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Chinese control and Decision Conference, CCDC

作者： Jianyun Ni Helei Du Tie Wang Hao Li Chenyang Xue Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin China School of Electronic Engineering and Automation Tianjin University of Technology Tianjin China Tianjin Climate Center Tianjin China Tianjin University of Technology Tianjin China

An improved artificial potential field method is proposed to address the problems of target unreachability and falling into local minima in the path planning process of the traditional artificial potential field method. Firstly, the distance factor between the robot and the target point is introduced to solve the target unreachability problem; secondly, the robot is guided out of the local minima point by setting the virtual target point through the double-circle strategy; finally, in order to satisfy the continuity of robot velocity and acceleration, the resulting path is smoothed by using three uniform B-sample curves. The experimental results show that the improved algorithm can effectively solve the problems of target unreachability and falling into local minima in the traditional algorithm, and the smoothness of the path after the spline treatment is better compared with the original path.

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Improvement of the Predictive control Method for the High-Level controller

Improvement of the Predictive Control Method for the High-Le...

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International Conference on Modern Problems of Radio engineering, Telecommunications and Computer Science

作者： Vitalii Budashko Albert Sandler Oksana Glazeva Educational and Scientific Institute of Automation and Electrical Engineering National University “Odessa Maritime Academy” NUOMA Odesa Ukraine Department of the theory of automatic control and computer technology National University “Odessa Maritime Academy” NUOMA Odesa Ukraine Department of electrical engineering and electronics National University “Odessa Maritime Academy” NUOMA Odesa Ukraine

ISBN: (数字)9798331520564

ISBN: (纸本)9798331520571

Automation of ship maneuvering in limited sailing conditions usually requires 100% redundancy of thrusters (THRs) of various modifications and their locations in accordance with the matrix. The hierarchy of the motion control system is branched by levels using high-level motion controllers and THRs control distribution algorithms, which allows for a modular design with software, where the high-level controller (HLC) can be designed without comprehensive information about the thruster motors, and the input signal branching and speed limits are handled by the motion controller. But, for certain THRs configurations, this branching leads to the decrease in control efficiency due to the limitation of data on the physical characteristics of the ships and the operation of the motion controller. This research examines different approaches to improving control efficiency using methods of nonlinear predictive control models as a basis for developing motion controllers with decision optimization based on relevant constraints. The implemented branched system is the result of solving two simple problems of ship's motion, which highlight the related problems. The use of different approaches to eliminate the identified shortcomings made it possible to develop the nonlinear controller that combines the motion controller with distributed control of the THRs and ensuring the certain level of system reliability. The modularity of the control system is provided by the expansion of the closed system, which made it possible to achieve an increase in efficiency during the combined mode of operation. The obtained solution of nonlinear control with time-varying constraints made it possible to increase the accuracy of the control with a decrease in the duration of the pause in response to the change of the disturbance within 10 % .

关键词： Attitude control Software algorithms Redundancy Propulsion Predictive models Software Telecommunications Reliability Marine vehicles Predictive control

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Machine Learning Classification of Riemannian Tangent Spaces Based on MI-BCI

Machine Learning Classification of Riemannian Tangent Spaces...

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IEEE International Conference on Mechatronics and Automation

作者： Chunli Zhao Enzeng Dong Jigang Tong Sen Yang Shengzhi Du Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology 391 Binshui West Road Tianjin China Department of Electrical Engineering Tshwane University of Technology Pretoria South Africa

Motor imagery brain-computer interfaces (BCIs) have been extensively used in stroke rehabilitation, particularly in China where stroke incidence is high. The application of BCI to control prostheses and robotic arms has shown promising results in improving the quality of life for stroke patients. However, a major challenge in this field is improving the accuracy of motor imagery (MI) classification. Several previous studies have reported that stroke patients exhibit atypical patterns of even-trelated desynchronization (ERD) and event-related synchronization (ERS) activation during motor imagery (MI) tasks. It has been suggested that the brain regions affected by stroke may show reduced excitability and relative insensitivity to external interference compared to those of healthy individuals. Therefore, this study proposes that the classification accuracy of stroke patients in the same MI task would be higher compared to that of healthy volunteers. In this study, we employed a feature extraction algorithm that combines the Filter Bank Common Spatial Pattern (FBCSP) and Riemann geometric mean distance methods to compare the classification accuracy of five different classifiers, with the objective of identifying the most suitable classifier for our analysis. The obtained results revealed that the K-Nearest Neighbors (KNN) classifier yielded the highest accuracy, reaching 87.5% for stroke patients and 85% for healthy volunteers, respectively. In addition to accuracy, we also utilized Kappa values as evaluation metrics, which yielded Kappa results of 0.619 and 0.613 for stroke patients and healthy volunteers, respectively.

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Classification of EEG signals based on CNN-Transformer model

Classification of EEG signals based on CNN-Transformer model

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IEEE International Conference on Mechatronics and Automation

作者： Jianwei Liu Enzeng Dong Jigang Tong Sen Yang Shengzhi Du Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology 391 Binshui West Road Tianjin China Department of Electrical Engineering Tshwane University of Technology Pretoria South Africa

Brain-computer interfaces (BCI) based on EEG have attracted extensive research and attention worldwide, while motor imagery (MI), mental arithmetic (MA), and P300 event-related potentials are a few of the more commonly used *** Transformer(ViT) is a new Transformer model that has superior global processing power compared to Convolutional Neural Networks (CNN) and Recurrent Neural Networks (RNN).In this study, we propose a hybrid CNN-Transformer based model that uses CNN to convolve EEG signals in time and space, followed by ViT for global processing, and finally optimizes the model using 10-run $\times 10$-fold cross-validation and validates it on a publicly available dataset of 29 subjects. Final accuracies of 87.23% and 90.79% were achieved on the MI and MA tasks, respectively. Compared to other literature, the model achieved higher classification accuracies.

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Effect of Single-Atom Palladium on the Anti-Toxicity of Electrocatalytic Reduction of Nitrate Nitrogen

SSRN

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SSRN 2023年

作者： Zhu, Zongqiang Jiang, Huiling Zhu, Yinian Zhou, Xiaobin Zhang, Lihao Fan, Yinming Collaborative Innovation Center for Water Pollution Control and Water Safety in Karst Area Guilin University of Technology Guilin541004 China The Guangxi Key Laboratory of Theory and Technology for Environmental Pollution Control Guilin University of Technology Guilin541004 China Technical Innovation Center of Mine Geological Environmental Restoration Engineering in Southern Karst Area Nanning530022 China

In this study, in order to improve the anti-toxicity of palladium-based catalysts, six catalysts, PdCu MOF1000, Pd MOF1000, Cu MOF1000, PdCu MOF500, Pd MOF500, Cu MOF500, were obtained by hydrothermal method. The catalytic reduction effects of the six catalysts on nitrate nitrogen (NO3-N) were investigated, as well as the effects on the catalytic activities of PdCu MOF1000, Pd MOF1000, Cu MOF1000 when sodium sulfite was added to the system. When NO3-N was 50 mg/L, the removal effect of PdCu MOF1000, Pd MOF1000, Cu MOF1000 was obvious, in which the removal rate of nitrate nitrogen by PdCu MOF1000 was 97.8%. When 200 μM sodium sulfite was added to the system, the removal rate of PdCu MOF1000 remained 93.3%, and the removal rate of NO3-N by Pd MOF1000 decreased. Characterization of PdCu MOF1000 by HRTEM and STEM revealed that PdCu MOF1000 contained Pd single atom, and the presence of Pd single atom reduced the sensitivity of the catalyst to sulfide, which indicated that the catalyst containing Pd single atom was beneficial to improve its anti-toxicity performance. © 2023, The Authors. All rights reserved.

关键词： Toxicity

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Prescribed-time control for a class of semilinear hyperbolic PDE-ODE systems

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IFAC-PapersOnLine 2022年第26期55卷 47-52页

作者： Abdurrahman Irscheid Nicolas Espitia Wilfrid Perruquetti Joachim Rudolph Chair of Systems Theory and Control Engineering Saarland University 66123 Saarbrücken Germany CNRS Centrale Lille Univ. Lille F-59000 Lille France Centrale Lille F-59000 Lille France

A prediction-based controller is shown to achieve prescribed-time stabilization of a nonlinear infinite-dimensional system, which consists of a general boundary controlled first-order semilinear hyperbolic PDE that is bidirectionally interconnected with nonlinear ODEs at its unactuated boundary. The approach uses a coordinate transformation to map the nonlinear system into a form suitable for control. In particular, this transformation is based on predictions of system trajectories, which can be obtained by solving a general nonlinear Volterra integro-differential equation. Then, a prediction-based controller is designed to stabilize the system in prescribed-time. Numerical simulations illustrate the performance of both the prescribed-time controller and an asymptotically stabilizing one, which follows as a special case.

关键词： distributed parameter systems nonlinear PDE-ODE systems semilinear hyperbolic systems boundary control prescribed-time control prediction

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Modeling and control Design for Quadrotor Transporting System With a Cable-Suspended Rigid Payload

Modeling and Control Design for Quadrotor Transporting Syste...

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IEEE International Conference on Mechatronics and Automation

作者： Tianqi Xia Enzeng Dong Sen Yang Jigang Tong Shengzhi Du Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology 391 Binshui West Road Tianjin China Department of Electrical Engineering Tshwane University of Technology Pretoria South Africa

In this paper, facing the aerial transportation task with a large volume cargo, the system of quadrotor with a cable-suspended rigid payload is investigated. The dynamic model of proposed system is built with Lagrange d’Alembert principle. The dynamic model is linearized to design the feedback control method. Finally, two groups of numerical simulation with proposed feedback controller are designed to demonstrate the effectiveness of system model and the results of simulation illustrate satisfactory performance.

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Highly Active Mofs-Derived Co3o4@Mnox Hollow-Sphere Structure for Photothermocatalysis Of Acetone and No with Free-Ammonia Under H2o at Low Temperature: Effects Of Organic Ligands and Photoactive Substances

SSRN

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SSRN 2023年

作者： Zhang, Yanping Zhu, Yinian Fan, Yinming Wang, Yanhong Mo, Shengpeng Zhou, Xiaobin Zhu, Zongqiang Collaborative Innovation Center for Water Pollution Control and Water Safety in Karst Area Guilin University of Technology Guilin541004 China The Guangxi Key Laboratory of Theory and Technology for Environmental Pollution Control Guilin University of Technology Guilin541004 China Technical Innovation Center of Mine Geological Environmental Restoration Engineering in Southern Karst Area Nanning530022 China

A series of catalysts with MOFs-derived Co3O4@MnOx hollow-sphere structure was prepared by solvothermal method and applied to the photothermal catalytic degradation of acetone and NO at 5 vol% H2O and low temperatures. The optimum molar ratio of cobalt-manganese before and after the introduction of 2-methylimidazole as organic ligands was obtained, and the addition of the photoactive substance had a positive effect on the catalysts. Among them, the conversion of NO and acetone was 75% and 65%, respectively, for C-5/1 (organic ligand was added and Co/Mn molar ratios of 5/1) at 240 °C. The best catalytic performance was obtained for the L-Py sample (photoactive substance was added), with NO conversion up to 80% and acetone up to 69% at 240 °C. Various characterization and analysis methods showed that the catalyst possessed a low crystallinity that would produce structural defects based on the introduction of ligands to adjust the ratio of active components, and the addition of photoactive substances would be conducive to the catalytic degradation of VOCs. Meanwhile, the catalytic performance could be further enhanced by the large specific surface area, a large amount of surface-active oxygen and oxygen vacancies, and the scattering of light energy in the inner space/vacancy of the microspheres. In addition, the high concentration of surface-active oxygen facilitated the oxidation reaction, and the surface oxygen in the photothermal low-temperature response can also be provided by the Mn/Mn+1 redox cycle. Finally, based on Density Functional theory (DFT) calculations, the mechanism of simultaneous degradation of acetone and NO was proposed. © 2023, The Authors. All rights reserved.

关键词： Acetone

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Improved sprinkler irrigation layouts for smallholders

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International Journal of Agricultural and Biological engineering 2022年第24期15卷 30-38页

作者： Saeed Rad Lei Gan Junfeng Dai Shuaipu Zhang Liangliang Huang Linyan Pan Mohd Raihan Taha Guilin University of Technology College of Environmental Science and EngineeringGuilin 541004China Guilin University of Technology Guangxi Collaborative Innovation Center for Water Pollution Control and Safety in Karst AreaGuilin 541004China Guangxi Key Laboratory of Environmental Pollution Control Theory&Technology Guilin University of Technology Guilin 541004China Department of Civil Engineering University Kebangsaan MalaysiaBandar Baru Bangi 43600 UKMSelangorMalaysia

Pressurized irrigation systems are economically justifiable for medium-to large-scale farms,while fewer choices are available for *** current research work provides additional options for small plots,as the only income source for low-income farmers in poorer countries,which produce a considerable portion of the agricultural products in some regions of the *** this research,two novel layouts of a semipermanent sprinkler irrigation system,namely,clock hand(CH)and corner pivot(CP)lateral designs,were designed for a lighter irrigation system to lower the cost *** new techniques were based on a quadrant/full circle movement pattern of manually pivoting laterals,with no/shorter main pipe requirements,which causes a higher system *** retrofitted layouts were examined in different farms with areas of 0.20 hm^(2),0.81 hm^(2),1.62 hm^(2),and 3.24 hm^(2) in Guangxi,*** study introduced,analyzed,and compared the layouts with the widespread traditional split lateral method on technical planning,components,implementation,operation details,size optimization,performance evaluation,and economic *** comparison with the traditional system,CH and CP were found to be more user-friendly and cost-effective but slightly complicated in design with higher required manual *** results revealed a distribution uniformity(LQDU)of 81.0%to 84.0%via the catch can method,lower capital costs(35.0%-45.0%),and lower annual expenses(6.5%-9.8%)for CP and CH,respectively,compared to the split lateral *** 0.81 hm^(2) and 1.62 hm^(2) farms were found to be the optimum farm sizes for implementation of the new methods for a 25-year project time *** outcomes of this experimental work can encourage small farm owners with limited capital to apply pressurized systems for efficient irrigation and water resource sustainability.

关键词： sprinkler irrigation layout semipermanent smallholder cost-effectiveness

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Observer design for 2×2 linear hyperbolic PDEs that are bidirectionally coupled with nonlinear ODEs

Observer design for 2×2 linear hyperbolic PDEs that are bid...

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European control Conference (ECC)

作者： Abdurrahman Irscheid Nicole Gehring Joachim Deutscher Joachim Rudolph Chair of Systems Theory and Control Engineering Saarland University Saarbrücken Germany Institute of Automatic Control and Control Systems Technology Johannes Kepler University Linz Austria Institute for Measurement Control and Microtechnology Ulm University Ulm Germany

A prediction-based observer is designed for systems consisting of 2×2 linear heterodirectional hyperbolic partial differential equations (PDEs) with collocated actuation and measurement at one boundary and bidirectional coupling with nonlinear ordinary differential equations (ODEs) at the other one. Following a preliminary backstepping transformation, a solution-based analysis of the plant allows to draw upon well-known results on the observer design for nonlinear ODEs. For that, the design is split into several steps, with a retarded observer for the ODE state and a prediction thereupon, thus significantly extending existing results for PDE-ODE systems. It is shown that the resulting error system admits a cascaded structure, from which (local) asymptotic convergence follows. Numerical studies underline the performance of the observer.

关键词： Couplings Backstepping Partial differential equations Europe Observers Ordinary differential equations Error correction codes

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