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Exploiting Equivariance in the Design of Tracking controllers for Euler-Poincare Systems on Matrix Lie Groups ⁎

IFAC-PapersOnLine 2024年第6期58卷 333-338页

作者： Matthew Hampsey Pieter van Goor Ravi Banavar Robert Mahony Systems Theory and Robotics Group School of Engineering Australian National University Australia Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay India

The trajectory tracking problem is a fundamental control task in the study of mechanical systems. Hamiltonian systems are posed on the cotangent bundle of configuration space of a mechanical system, however, symmetries for the full cotangent bundle are not commonly used in geometric control theory. In this paper, we propose a group structure on the cotangent bundle of a Lie group and leverage this to define momentum and configuration errors for trajectory tracking, drawing on recent work on equivariant observer design. We show that this error definition leads to error dynamics that are themselves “Euler-Poincare like” and use these to derive simple, almost global trajectory tracking control for fully-actuated Euler-Poincare systems on a Lie group state space.

关键词： Non-Linear control Systems control Design Tracking Mechatronic Systems

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Synergistically enhancing nitrate reduction into N_(2)in water by N-doped Pd-Cu biochar bimetallic single-atom electrocatalysis

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Biochar 2024年第1期6卷 114-131页

作者： Lihao Zhang Yuqing Wu Zongqiang Zhu Yinian Zhu Yi Dong Meina Liang Huan Deng College of Environmental Science and Engineering Guilin University of TechnologyGuilin 541006People’s Republic of China. Guangxi Key Laboratory of Environmental Pollution Control Theory and Technology Guilin 541006People’s Republic of China. Collaborative Innovation Center for Water Pollution Control and Water Safety in Karst Area Guilin University of TechnologyGuilin 541006People’s Republic of China Key Laboratory of Drinking Water Science and Technology Research Center for Eco-Environmental SciencesChinese Academy of SciencesBeijing 100035People’s Republic of China.

Noble metal materials have been identified as high efficiency catalysts for electrocatalytic reduction of nitrate,and the synthesis and manufacture of high catalytic activity and environmentally friendly catalysts of activating hydrogen for water purification applications is extremely *** this work,the Pd-Cu single-atom catalysts(Pd-Cu-N-BC)were first prepared by direct growth of Pd-Cu single-atom on bamboo biochar by regulating the concentration of precursors and doping method,and then enhanced electrocatalytic reduction nitrate performance and N2 *** results showed that Pd-Cu-N-BC displayed excellent catalytic activity and reusability in electrocatalytic reduction nitrate with a low potential of 0.47 V ***(@10 mA cm−2).The maximum nitrate removal efficiency and N2 generation could reach about 100%and 72.32%within 180 min,*** density functional theory(DFT)calculations confirmed that Cu atoms could catalyze the electrochemical reduction of nitrate to nitrite,and Pd atoms anchored in the nitrogen-doped biochar(N-BC)lattice could catalyze electrochemical reduction of nitrite to N2 involving the formation of hydrogen radical(H*).The characterization results of XANES showed that electronic synergistic effect between Pd and Cu single atoms significantly promotes the N2 production through hydrogenation while inhibiting the generation of byproducts,leading to significantly enhanced electrocatalytic reduction of nitrate to ***,Pd-Cu-N-BC was designed as a 3D particle electrode for enhanced electrocatalytic reduction of nitrate,exhibiting excellent stability and reusability,which could be considered as a suitable candidate for applications in the remediation of nitrate contamination.

关键词： Bamboo biochar Single atom catalyst Electrocatalytic denitration Hydrogen evolution reaction Density functional theory

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Reference Tracking for Constrained Uncertain Linear Systems by Stochastic MPC

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IFAC-PapersOnLine 2023年第2期56卷 10421-10427页

作者： Jannik Hahn Olaf Stursberg Control and System Theory Dept. of Electrical Engineering and Computer Science University of Kassel 34121 Kassel Germany

This paper addresses model predictive control of a class of linear systems subject to additive stochastic disturbances and constraints. The underlying stochastic optimal control problem combines inverse cumulative distribution functions with ellipsoid-in-polyhedron formulations to reduce the conservatism induced by constraint satisfaction. By use of terminal constraints and time-varying weights within the cost functional, the presented control scheme satisfies criteria for mean-square stability and can be adapted to reference-tracking problems for arbitrary reference signals.

关键词： Probabilistic Constraints Mean-Square Stability Predictive control Stochastic control Uncertain Systems

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Galvanometer Motor control Based on Reinforcement Learning 5

Galvanometer Motor Control Based on Reinforcement Learning

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5th International Conference on Intelligent Autonomous Systems, ICoIAS 2022

作者： Liu, Kainan Cai, Xiaoshi Ban, Xiaojun Zhang, Jian Harbin Institute of Technology Dept of Control Science and Engineering Harbin150001 China Beijing Institute of Aerospace Control Devices Aerospace Motor Power Division Beijing100000 China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin150001 China

ISBN: (数字)9781665498388

ISBN: (纸本)9781665498388

In order to address the problem that the control effect of the galvanometer motor is often dependent on the accuracy of the model parameters, this paper proposes a control method that is based on reinforcement learning. With the galvanometer motor in the steady state as the target, a state feedback control method incorporating an online update control strategy that does not depend on model parameters is proposed on the premise of obtaining the system order, and the method able to identify the state feedback coefficient. As suggested by the computer simulation results, the method proposed in this paper is capable of applying stable control on the galvanometer motor, and the iterative results are found consistent with the design results of the LQR method with the model, which ensures the reliability of the method. © 2022 IEEE.

关键词： Reinforcement learning

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Predicting the Time-Dependent Toxicities of Binary Mixtures of Five Antibiotics to Vibrio qinghaiensis sp.-Q67 Based on the QSAR Model

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Environment & Health 2024年第7期2卷 465-473页

作者： Xiachangli Xu Yongan Liu Lingyun Mo Xuehua Li Junfeng Dai Litang Qin College of Environmental Science and Engineering Guilin University of TechnologyGuilin 541004China Guangxi Key Laboratory of Theory and Technology for Environmental Pollution Control Guilin 541006China Collaborative Innovation Center for Water Pollution Control and Water Safety in Karst Area Guilin University of TechnologyGuilin 541006China Key Laboratory of Industrial Ecological and Environmental Engineering(MOE) School of Environmental Science and TechnologyDalian University of TechnologyLinggong Road 2Dalian 116024China

Antibiotics may be exposed in a mixed state in natural *** toxicity of antibiotic mixtures exhibits time-dependent characteristics,and data on the time-dependent toxicity of antibiotic mixtures is also relatively *** this study,the toxicities of 45 binary mixtures composed of five antibiotics were investigated against Vibrio qinghaiensis sp.-Q67(Q67)at multiple exposure times(4,6,8,10,and 12 h).Quantitative structure–activity relationship(QSAR)models were developed for predicting the time-dependent toxicities of 45 binary *** results showed that the best QSAR models presented coefficient of determination(R2)of(0.818–0.913)and explained variance in prediction leave-one-out(Q2LOO)of(0.781–0.894)and predictive ability(Q2F1,Q2F2,Q2F3>0.682,concordance correlation coefficient>0.859).The R2 values of QSAR models outperformed the R2(0.628–0.810)of the conventional concentration addition models and the R2(0.654–0.792)of the independent action ***,the QSAR models showed higher R2 and Q2LOO values at 4 h compared to other exposure ***,the model at the 30%effective concentration(EC30)had R2 of 0.902 and Q2LOO of 0.883,while the model at the 50%effective concentration(EC50)had R2 of 0.913 and Q2LOO of *** CATS2D_04_DP descriptor was found to be the most dominant and negatively correlated factor influencing the toxicity of mixed antibiotics against Q67 in the nine QSAR models developed over five exposure *** reduction in the number of DP pharmacophore point pairs with a topological distance of 4 in the represented molecules is the primary cause for the rise in the time-dependent toxicity of the antibiotics against Q67.

关键词： antibiotics Q67 QSAR model time-dependent toxicity toxicities prediction

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High energy storage performance in AgNbO_(3) relaxor ferroelectric films induced by nanopillar structure

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Journal of Materials Science & Technology 2023年第24期155卷 160-166页

作者： Xiang Li Jing Wang Xingyuan San Ning Wang Lei Zhao Key Laboratory of High-precision Computation and Application of Quantum Field Theory of Hebei Province College Physics Science and Technology Hebei University Baoding 071002 China State Key Laboratory of Mechanics and Control of Mechanical Structures College of Aerospace Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 China Huangpu Hydrogen Energy Innovation Center School of Chemistry and Chemical Engineering Guangzhou University Guangzhou 510006 China

Inspired by the increasing demand for energy-storage capacitors in electrical and electronic systems, dielectrics with high energy-storage performance have attracted more and more attention. AgNbO_(3) -based lead-free ceramics serve as one of the most promising environmental-friendly candidates. However, their energy storage optimization is seriously limited by the low breakdown strength. Fortunately, thin film as a form of AgNbO3 materials can effectively improve the breakdown strength. In this work, AgNbO_(3)film with ∼550 nm in thickness was deposited on SrRuO_(3 )/(001)SrTiO_(3) using pulsed laser deposition. The AgNbO_(3) film reveals typical relaxor ferroelectric hysteresis loops due to the new nanopillar structure, which contributes to high breakdown strength of up to 1200 kV cm^(-1) . Benefiting from the high breakdown strength, a recoverable energy storage density of 10.3 J cm^(-3) and an energy efficiency of 72.2% are obtained in the AgNbO_(3) film, which demonstrates the promising prospect of AgNbO_(3) film for energy storage applications.

关键词： AgNbO3 film Relaxor ferroelectrics Energy storage performance Nanopillar structure

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Sequential fusion state estimation algorithm for multi-sensor nonlinear systems with cross-correlated noise

Sequential fusion state estimation algorithm for multi-senso...

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2022 Chinese Automation Congress, CAC 2022

作者： Cheng, Guo-Rui Zhao, Kai Liu, Ting-Rui Song, Shen-Min Harbin Institute of Technology Center for Control Theory and Guidance Technology Harbin China Beijing Institute of Astronautical Systems Engineering Beijing China

ISBN: (纸本)9781665465335

This paper is concerned the problem of multi-sensor state estimation with cross-correlated noise, this paper adopts sequential fusion to estimate the state. The statistical characteristics of measurement noise of different sensors in the multi-sensor system is related, and also related to the system noise in one step. Firstly, based on the estimation of observation noise, a global optimal fusion filter based on sequential fusion and Cubature Kalman filter is proposed for the first time. Secondly, the algorithm proposed in this paper is simulated by numerical method. The method of numerical realization is Cubature Kalman filter based on deterministic sampling. Finally, the effectiveness of the proposed algorithm is demonstrated by a simulation example. © 2022 IEEE.

关键词： State estimation

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Spatially engineering tri-layer nanofiber dressings featuring asymmetric wettability for wound healing

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Nano Materials Science 2024年第5期6卷 611-624页

作者： Tingting Shi Yuan Liu Donghui Wang Dan Xia Baoe Li Ruodan Xu Ning Li Chunyong Liang Menglin Chen Tianjin Key Laboratory of Materials Laminating Fabrication and Interface Control Technology School of Materials Science and EngineeringHebei University of TechnologyTianjin300130China Hebei Key Laboratory of Biomaterials and Smart Theranostics School of Health Sciences and Biomedical EngineeringHebei University of TechnologyTianjin300130China Department of Biomedical Engineering and Technology China Academy of Chinese Medical Sciences Institute of Basic Theory in Chinese MedicineBeijing100700China Department of Biological and Chemical Engineering Aarhus UniversityAarhus CDK-8000Denmark

Inspired by the skin structure,an asymmetric wettability tri-layer nanofiber membrane(TNM)consisting of hydrophilic inner layer loaded with lidocaine hydrochloride(LID),hydrophobic middle layer with ciprofloxacin(CIP)and hydrophobic outer layer has been *** hydrophobic outer layer endows the TNM with waterproof function and anti-adhesion from *** hydrophobic middle layer with CIP preserves long-term inhibition of bacteria growth and the hydrophilic inner layer with LID possesses optimal waterabsorbing capacity and air *** TNM dramatically elevates the water contact angles from 10°(inner layer)to 120(outer layer),indicating an asymmetric wettability,which could directionally transport wound exudate within the materials and meanwhile maintain a comfortable and moist environment to promote wound ***,the sequential release of LID and CIP could relieve pain rapidly and achieve antibacterial effect in the long run,*** addition,the TNM shows superior biocompatibility towards L929 *** in vivo results show the TNM could prevent infection,accelerate epithelial regeneration and significantly accelerate wound *** study indicates the developed TNM with asymmetrical wettability and synergetic drug release shows great potential as a wound dressing in clinical application.

关键词： Asymmetric wettability Tri-layer nanofibrous membrane Biofunctional wound dressing Electrospinning

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Optimal Sensor Placement for Full-Set TDOA Localization Accounting for Sensor Location Errors

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IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Zhang, Chengjie Han, Xinyang Kong, He Ho, K.C. Southern University of Science and Technology Shenzhen Key Laboratory of Control Theory and Intelligent Systems Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology Shenzhen518055 China University of Missouri Electrical Engineering and Computer Science Department ColumbiaMO65211 United States

The positioning accuracy of a signal source is influenced by where the sensors are deployed. Studies in the literature for the optimal sensor placement (OSP) of localization often ignore the presence of sensor position errors. In practice, however, it is impossible to place the sensors precisely at the desired locations. This work designs OSP by accounting for the presence of Gaussian sensor position errors that are independent and identically distributed (IID), with the full set of Time Difference of Arrival measurements corrupted by Gaussian IID noise. The criterion is the A-optimality equal to the trace of the source position Cramer-Rao Bound (CRB). We show that the presence of sensor position errors introduces a multiplication factor to the same criterion for the case without sensor position errors. The latter factor is dependent on the ratio of the sensor position error power to the range difference noise power but independent of the sensor positions, implying that the A-optimality OSP in the presence of sensor position errors is the same as in the absence. To our knowledge, this is the first time such results have been derived. Simulation studies validate the derived OSP, show the minimal OSP performance gap with sensor positioning error and without, and illustrate the better source localization accuracy by OSP. © 1965-2011 IEEE.

关键词： Cramer-Rao bounds

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Comparing Human Motion Forecasts in Moving Horizon Trajectory Planning of Collaborative Robots

Comparing Human Motion Forecasts in Moving Horizon Trajector...

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IEEE International Conference on Robotics and Biomimetics

作者： Heiko Renz Maximilian Krämer Torsten Bertram Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund Germany

Shared workspaces between humans and robots are a significant part of Industry 4.0. Modern planning algorithms aim to increase human safety in collaborative scenarios and dynamic environments by considering motion forecasts of obstacles. While highly accurate approaches exist, the question arises whether their often greater complexity justifies the benefits that motion planners can draw from them. The paper at hand compares two motion forecasters and evaluates their effectiveness in a robot motion planner to generate collision-free trajectories online. One motion forecaster uses neural networks for predicting, while the other estimates and extrapolates the state of a customized human skeleton. The evaluation shows that simple and online capable motion extrapolations constitute towards human safety in varying situations more than highly accurate neural network predictions.

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