could be significantly promoted by improving thermal stability of piezoelectricity. Besides, endowing the KNN-based ceramics with photoluminescence property by rare-earth-ion doping can make them more completive lead-free counterparts in potential applications such as novel multifunctional sensing devices. Herein, a novel KNN-based ceramic material doped with Eu was elaborately designed to simultaneously obtain enhanced temperature-stable piezoelectricity and good luminescence property. By the introduction of diffused phase transition and the modulation of unit cell distortion, a large piezoelectric strain coefficient (d*33) with a small variation (590±59 pm/V) over a wide temperature range (from room temperature to 110 ℃) was realized. The optimal composition also exhibited a considerable piezoelectric coefficient (d33) with small fluctuation (330±33 pC/N) from 20 to 80 ℃. In addition to the enhanced temperature-stable piezoelectricity, the luminescence of these ceramics was slightly enhanced with the elevation of BaZrO3 (BZ) doping contents, which could be attributed to the increased compositional disorder and the decreased unit cell distortion of the matrix material. Moreover, an optical characteristic was more prominent at ultra-low temperatures. This work unprecedentedly provides a novel paradigm for the design of multifunctional KNN-based ceramics with enhanced temperature-stable piezoelectricity and good luminescence property, revealing the great potential of the rare-earth-element-doped KNN material for future applications in the novel multifunctional devices.

Layer dependence is an important aspect to properties of van der Waals materials. Here, the authors obtain layer dependent multiple polarization states in 3 R MoS2 and propose a generalized model to describe their ferroelectric switching processes.

In order to seal the joints between the ultra-high-performance concrete (UHPC) permanent formworks, the high strength cementitious grout (HSCG) was investigated in the presented work. The water reducer content and the water to binding materials (W/B) ratio of the grout were modified to meet the grout fluidity requirement, and then the effects of three commonly used admixtures (i.e., hydrophobic powders (HP), expansive agents (EA), and redispersible polymer powders (RPP)) and PVA fibers on the compressive, tensile, flexural, and adhesive strengths of the HSCG were investigated. In addition to the normal condition, the adhesive strengths under the soaked condition and the thermal aging condition were also evaluated. The HP worsen all strength index, especially the adhesive strength, while the appropriate utilization of the EA could improve all strength indexes by more than 12%. With the addition of RPP, the adhesive strengths under the soaked and thermal aging conditions could be significantly enhanced by over 85%. The PVA fiber could also enhance the normal adhesive strength by 20.5%. Based on the experimental results, the recommended contents of the EA, RPP, and PVA fibers were 6%, 2%, and 0.3%, respectively, while the HP was not suggested for the HSCG due to its adverse effect on the mechanical performances.

Abstract Logic‐in‐memory devices are a promising and powerful approach to realize data processing and storage driven by electrical bias. Here, an innovative strategy is reported to achieve the multistage photomodulation of 2D logic‐in‐memory devices, which is realized by controlling the photoisomerization of donor–acceptor Stenhouse adducts (DASAs) on the surface of graphene. Alkyl chains with various carbon spacer lengths (n = 1, 5, 11, and 17) are introduced onto DASAs to optimize the organic–inorganic interfaces: 1) Prolonging the carbon spacers weakens the intermolecular aggregation and promotes isomerization in the solid state. 2) Too long alkyl chains induce crystallization on the surface and hinder the photoisomerization. Density functional theory calculation indicates that the photoisomerization of DASAs on the graphene surface is thermodynamically promoted by increasing the carbon spacer lengths. The 2D logic‐in‐memory devices are fabricated by assembling DASAs onto the surface. Green light irradiation increases the drain–source current (Ids) of the devices, while heat triggers a reversed transfer. The multistage photomodulation is achieved by well‐controlling the irradiation time and intensity. The strategy based on the dynamic control of 2D electronics by light integrates molecular programmability into the next generation of nanoelectronics.

The utilization of ultra-high-performance concrete (UHPC) permanent formwork could facilitate the construction of hydraulic concrete structures. However, the joints between UHPC formwork are the vulnerable parts of a whole permanent formwork system. This study aimed to develop a High Strength Cementitious Grout (HSCG) for filling these joints, integrating the formwork system, and minimizing the adverse influence on these joints. The aggregate size for the HSCG was optimized, and four kinds of admixtures (i.e., hydrophobic powder (HP), expansive agent (EA), redispersible polymer powder (RPP), and cellulose ether (CE)) and PVA fibers were used to improve the HSCG. The HSCG with different aggregate sizes, admixture dosages, and PVA fiber contents were experimentally investigated. By evaluating the compressive, tensile, flexural, and adhesive strengths of the prepared grout, the aggregate size range was recommended to be 0.15–0.30 ​mm, while the suggested contents of HP, EA, RPP, and CE were 0%, 6%, 2%, and 0.1%, respectively, by weight of binding materials. In addition, the optimal volume content of PVA fibers was 0.45%. In order to avoid the introduced foams, 0.2% of the defoamers were used in combination with the CE. After that, six combinations were tested to consider the coupled effect of different admixtures and PVA fibers on the HSCG. In consideration of the strengths, shrinkage, and abrasion resistance to water impact, the HSCG with the combination of (EA ​+ ​RPP ​+ ​CE), the aggregate size of 0.15–0.30 ​mm showed the optimal overall performance and was regarded as the most suitable HSCG for grouting.

Abstract Here, a model‐free linear active disturbance rejection controller (LADRC) integrating dead‐zone inverse compensation for an electro‐hydraulic proportional (EHP) system with an unknown dead‐zone is proposed. Unlike the existing LADRC design idea, the presented method uses a new hydraulic system block diagram to select the order of LADRC instead of the highest degree of the system. Furthermore, the rationality of order selection is illustrated by the frequency domain analysis theory. To solve the dead‐zone of the proportional valve, a novel structural transformation is proposed by constructing a new dead‐zone, which has a definite physical meaning and can be obtained by the experimental measurement. Then, the dead‐zone disturbance is reduced, and the burden of the observer is relieved. At the same time, the controller parameters are decreased from three to two equivalent PI controller. Besides, the stability of the closed‐loop system is analysed by the describing function method. The performance of the proposed control solution has been investigated through extensive comparative experiments under different working conditions. The experimental results successfully demonstrate the effectiveness and practicality of the presented method.

The combination of submerged plants and snails can combat eutrophication of freshwater systems by suppressing algal growth and assimilating nutrients. By consuming epiphytes, snails can benefit the growth of submerged plants. However, the efficiency of this phytoremediation strategy may depend on the microbes associated with the plants and snails. In this study, we compared the epiphytic bacterial communities on submerged plants (Vallisneria natans and Cabomba caroliniana) and intestinal bacterial communities of a snail, Bellamya aeruginosa, found on these plants using 16S rRNA gene sequencing. Epiphytic bacterial communities were similar between the two plant species and snails shared a high proportion of snail intestinal bacterial OTUs (75%) and genera (85%) with plants they grazed on. However, significant variations of Bray-Curtis distances differentiated epiphytic and intestinal bacterial communities. In addition, between the top 50 genera shared by intestinal and epiphytic bacterial communities, more Spearman correlations were detected within bacterial communities associated with snails than between communities associated with plants (190 vs. 143), and the correlations in epiphytic bacterial networks were more concentrated on certain genera, indicating they possessed distinct bacterial networks. This suggests the bacterial communities associated with snails do not depend strongly on the plant they graze on, which may be important for better understanding the role of snails in aquatic eco-restoration.

With the rising demand for renewable energy, photocatalysts are considered the most promising solution to harness solar energy, and the search for photocatalysts with excellent performances remains an urgent task. Here, based on density functional theory (DFT), the photocatalytic properties of MoWS4 are systematically investigated. The MoWS4 monolayer and bilayer are demonstrated as semiconductors with indirect band gaps of 2.01 and 1.48 eV. Moreover, they exhibit high and anisotropic light absorption coefficients of up to ∼105 cm−1 in the visible-ultraviolet region. The intrinsic band edge positions could fully satisfy the redox potentials of water without any external adjustment. The electron mobility of MoWS4 monolayer is 557 cm2 V−1s−1, which is seven times higher than MoS2 monolayer. Hence, MoWS4 can be regarded as a promising 2D photocatalyst candidate for water splitting.

Underwater target detection techniques have been extensively applied to underwater vehicles for marine surveillance, aquaculture, and rescue applications. However, due to complex underwater environments and insufficient training samples, the existing underwater target recognition algorithm accuracy is still unsatisfactory. A long-term effort is essential to improving underwater target detection accuracy. To achieve this goal, in this work, we propose a modified YOLOv5s network, called YOLOv5s-CA network, by embedding a Coordinate Attention (CA) module and a Squeeze-and-Excitation (SE) module, aiming to concentrate more computing power on the target to improve detection accuracy. Based on the existing YOLOv5s network, the number of bottlenecks in the first C3 module was increased from one to three to improve the performance of shallow feature extraction. The CA module was embedded into the C3 modules to improve the attention power focused on the target. The SE layer was added to the output of the C3 modules to strengthen model attention. Experiments on the data of the 2019 China Underwater Robot Competition were conducted, and the results demonstrate that the mean Average Precision (mAP) of the modified YOLOv5s network was increased by 2.4%.

As a position servo system to isolate disturbance from its carrier, stabilized platform requires high-precision and high-adaptability control. However, conventional integer-order PID (IOPID) control fails to meet that requirement. In this paper, a new controller design scheme is proposed for stabilized platform based on fractional calculus. The designed controller is called fractional-order PID (FOPID) controller, which has two extra parameters compared to conventional PID controller. On one hand, it provides more degrees of freedom to design FOPID controller. On the other hand, its differential order and integral order provides more flexibility to tune the controller performance. Therefore, a design method of FOPID controller based on dynamic software modeling is presented. To obtain the ideal controller's parameters, the particle swarm optimization (PSO) bionic algorithm is used to optimize an objective function. In addition, software simulation platform and hardware experiment system are built to design and test the FOPID controller. Finally, the results of simulation and experiment are included to show the effectiveness of the new control method.

The Cenozoic collision between India and Asia promoted the widespread uplift of the Tibetan Plateau, with significant deformation documented in the Pamir Plateau and West Kunlun Mountains. Low-temperature thermochronology and basin provenance analysis have revealed three episodes of rapid deformation and uplift in the Pamir–West Kunlun Mountains during the Cenozoic. However, there is very little low-temperature thermochronology age–elevation relationship (AER) data on fast exhumation events in this area—especially in the West Kunlun Mountains— leading to uncertainty surrounding how these events propagated within and around the mountain range. In this study, we produced an elevation profile across granite located south of Kudi, Xijiang Province, China, to reveal its exhumation history. Apatite fission track AER data show that a rapid exhumation event occurred at ∼26 Ma in the southern West Kunlun Mountains. When combined with published data, we interpret that the initial uplift events related to the India–Asia collision began in the central Pamir, southern West Kunlun, and northern West Kunlun regions during the Late Eocene, Oligocene, and Middle Miocene periods, respectively. Therefore, the Cenozoic northward growth process occurred from south to north around West Kunlun.

The adaptation to atomically thin 2D semiconductors and van der Waals layered ferroelectrics can enable negative capacitance transistors with superior performance and bendability. Here, the authors report flexible negative capacitance transistors based on MoS2 and a ferroelectric dielectric CIPS with a minimum sub-threshold slope of 28 mV/dec and high gain logic invertors.

Recently, photonic synapses that can directly respond to light signals have attracted much attention due to their huge application potential in neuromorphic chips and artificial vision systems. However, the implementation of an artificial visual system based on a synapse remains a considerable challenge due to the limitation that most current photonic synapses fail to recognize color. Here, a photonic synapse with color recognition capability is proposed and demonstrated. Through the light‐induced adjustment of dangling bond defects inside the amorphous silicon (a‐Si) film, the device exhibits switchable volatile and nonvolatile photoconductivity (PC) behaviors at the wavelengths of 635 and 450 nm, respectively. Based on the dual PC, the photonic synapse enables dual synaptic plasticity depending on the stimulation light, allowing not only various synaptic functions, but also learning experiences, associative learning behaviors, and recognition of the red and blue colors. Moreover, the dual synaptic plasticity of the photonic synapse could be modulated via a voltage in the range below ≈1 V to realize the stable detection and precise extraction of the grayscale and color signals. With its simple structure and compatibility with existing Si‐complementary metal oxide semiconductor (CMOS) technology, this photonic synapse shows potential for application in neuromorphic computing and advanced robot vision systems.

Monolayer transition metal dichalcogenides host a valley splitting in magnetic field analogous to the Zeeman effect. Here, the authors report that the Zeeman splitting still persists in bilayers of MoTe2 without lifting the valley degeneracy, due to spin–valley-layer coupling.

Two-dimensional superconductors will likely have applications not only in devices, but also in the study of fundamental physics. Here, Wang et al. demonstrate the CVD growth of superconducting NbSe2 on a variety of substrates, making these novel materials increasingly accessible.

In this paper, the parameter identification issue of fractional-order chaotic system with time delay is studied, which is important for its modelling and controlling. A numerical algorithm for fractional differential equation with time delay is given. Time delay and fractional order along with other ordinary parameters are estimated together, which is rarely considered before. The identification issue is converted to an optimization problem, which is nonlinear, multivariable and multimodal. To solve this complex optimization problem effectively, a multi-selection differential evolution (MS-DE) is proposed. In MS-DE, multiple vectors are generated as candidate for selection, which can avoid the local extremum and speed up the convergence speed. The simulation results illustrate the effectiveness of the proposed MS-DE method.

Two dimensional materials are promising for electronic applications, which await the exploration of cooperative phenomena. Here, Liu et al. report switchable ferroelectric polarization in thin CuInP2S6film at room temperature, demonstrating good memory behaviour with on/off ratio of ∼100 based on two-dimensional ferroelectricity.

In this paper, an integrated control strategy of position synchronization control for dual-electro-hydraulic actuators with unknown dead-zones is proposed. The unified control scheme consists of two parts: One is adaptive dead-zone inverse controllers of each hydraulic actuator to offset the unknown dead-zones. The other is the linear active disturbance rejection controller (LADRC) for position synchronization error. First, the model of the electro-hydraulic proportional position control system (EPPS) was identified by the forgetting factor recursive least square (FFRLS) algorithm. Next, the model reference dead-zone inverse adaptive controller (MRDIAC) was developed to compensate for the delay of actuator response caused by unknown proportional valve dead-zones. Meanwhile, the validity of the adaptive law was proven by the Lyapunov theory. Therefore, the position control accuracy of each hydraulic actuator is guaranteed. Besides, to improve the precision of position synchronization control of dual-hydraulic actuators, a simple and elegant synchronous error-based LADRC was adopted, which applies the total disturbances design concept to eliminate and compensate for motion coupling rather than cross-coupling technology. The performance of the proposed control solution was investigated through extensive comparative experiments based on a hydraulic test platform. The experimental results successfully demonstrate the effectiveness and practicality of the proposed method.

The goal of this paper is to improve the synchronization control performance of nonlinear teleoperation systems with system uncertainties in the presence of time delays. In view of the nonlinear discrete states of the teleoperation system in packet-switched communication networks, a new discrete sliding mode control (DSMC) strategy is performed via a new reaching law in task space. The new reaching law is designed to reduce the chattering and improve control performance. Moreover, an adaptive extended state observer (AESO) is used to estimate the total system disturbances. The additional gain of AESO is adjusted in time to decrease the estimation errors of both system states and disturbances automatically and improve the estimation performances of the AESO. Finally, the validity of the designed control strategy is demonstrated by both simulation and experiments. Furthermore, the experimental comparison results indicate that the improvement is achievable with the proposed AESO and DSMC.

Two dimensional (2D) materials have gained significant attention since the discovery of graphene in 2004. Layered transition metal dichalcogenides (TMDs) have become the focus of 2D materials in recent years due to their wide range of chemical compositions and a variety of properties. These TMDs layers can be artificially integrated with other layered materials into a monolayer (lateral) or a multilayer stack (vertical) heterostructures. The resulting heterostructures provide new properties and applications beyond their component 2D atomic crystals and many exciting experimental results have been reported during the past few years. In this review, we present the various synthesis methods (mechanical exfoliation, physical vapor transport, chemical vapor deposition, and molecular beam epitaxy method) on van der Waals heterostructures based on different TMDs as well as an outlook for future research.

This paper presents a methodology of the dynamic analysis and control for a novel hybrid humanoid robot arm. The hybrid humanoid robot arm under consideration consists of a spherical parallel manipulator (SPM) connecting two revolute pairs in series form. The dynamic model of the hybrid humanoid robot arm has been set up based on the Lie group and Lie algebra combined with the principle of virtual work, which can avoid the processing of constraint reaction and the division of logic open chains, as well as a great quantity of differential operation. Aiming at the parameter uncertainties and disturbances, an adaptive backstepping sliding mode controller is developed. Compared with PD control in trajectory tracking simulation, the results show the advantage of the controller.

Topological materials with boundary (surface/edge/hinge) states have attracted tremendous research interest. Additionally, unconventional (obstructed atomic) materials have recently drawn lots of attention owing to their obstructed boundary states. Experimentally, Josephson junctions (JJs) constructed on materials with boundary states produce the peculiar boundary supercurrent, which was utilized as a powerful diagnostic approach. Here, we report the observations of boundary supercurrent in NiTe2-based JJs. Particularly, applying an in-plane magnetic field along the Josephson current can rapidly suppress the bulk supercurrent and retain the nearly pure boundary supercurrent, namely the magnetic field filtering of supercurrent. Further systematic comparative analysis and theoretical calculations demonstrate the existence of unconventional nature and obstructed hinge states in NiTe2, which could produce hinge supercurrent that accounts for the observation. Our results reveal the probable hinge states in unconventional metal NiTe2, and demonstrate in-plane magnetic field as an efficient method to filter out the bulk contributions and thereby to highlight the hinge states hidden in topological/unconventional materials. [ABSTRACT FROM AUTHOR]