Lithium-ion batteries have been widely used in many important applications. However, there are still many challenges facing lithium-ion batteries, one of them being degradation. Battery degradation is a complex problem, which involves many electrochemical side reactions in anode, electrolyte, and cathode. Operating conditions affect degradation significantly and therefore the battery lifetime. It is of extreme importance to achieve accurate predictions of the remaining battery lifetime under various operating conditions. This is essential for the battery management system to ensure reliable operation and timely maintenance and is also critical for battery second-life applications. After introducing the degradation mechanisms, this paper provides a timely and comprehensive review of the battery lifetime prognostic technologies with a focus on recent advances in model-based, data-driven, and hybrid approaches. The details, advantages, and limitations of these approaches are presented, analyzed, and compared. Future trends are presented, and key challenges and opportunities are discussed.

In multi-cast scenario, all desired users are divided into K groups. Each group receives its own individual confidential message stream. Eavesdropper group aims to intercept K confidential-message streams. To achieve a secure transmission, two secure schemes are proposed: maximum group receive power plus null-space (NS) projection (Max-GRP plus NSP) and leakage. The former obtains its precoding vector per group by maximizing its own group receive power subject to the orthogonal constraint, and its AN projection matrix consist of all bases of NS of all desired steering vectors from all groups. The latter attains its desired precoding vector per group by driving the current confidential message power to its group steering space and reducing its power leakage to eavesdropper group and other K − 1 desired ones by maximizing signal to leakage and noise ratio (Max-SLNR). And its AN projection matrix is designed by forcing AN power into the eavesdropper steering space by viewing AN as a useful signal for eavesdropper group and maximizing AN to leakage-and-noise ratio (Max-ANLNR). Simulation results show that the proposed two methods are better than conventional method in terms of both bit-error-rate (BER) and secrecy sum-rate per group. Also, the leakage scheme performs better than Max-GRP-NSP , especially in the presence of direction measurement errors. However, the latter requires no channel statistical parameters and thus is simpler compared to the former.

Abstract-We present a novel and simple experimental method called physical human interactive guidance to study humanplanned grasping. Instead of studying how the human uses his/her own biological hand or how a human teleoperates a robot hand in a grasping task, the method involves a human interacting physically with a robot arm and hand, carefully moving and guiding the robot into the grasping pose, while the robot's configuration is recorded. Analysis of the grasps from this simple method has produced two interesting results. First, the grasps produced by this method perform better than grasps generated through a state-of-the-art automated grasp planner. Second, this method when combined with a detailed statistical analysis using a variety of grasp measures (physics-based heuristics considered critical for a good grasp) offered insights into how the human grasping method is similar or different from automated grasping synthesis techniques. Specifically, data from the physical human interactive guidance method showed that the human-planned grasping method provides grasps that are similar to grasps from a state-of-the-art automated grasp planner, but differed in one key aspect. The robot wrists were aligned with the object's principal axes in the human-planned grasps (termed low skewness in this paper), while the automated grasps used arbitrary wrist orientation. Preliminary tests show that grasps with low skewness were significantly more robust than grasps with high skewness (77-93%). We conclude with a detailed discussion of how the physical human interactive guidance method relates to existing methods to extract the human principles for physical interaction.

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