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IEEE International Conference on control Science and Systems engineering (CCSSE)

作者： Kun Xu Boheng Zhang Jiangang Li Guizhong Wang Mingjian Sun School of Information Science and Engineering Harbin Institute of Technology Weihai Weihai China Department of Control Science and Engineering Harbin Institute of Technology Harbin China Woan Technology (Shenzhen) Co. Ltd. Shenzhen China Hebei Key Laboratory of Grid Advanced Measurement and Monitor Jinyanhagong Industrial Technology Research Institute Zhangjiakou China School of Information Science and Engineering Harbin Institute of Technology Harbin China

Simultaneous localization and mapping (SLAM) algorithm is widely used in unmanned and robotic applications. SLAM usually uses sensor data, which are from the LiDAR, the inertial measurement unit (IMU) and the wheeled odometry, to build maps of the surrounding environment. However, the motion distortion of LiDAR data and the error accumulation of wheeled odometry can affect the accuracy of the front-end odometry of the SLAM algorithm, which can lead to serious errors in the maps created. Therefore, in order to solve the problem of poor map construction results of SLAM algorithm due to various types of sensor errors. we propose the traceless Kalman filtering based (UKF-based) multi-sensor data processing algorithm. Firstly, the proposed algorithm uses the UKF to fuse IMU and wheeled odometry data to reduce the cumulative error of wheeled odometry. And then the algorithm uses IMU and corrected wheeled odometry data and combines with the motion states of the robot to solve the motion distortion problem of LiDAR data. Finally, we verified the effectiveness of the proposed algorithm for wheeled odometry data correction in Gazebo simulation environment and real environment experiments, and compared the mapping effectiveness of SLAM by using the original data and the data processed by our algorithm. The experimental results show that the map construction effect of SLAM algorithm is significantly improved when using the sensor data processed by the algorithm. Experimental validation on the robot shows that the proposed algorithm has universal applicability and good compatibility.

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Motion Planning of an Automatic Blood Sampling Manipulator Using DDPG Algorithm

Motion Planning of an Automatic Blood Sampling Manipulator U...

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Chinese control Conference (CCC)

作者： Kunpeng Zhang Chen Zhang Bo Yu Xu Zhang Yabin Gao Jianxing Liu Yue Zhao Yichun Power Supply Company State Grid Heilongjiang Electric Power Company Limited Yichun China Department of Control Science and Engineering Harbin Institute of Technology Harbin China

In this paper, an automatic blood sampling mechanism is proposed to reduce the working pressure of clinicians and the high risk of cross-infection caused by doctor-patient contact. The simulation environment for this mechanism is built via Gazebo in the Robot Operating System (ROS). Using Deep Deterministic Policy Gradient (DDPG) algorithm, the mechanism is trained to accomplish the blood sampling task. The reward function and the neural network is adjusted to optimize the training result. Simulations prove that the trajectory of automatic blood sampling mechanism using DDPG algorithm has excellent performance in rapidity and stability, thus the effectiveness and usefulness of the designed system.

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Piecewise Quantization-Dependent Approach to Quantized Stabilization of Piecewise-Affine Systems*

Piecewise Quantization-Dependent Approach to Quantized Stabi...

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American control Conference (ACC)

作者： Zepeng Ning Yiming Cheng Zhaojian Li Xunyuan Yin School of Chemistry Chemical Engineering and Biotechnology Nanyang Technological University Singapore Department of Control Science and Engineering Harbin Institute of Technology Harbin China Department of Mechanical Engineering Michigan State University East Lansing MI USA

This paper studies the stability and stabilization problems for discrete-time piecewise-affine (PWA) systems with single input-and-state quantization. The PWA controller is considered to be dependent on the controlled PWA system modes; the adopted logarithmic quantizers are in a piecewise form, which is synchronized with the operating mode of the PWA system. A piecewise Lyapunov function is constructed, which has dependence on the sector-bounded uncertainties of both the control input and the state-feedback signal. Afterward, stability and stabilization criteria are derived based on the constructed Lyapunov function. The proposed quantized control strategy is illustrated via an application to a simulated temperature control problem.

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巯基化活性炭靶向捕获电子废弃物酸浸液中金离子

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Science Bulletin 2023年第11期68卷 1095-1099,M0003页

作者：李敏姚子威陈以頔李德伟邵家创董浩孟竹杨利明任伟罗旭彪邵鹏辉 Department of Chemical Engineering Chongqing University of Science and TechnologyChongqing 401331China National-Local Joint Engineering Research Center of Heavy Metals Pollutants Control and Resource Utilization Nanchang Hangkong UniversityNanchang 330063China State Key Laboratory of Urban Water Resource and Environment School of Civil and Environmental EngineeringHarbin Institute of Technology(Shenzhen)Shenzhen 518055China

电子废弃物中回收金兼具污染治理、资源循环双重目的,是环境高水平保护、经济高质量发展的必要要求.吸附法是湿法回收金属资源的有效方法,但含金电子废弃物的浸出液都呈现强酸性和强氧化性;目前从该体系中靶向捕捉金离子仍存在巨大挑战... 详细信息

电子废弃物中回收金兼具污染治理、资源循环双重目的,是环境高水平保护、经济高质量发展的必要要求.吸附法是湿法回收金属资源的有效方法,但含金电子废弃物的浸出液都呈现强酸性和强氧化性;目前从该体系中靶向捕捉金离子仍存在巨大挑战.本文报道了一种巯基功能化的秸秆基活性炭,在强酸、强氧化性体系中实现了金离子的靶向捕获,其最大吸附容量可达5309 mg/g,选择性系数达到1.21×10^(6);吸附后的材料经煅烧得到金单质,其纯度高达99.9%.机理研究表明,巯基电位选择性诱导金离子优先还原,并促发了吸附-还原过程自发进行.由于量子尺寸效应,被还原的金簇在炭材料表面积累,处于“激发状态”的纳米金簇,将进一步诱导还原体系中金离子,呈现一种自促进作用.研究实现了复杂苛刻酸浸液中金元素的靶向回收,为电子废弃物高质循环利用提供了新思路.

关键词：电子废弃物强氧化性污染治理资源循环循环利用选择性系数量子尺寸效应金离子

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Evaluating Progressive Collapse with Automatic Check Vba Programming and Identifying Optimal Performance Bracing of Systems

SSRN

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SSRN 2024年

作者： Bigonah, Mohammad Ali, Barham Haidar Rashed, Parya Li, Shuang Key Lab of Structures Dynamic Behavior and Control of the Ministry of Education Harbin Institute of Technology Harbin150090 China Key Lab of Smart Prevention and Mitigation of Civil Engineering Disasters The Ministry of Industry and Information Technology Harbin Institute of Technology Harbin150090 China Faculty of Engineering Civil Engineering Department Tishk International University Erbil Iraq School of Civil Engineering Iran University of Science and Technology Narmak Tehran16765-163 Iran

Braced frames are among the most effective systems for resisting progressive collapse;however, determining the optimal bracing system remains a challenge. In this study, several bracing systems were evaluated using a flowchart that satisfied the regulations UFC (chapter 4). VBA programming tools were employed to facilitate the evaluation process. The utilization of the control process and automated VBA programming proved beneficial in the inspection of plastic hinges and ensuring compliance with UFC regulation. The behaviour of four types of braced frames, including concentrically and eccentrically braced frames (CBF and EBF), was investigated under three scenarios involving member removal. The results demonstrated that the inverted V-braced CBF and EBF systems exhibited superior performance by minimizing vertical displacement and redistributing forces on the remaining connected members. In this scenario, despite experiencing significant vertical displacement, lower global forces were observed in all beams and columns. However, the frame without any bracing system failed to meet the regulatory standards, as determined by the control flowchart. Conversely, the remaining structural systems performed exceptionally well. © 2024, The Authors. All rights reserved.

关键词： Compliance control

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Climate change projections for Diamer Division in lesser Himalayas using multi-global climate model ensemble

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Environmental Science and Pollution Research 2025年第3期32卷 1668-1680页

作者： Ahmad, Didar Faridullah, Faridullah Irshad, Muhammad Bacha, Aziz Ur Rahim Hafeez, Farhan Iqbal, Akhtar Ullah, Zahid Afridi, Muhammad Naveed Alrefaei, Abdulwahed Fahad Nazir, Rashid Department of Environmental Sciences COMSATS University Islamabad Abbottabad Campus Abbottabad22060 Pakistan State Key Laboratory of Urban Water Resource and Environment Shenzhen Key Laboratory of Organic Pollution Prevention and Control School of Eco-Environment Harbin Institute of Technology Shenzhen Shenzhen518055 China Department of Environmental Science and Engineering Fudan University Shanghai200433 China State Key Laboratory of Biogeology and Environmental Geology School of Environmental Studies China University of Geosciences Wuhan430074 China Department of Zoology College of Science King Saud University P.O. Box 2455 Riyadh11451 Saudi Arabia

Pakistan, like many other regions around the world, is experiencing the impacts of climate change, particularly in its northern region. These changes have adverse impacts on ecosystems and biodiversity. Herein, we have investigated future projections of temperature and precipitation trends for three periods historical (HT = 1975–2005), near-term (NT = 2010–2029), and mid-term (MT = 2030–2050) using climate model intercomparison projects along with global climate models (GCMs) including RCP4.5 and RCP8.5. The historical records spanning from 1975 to 2005 reveal that the Chilas region has a notable rise of 8 °C in maximum temperature (Tmax), whereas the Astore district exhibited a trend of decreasing temperatures. When examining the projected temperature trends using GCMs (RCP4.5 and RCP8.5), the Chilas region is predicted to undergo a further increase of 6 °C in Tmax. In contrast, the Babusar region is projected to observe a significant decrease of 2 °C for the period between 2010 and 2050. Additionally, the precipitation results obtained from historical-based analysis for the period 1975 to 2005 indicated that the Babusar area exhibited increased precipitation patterns to 20 mm on an annual basis. Similarly, the Astore region has the most significant decline in precipitation, with a reduction of 40 mm annually. The predicted precipitation patterns for the period between 2010 and 2050 under the RCP8.5 revealed that the Babusar region has maximum precipitation (25 mm). Conversely, the Astore region exhibited reduced precipitation patterns, recording minimum precipitation (40 mm). In the results from RCP4.5, the precipitation showed a similar pattern with a maximum of 35 mm and a minimum of 15 mm in the Babusar and Astore, respectively. The region’s glaciers, snow cover, and land use systems are deteriorated by these changes in temperature and precipitation patterns. The increased winter and decreased summer precipitation under varied temperatures and precipitation cau

关键词： Miocene

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Fluid pumping by liquid metal droplet utilizing ac electric field

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Physical Review E 2022年第2期105卷 025102-025102页

作者： Chun-Lei Song Ye Tao Wei-Yu Liu Yi-Cheng Chen Rui Xue Tian-Yi Jiang Biao Li Hong-Yuan Jiang Yu-Kun Ren State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Engineering and Applied Sciences and Department of Physics Harvard University Cambridge Massachusetts 02138 USA School of Electronics and Control Engineering Chang'an University Xi'an 710000 China School of Energy Science and Engineering Harbin Institute of Technology Harbin 150001 China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 China

We report a unique phenomenon in which liquid metal droplets (LMDs) under a pure ac electric field pump fluid. Unlike the directional pumping that occurs upon reversing the electric field polarity under a dc signal, this phenomenon allows the direction of fluid motion to be switched by simply shifting the position of the LMD within the cylindrical chamber. The physical mechanism behind this phenomenon has been termed Marangoni flow, caused by nonlinear electrocapillary stress. Under the influence of a localized, asymmetric ac electric field, the polarizable surface of the position-offset LMD produces a net time-averaged interfacial tension gradient that scales with twice the field strength, and thus pumps fluid unidirectionally. However, the traditional linear RC circuit polarization model of the LMD/electrolyte interface fails to capture the correct pump-flow direction when the thickness of the LMD oxide skin is non-negligible compared to the Debye length. Therefore, we developed a physical description by treating the oxide layer as a distributed capacitance with variable thickness and connected with the electric double layer. The flow profile is visualized via microparticle imaging velocimetry, and excellent consistency is found with simulation results obtained from the proposed nonlinear model. Furthermore, we investigate the effects of relevant parameters on fluid pumping and discuss a special phenomenon that does not exist in dc control systems. To our knowledge, no previous work addresses LMDs in this manner and uses a zero-mean ac electric field to achieve stable, adjustable directional pumping of a low-conductivity solution.

关键词： Electrokinetic flows Interfacial flows Surface tension effects Lagrangian particle tracking

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A Transfer Gated Recurrent Unit Model for Battery Health Monitoring Under Cross-Domain Conditions

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： Tian, Jilun Xie, Jiale Zhang, Jiusi Huang, Congsheng Jiang, Yuchen Luo, Hao Chow, Mo-Yuen Yin, Shen Harbin Institute of Technology School of Astronautics Department of Control Science and Engineering Harbin150001 China North China Electric Power University Department of Automation Baoding071003 China University of Electronic Science and Technology of China School of Automation Engineering Chengdu611731 China National Taipei University of Technology Department of Electrical Engineering Taipei10608 Taiwan University of Michigan-Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University Shanghai200240 China Norwegian University of Science and Technology Faculty of Engineering Department of Mechanical and Industrial Engineering Trondheim7034 Norway

Battery health monitoring is crucial for ensuring maintenance reliability and safety, with broad applications in various industrial systems. Data-driven state-of-health (SOH) estimation methods can perform excellently using massive historical data without prior physical knowledge. In the battery aging process, this article extracts the essential health indicators to construct the model and adopts a suitable data preprocessing method to reduce the influence of noise. There is still a limitation for data-driven methods regarding data quality, and the domain shift caused by different operating conditions will damage estimation performance. To tackle the issue, this article proposes a transfer feature transformation (TFT) based on mean maximum discrepancy (MMD) to get a new feature space to get domain-invariant features with sufficient information. We propose a multilayer gated recurrent unit (GRU) neural network with fully connection (FC) layers to uncover hidden relationships in degraded data. Fusing TFT and GRU-FCs methods can realize an end-to-end SOH estimation under cross-domain conditions. We apply real-world public Center of Advanced Life Cycle engineering (CALCE) and NASA battery datasets and lab testing-based accelerated aging data to validate the performance of algorithms. By comparison, our proposed TFT-GRU-FCs method can get the best performance of all algorithms, and we have also given sufficient results as support. © 1963-2012 IEEE.

关键词： Electronic health record

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Robust Collision-Avoidance Formation control for Uncertain Euler-Lagrange Systems with Communication Delay

Robust Collision-Avoidance Formation Control for Uncertain E...

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Chinese control Conference (CCC)

作者： Xinxiao Liu Dongyu Li Chuanjiang Li Rui Shao Department of Control Science and Engineering Harbin Institute of Technology Harbin P. R. China School of Cyber Science and Technology Beihang University Beijing P. R. China

In this work, a problem of robust formation with collision avoidance (RFCA) for multiple Euler-Lagrange systems with communication delay is explored. The distributed robust formation control algorithm guaranteeing collision avoidance is presented. Firstly, utilizing classical repulsive potential functions solves the collision avoidance between agents. Secondly, by using the inequality technique to remove the effects from time delay during realizing formation mission, and estimations for uncertain terms are used in the controller design to compensate the nonlinear dynamics. In addition, the distributed RFCA control strategy is investigated such that all agents enable to achieve the desired formation configuration. Finally, an example is showcased to illustrate the effectiveness of the proposed protocol.

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Stacked Dual-stream LSTM based Feature Extraction Network for Hyperspectral Image Classification

Stacked Dual-stream LSTM based Feature Extraction Network fo...

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Chinese control Conference (CCC)

作者： Wenbo Yu He Huang Miao Zhang Yi Shen School of Electronics and Information Engineering Soochow University Suzhou P. R. China Department of Control Science and Engineering Harbin Institute of Technology Harbin P. R. China

Remote sensing technology plays a significant role in classifying and detecting on-ground objects accurately. Specifically, hyperspectral imagery outperforms other remote sensing tools in terms of its abundant spatial and spectral information. However, analyzing hyperspectral images is always hampered by their redundant spectral dimensionality. In this paper, we proposed a novel stacked dual-stream long short-term memory (LSTM) based feature extraction network (SDLSTMnet) for hyperspectral image classification. The whole network consists of two streams for spatial and spectral information, respectively. In this network, convolutional layers are absolutely removed because of their time-consuming calculating and optimizing processes. As a substitute, stacked LSTM layers are utilized to capture the spatial information within sample neighbourhoods. Notably, the latent sequential features are captured to simulate the neighbouring regions of samples. Furthermore, the sequential features along the spectral dimension are also extracted by stacked LSTM layers because these bands are continuous locally. Finally, the presented fusion module is capable to fuse and align these extracted features for classification. Multiple experiments are conducted to prove the effectiveness of the proposed SDLSTMnet. Compared with other state-of-the-art techniques, SDLSTMnet is capable to reduce the spectral dimension and increase the classification accuracies simultaneously.

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