Desirable Performance Research Articles

Cellular Trafficking of Nanotechnology-Mediated mRNA Delivery.

Messenger RNA (mRNA)-based therapy has emerged as a powerful, safe, and rapidly scalable therapeutic approach that involves technologies for both mRNA itself and the delivery vehicle. Although there are some unique challenges for different applications of mRNA therapy, a common challenge for all mRNA therapeutics is the transport of mRNA into the target cell cytoplasm for sufficient protein expression. This review is focused on the behaviors at the cellular level of nanotechnology-mediated mRNA delivery systems, which have not been comprehensively reviewed yet. First, the four main therapeutic applications of mRNA are introduced, including immunotherapy, protein replacement therapy, genome editing, and cellular reprogramming. Second, common types of mRNA cargos and mRNA delivery systems are summarized. Third, strategies to enhance mRNA delivery efficiency during the cellular trafficking process are highlighted, including accumulation to the cell, internalization into the cell, endosomal escape, release of mRNA from the nanocarrier, and translation of mRNA into protein. Finally, the challenges and opportunities for the development of nanotechnology-mediated mRNA delivery systems are presented. This review can provide new insights into the future fabrication of mRNA nanocarriers with desirable cellular trafficking performance.

Fe, N, S co-doped carbon network derived from acetate-modified Fe-ZIF-8 for oxygen reduction reaction

In this work, potassium acetate (KAc) was added during the synthesis of a Zn-Fe based metal-organic framework (Fe-ZIF-8) to increase the fixed amount of Fe while simultaneously enhancing the number of pores. Electrospinning was utilized to embed KAc-modified Fe-ZIF-8 (Fe-ZIF-8-Ac) into the polyacrylonitrile nanofiber mesh, to obtain a network composite (Fe@NC-Ac) with hierarchical porous structure. Fe@NC-Ac was co-pyrolyzed with thiourea, resulting in Fe, N, S co-doped carbon electrocatalyst. The electrochemical tests indicated that the prepared catalyst displayed relatively remarkable oxygen reduction reaction (ORR) catalytic activity, with an onset potential (Eonset) of 1.08 V (vs. reversible hydrogen electrode, RHE) and a half-wave potential (E1/2) of 0.94 V, both higher than those of the commercial Pt/C (Eonset = 0.95 V and E1/2 = 0.84 V), respectively. Assembled into Zn-air batteries, the optimized catalyst exhibited higher open circuit voltage (1.698 V) and peak power density (90 mW cm−2) than those of the commercial 20 wt% Pt/C (1.402 V and 80 mW cm−2), respectively. This work provided a straightforward manufacturing strategy for the design of hierarchical porous carbon-based ORR catalysts with desirable performance.

Impact of lead compensation on the frequency stability and discharge performance of PBLZST AFE energy storage ceramics

The lead volatilization is inevitable during the sintering process in Pb-based antiferroelectric, and the lead compensation is crucial for achieving desirable performances. In this study, a conventional solid-state approach was employed to fabricate the PBLZST + xPbO ceramics with varying lead content (x = −5, 0, 5, 10 wt%), aiming at investigating the impact of lead compensation on the microstructure and macroscopic properties of PBLZST ceramics. Through scanning electron microscopy and hardness testing analysis, it was observed that increasing the lead content effectively compensated for the lead volatilization. The most densely structured ceramic was obtained when x = 5 wt%, featuring a high energy density of 4.22 J/cm3, representing a remarkable 135.8% increase compared to the energy density at x = −5 wt%. Furthermore, this lead compensation also leads to an enhancement in the frequency stability (10–100 Hz) and a larger discharge energy density of 4.11 J/cm3 within a faster discharge time of 6.42 μs compared to other components. The experimental results emphasize the importance of controlling the lead content to optimize the electrical properties and enhance the energy storage capabilities of Pb-based antiferroelectric ceramics.

Flexible and hydrophobic polyimide/MXene-POSS nanocomposite films for electromagnetic interference shielding

A strategy for fabricating polyimide(PI)/MXene-POSS nanocomposite films with excellent electromagnetic interference (EMI) shielding, water resistance, and flame retardance was developed. Herein, the hydrophobic MXene-POSS hybrid was successfully prepared by modifying MXene with polyhedral oligomeric silsesquioxane (POSS). On the one hand, MXene-POSS has good compatibility with PI, so that uniform films can be prepared; on the other hand, the prepared composite films have hydrophobic properties, improving their application in extreme environments. The nanocomposite film with 20 wt% MXene-POSS content achieved a desirable EMI shielding performance of 12.7 dB. In addition, the PI/MXene-POSS nanocomposite also exhibited excellent fire resistance. Moreover, due to the hydrophobic properties of the PI/MXene-POSS-20 % nanocomposite, the water uptake of the PI/MXene-POSS-20 % nanocomposite film was approximately 1.4 % under 70 % relative humidity. The PI/MXene-POSS nanocomposite film demonstrates reasonable EMI shielding performance with high stability and durability, which has the potential for broad applications in electronic devices designed for use in extreme outdoor environments.

Vanadium oxide/carbonized chestnut needle composites as cathode materials for advanced aqueous zinc-ion batteries

Owing to the abundance of zinc, inherent safety, simple assembly-operation and inexpensive nature, aqueous zinc ion batteries (AZIBs) as high-potential electrochemical energy devices hold marvelous development prospects. V2O3 as one of the promising AZIBs cathode materials has been severely limited due to its low electron conductivity and large volume variation during charge/discharge. In this study, the V2O3/carbonized chestnut needle (V2O3/CCN) composites were successfully prepared by a simple evaporation-induced self-assembly technique, using NH4VO3 and chestnut needle as raw materials. The introduction of biomass derived carbon not only provides a channel to ensure rapid electron/ion transport but effectively enhances the structural stability and electrical conductivity of V2O3. Benefiting from the above-mentioned positive effects, V2O3/CCN-15/2 electrode possess an exceptional discharge capacity of 431.96 mAh g−1 at 0.05 A g−1 and a fabulous cycle capability of 201.41 mAh g−1 (capacity retention of 94.27 %) at 3 A g−1 after 1000 cycles. The desirable electrochemical performance of V2O3/CCN-15/2 is proved by ex-situ testing methods. The insights provided by this investigation may contribute to the development of AZIBs cathode materials with competitive potential that are expected to play a paramount role in future large-scale energy storage.

Design of Co-doped carbon nitride based on melem supramolecular assembly with enhanced photocatalytic activity toward tetracycline hydrochloride degradation

We design highly-active porous Co-doped carbon nitride (CN) rod by a facile thermal condensation of melem supramolecular assembly incorporated with Co species. The highly thermal-stable H-bonded melem supramolecule enables less and slow sublimation during the thermal condensation process, ensuring good microstructural integrality of the CN skeleton for the migration of photogenerated carriers. And the Co doping can further modulate the electronic, optical, and catalytic properties of the catalyst. The best-performing Co-doped CN catalyst demonstrates desirable performance toward the photocatalytic degradation of tetracycline hydrochloride (10.3 times higher than that of bulk CN) and good cycling stability maintaining 80.0 % after 5 reuses.

Droop-Based DC Microgrids Analysis and Control Design Using a Weighted Dynamic Aggregation Modeling Approach

In this paper, Weighted Dynamic Aggregation (WD agg) approach is used for modeling, analyzing and control loop design of islanded DC microgrids. The proposed approach models <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><inline-formula><tex-math notation="LaTeX">$ \textbf {n}$</tex-math></inline-formula></i> DC-DC converters and their controllers with a single equivalent converter and an equivalent control system, which without sacrificing the accuracy, reduces the complexity of such large-scale system studies. It is shown that the model equivalent converter and control system parameters can be determined by the weighted average of the corresponding parameters of the large-scale system. The weight of each converter is quantified based on the contribution of that converter in the overall dynamic behavior of the large-scale system. WD agg model can accurately predict the transient response and can be employed in power planning, stability and sensitivity analyses with high accuracy. It is also shown that the proposed model can be used in designing the controller parameters of the large-scale system to ensure desirable system performance. The accuracy and applications of the proposed WD agg model are evaluated through time-domain simulations, and experiments of an islanded microgrid consisting of three paralleled converters with different control parameters connected to a Constant Power Load (CPL) emulating a challenging system stability case.

Analog RF Circuit Sizing by a Cascade of Shallow Neural Networks

A deep neural network architecture for the automatic sizing of analog circuit components is proposed, with a focus on radio frequency (RF) applications in the 2 to 5 GHz region. It addresses the challenges of the typically small number of examples for network training and the existence of multiple solutions, of which impractical values for integrated circuit implementation. We address these issues by restricting the learning to one component size at a time, thanks to a cascade of dedicated shallow neural networks (SNN), where each network constrains the prediction of the next ones. Moreover, the SNNs are individually tuned by a genetic algorithm for the prediction order and accuracy. This reduction of the solution space at each step allows the use of small training sets, and the introduced constraints between SNNs handle component interdependencies. The method is successfully validated on three different types of RF microcircuits: a low-noise amplifier (LNA), a voltage-controlled oscillator (VCO), and a mixer, using 180 nm and 130 nm CMOS implementations. All the predictions were within 5 % of the true values, both at the component and performance levels, and all the responses were obtained in less than 5 s, after 4 to 47 min. training on a regular PC station. The obtained results show that the proposed method is fast and applicable to arbitrary analog circuit topologies, with no need to retrain the developed neural network for each new set of desired circuit performances.

Analysis of the Indoor Climate in a Small, Newly-Built Auditorium

Abstract The article focuses on an analysis of the indoor climate in a small, newly-built auditorium. Providing optimal indoor climate parameters in the interiors of a university is extremely important for students. Meeting these parameters is essential not only from a physiological point of view, but also to achieve desirable student performances. The parameters of CO2 concentration are also influenced by the air distribution system in a small auditorium. The correct positions of the supply and extract air is very important. The first experimental measurements of CO2 concentration were carried out in a small auditorium in an old building. The natural ventilation of the small auditorium was evaluated. The second experimental measurements of the CO2 concentration were made in a small auditorium in a newly-built building. The ventilation system and the modern air distribution system of the small, newly-built auditorium were evaluated based on the CO2 concentration and the PMV index. A Testo 480 was used for the measurements. The conclusion of this paper contains the recommendations for the design of a newly-built ventilation system in a small auditorium.

Hybrid impedance and admittance control for optimal robot–environment interaction

AbstractCompliant interaction between robots and the environment is crucial for completing contact-rich tasks. However, obtaining and implementing optimal interaction behavior in complex unknown environments remains a challenge. This article develops a hybrid impedance and admittance control (HIAC) scheme for robots subjected to the second-order unknown environment. To obtain the second-order target impedance model that represents the optimal interaction behavior without the accurate environment dynamics and acceleration feedback, an impedance adaptation method with virtual inertia is proposed. Since impedance control and admittance control have complementary structures and result in unsatisfactory performance in a wide range of environmental stiffness due to their fixed causality, a hybrid system framework suitable for the second-order environment is proposed to generate a series of intermediate controllers which interpolate between the responses of impedance and admittance controls by using a switching controller and adjusting its switching duty cycle. In addition, the optimal intermediate controller is selected using a mapping of the optimal duty cycle to provide the optimal implementation performance for the target impedance model. The proposed HIAC scheme can achieve the desired interaction and impedance implementation performance while ensuring system stability. Simulation and experimental studies are performed to verify the effectiveness of our scheme with a 2-DOF manipulator and a 7-DOF Franka EMIKA panda robot, respectively.

Recommended control options of a daylight dimming system for daylit perimeter zones of open-planned office with curtain walls

This study investigates control options of a daylight dimming system in an open-planned office for required lighting environments with lighting energy savings and acceptable glare ratings. Computer simulations were performed for photosensors with three ranges of viewing angles in two daylit perimeter zones of the office and consecutive computational processes based on dimming control algorithm were employed for final light output of lighting fixtures. Three CIE standard sky and blind conditions were employed for the prediction of indoor daylight illuminance, photosensor illuminance, and daylight glare probability (DGP). The results indicate that the perceived glare can be imperceptible for the majority of time periods and a daylight dimming control system can be effectively applied for perimeter zones of office with curtain walls. For the south-facing zone under clear and intermediate sky conditions, the horizontal and 45 degree blind conditions are recommended to be combined with the full or partial photosensor shielding conditions for desirable dimming control performances. The unshielded photosensor condition should be generally avoided. For the east-facing zone under clear and intermediate sky, the photosensor sensing range should be narrowed using full shielding for the improvement of system performance of daylight dimming control. The unshielded and partially-shielded photosensors are rarely recommended. For the east and south-facing zone under overcast sky, effective control performance was rarely achieved due to the lack of daylight. Predictions models for linear relationships between the workplane and photosensor illuminances due to daylight were statistically acceptable, and strong relationships existed between them.

Strongly coupled design of zinc oxide-nanorods/copper tin sulfide-nanoflowers nanostructures: An electrochemical study in 4-nitrochlorobenzene detection

Developing efficient electrode materials for detecting 4-nitrochlorobenzene (4-NCB) is highly desirable for living organisms and environmental safety. Herein, we designed a hierarchical 1D-2D nanostructure of zinc oxide nanorods@copper tin sulfide nanoflowers (ZnO-NRs@CTS-NFs) by a facile hydrothermal synthesis route for electrochemical detection of 4-NCB. The ZnO-NRs@CTS-NFs modified glassy carbon electrode (GCE) exhibits excellent electrocatalytic performance for 4-NCB, much higher than that of bare GCE, ZnO-NRs/GCE, and CTS-NFs/GCE. Such a desirable electrocatalytic performance is attributed to the large surface area, rich active sites, fast electron transfer through local pn junctions of CTS NFs on ZnO NRs, and the synergistic effect of the as-prepared ZnO-NRs@CTS-NFs nanocomposite. Under optimum conditions, the fabricated ZnO-NRs@CTS-NFs/GCE provides a trace-level detection limit with a wide detection range and high sensitivity. Besides, the fabricated electrochemical sensor displays good selectivity and reproducibility for 4-NCB detection. The practical application of the ZnO-NRs@CTS-NFs modified GCE exhibits satisfactory results in determining 4-NCB in river water, pond water, and industrial wastewater. These results demonstrate that the as-prepared ZnO-NRs@CTS-NFs nanostructures might be one of the most promising electrode materials for 4-NCB detection.

Self-Organizing Robust Fuzzy Neural Network for Nonlinear System Modeling.

Fuzzy neural network (FNN) is a structured learning technique that has been successfully adopted in nonlinear system modeling. However, since there exist uncertain external disturbances arising from mismatched model errors, sensor noises, or unknown environments, FNN generally fails to achieve the desirable performance of modeling results. To overcome this problem, a self-organization robust FNN (SOR-FNN) is developed in this article. First, an information integration mechanism (IIM), consisting of partition information and individual information, is introduced to dynamically adjust the structure of SOR-FNN. The proposed mechanism can make itself adapt to uncertain environments. Second, a dynamic learning algorithm based on the α -divergence loss function ( α -DLA) is designed to update the parameters of SOR-FNN. Then, this learning algorithm is able to reduce the sensibility of disturbances and improve the robustness of Third, the convergence of SOR-FNN is given by the Lyapunov theorem. Then, the theoretical analysis can ensure the successful application of SOR-FNN. Finally, the proposed SOR-FNN is tested on several benchmark datasets and a practical application to validate its merits. The experimental results indicate that the proposed SOR-FNN can obtain superior performance in terms of model accuracy and robustness.

Improved Inverted Pendulum Control through PID and EPID Controllers

This presentation is on studies of application of combined constant rate reaching law and proportional-integral-derivative (PID) control law (EPID) for the control of inverted pendulum system. The inverted pendulum system is similar to a typical attitude control of booster rocket undergoing the takeoff process. Recent studies indicated records of higher rates of accidents in aircrafts. The records show that about half results due to malfunctions of aircraft systems and close to one-third from propulsion system malfunctions. Others are higher complexities of modern aircraft systems and in trying to reduce cost of maintenance. Therefore, the need enhanced automation, fault detection, faults isolation, faults tolerance, faults diagnosis and faults correction. Linear control techniques may not yield the desired performances in aircraft systems due to high levels of system nonlinearities. Applications of the intelligent control counterparts may not guarantee the generation of mathematical model for in-depth analysis. The major demerit of nonlinear control methods is higher requirement of computational burden making practical implementation difficult. The model of the inverted pendulum system is a linearized analytical model. The system performance of the system was observed with the EPID and PID controllers. Furthermore the effect of sudden changes such as wind, gust or other related variations on the system was also studied using step disturbance. It was a simulation studies using MATLAB/SIMULINK software. Results showed that with the EPID a near zero deviation was achieved. Whereas with PID controller was able to only maintain a deviation of about 40. Results also indicated a near zero disturbance rejection ability with the EPID, while the PID was able to only suppress the disturbance to some extent. It implies a more robust control with the EPID was achieved for aircraft/inverted pendulum control. Hence, it implies enhanced performance and with further improvement it can be used for application in this class of systems as well as similar systems. The work would help to for basic researches in aircraft/inverted pendulum control for beginners as well as experienced researchers in the field.

Advances and Challenges of Ultrafast Fiber Lasers in 2–4 µm Mid‐Infrared Spectral Regions

AbstractMid‐infrared (mid‐IR) ultrafast lasers are widely employed in biomedicine, molecular spectroscopy, material processing, and nonlinear optics. With the improvement of fiber gain media and other fiber optical elements, low‐cost, compact, and high‐efficiency fiber lasers open up new opportunities for 2–4 µm pulse generations, which calls for a comprehensive review of their mode‐locking mechanisms, gain media, and fiber laser system performance. This paper, beginning with an overview of pulse‐generation technologies, reviews recent progress on 2–4 µm mid‐IR ultrafast fiber lasers, including Tm3+‐, Ho3+‐doped, Tm3+/Ho3+codoped silicate fiber 2 µm lasers, and Er3+‐, Dy3+‐doped, and Ho3+/Pr3+codoped ZBLAN fiber 2.5–4 µm lasers. Among them, the status of 2–4 µm ultrafast fiber lasers based on 2D material passive mode‐locking is emphatically discussed. Meanwhile, the novel advances on mode‐locking and gain fibers of mid‐IR ultrafast fiber lasers are explored. Furthermore, current and prospective applications of such laser systems are also introduced in detail. This review finally summarizes challenges associated with future development of mid‐IR ultrafast fiber lasers, which provides an outlook on how to achieve more desirable laser performance (e.g., higher average power, higher pulse energy, and longer emission wavelength) that can lead to more practical uses of such lasers.

Nitrogen-doped oxygen-rich porous carbon framework towards aqueous zinc ion hybrid capacitors and zinc-iodine batteries

Zinc ion hybrid capacitors (ZIHCs) and zinc-iodine batteries (ZIBs) have attracted significant attention as promising components for large-scale energy storage owing to their excellent security, environmental friendness and high theoretical capacity of Zn anode. However, there still exist some respective obstacles for commercial applications, such as limited specific capacity, poor cycling stability of ZIHCs or shuttle effect of polyiodide of ZIBs. Here, to enhance electrochemical properties, we report a synergistic one-step activation strategy using KMnO4 and Zn(NO3)2 for nitrogen-doped oxygen-rich three-dimensional hierarchical porous carbon (NOPC). Benefiting from its high specific surface area, three-dimensional porous morphology and improved redox sites from heteroatom doping, the as obtained NOPC exhibits desired electrochemical performance as cathode for ZIHCs and ZIBs. The NOPC-based electrode achieves an ultra-high specific capacity of 230 mAh g−1 at 0.1 A g−1, and 118 mAh g−1 can be maintained at 10 A g−1. Besides, a distinguished energy density of 213.0 Wh kg−1 and a high-power density of 11.2 kW kg−1 are also achieved with a constructed ZIHCs device. Furthermore, the NOPC/I2 composite exhibited excellent rate performance (54 mAh g−1 at 10 A g−1) and cycling performance (∼88.3 % retention upon 5000 cycles) in ZIBs device. This work provides a facile but effective strategy to develop 3D porous electrodes for ZIHCs and ZIBs with remarkable rate and cycling performance.

A ternary Fe-based oxygen carrier with ZrO2-LaFeO3 as support for chemical looping hydrogen generation

Fe2O3 is usually supported by inert materials to improve the sintering resistance and redox stability in chemical looping hydrogen generation (CLHG). It is reasonable to apply inert together with perovskite as a composite support for Fe-based oxygen carrier in CLHG. In this work, the Fe2O3/ZrO2/LaFeO3 ternary oxygen carriers were synthesized, and the synergistic effects of ZrO2 and LaFeO3 on the reactivity and redox stability and the intrinsic mechanisms were investigated. The results showed that the 3LF (the mass ratio of LaFeO3 and ZrO2 was 30:10 with Fe2O3 loading at 60 wt %) demonstrated the best hydrogen generation performance with an average H2 yield of 8.3 mmol g-1 and H2 purity of over 99.5%. The LaFeO3 reacted with ZrO2 to form pyrochlore La2Zr2O7 with high melting point, which could be beneficial to the sintering resistance, though it led to the decline of the LaFeO3 quantity. All the cycled samples exhibited a core-shell structure in view of Fe element distribution, owing to the outward migration of Fe cations. The ternary Fe-based oxygen carrier 3LF displayed the most desirable performance in hindering the Fe migration, resulting in enhanced sintering resistance. Furthermore, the high oxygen vacancy concentration in the 3LF facilitated the lattice oxygen transport and hence promoted the reactivity and redox stability in CLHG.

Competing fracture modes in Al-steel resistance spot welded structures: Experimental evaluation and numerical prediction

Multi-material design has been increasingly used in the automotive industry for structural lightweighting. A novel resistance spot welding technique has been developed to join aluminium to steel with acceptable joint strength. However, aluminium to steel resistance spot welds can fail in either interfacial (IF) or pull-out (PO) fracture modes. In the present study, coupon-level tensile shear and coach peel samples are tested under quasi-static condition, and component-level T-joint structures are tested under impact load. Experimental results show that in the IF fracture mode, weld failure occurs due to the facture of the intermetallic layer, while in the PO fracture mode, weld failure occurs due to a combination of different mechanisms including through-thickness tearing of the weld nugget and possibly partial fracture of the intermetallic layer. In the finite element analysis, two force-based fracture criteria are implemented via mesh-independent connector element considering a general loading condition, and whichever fracture potential reaches unity first determines the fracture mode. The proposed method is validated by experiments and has the following features: firstly, it can capture the behaviour of fracture mode transitioning from IF to PO as weld diameter increases; secondly, it can simulate the maximum load and deformation at fracture; thirdly, it can indicate the global response and absorbed energy in impact analysis with reasonable accuracy. Furthermore, a distinct advantage of the model is that it is free of non-physical calibration. The parameters in the model are obtained from geometric and material properties of the weld directly. The developed method shows desirable performance and is potentially suitable for applications in large-scale automotive structural analysis and design.

Achieving High Performance of ZnSnO Thin-Film Transistor via Homojunction Strategy.

The zinc-tin-oxide (ZTO) thin-film transistor (TFT) is one of the most promising candidates for advanced display applications, though its popularity is limited by its performances. In this work, a heterojunction channel strategy was adopted to regulate the electron transport behaviors and the TFT performances by manipulating the concentration and the distribution of oxygen vacancies, and a reasonable physical model was proposed based on experimental and simulation results. It is difficult to mediate the contradiction between mobility and threshold voltage for the single channel. Via a heterojunction channel strategy, desirable TFT performances, with mobility of 12.5 cm2/Vs, threshold voltage of 1.2 V and Ion/Ioff of 3 × 109, are achieved when the oxygen-vacancy-enriched layer gets close to the gate insulator (GI). The enhanced performances can be mainly attributed to the formation of two-dimensional electron gas (2DEG), the insensitive potential barrier and the reasonable distribution of oxygen vacancy. On the contrary, when the oxygen-vacancy-enriched layer stays away from GI, all the main performances degenerate due to the vulnerable potential well. The findings may facilitate the development and application of heterojunction channels for improving the performances of electronic devices.

Fuzzy adaptive dP-perturb and observe maximum power point tracking controller for wind energy conversion systems: Design and real-time implementation

This paper proposes a novel Maximum Power Point Tracking (MPPT) technique for Wind Energy Conversion Systems (WECS) for fast environmental changing conditions. This technique is a direct power control hill-climbing method called dP-P&O (Perturb and Observe) with online perturbation step size scheduling using a fuzzy inference system based on the two successive power variations to perform quick convergence with high precision until reaching the MPP. The Fuzzy Adaptive dP-P&O (FAdP-P&O) is proposed to overcome the drawbacks of the classical dP-P&O and ameliorate its control performances. The dP-P&O and FAdP-P&O are experimentally evaluated in a WECS emulator test bench controlled dSPACE DS1104, where the experimental results prove that the proposed algorithm guarantees the desired performances with high energy quality and great robustness against speed or load change.