Considering the nonlinear characteristics, model uncertainties and the time-varying road conditions of ground vehicles, a novel traction controller for ground vehicles is presented using nonlinear robust modified sliding mode control method to solve the problem of skid braking and spin acceleration. The current wheel slip could be controlled at the optimal value using this method, so that it could improve the safety and stability of ground vehicles in slippery road conditions. Due to the optimal value of the wheel slip depends on road conditions, the so-called Burckhardt's tire model is adopted to make online calculation. In order to validate the effectiveness of the proposed method, simulations in different road conditions are carried out, and a series of simulation results indicate that the wheel slip tracking controller could obtained fairly good performance.
Past decades have witnessed the generation of new stretchable photodetectors in electronic eyes, health sensing, wearable devices, intelligent monitoring and other fields. Stretchable devices require not only outstanding performance but also excellent flexibility, adaptability and stability. Innovative strategies have been proposed to realize the stretchability of devices. In addition, novel functional materials including zero‐dimensional nanomaterials, one‐dimensional inorganic nanomaterials, two‐dimensional layered materials, organic materials, and organic‐inorganic composite materials with excellent properties are emerging to continuously improve the performance of devices. Here, the recent research progress of stretchable photodetectors in terms of both various design methods and functional materials is outlined. The optical performance and stretchable properties are also comprehensively reviewed. Finally, a summary and the challenges associated with the application of stretchable photodetectors are presented.
In this article, an improved slime mould algorithm (SMA-CSA) is proposed for solving global optimization and the capacitated vehicle routing problem (CVRP). This improvement is based on the mixed-strategy optimization of Cauchy mutation and simulated annealing to alleviate the lack of global optimization capability of the SMA. By introducing the Cauchy mutation strategy, the optimal solution is perturbed to increase the probability of escaping from the local extreme value; in addition, the annealing strategy is introduced, and the Metropolis sampling criterion is used as the acceptance criterion to expand the global search space to enhance the exploration phase to achieve optimal solutions. The performance of the proposed SMA-CSA algorithm is evaluated using the CEC 2013 benchmark functions and the capacitated vehicle routing problem. In all experiments, SMA-CSA is compared with ten other state-of-the-art metaheuristics. The results are also analyzed by Friedman and the Wilcoxon rank-sum test. The experimental results and statistical tests demonstrate that the SMA-CSA algorithm is very competitive and often superior compared to the algorithms used in the experiments. The results of the proposed algorithm on the capacitated vehicle routing problem demonstrate its efficiency and discrete solving ability.
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