检索结果-内蒙古大学图书馆

Collision avoidance and routing based on location access (CARLA) of mobile robots

Neural Computing and Applications 2025年第9期37卷 6401-6430页

作者： ElSayyad, Shimaa Ezzat Saleh, Ahmed I. Ali, Hesham A. Saraya, M.S. Rabie, Asmaa H. Abdelsalam, Mohamed M. Computers Engineering Department MISR Higher Institute for Engineering and Technology Mansoura Round Road Mansoura City35516 Egypt Computers and Control Systems Engineering Department Faculty of Engineering Mansoura University Mansoura35516 Egypt Dean of Faculty of Artificial Intelligence Delta University for Science and Technology Gamasa Mansoura Egypt Faculty of Engineering Mansoura National University Gamasa Mansoura Egypt

The paper introduces a new path-planning robotic system methodology called Collision Avoidance and Routing based on Location Access (CARLA) for use in critical environments such as hospitals and crises where quick action and saving human lives are vital. The main focus of our framework is on accuracy and fast responses, such as delivering tools or items in a specific area while avoiding collisions with other robots and obstacles. CARLA is designed to provide quick responses during emergencies, unlike most existing algorithms that are integrated into site control units or distributed among mobile robots on-site. By being loaded onto a remote server node rather than individual robots, CARLA helps to conserve the robots' capabilities, hardware resources, and power consumption. Additionally, our system utilizes cloud computing and Fog servers technology to improve data transmission times between the cloud and smart devices, especially for applications with strict timing requirements like emergency response. The Fog platform is also leveraged to enhance on-site access to real-time interaction and location-based services by bringing processing power closer to the robots from far-off Cloud servers. CARLA has various applications, such as in factories and warehouses, where mobile robots need to be selected and directed by a central control system remotely. The proposed framework consists of three main modules: Robot Knowledge Module, Robot Selection Module, and Route Reservation Module, which will all be discussed in detail in this paper. The results of simulations using this framework show that the robots have improved flexibility and efficiency in terms of computing paths and successfully fulfiling requests without colliding, compared to traditional methods used in similar scenarios. © The Author(s) 2025.

关键词： Mobile robots

来源：评论

学校读者我要写书评

暂无评论

Attenuation photochemical potential of Pontal of Paranapanema river waters (Brazil) from agrochemicals: geographical and temporal assessment

引用

Environmental Science and Pollution Research 2025年第16期32卷 10640-10652页

作者： de Souza Freitas, Gabriela Rodrigues, Natália Garcez Lastre-Acosta, Arlen Mabel Feirreira-Pinto, Leandro Teixeira, Antonio Carlos Silva Costa Parizi, Marcela Prado Silva SP Presidente Prudente Brazil Vale Do Paraíba Environmental Agency SP São José Dos Campos Brazil Chemical Systems Engineering Center Department of Chemical Engineering University of São Paulo SP São Paulo Brazil

Knowledge of the environmental photochemical fate of pesticides is essential to assess their potential impacts. However, there are few studies in the literature focused on the photochemical attenuation of micropollutants in Brazilian rivers. In this context, this study characterized the surface waters of the Pontal of Paranapanema region (region which concentrates more than 80% of Brazilian sugarcane cultivations), in order to determine its photochemical attenuation potential against micropollutants in different seasons. Thus, the steady-state concentrations of the photochemically produced reactive intermediates (PPRIs) (hydroxyl radical, HO•;singlet oxygen, 1O2, and triplet-excited state chromophoric dissolved organic matter, 3CDOM*), formed in the rivers, were simulated by using the APEX model (Aquatic Photochemistry of Environmentally-occurring Xenobiotics), considering the sunlight irradiance, water chemistry, and depth. Based on our simulations, these concentrations vary between 0.35 × 10−15 and 4.52 × 10−14 mol L−1 for HO•, 1.3 × 10−15 and 1.2 × 10−−14 mol L−1 for 3CDOM*, and 2.5 × 10−15 and 2.5 × 10−14 mol L−1 for 1O2. Finally, mathematical simulations were used for predicting persistence of pesticides atrazine (ATZ) and diuron (DIR) in Pontal of Paranapanema surface waters and the half-life times (t1/2) of the pollutants ranged from a few hours to one week. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2024.

关键词： Herbicides

来源：评论

学校读者我要写书评

暂无评论

Predictable Interval MDPs through Entropy Regularization 63

Predictable Interval MDPs through Entropy Regularization

引用

63rd IEEE Conference on Decision and control, CDC 2024

作者： Van Zutphen, M.J.T.C. Delimpaltadakis, G. Heemels, W.P.M.H. Antunes, D.J. Eindhoven University of Technology Control Systems Technology Group Department of Mechanical Engineering Netherlands

ISBN: (纸本)9798350316339

Regularization of control policies using entropy can be instrumental in adjusting predictability levels of real-world systems. Applications benefiting from such approaches range from cybersecurity, which aims at maximal unpredictability, to human-robot interaction, where predictable behavior is highly desirable. In this paper, we consider entropy regularization for interval Markov decision processes (IMDPs), which are uncertain MDPs where transition probabilities are only known to belong to specified intervals. Lately, IMDPs have gained significant popularity in the context of abstracting stochastic systems for control design. In this work, we address robust minimization of the linear combination of entropy and a standard cumulative cost in IMDPs, thereby establishing a trade-off between optimality and predictability. We show that optimal deterministic policies exist, and devise a value-iteration algorithm to compute them. The algorithm solves a number of convex programs at each step. Finally, through an illustrative example we show the benefits of penalizing entropy in IMDPs. © 2024 IEEE.

关键词： Stochastic systems

来源：评论

学校读者我要写书评

暂无评论

Study on the effect of cathode purge strategy on oxygen utilization of a proton exchange membrane fuel cell using oxygen

引用

International Journal of Hydrogen Energy 2024年 141卷 487-498页

作者： Do, Tan-Thich Devi, Nitika Arpornwichanop, Amornchai Chen, Yong-Song Advanced Institute of Manufacturing with High-tech Innovations and Department of Mechanical Engineering National Chung Cheng University 168 University Rd. Minhsiung Township Chiayi621301 Taiwan Center of Excellence in Process and Energy Systems Engineering Department of Chemical Engineering Faculty of Engineering Chulalongkorn University Bangkok10330 Thailand

Hydrogen-oxygen proton exchange membrane fuel cells (HO-PEMFCs) have the advantages of high energy density, quick startup, low emissions, and low noise during operation Therefore, it is suitable to serve as a power source for unmanned underwater vehicles (UUVs). The operating duration of the HO-PEMFC depends on the utilization of both hydrogen and oxygen. When operating in an environment lacking atmospheric oxygen, oxygen utilization is as important as hydrogen utilization. Therefore, it is necessary to study the effect of oxygen management strategies on oxygen utilization. This study develops a model to examine water accumulation within the cathode and experimentally investigates an HO-PEMFC under various purge operations with a dead-end cathode mode. Results show that the highest oxygen utilizations are achieved at 13.0, 11.2, and 9.4 kJ L−1 for operating current densities of 100, 400, and 800 mA cm−2, respectively, with a purge duration of 0.1 s and optimal purge intervals of 300, 110, and 35 s. Additionally, the optimal cathode purge strategy is proposed based on the ratio of purged gas volume to cathode volume, with the suggested ratio being approximately 15.7%. © 2024 Hydrogen Energy Publications LLC

关键词： Unmanned underwater vehicles

来源：评论

学校读者我要写书评

暂无评论

Study of Energy Circulation Processes in Multilevel Voltage Inverter for Multifrequency Induction Heating of Metal

Study of Energy Circulation Processes in Multilevel Voltage ...

引用

2024 International Conference on Actual Problems of Electron Devices engineering, APEDE 2024

作者： Mirgorodskaya, Ekaterina Mityashin, Nikita Tregubova, Elizaveta Spivak, Anna Fedorov, Vitaly Department of Systems Engineering and Control in Technical Systems Yuri Gagarin State Technical University of Saratov Saratov Russia

ISBN: (纸本)9798350393316

The paper is devoted to the problem of energy flows studying in a universal multilevel inverter, when an output voltage with a complex and controlled harmonic composition of the curve is forming. It is intended for multifrequency induction heating of metal blocks containing of various sizes fragments. Energy processes in such inverter differ from those well studied in traditional two-level voltage inverters, which follows directly from the difference in the principles of the output voltage curve forming in these converters. The patterns studying of these processes in a universal multilevel inverter is the purpose of this article. The methodology for the goal achieving consists in identifying of the main energy flows between elements of its power circuit, development of their mathematical and computer models that allow studding of their flow patterns. The practical and scientific significance of results presented in the paper consists in their use to optimize the control system and justify the choice of elements parameters of the converter circuit for multifrequency metal heating equipment. © 2024 IEEE.

关键词： Induction heating

来源：评论

学校读者我要写书评

暂无评论

An integrated assessment of technological pathways and socioeconomic impacts for sustainable power system transition in Indonesia

引用

Advances in Climate Change Research 2024年第6期15卷 1107-1120页

作者： Widodo Wahyu PURWANTO Djoni HARTONO Akhmad Herman YUNOWO Heri HERMAANSYAH Nadhilah REYSELIANI Ahmad SYAUQI Rosa Citra APRILIA Sustainable Energy Systems and Policy Research Cluster Universitas IndonesiaDepok 16424Indonesia Department of Chemical Engineering Faculty of EngineeringUniversitas IndonesiaDepok 16424Indonesia Department of Economics Faculty of Economics and BusinessUniversitas IndonesiaDepok 16424Indonesia Institute for Energy Transition Faculty of EngineeringUniversitas IndonesiaDepok 16424Indonesia Department of Metallurgical and Materials Engineering Faculty of EngineeringUniversitas IndonesiaDepok 16424Indonesia

The energy transition has unique and profound socioeconomic impacts for the developing and coal-producing countries,due to the distinctive country's *** overall development context and challenges comprising technological pathways,investment,value added,employment and inequality must be *** the case of Indonesia,as one of the world's largest coal-producing,the archipelagic nature with various island topography,sociocultural diversity as well as very high population really needs a comprehensive energy transition research considering the above aspects,which is so far still ***,this current study presents an integrated assessment of technological change and socioeconomics impact for power transition pathways in Indonesia using the Integrated MARKAL-EFOM System(TIMES)and their socioeconomics implications using the Miyazawa Input–Output Model(MIOM).Four scenarios were applied namely business-as-usual(BAU),100%renewable energy(100%RE),Paris Agreement 1.5℃ without coal phase-out(PA1.5),and that of with coal phase-out(PA1.5PO).The results show that by 2060,100%RE without applying carbon capture and storage(CCS)creates an extreme power flexibility which requires ample energy storage but does not attain *** meet the 1.5℃ carbon budget,PA1.5 and PA1.5PO require substantial renewable energy deployment,particularly in utility-scale solar PV,energy storage,and low-carbon *** two scenarios exhibit a notable increase in total installed capacity,ranging 3.37–3.83 times higher than the BAU ***1.5PO,plays an increasing role natural gas as bridge fuel in advanced gas power from 2035 to its peak in *** scenarios require a higher installed capacity compared to BAU,corresponding to a substantial total investment cost of almost 2.5 times in *** MIOM results show that these scenarios have a stronger impact on household income and employment compared to ***,the impact on value added(VA)only surpasses BAU

关键词： Energy transition Power sector TIMES model Socioeconomic impacts Miyazawa input-output model Indonesia

来源：评论

学校读者我要写书评

暂无评论

Optofluidic paper-based analytical device for discriminative detection of organic substances via digital color coding

引用

Microsystems & Nanoengineering 2025年第1期11卷 186-195页

作者： Jinsol Choi Chi Yeung Oh Gong Qian Tae Soup Shim Heon-Ho Jeong Department of Chemical and Biomolecular Engineering Chonnam National University50 Daehak-roYeosu-siJeollanam-do 59626Republic of Korea Department of Energy Systems Research Ajou University206 World cup-roSuwon-siGyeonggi-do 16499Republic of Korea Department of Chemical Engineering Ajou University206 World cup-roSuwon-siGyeonggi-do 16499Republic of Korea

Developing a portable yet affordable method for the discrimination of chemical substances with good sensitivity and selectivity is essential for on-site visual detection of unknown ***,we propose an optofluidic paper-based analytical device(PAD)that consists of a macromolecule-driven flow(MDF)gate and photonic crystal(PhC)coding units,enabling portable and scalable detection and discrimination of various organic chemical,mimicking the olfactory *** MDF gate is designed for precise flow control of liquid analytes,which depends on intermolecular interactions between the polymer at the MDF gate and the liquid ***,the PhC coding unit allows for visualizing the result obtained from the MDF gate and generating differential optical *** fabricate an optofluidic PAD by integrating two coding units into a three-dimensional(3D)microfluidic paper within a 3D-printed *** optofluidic PADs clearly distinguish 11 organic chemicals with digital readout of pattern recognition from colorimetric *** believe that our optofluidic coding strategy mimicking the olfactory system opens up a wide range of potential applications in colorimetric monitoring of chemicals observed in environment.

关键词： organic chemicalmimicking olfactory systemthe photonic crystal coding precise flow co chemical substances optofluidic paper based analytical device macromolecule driven flow gate portable detection

来源：评论

学校读者我要写书评

暂无评论

Nonlinear PD State Feedback control for Electronic Throttle Valve Based on Ant Colony Optimization 11

Nonlinear PD State Feedback Control for Electronic Throttle ...

引用

11th IEEE Conference on systems, Process and control, ICSPC 2023

作者： Mahmood, Noor S. Humaidi, Amjad J. Al-Azzawi, Raaed S. University of Technology Control and Systems Engineering Department Baghdad Iraq

ISBN: (纸本)9798350340860

State feedback control has been designed to control the angular position and velocity of electronic throttle valve (ETV) system based on PD-framework control. In this study, two control schemes are adopted, linear and nonlinear PD controllers. This control scheme suggests that the actual states of nonlinear dynamical model of ETV system can be available via suitable physical means. In order to improve their performances, the two proposed control schemes (linear and nonlinear PD controllers) are optimized using an efficient evolutionary optimizer using Ant Colony Optimization (ACO) technique. Numerical simulations have been conducted to verify the effectiveness of optimized controllers and to show the differences in their performances. When the controlled ETV system is subjected to step and sinusoidal input, the results showed the superiority of the optimal PD controller over the linear control version in terms of transient characteristics and tracking errors. Moreover, the optimal nonlinear controller has better robustness characteristics and load reject capability than the optimal linear controller when the controlled system encounters a sudden change in load. Finally, the results showed that the nonlinear control version consumes lower energy (control effort) as compared to linear controller. © 2023 IEEE.

关键词： Ant colony optimization

来源：评论

学校读者我要写书评

暂无评论

Two-dimensional RGO-bridge S-scheme phosphorus-doped g-C_(3)N_(4)/Bi_(5)O_(7)Ivan der Waals heterojunctions for efficient visible-light photocatalytic treatment of real pharmaceutical wastewater

引用

Science China(Technological Sciences) 2023年第10期66卷 3011-3024页

作者： WANG ZhenZhou XU XiWei DENG Fang DIONYSIOU Dionysios D LI XiBao PENG JunLong LUO XuBiao ZOU JianPing LUO ShengLian National-Local Joint Engineering Research Center of Heavy Metal Pollutants Control and Resource Utilization Nanchang Hangkong UniversityNanchang 330063China Environmental Engineering and Science Program Department of Chemical and Environmental Engineering(DChEE)University of CincinnatiCincinnati 45221-0012USA

The design of van der Waals heterojunctions with S-scheme charge transfer pathway is expected to be an effective strategy for improvement of photocatalytic ***,two-dimensional(2D)phosphorus-doped g-C_(3)N_(4)/Bi_(5)O_(7)Ivan der Waals heterojunctions with reduced graphene oxide as electron bridge(PCN/RGO/Bi_(5O)_(7)I)were successfully synthesized via hydrothermal *** van der Waals interaction endowed 2D PCN/RGO/Bi_(5O)_(7)I with intimate contact interface,lattice match,tunable band structure,and internal electric field,which efficiently promoted interfacial charge separation and enhanced redox ability of photogenerated charge *** a result,the S-scheme PCN/RGO/Bi_5O_7I van der Waals heterojunctions exhibited superior photocatalytic performance in ciprofloxacin degradation and real pharmaceutical wastewater *** optimized 12%PCN/RGO/Bi_5O_7I displayed the highest photocatalytic activity with 92%removal of ***,the COD removal efficiency and extent of mineralization of real pharmaceutical wastewater reached 66.9%and 59.8%,respectively,and the biodegradability of pharmaceutical wastewater was significantly *** photocatalytic mechanism of the S-scheme PCN/RGO/Bi_(5)O_(7)I van der Waals heterojunctions based on the analysis of reactive species,work function,and internal electric field was *** study provides fresh insights into plausible design of S-scheme van der Waals heterojunction to enhance photocatalytic redox ability.

关键词： S-scheme heterojunction van der Waals heterostructure photocatalytic degradation ciprofloxacin energy consumption

来源：评论

学校读者我要写书评

暂无评论

Comprehensive 3E -energetic, economic, and environmental-analysis of a hybrid solar dish-Brayton engine and fuel cell system for green hydrogen and power generation

引用

International Journal of Hydrogen Energy 2024年 140卷 1062-1077页

作者： Shboul, Bashar Zayed, Mohamed E. Alrbai, Mohammad Kafiah, Feras Almomani, Fares Renewable Energy Engineering Department Faculty of Engineering Al Al-Bayt University Mafraq Jordan Interdisciplinary Research Center for Sustainable Energy Systems King Fahd University of Petroleum & Minerals Dhahran31261 Saudi Arabia Department of Mechanical Engineering School of Engineering University of Jordan Amman11942 Jordan Mechanical Engineering Department Al Hussein Technical University Amman11831 Jordan Department of Chemical Engineering Qatar University Qatar

This work aims to assess the energy, economic, and environmental performance of a novel hybrid solar dish Bryton engine and fuel cell (SDBE-FC) system for generating green hydrogen and electricity. The system includes solar dish units, fuel cells, an electrolyzer, a converter, and a hydrogen storage tank. The study introduces a novel SDBE-FC system, replacing typical photovoltaic/fuel cell setups, to achieve higher efficiency and improved financial and environmental competitiveness. A vigorous energy-enviro-economic analysis is carried out using MATLAB/Simulink® to model system components. Key parameters have been analyzed, including the electrolyzer efficiency, flow rate, power, and the SDBE plant and FC stack's power, area, and efficiency. The total levelized cost of energy (LCOE) and the reduction in CO2 emissions are also calculated. Results showed that using 50 stacked fuel cells achieved an efficiency of 7%, increasing the number of staked fuel cells to 400 increased the efficiency by eightfold achieving a peak power of 297 kW. The efficiency and power output of the fuel cell decreased by 16% and 22.2%, respectively, when the operational temperature increased from 40 °C to 80 °C. Furthermore, LCOE as low as 0.218 US$/kWh was achieved using 25 SDBE units at 1100 °C. At 30 kW, the SDBE system produces 750 kW of power with 18.3% efficiency and occupies 4099.8 m2 as the temperature (Th) reaches to 1100 °C. The SDBE, with a rated power range of 15 kW–30 kW, achieved a 390.8% CO2 emissions reduction, amounting to 34,120.76 tons of CO2, when 25 SDBE units were utilized. © 2024 Hydrogen Energy Publications LLC

关键词： Brayton cycle

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：