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2020 International Conference on Artificial Intelligence and Electromechanical Automation, AIEA 2020

作者： Guang, Xingxing Gao, Yanbin Liu, Pan Li, Guangchun Li, Ningbo Leung, Henry College of Automation Harbin Engineering University Harbin China Department of Electrical and Computer Engineering University of Calgary Calgary Canada Beijing Institute of Control and Electronic Technology Beijing China

ISBN: (纸本)9781728182889

In this paper, an integrated navigation system based on visual and inertial sensors for vehicles is proposed to solve the low accuracy position estimation problem caused by the unavailability signal of GNSS. In the proposed method, the visual sensor provides not only the attitude information by visual attitude method but also the motion information by visual odometer algorithm. Because the visual information is used in two separate ways, the proposed integrated navigation method has better robustness in dynamic conditions. It is verified by experiments in dynamic conditions. The experimental results show that the attitude errors of the proposed method can be reduced an order of magnitude than the previous visual attitude aided inertial navigation systems. For position estimation, the proposed method can improve the accuracy, stability, and reliability of the vehicle navigation system. © 2020 IEEE.

关键词： Inertial navigation systems

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Autonomous Navigation of a Tracked Mobile Robot with Novel Passive Bio-Inspired Suspension

Autonomous Navigation of a Tracked Mobile Robot with Novel P...

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作者： Li, Zhengchao Jing, Xingjian Sun, Bo Yu, Jinyong Department of Mechanical Engineering Hong Kong Polytechnic University Hong Kong Hong Kong Research Institute of Intelligent Control and System Harbin Institute of Technology Harbin150001 China

Most mobile robots have very simple passive suspension based on conventional mass-spring-damper methods, which bring a trade-off between loading capacity and vibration isolation, or no suspension at all with only hard contact between wheels and ground. This article presents a tracked mobile robot with a unique passive suspension, which is constructed by using a bio-inspired animal-limb-like structure, to guarantee both loading capacity and vibration isolation performance. With the novel bio-inspired suspension, the loading capacity, riding comfort and obstacle negotiation capability of the robot in various rough ground environments can be significantly enhanced. However, 'soft suspension' may lead to 'slippery track' due to rough terrain or irregular obstacles. To solve this problem, an advanced autonomous navigation is realized. A novel double layer nonlinear model predictive control (NMPC) architecture is adopted for optimizations of trajectory tracking. The global trajectory tracking is optimized strategically in the upper layer NMPC at a low frequency, while the local dynamics such as slippage during obstacle negotiation is timely captured in the lower layer NMPC at a high frequency. Experimental results clearly demonstrate that the superior passive suspension can efficiently absorb strong shock induced by obstacle crossing and hence guarantee smooth motion, and the double layer NMPC can effectively improve transient response and tracking accuracy ideally. This article would present a benchmark result to the design and control of mobile robots working on rough grounds. © 1996-2012 IEEE.

关键词： Mobile robots

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Eminent destruction of organics and pathogens concomitant with power generation in a visible light-responsive photocatalytic fuel cell with NiFe2O4/ZnO pine tree-like photoanode and CuO/Cu2O nanorod cathode

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Chemosphere 2023年 344卷

作者： Lam, Sze-Mun Sin, Jin-Chung Warren Tong, Meng Wei Zeng, Honghu Li, Haixaing Huang, Liangliang Lin, Hua Lim, Jun-Wei College of Environmental Science and Engineering Guilin University of Technology Guilin541004 China Guangxi Key Laboratory of Theory and Technology for Environmental Pollution Control Guilin University of Technology Guilin541004 China Collaborative Innovation Center for Water Pollution Control and Water Safety in Karst Area Guilin University of Technology Guilin541004 China Faculty of Engineering and Green Technology Universiti Tunku Abdul Rahman Jalan Universiti PerakBandar Barat Kampar31900 Malaysia HICoE-Centre for Biofuel and Biochemical Research Institute of Self-Sustainable Building Department of Fundamental and Applied Sciences Universiti Teknologi PETRONAS Perak Darul Ridzuan Seri Iskandar32610 Malaysia Department of Biotechnology Saveetha School of Engineering Saveetha Institute of Medical and Technical Sciences Chennai India

Environmental conservation and energy scarcity have become two core challenges with the ever-increasing advancement of industry, particularly chemical energy rich wastewater comprising refractory organics and pathogenic microbes. Here, a multifunctional photocatalytic fuel cell (PFC) was devised using NiFe2O4 nanoparticle-loaded on pine tree-like ZnO/Zn (NiFe2O4/ZnO/Zn) photoanode and CuO/Cu2O nanorods-loaded on Cu (CuO/Cu2O/Cu) cathode for extracting electricity upon wastewater treatment. When fed with Rhodamine B (RhB) dyestuff, the NiFe2O4/ZnO/Zn-PFC provided the maximum power density (Pmax) of 0.539 mW cm−2 upon visible light irradiation with an average RhB degradation of 85.2%, which were 2.8 and 2.7 times higher than ZnO/Zn, respectively. The remarkable enhanced NiFe2O4/ZnO/Zn-PFC performance was owing to the synergistic effect of pine tree-like structure and Z-scheme heterostructure. The pine tree-like with high surface area was not only for effective harnessing photon energies but also provided more directional routes for rapid segregation and transport of carriers and higher interface contacting areas with electrolyte. Through a series of systematic characterizations, the Z-scheme heterostructure mechanism of the system and organics degradation pathway were also speculated. Additionally, the performance of the NiFe2O4/ZnO/Zn-PFC in industry printing wastewater showed Pmax of 0.600 mW cm−2, which was considerably impressive as real wastewater was challenging to accomplish. The phytotoxicity outcome also manifested that the comprehensive toxicity of RhB was eradicated after PFC treatment. Lastly, the excellent recyclability and the pronounced bactericidal effect towards Escherichia coli and Staphylococcus aureus were other attributions which enabled the NiFe2O4/ZnO/Zn-PFC for possible practical application. © 2023 Elsevier Ltd

关键词： Zinc oxide

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Adaptive Smooth Disturbance Observer-Based Fast Finite-Time Attitude Tracking control of a Small Unmanned Helicopter

arXiv

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arXiv 2021年

作者： Wang, Xidong Li, Zhan Yu, Xinghu He, Zhen The Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150001 China Peng Cheng Laboratory Shenzhen518055 China Ningbo Institute of Intelligent Equipment Technology Co. Ltd. Ningbo315201 China The Department of Control Science and Engineering Harbin Institute of Technology Harbin150001 China

In this paper, a novel control scheme, which includes an improved fast finite-time adaptive backstepping controller based on a newly designed adaptive smooth disturbance observer, is presented for the attitude tracking of a small unmanned helicopter system subject to lumped disturbances. First, an adaptive smooth disturbance observer (ASDO) is proposed to approximate the lumped disturbances, which owns the characteristics of smooth output, fast finite-time convergence, and adaptability to disturbances. Then, a finite-time backstepping control protocol is constructed to achieve the attitude tracking objective. By virtue of our newly proposed inequality, a singularity-free virtual control law is designed. To tackle the "explosion of complexity" problem, a fast finite-time command filter (FFTCF) is utilized to estimate the virtual control signals and their derivatives. In addition, an auxiliary dynamic system is introduced to attenuate the impact of the errors caused by FFTCF estimation. Moreover, an adaptive law with σ-modification term is developed to compensate the ASDO approximation error. Theoretical analysis proves that all signals of the closed-loop system are fast finite-time bounded, while the attitude tracking errors fast converge to a small region of the origin in finite time. Finally, two contrastive numerical simulations are carried out to validate the effectiveness and superiority of the designed control scheme. Copyright © 2021, The Authors. All rights reserved.

关键词： Errors

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Correction to “Cascade control of Grid-Connected NPC Converters via Sliding Mode Technique”

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IEEE Transactions on Energy Conversion 2025年第2期40卷 1690-1690页

作者： Xiaoning Shen Jianxing Liu Hao Lin Yunfei Yin Abraham Marquez Alcaide Jose I. Leon School of Astronautics Harbin Institute of Technology Harbin China Department of Control Science and Engineering Harbin Institute of Technology Harbin China School of Transportation Science and Engineering Harbin Institute of Technology Harbin China Electronic Engineering Department Universidad de Sevilla Sevilla Spain ENGREEN Laboratory of Engineering for Energy and Environmental Sustainability Electronic Engineering Department Universidad de Sevilla Seville Spain

At the bottom of the first page of this paper, the affiliation of the third author Hao Lin currently states as follows:

关键词： Energy conversion

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Mission planning for repeated multi-spacecraft non-contact debris removal

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Chinese Journal of Aeronautics 2025年

作者： Hang XU Lujiang LIU Yanning GUO Youmin GONG Bin SONG Guangfu MA Department of Control Science and Engineering Harbin Institute of Technology Harbin 150001 China Shanghai Institute of Aerospace System Engineering Shanghai 201109 China Zhengzhou Research Institute Harbin Institute of Technology Zhengzhou 450000 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen 518055 China

Non-contact debris removal methods are fuel-efficient in a single operation compared to contact-based strategies as spacecraft don’t need to match debris velocity. To comprehensively analyze this scheme, maneuvering schemes for maximum debris removal with minimum fuel consumption, including task assignment, sequence planning, and trajectory planning, must be formulated. The coupling between variables’ dimensions and optimization results in task assignment poses challenges, as debris removal is repetitive and uncertain, leading to a vast search space. This paper proposes a novel Greedy Randomized Adaptive Search Procedure with Large Neighborhood and Crossover Mechanisms (GRASP-LNCM) to address this problem. The hybrid dynamic iteration mechanism improves computational efficiency and enhances the optimality of results. The model innovatively considers unsuccessful single removal by using a quantitative method to assess removal percentage. In addition, to improve the efficiency of sequence and trajectory planning, a Suboptimal Search Algorithm (SSA) based on the Lambert property and accelerated Multi-Revolution Lambert Problem (MRLP) solving strategy is established. Finally, a real Iridium-33 debris removal mission is studied. The simulation demonstrates that the proposed algorithm achieves state-of-the-art performance in several typical scenarios. Compared to the contact-based scheme, the new one is simpler, saving more fuel under certain conditions.

关键词： Space debris Planning Non-contact method Optimization Greedy randomized adaptive search procedure

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DC fault ride-through for wind power integration via MMC-HVDC based on precise control of energy storage configured inside wind farm

DC fault ride-through for wind power integration via MMC-HVD...

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Renewable Power Generation and Future Power Systems Conference 2023 (RPG 2023 UK)

作者： Y. Sun Y. Guo F. Fan J. Fan G. Li Z. Wang X. Wu Key Laboratory of Modern Power System Simulation and Control & Renewable Energy Technology Ministry of Education (Northeast Electric Power University) Jilin People's Republic of China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin People's Republic of China Department of Electronic and Electrical Engineering University of Strathclyde Glasgow UK State Grid Smart Grid Research Institute Beijing People's Republic of China

The modular multilevel converter-based high voltage direct current (MMC-HVDC) overhead lines transmission scheme is the preferred option for wind power integration, though it is susceptible to DC faults. To ensure the connection of a wind farm (WF) to the grid during DC faults, this paper proposes a coordinated control strategy for DC fault ride-through (FRT) based on the energy storage system configured inside the WF for wind power integration through a bipolar MMC-HVDC. In the case of an instantaneous DC fault, the non-fault pole is regulated to operate at full power state to maximise wind power transmission. The exceedance of available wind power outputs over the transmission capacity of the non-fault pole is then accurately allocated to the internal energy storage units (ESUs) of wind generators (WGs) in order to ensure the power balance of the system and reduce the state of charge variance of ESUs as soon as possible. In order to reduce the energy capacities of ESUs required to store the excessive wind power in the event of a permanent DC fault, the method of step-by-step removing WGs is adopted to ensure the system power remaining balanced when the internal ESUs of the disconnected WGs are out of operation. The model is developed and carried out on the PSCAD/EMTDC simulation platform to verify the effectiveness of the proposed control strategies.

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Practical fractional-order variable-gain super-twisting control with application to wafer stages of photolithography systems

arXiv

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arXiv 2021年

作者： Kuang, Zhian Sun, Liting Gao, Huijun Tomizuka, Masayoshi Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Mechanical Control System Lab Mechanical Engineering Department University of California BerkeleyCA94720 United States

In this paper, a practical fractional-order variable-gain super-twisting algorithm (PFVSTA) is proposed to improve the tracking performance of wafer stages for semiconductor manufacturing. Based on the sliding mode control (SMC), the proposed PFVSTA enhances the tracking performance from three aspects: 1) alleviating the chattering phenomenon via super-twisting algorithm and a novel fractional-order sliding surface (FSS) design, 2) improving the dynamics of states on the sliding surface with fast response and small overshoots via the designed novel FSS and 3) compensating for disturbances via variable-gain control law. Based on practical conditions, this paper analyzes the stability of the controller and illustrates the theoretical principle to compensate for the uncertainties caused by accelerations. Moreover, numerical simulations prove the effectiveness of the proposed sliding surface and control scheme, and they are in agreement with the theoretical analysis. Finally, practice-based comparative experiments are conducted. The results show that the proposed PFVSTA can achieve much better tracking performance than the conventional methods from various perspectives. Copyright © 2021, The Authors. All rights reserved.

关键词： Sliding mode control

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The Start-Up of Red Blood Cell-Like Anammox Granular Sludge Based on Substrate Volume Flux

SSRN

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SSRN 2023年

作者： Wang, Wenqiang Li, Dong Li, Zhu Li, Mingrun Deng, Jiguang Zhang, Jie Key Laboratory of Water Science and Water Environment Recovery Engineering Beijing University of Technology Beijing100123 China Key Laboratory of Beijing on Regional Air Pollution Control Beijing Key Laboratory for Green Catalysis and Separation Department of Chemical Engineering Faculty of Environment and Life Beijing University of Technology Beijing100124 China State Key Laboratory of Urban Water Resource and Environment Harbin Institute of Technology Harbin150090 China

Enhancing substrate transfer is the key to promote the denitrification rate of Anammox granular sludge. The shape of the granular sludge will significantly affect the substrate transfer. In this work, based on the principles of biomimicry, we propose to domesticate a novel red blood cell-like particle to increase the contact area for enhanced substrate transfer. In this study, the start-up and operation of Anammox granular sludge in low-strength ammonia nitrogen wastewater were realized based on the increase of substrate volume flux (SVF). As SVF increased from 2.38 to 7.43 L2/(g VSS · h), specific Anammox activity (SAA) increased from 0.138 to 0.483g N/(g VSS · d). The total nitrogen removal efficiency of the system was 85.70%, and the nitrogen removal rate (NRR) was 0.792 kg N/(m3 · d) on the 126 d. Red blood cell-like granular sludge was found on the 116 d. The increase of SVF induces a granule structure that is more conducive to substrate transport, leading to an increase in the efficiency of granule uptake of substrate, thereby strengthening the SAA of granules. High-throughput pyrosequencing results showed that the dominant bacteria using the SVF-improving strategy were still anaerobic ammonia oxidation bacteria (AnAOB), but the species increased to three, namely Candidatus Kuenenia, Candidatus Anammoxoglobus and Candidatus Brocadia. © 2023, The Authors. All rights reserved.

关键词： Blood

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Rank-Regret Minimization

arXiv

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arXiv 2021年

作者： Xiao, Xingxing Li, Jianzhong Department of Computer Science and Technology Harbin Institute of Technology Harbin China Faculty of Computer Science and Control Engineering Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen China

Multi-criteria decision-making often requires finding a small representative set from the database. A recently proposed method is the regret minimization set (RMS) query. RMS returns a size r subset S of dataset D that minimizes the regret-ratio (the difference between the score of top-1 in S and the score of top-1 in D, for any possible utility function). RMS is not shift invariant, causing inconsistency in results. Further, existing work showed that the regret-ratio is often a "made up" number and users may mistake its absolute value. Instead, users do understand the notion of rank. Thus it considered the problem of finding the minimal set S with a rank-regret (the rank of top-1 tuple of S in the sorted list of D) at most k, called the rank-regret representative (RRR) problem. Corresponding to RMS, we focus on the min-error version of RRR, called the rank-regret minimization (RRM) problem, which finds a size r set to minimize the maximum rank-regret for all utility functions. Further, we generalize RRM and propose the restricted RRM (i.e., RRRM) problem to optimize the rank-regret for functions restricted in a given space. Previous studies on both RMS and RRR did not consider the restricted function space. The solution for RRRM usually has a lower regret level and can better serve the specific preferences of some users. Note that RRM and RRRM are shift invariant. In 2D space, we design a dynamic programming algorithm 2DRRM to return the optimal solution for RRM. In HD space, we propose an algorithm HDRRM that introduces a double approximation guarantee on rank-regret. Both 2DRRM and HDRRM are applicable for RRRM. Extensive experiments on the synthetic and real datasets verify the efficiency and effectiveness of our algorithms. In particular, HDRRM always has the best output quality in experiments. Copyright © 2021, The Authors. All rights reserved.

关键词： Decision making

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