The progress from intelligent interactions requires electronic skin(E-skin)to shift from single-functional perception to multisensory capabilities.However,the intuitive and interference-free reading of multiple sensor...The progress from intelligent interactions requires electronic skin(E-skin)to shift from single-functional perception to multisensory capabilities.However,the intuitive and interference-free reading of multiple sensory signals without involving complex algorithms is a critical challenge.Herein,we propose a flexible multisensory E-skin by developing a highly homogeneous dispersion of BaTiO_(3)nanoparticles in polydimethylsiloxane dielectric layer.The E-skin is sensitive to externally applied pressure as well as temperature and can distinguish dual synergetic stimuli by the time decoupling effect.The pressure and temperature perception was achieved in an individual device,which greatly reduced the structural complexity compared with multifunctional integrated devices.The sensitivity of E-skin for pressure detection is as high as 0.0724 kPa^(−1)and the detection range reaches as wide as 15.625-10 MPa.The sensitivity to temperature detection is as high as−1.34℃^(−1)and the detection range reaches 20-200℃.More importantly,by equipping with a multilayer neural network,the evolution from tactile perception to advanced intelligent tactile cognition is demonstrated.展开更多
A control strategy of repetitive control without inductorance decoupling was proposed to address the problem of high total harmonic distortion(THD)rate of the network-side current caused by the reduced stability of th...A control strategy of repetitive control without inductorance decoupling was proposed to address the problem of high total harmonic distortion(THD)rate of the network-side current caused by the reduced stability of the rectifier module of the DC charging pile under weak grid as well as the dead zone and nonlinearity of switching devices during charging.Firstly,the parallel repetitive control was constructed in the inner current loop,and the proportional-integral(PI)+repetitive controller based on parallel structure was designed.For system compensation,a second-order low-pass filter was selected to correct the system,and the network-side current harmonics were actively suppressed without increasing the filtering device,which effectively improves the quality of grid-connected current.Secondly,based on the synthetic vector method,the controller parameters were designed to realize the elimination of main pole by establishing two synchronous rotation coordinate system vector differential equations,so as to realize the inductanceless decoupling to cope with the influence of network-side inductance fluctuation on the stability of the control system under weak grid.By theoretical analysis and simulation,the proposed control strategy was embedded into the self-developed digital signal processor for the rectifier module of DC charging pile,simulated dynamic and steady-state operation experiments were conducted,and comparative analysis was performed to prove the feasibility of the proposed control strategy.展开更多
Hardware Trojans in integrated circuit chips have the characteristics of being covert,destructive,and difficult to protect,which have seriously endangered the security of the chips themselves and the information syste...Hardware Trojans in integrated circuit chips have the characteristics of being covert,destructive,and difficult to protect,which have seriously endangered the security of the chips themselves and the information systems to which they belong.Existing solutions generally rely on passive detection techniques.In this paper,a hardware Trojans active defense mechanism is designed for network switching chips based on the principle of encryption algorithm.By encoding the data entering the chip,the argot hidden in the data cannot trigger the hardware Trojans that may exist in the chip,so that the chip can work normally even if it is implanted with a hardware Trojans.The proposed method is proved to be effective in preventing hardware Trojans with different trigger characteristics by simulation tests and practical tests on our secure switching chip.展开更多
Water decoupling charge blasting excels in rock breaking,relying on its uniform pressure transmission and low energy dissipation.The water decoupling coefficients can adjust the contributions of the stress wave and qu...Water decoupling charge blasting excels in rock breaking,relying on its uniform pressure transmission and low energy dissipation.The water decoupling coefficients can adjust the contributions of the stress wave and quasi-static pressure.However,the quantitative relationship between the two contributions is unclear,and it is difficult to provide reasonable theoretical support for the design of water decoupling blasting.In this study,a theoretical model of blasting fracturing partitioning is established.The mechanical mechanism and determination method of the optimal decoupling coefficient are obtained.The reliability is verified through model experiments and a field test.The results show that with the increasing of decoupling coefficient,the rock breaking ability of blasting dynamic action decreases,while quasi-static action increases and then decreases.The ability of quasi-static action to wedge into cracks changes due to the spatial adjustment of the blast hole and crushed zone.The quasi-static action plays a leading role in the fracturing range,determining an optimal decoupling coefficient.The optimal water decoupling coefficient is not a fixed value,which can be obtained by the proposed theoretical model.Compared with the theoretical results,the maximum error in the model experiment results is 8.03%,and the error in the field test result is 3.04%.展开更多
Human skin,through its complex mechanoreceptor system,possesses the exceptional ability to finely perceive and dif-ferentiate multimodal mechanical stimuli,forming the biological foundation for dexterous manipulation,...Human skin,through its complex mechanoreceptor system,possesses the exceptional ability to finely perceive and dif-ferentiate multimodal mechanical stimuli,forming the biological foundation for dexterous manipulation,environmental explo-ration,and tactile perception.Tactile sensors that emulate this sensory capability,particularly in the detection,decoupling,and application of normal and shear forces,have made significant strides in recent years.This review comprehensively examines the latest research advancements in tactile sensors for normal and shear force sensing,delving into the design and decoupling methods of multi-unit structures,multilayer encapsulation structures,and bionic structures.It analyzes the advantages and disadvantages of various sensing principles,including piezoresistive,capacitive,and self-powered mechanisms,and evalu-ates their application potential in health monitoring,robotics,wearable devices,smart prosthetics,and human-machine interaction.By systematically summarizing current research progress and technical challenges,this review aims to provide forward-looking insights into future research directions,driving the development of electronic skin technology to ultimately achieve tactile perception capabilities comparable to human skin.展开更多
Dynamical decoupling(DD)is normally ineffective when applied to DC measurement.In its straightforward implementation,DD nulls out DC signal as well while suppressing noise.This work proposes a phase relay method that ...Dynamical decoupling(DD)is normally ineffective when applied to DC measurement.In its straightforward implementation,DD nulls out DC signal as well while suppressing noise.This work proposes a phase relay method that is capable of continuously interrogating the DC signal over many DD cycles.We illustrate its efficacy when applied to the measurement of a weak DC magnetic field with an atomic spinor Bose-Einstein condensate.Sensitivities approaching standard quantum limit or Heisenberg limit are potentially realizable for a coherent spin state or a squeezed spin state of 10000 atoms,respectively,while ambient laboratory level noise is suppressed by DD.Our work offers a practical approach to mitigate the limitations of DD to DC measurement and would find other applications for resorting coherence in quantum sensing and quantum information processing research.展开更多
Copy-Move Forgery Detection(CMFD)is a technique that is designed to identify image tampering and locate suspicious areas.However,the practicality of the CMFD is impeded by the scarcity of datasets,inadequate quality a...Copy-Move Forgery Detection(CMFD)is a technique that is designed to identify image tampering and locate suspicious areas.However,the practicality of the CMFD is impeded by the scarcity of datasets,inadequate quality and quantity,and a narrow range of applicable tasks.These limitations significantly restrict the capacity and applicability of CMFD.To overcome the limitations of existing methods,a novel solution called IMTNet is proposed for CMFD by employing a feature decoupling approach.Firstly,this study formulates the objective task and network relationship as an optimization problem using transfer learning.Furthermore,it thoroughly discusses and analyzes the relationship between CMFD and deep network architecture by employing ResNet-50 during the optimization solving phase.Secondly,a quantitative comparison between fine-tuning and feature decoupling is conducted to evaluate the degree of similarity between the image classification and CMFD domains by the enhanced ResNet-50.Finally,suspicious regions are localized using a feature pyramid network with bottom-up path augmentation.Experimental results demonstrate that IMTNet achieves faster convergence,shorter training times,and favorable generalization performance compared to existingmethods.Moreover,it is shown that IMTNet significantly outperforms fine-tuning based approaches in terms of accuracy and F_(1).展开更多
This paper attempts to explore the decoupling relationship and its drivers between industrial economic increase and energy-related CO_(2) emissions(ICE). Firstly, the decoupling relationship was evaluated by Tapio ind...This paper attempts to explore the decoupling relationship and its drivers between industrial economic increase and energy-related CO_(2) emissions(ICE). Firstly, the decoupling relationship was evaluated by Tapio index. Then, based on the DEA meta-frontier theory framework which taking into account the regional and industrial heterogeneity and index decomposition method, the driving factors of decoupling process were explored mainly from the view of technology and efficiency. The results show that during2000-2019, weak decoupling was the primary state. Investment scale expansion was the largest reason hindering decoupling process of industrial increase from ICE. Both energy saving and production technology achieved significant progress, which facilitated the decoupling process. Simultaneously, the energy technology gap and production technology gap among regions have been narrowed, and played a role in promoting decoupling process. On the contrary, both scale economy efficiency and pure technical efficiency have inhibiting effects on decoupling process. The former indicates that the scale economy of China's industry was not conducive to improve energy efficiency and production efficiency, while the latter indicates that resource misallocation problem may exist in both energy market and product market.展开更多
The gravitational wave spacecraft is a complex multi-input multi-output dynamic system.The gravitational wave detection mission requires the spacecraft to achieve single spacecraft with two laser links and high-precis...The gravitational wave spacecraft is a complex multi-input multi-output dynamic system.The gravitational wave detection mission requires the spacecraft to achieve single spacecraft with two laser links and high-precision control.Establishing one spacecraftwith two laser links,compared to one spacecraft with a single laser link,requires an upgraded decoupling algorithmfor the link establishment.The decoupling algorithmwe designed reassigns the degrees of freedomand forces in the control loop to ensure sufficient degrees of freedomfor optical axis control.In addressing the distinct dynamic characteristics of different degrees of freedom,a transfer function compensation method is used in the decoupling process to further minimize motion coupling.The open-loop frequency response of the systemis obtained through simulation.The upgraded decoupling algorithms effectively reduce the open-loop frequency response by 30 dB.The transfer function compensation method efficiently suppresses the coupling of low-frequency noise.展开更多
Net primary productivity(NPP)is an important breakthrough point of current research on ecological footprint improvement.The energy eco-footprint(EEF)of the Four-City Area in Central China(FCACC)was measured by constru...Net primary productivity(NPP)is an important breakthrough point of current research on ecological footprint improvement.The energy eco-footprint(EEF)of the Four-City Area in Central China(FCACC)was measured by constructing an EEF-NPP model.This work has made the following efforts:(1)Gini coefficient was employed to analyze the degree of matching between the EEF and economic growth,population,and energy consumption.(2)LMDI decomposition method was used to explore the impacts of multiple factors on the EEF in the FCACC.(3)Tapio decoupling model was applied to verify the decoupling relationships between the above influencing factors and the EEF.(4)LMDI decomposition formula was embedded into the decoupling model to analyze the impacts of technical and non-technical factors on the decoupling elasticity of the above.The main findings show that from 2010 to 2020:(1)the degree of matching of EEF-GDP,EEF-population,and EEF-energy consumption increased.(2)energy intensity and per capita GDP were the main factors that affected the EEF.(3)the decoupling states between total energy consumption,energy consumption structure,energy intensity,per capita GDP,and population size with the EEF were expansive negative decoupling,expansive negative decoupling,strong negative decoupling,weak decoupling,and expansive negative decoupling,respectively.(4)the impact of non-technical factors was greater than that of technical factors,and their impacts were always in opposite directions.展开更多
Voltage Source Converter-based High Voltage Direct Current(VSC-HVDC)transmission technology represents a groundbreaking approach in high voltage Direct Current(DC)transmission,offering numerous technical advantages an...Voltage Source Converter-based High Voltage Direct Current(VSC-HVDC)transmission technology represents a groundbreaking approach in high voltage Direct Current(DC)transmission,offering numerous technical advantages and broad application prospects.However,in the d-q synchronous rotating coordinate system,the VSC-HVDC exhibits the coupling effect of active power and reactive power,so it needs to be decoupled.This paper introduces the basic principle and mathematical model of the VSC-HVDC transmission system.Through the combination of coordinate transformation and variable substitution,a feedforward decoupling control method is derived.Then the VSC-HVDC simulation model is designed,and the simulation analysis is carried out in the MATLAB environment.The simulation results demonstrate that the method effectively achieves decoupling control of active and reactive power,exhibiting superior dynamic performance and robustness.These findings validate the correctness and effectiveness of the control strategy.展开更多
基金Ningbo Scientific and Technological Innovation 2025 Major Project,Grant/Award Number:2020Z022German Research Foundation(DFG)grants,Grant/Award Numbers:MA 5144/13-1,MA 5144/28-1+6 种基金the National Natural Science Foundation of China,Grant/Award Numbers:62204246,51931011,51971233,52127803,62174165the External Cooperation Program of Chinese Academy of Sciences,Grant/Award Numbers:174433KYSB20190038,174433KYSB20200013the Instrument Developing Project of the Chinese Academy of Sciences,Grant/Award Number:YJKYYQ20200030K.C.Wong Education Foundation,Grant/Award Number:GJTD-2020-11Chinese Academy of Sciences Youth Innovation Promotion Association,Grant/Award Number:2018334Zhejiang Provincial Key R&D Program,Grant/Award Numbers:2021C01183,2022C01032the National Natural Science Foundation of Zhejiang Province of China,Grant/Award Number:LQ23F040004.
文摘The progress from intelligent interactions requires electronic skin(E-skin)to shift from single-functional perception to multisensory capabilities.However,the intuitive and interference-free reading of multiple sensory signals without involving complex algorithms is a critical challenge.Herein,we propose a flexible multisensory E-skin by developing a highly homogeneous dispersion of BaTiO_(3)nanoparticles in polydimethylsiloxane dielectric layer.The E-skin is sensitive to externally applied pressure as well as temperature and can distinguish dual synergetic stimuli by the time decoupling effect.The pressure and temperature perception was achieved in an individual device,which greatly reduced the structural complexity compared with multifunctional integrated devices.The sensitivity of E-skin for pressure detection is as high as 0.0724 kPa^(−1)and the detection range reaches as wide as 15.625-10 MPa.The sensitivity to temperature detection is as high as−1.34℃^(−1)and the detection range reaches 20-200℃.More importantly,by equipping with a multilayer neural network,the evolution from tactile perception to advanced intelligent tactile cognition is demonstrated.
基金supported by National Natural Science Foundation of China(No.61903291)Shaanxi Province Key R&D Program(No.2022GY-134)。
文摘A control strategy of repetitive control without inductorance decoupling was proposed to address the problem of high total harmonic distortion(THD)rate of the network-side current caused by the reduced stability of the rectifier module of the DC charging pile under weak grid as well as the dead zone and nonlinearity of switching devices during charging.Firstly,the parallel repetitive control was constructed in the inner current loop,and the proportional-integral(PI)+repetitive controller based on parallel structure was designed.For system compensation,a second-order low-pass filter was selected to correct the system,and the network-side current harmonics were actively suppressed without increasing the filtering device,which effectively improves the quality of grid-connected current.Secondly,based on the synthetic vector method,the controller parameters were designed to realize the elimination of main pole by establishing two synchronous rotation coordinate system vector differential equations,so as to realize the inductanceless decoupling to cope with the influence of network-side inductance fluctuation on the stability of the control system under weak grid.By theoretical analysis and simulation,the proposed control strategy was embedded into the self-developed digital signal processor for the rectifier module of DC charging pile,simulated dynamic and steady-state operation experiments were conducted,and comparative analysis was performed to prove the feasibility of the proposed control strategy.
文摘Hardware Trojans in integrated circuit chips have the characteristics of being covert,destructive,and difficult to protect,which have seriously endangered the security of the chips themselves and the information systems to which they belong.Existing solutions generally rely on passive detection techniques.In this paper,a hardware Trojans active defense mechanism is designed for network switching chips based on the principle of encryption algorithm.By encoding the data entering the chip,the argot hidden in the data cannot trigger the hardware Trojans that may exist in the chip,so that the chip can work normally even if it is implanted with a hardware Trojans.The proposed method is proved to be effective in preventing hardware Trojans with different trigger characteristics by simulation tests and practical tests on our secure switching chip.
基金funded by the National Natural Science Foundation of China(No.42372331)the Henan Excellent Youth Science Fund Project(No.242300421145)the Colleges and Universities Youth and Innovation Science and Technology Support Plan of Shandong Province(No.2021KJ024).
文摘Water decoupling charge blasting excels in rock breaking,relying on its uniform pressure transmission and low energy dissipation.The water decoupling coefficients can adjust the contributions of the stress wave and quasi-static pressure.However,the quantitative relationship between the two contributions is unclear,and it is difficult to provide reasonable theoretical support for the design of water decoupling blasting.In this study,a theoretical model of blasting fracturing partitioning is established.The mechanical mechanism and determination method of the optimal decoupling coefficient are obtained.The reliability is verified through model experiments and a field test.The results show that with the increasing of decoupling coefficient,the rock breaking ability of blasting dynamic action decreases,while quasi-static action increases and then decreases.The ability of quasi-static action to wedge into cracks changes due to the spatial adjustment of the blast hole and crushed zone.The quasi-static action plays a leading role in the fracturing range,determining an optimal decoupling coefficient.The optimal water decoupling coefficient is not a fixed value,which can be obtained by the proposed theoretical model.Compared with the theoretical results,the maximum error in the model experiment results is 8.03%,and the error in the field test result is 3.04%.
基金supported by the National Key Research and Development Program of China (No.2021YFA1401103)the National Natural Science Foundation of China (Nos.61825403,61921005).
文摘Human skin,through its complex mechanoreceptor system,possesses the exceptional ability to finely perceive and dif-ferentiate multimodal mechanical stimuli,forming the biological foundation for dexterous manipulation,environmental explo-ration,and tactile perception.Tactile sensors that emulate this sensory capability,particularly in the detection,decoupling,and application of normal and shear forces,have made significant strides in recent years.This review comprehensively examines the latest research advancements in tactile sensors for normal and shear force sensing,delving into the design and decoupling methods of multi-unit structures,multilayer encapsulation structures,and bionic structures.It analyzes the advantages and disadvantages of various sensing principles,including piezoresistive,capacitive,and self-powered mechanisms,and evalu-ates their application potential in health monitoring,robotics,wearable devices,smart prosthetics,and human-machine interaction.By systematically summarizing current research progress and technical challenges,this review aims to provide forward-looking insights into future research directions,driving the development of electronic skin technology to ultimately achieve tactile perception capabilities comparable to human skin.
基金Project supported by the NSAF(Grant No.U1930201)the National Natural Science Foundation of China(Grant Nos.12274331,91836101,and 91836302)+1 种基金the National Key R&D Program of China(Grant No.2018YFA0306504)Innovation Program for Quantum Science and Technology(Grant No.2021ZD0302100).
文摘Dynamical decoupling(DD)is normally ineffective when applied to DC measurement.In its straightforward implementation,DD nulls out DC signal as well while suppressing noise.This work proposes a phase relay method that is capable of continuously interrogating the DC signal over many DD cycles.We illustrate its efficacy when applied to the measurement of a weak DC magnetic field with an atomic spinor Bose-Einstein condensate.Sensitivities approaching standard quantum limit or Heisenberg limit are potentially realizable for a coherent spin state or a squeezed spin state of 10000 atoms,respectively,while ambient laboratory level noise is suppressed by DD.Our work offers a practical approach to mitigate the limitations of DD to DC measurement and would find other applications for resorting coherence in quantum sensing and quantum information processing research.
基金supported and founded by the Guizhou Provincial Science and Technology Project under the Grant No.QKH-Basic-ZK[2021]YB311the Youth Science and Technology Talent Growth Project of Guizhou Provincial Education Department under Grant No.QJH-KY-ZK[2021]132+2 种基金the Guizhou Provincial Science and Technology Project under the Grant No.QKH-Basic-ZK[2021]YB319the National Natural Science Foundation of China(NSFC)under Grant 61902085the Key Laboratory Program of Blockchain and Fintech of Department of Education of Guizhou Province(2023-014).
文摘Copy-Move Forgery Detection(CMFD)is a technique that is designed to identify image tampering and locate suspicious areas.However,the practicality of the CMFD is impeded by the scarcity of datasets,inadequate quality and quantity,and a narrow range of applicable tasks.These limitations significantly restrict the capacity and applicability of CMFD.To overcome the limitations of existing methods,a novel solution called IMTNet is proposed for CMFD by employing a feature decoupling approach.Firstly,this study formulates the objective task and network relationship as an optimization problem using transfer learning.Furthermore,it thoroughly discusses and analyzes the relationship between CMFD and deep network architecture by employing ResNet-50 during the optimization solving phase.Secondly,a quantitative comparison between fine-tuning and feature decoupling is conducted to evaluate the degree of similarity between the image classification and CMFD domains by the enhanced ResNet-50.Finally,suspicious regions are localized using a feature pyramid network with bottom-up path augmentation.Experimental results demonstrate that IMTNet achieves faster convergence,shorter training times,and favorable generalization performance compared to existingmethods.Moreover,it is shown that IMTNet significantly outperforms fine-tuning based approaches in terms of accuracy and F_(1).
基金financial support from the China Postdoctoral Science Foundation project(No.2023M733253)。
文摘This paper attempts to explore the decoupling relationship and its drivers between industrial economic increase and energy-related CO_(2) emissions(ICE). Firstly, the decoupling relationship was evaluated by Tapio index. Then, based on the DEA meta-frontier theory framework which taking into account the regional and industrial heterogeneity and index decomposition method, the driving factors of decoupling process were explored mainly from the view of technology and efficiency. The results show that during2000-2019, weak decoupling was the primary state. Investment scale expansion was the largest reason hindering decoupling process of industrial increase from ICE. Both energy saving and production technology achieved significant progress, which facilitated the decoupling process. Simultaneously, the energy technology gap and production technology gap among regions have been narrowed, and played a role in promoting decoupling process. On the contrary, both scale economy efficiency and pure technical efficiency have inhibiting effects on decoupling process. The former indicates that the scale economy of China's industry was not conducive to improve energy efficiency and production efficiency, while the latter indicates that resource misallocation problem may exist in both energy market and product market.
基金supported by the National Key Research and Development Program of China(2022YFC2203700).
文摘The gravitational wave spacecraft is a complex multi-input multi-output dynamic system.The gravitational wave detection mission requires the spacecraft to achieve single spacecraft with two laser links and high-precision control.Establishing one spacecraftwith two laser links,compared to one spacecraft with a single laser link,requires an upgraded decoupling algorithmfor the link establishment.The decoupling algorithmwe designed reassigns the degrees of freedomand forces in the control loop to ensure sufficient degrees of freedomfor optical axis control.In addressing the distinct dynamic characteristics of different degrees of freedom,a transfer function compensation method is used in the decoupling process to further minimize motion coupling.The open-loop frequency response of the systemis obtained through simulation.The upgraded decoupling algorithms effectively reduce the open-loop frequency response by 30 dB.The transfer function compensation method efficiently suppresses the coupling of low-frequency noise.
基金supported by the Science and Technology Projects of the Jiangxi Provincial Education Department(Grant No.GJJ2200518)the Ministry of Education in China Layout Project of Humanities and Social Sciences(Grant No.20YJAZH037).
文摘Net primary productivity(NPP)is an important breakthrough point of current research on ecological footprint improvement.The energy eco-footprint(EEF)of the Four-City Area in Central China(FCACC)was measured by constructing an EEF-NPP model.This work has made the following efforts:(1)Gini coefficient was employed to analyze the degree of matching between the EEF and economic growth,population,and energy consumption.(2)LMDI decomposition method was used to explore the impacts of multiple factors on the EEF in the FCACC.(3)Tapio decoupling model was applied to verify the decoupling relationships between the above influencing factors and the EEF.(4)LMDI decomposition formula was embedded into the decoupling model to analyze the impacts of technical and non-technical factors on the decoupling elasticity of the above.The main findings show that from 2010 to 2020:(1)the degree of matching of EEF-GDP,EEF-population,and EEF-energy consumption increased.(2)energy intensity and per capita GDP were the main factors that affected the EEF.(3)the decoupling states between total energy consumption,energy consumption structure,energy intensity,per capita GDP,and population size with the EEF were expansive negative decoupling,expansive negative decoupling,strong negative decoupling,weak decoupling,and expansive negative decoupling,respectively.(4)the impact of non-technical factors was greater than that of technical factors,and their impacts were always in opposite directions.
文摘Voltage Source Converter-based High Voltage Direct Current(VSC-HVDC)transmission technology represents a groundbreaking approach in high voltage Direct Current(DC)transmission,offering numerous technical advantages and broad application prospects.However,in the d-q synchronous rotating coordinate system,the VSC-HVDC exhibits the coupling effect of active power and reactive power,so it needs to be decoupled.This paper introduces the basic principle and mathematical model of the VSC-HVDC transmission system.Through the combination of coordinate transformation and variable substitution,a feedforward decoupling control method is derived.Then the VSC-HVDC simulation model is designed,and the simulation analysis is carried out in the MATLAB environment.The simulation results demonstrate that the method effectively achieves decoupling control of active and reactive power,exhibiting superior dynamic performance and robustness.These findings validate the correctness and effectiveness of the control strategy.
