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Engineering 2023年第2期21卷 135-142,M0006页

作者：齐维晓王旭康瑾柏耀辉边睿薛弘涛陈莉关傲梅潘艺蓉刘会娟曲久辉 Center for Water and Ecology State Key Joint Laboratory of Environment Simulation and Pollution ControlSchool of EnvironmentTsinghua UniversityBeijing 100084China State Key Laboratory of Urban Water Resource and Environment School of Civil and Environmental EngineeringHarbin Institute of TechnologyShenzhenShenzhen 518055China Centre for Water Systems College of EngineeringMathematics and Physical SciencesUniversity of ExeterExeter EX44QFUK Hubei Provincial Research Institute of Environmental Science Wuhan 430072China Research Center for Eco-Environmental Sciences Chinese Academy of SciencesBeijing 100085China

如何实现人类社会经济的可持续发展是本世纪的重大挑战之一。近几十年来,中国经济实力大幅提升,国际影响力显著增强。然而,经济社会高速发展可能会给生态环境造成诸多不利影响,其中之一就是人类活动污水排放总量的快速增长。长江经济带... 详细信息

如何实现人类社会经济的可持续发展是本世纪的重大挑战之一。近几十年来,中国经济实力大幅提升,国际影响力显著增强。然而,经济社会高速发展可能会给生态环境造成诸多不利影响,其中之一就是人类活动污水排放总量的快速增长。长江经济带作为中国高质量发展的重点区域,科学评估和揭示沿江城市群污水治理成效及影响因素至关重要。本研究核算了2007-2017年间长江流域主要污染物的浓度变化趋势,利用数据驱动型技术对影响污染物通量变化的关键因子及其贡献开展了系统解耦和量化分析,揭示了污染物排放强度的时空异质性,解析了沿江城镇污水系统发展对污染物通量削减的作用效果。研究发现,长江流域水污染治理成效总体向好,长江经济带国内生产总值和沿江人类活动污水排放强度之间的强耦合在2013年之后呈现脱钩趋势,这主要得益于城镇排水和污水厂基础设施建设的快速发展。研究提出,长江流域城镇污水治理如何实现以水载资源再生利用为导引的“绿色零碳模式”转变,对于全面改善长江流域的水环境质量具有关键作用,同时也能为区域生态环境保护与经济高质量发展提供有益启示和借鉴。

关键词：国内生产总值长江经济带资源再生利用系统评估治理成效时空异质性中国经济实力城镇排水

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Mgda-Assisted Plant Washing Agent for Improving the Removal of Cd and Cu from Farmland Soils

SSRN

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SSRN 2024年

作者： Wang, Yi Tu, Chen Li, Yuan Yang, Shuai Liu, Ying Zhu, Xia Si, Shao-Cheng Luo, Run-Lai Pan, Xiang-Liang Luo, Yong-Ming State Key Laboratory of Soil and Sustainable Agriculture Institute of Soil Science Chinese Academy of Sciences Nanjing210008 China Key Laboratory of Microbial Technology for Industrial Pollution Control of Zhejiang Province College of Environment Zhejiang University of Technology Hangzhou310014 China Shandong Key Laboratory of Coastal Environment Process YICCAS Yantai264003 China China Construction Eighth Engineering Division Co. Ltd. Shanghai200444 China

Utilizing plant extracts for soil washing is a promising and cost-efficient strategy to permanently remove toxic metals from farmland soils. However, the efficiency of current plant extracts in heavy metals removal is constrained by the need of excessively high liquid-solid ratios (> 10:1), which limits their practical application in the farmland soils. To address this challenge, we developed a novel binary washing agent consisting of Fructus mume residue extract (RPM) and methylglycinediacetate acid (MGDA). Through optimization experiments, we determined an optimal composition of 50 g L-1 RPM and 0.34 g L-1 MGDA (RPMG3), which exhibited a remarkable synergistic effect on the removal of Cd and Cu from two polluted farmland soils. Compared to the single use of RPM or MGDA, RPMG3 increased metal removal efficiency by 44.6% - 303.8% in the alkaline dryland soil and 55.8% - 141.9% in the slightly acidic paddy soil, at an optimum liquid-solid ratio of 2:1. The contents of soil Cd and Cu can be reduced to below the risk screening values via acid activation, metal ion exchange, and complexation of functional groups. Moreover, the potential ecological risks associated with Cd in the soils were significantly mitigated due to the decrease in exchangeable and reducible Cd fractions following RPMG3 washing. Additionally, RPM and RPMG3 washing led to enhancements in soil organic carbon and nutrient concentrations, as well as increased activities of soil enzymes including catalase, urease, and β-glucosidase. Notably, RPMG3 washing exhibited the most pronounced promotion effect on wheat seed germination and growth. Taken together, the binary complex of RPMG3 demonstrates potential as an environmentally friendly green washing agent capable of in reducing heavy metals from farmland soil with great efficiency, even at low liquid-solid ratios. © 2024, The Authors. All rights reserved.

关键词： Washing

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Visuotactile Feedback Parallel Gripper for Robotic Adaptive Grasping

Visuotactile Feedback Parallel Gripper for Robotic Adaptive ...

引用

2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Zhang, Boyue Cui, Shaowei Zhang, Chaofan Hu, Jingyi Wang, Shuo School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China Institute of Automation Chinese Academy of Sciences Beijing100190 China Institute of Automation Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Beijing100190 China Center for Excellence in Brain Science and Intelligence Technology Chinese Academy of Sciences Shanghai200031 China

ISBN: (纸本)9781665481090

In robot grasp and dexterous manipulation tasks, tactile sensing is important for the control adjustment of the manipulator. In this paper, we present a novel low-cost parallel gripper with high-resolution tactile sensing, named the GelStereo Gripper. Furthermore, an adaptive grasp strategy is proposed to endow the gripper with tactile-feedback grasp stability-maintaining ability. We install the gripper on our robot platform and conduct various grasp experiments by utilizing proposed control methods. Experimental results verify the reliability of the GelStereo gripper and also prove the effectiveness of the proposed strategy for experimental objects with different features. © 2022 IEEE.

关键词： Grippers

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Learning to Compensate for the Drift and Error of Gyroscope in Vehicle Localization

Learning to Compensate for the Drift and Error of Gyroscope ...

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IEEE Symposium on Intelligent Vehicle

作者： Xiangrui Zhao Chunfang Deng Xin Kong Jinhong Xu Yong Liu Institute of Cyber-Systems and Control Zhejiang University Zhejiang China State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control Zhejiang University Zhejiang China

ISBN: (数字)9781728166735

ISBN: (纸本)9781728166742

Self-localization is an essential technology for autonomous vehicles. Building robust odometry in a GPS-denied environment is still challenging, especially when LiDAR and camera are uninformative. In this paper, We propose a learning-based approach to cure the drift of gyroscope for vehicle localization. For consumer-level MEMS gyroscope (stability ~10° /h), our GyroNet can estimate the error of each measurement. For high-precision Fiber optics Gyroscope (stability ~0.05° /h), we build a FoGNet which can obtain its drift by observing data in a long time window. We perform comparative experiments on publicly available datasets. The results demonstrate that our GyroNet can get higher precision angular velocity than traditional digital filters and static initialization methods. In the vehicle localization, the FoGNet can effectively correct the small drift of the Fiber optics Gyroscope (FoG) and can achieve better results than the state-of-the-art method.

关键词： Gyroscopes Wheels Neural networks Angular velocity Time measurement Noise measurement Micromechanical devices

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AGV Semantic Attack Detection Based on Hidden Markov Model

AGV Semantic Attack Detection Based on Hidden Markov Model

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2022 IEEE International Conference on industrial technology, ICIT 2022

作者： Zhang, Sichao Liang, Wei Zhang, Yinlong Pang, Zhibo State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Technology Abb Corporate Research Sweden Department of Automation Vasteras72178 Sweden

ISBN: (纸本)9781728119489

Automatic Guided Vehicle (AGV) semantic attack is now becoming an important research topic in digital workshops. Unfortunately, the conventional attack detections could trigger the wrong attack detection alarms, because of the unexpected wireless radio frequency interference. This paper investigates a new method for AGV semantic attack detection based on Hidden Markov Model (HMM). Our method is able to discriminate the typical wireless retransmission in presence of environment interference or in the context of AGV semantic attack by comparing the hidden state transition probability with the predefined threshold. Our model has been evaluated on our developed platform. The extensive experimental results and analysis prove the effectiveness of our method. © 2022 IEEE.

关键词： Semantics

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Distributed Model-Free Adaptive Learning control of Discrete-Time Nonlinear Multiagent systems

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IEEE transactions on neural networks and learning systems 2025年 PP卷 PP页

作者： Yong-Sheng Ma Wei-Wei Che Shi-Xu Xu Chao Deng Zheng-Guang Wu Beijing Institute of Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems School of Automation Beijing 100081 China Northeastern University State Key Laboratory of Synthetical Automation for Process Industries College of Information Science and Engineering Shenyang 110819 China Qingdao University Shandong Key Laboratory of Industrial Control Technology Department of Automation Qingdao 266071 China Nanjing University of Posts and Telecommunications Institute of Advanced Technology Nanjing 210000 China Zhejiang University State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Hangzhou 310027 China

This article investigates the distributed control problem for nonlinear multiagent systems (MASs) with unknown system models. A novel distributed model-free adaptive learning algorithm is developed to learn a controller from the online system data. Notably, a significant advancement over conventional methods is that the proposed algorithm requires only local interaction data from neighboring agents, eliminating dependencies on both a priori system structural knowledge and global topology information. Comprehensive simulations validate the theoretical results and demonstrate the superior efficacy of the devised algorithm.

关键词： Distributed control model-free adaptive control (MFAC) multiagent systems (MASs)

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Synergical Effects of Nb and Sio2 on Enhanced No Elimination and Sulfur Resistance of Fe2o3-Scr Catalyst

SSRN

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SSRN 2023年

作者： Zhao, Wenrui Li, Lulu Ji, Jiawei Jiang, Peiting Zou, Weixin College of Environmental and Chemical Engineering Jiangsu University of Science and Technology Zhenjiang212000 China State Key Laboratory of Pollution Control and Resource Reuse School of the Environment Jiangsu Key Laboratory of Vehicle Emissions Control Nanjing University Nanjing210023 China Laboratory of Mesoscopic Chemistry of MOE School of Chemistry and Chemical Engineering Nanjing University Nanjing210023 China Stata Key Laboratory of Green Chemical Engineering and Industrial Catalysis Sinopec Shanghai Reaserch Institute of Petrochemical Technology Shanghai201208 China

Fe2O3-based catalysts have attracted increasing interests for their use in NH3-SCR (selective catalytic reduction) reaction, while the wide application of Fe2O3-based catalysts is limited by its unsatisfying NO conversion at low temperature and poor anti-SO2 ability. In this study, by virtue of FeSi composite oxide with large specific surface area as support obtained by doping Si into pristine Fe2O3, and NbOx species was used for surface modification to further regulate their acidity and redox properties, significantly improving their NH3-SCR activity. The optimal Nb/FeSi catalyst exhibited over 90% NO conversion in the temperature interval of 250-400 oC and displayed excellent SO2 resistance at 225 oC. These resulting catalysts were characterized by various techniques to study their key physicochemical properties and identify their catalytic roles for NH3-SCR performance. For the contribution of different components to the catalytic activity, Si contributes large specific surface area and more Brønsted acid sites, facilitating the dispersion of active components and the activation of NH3 species. Nb could promote the generation of more oxygen vacancies and abundant Brønsted acid sites while inhibits the adsorption of NOx. This work provides experimental guidance to improve the activity and sulfur resistance of denitration catalyst by active component control. © 2023, The Authors. All rights reserved.

关键词： Silica

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The Visual-Inertial-Dynamical Multirotor Dataset

arXiv

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arXiv 2021年

作者： Zhang, Kunyi Yang, Tiankai Ding, Ziming Yang, Sheng Ma, Teng Li, Mingyang Xu, Chao Gao, Fei State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou310027 China Huzhou Institute Zhejiang University Huzhou313000 China Alibaba DAMO Academy Autonomous Driving Lab Hangzhou311121 China

Recently, the community has witnessed numerous datasets built for developing and testing state estimators. However, for some applications such as aerial transportation or search-and-rescue, the contact force or other disturbance must be perceived for robust planning and control, which is beyond the capacity of these datasets. This paper introduces a Visual-Inertial-Dynamical (VID) dataset, not only focusing on traditional six degrees of freedom (6-DOF) pose estimation but also providing dynamical characteristics of the flight platform for external force perception or dynamics-aided estimation. The VID dataset contains hardware synchronized imagery and inertial measurements, with accurate ground truth trajectories for evaluating common visual-inertial estimators. Moreover, the proposed dataset highlights rotor speed and motor current measurements, control inputs, and ground truth 6-axis force data to evaluate external force estimation. To the best of our knowledge, the proposed VID dataset is the first public dataset containing visual-inertial and complete dynamical information in the real world for pose and external force evaluation. The dataset and related files are open-sourced. © 2021, CC BY.

关键词： Degrees of freedom (mechanics)

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Development of a 3-RRS Micromanipulator Based on Origami-Inspired Spherical Joint

Development of a 3-RRS Micromanipulator Based on Origami-Ins...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Haoqi Han Xiaoming Liu Yan Chen Hao Pang Xiaoqing Tang Dan Liu Qiang Huang Tatsuo Arai Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Department of Micro-Nano Electronics Shanghai Jiao Tong University China Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In recent years, micromanipulation technology has achieved extensive applications in industry and life science. Improving the precision and bandwidth of the micromanipulator and simultaneously reducing size, weight, and cost pose significant challenges to the existing micromanipulator design and fabrication methods. Here, we propose a 3-RRS micromanipulator with an origami-inspired spherical joint based on the PC-MEMS process, aiming for miniaturization and cost-effectiveness. The spherical joint allows rotations of 140° around the x-axis approximately, 140° around the y-axis approximately, and 20° around the z-axis approximately. The micromanipulator has weights of 0.8 g, dimensions of 16 mm × 16 mm × 22 mm, and workspace of 0.7 mm 3 . The end platform of the micromanipulator can be equipped with various effectors to accomplish different kinds of tasks. Experimental results validated its high precision and bandwidth, exhibiting its potential to perform intricate micromanipulation tasks.

关键词： Industries Fabrication Costs Micromanipulators Design methodology Bandwidth Life sciences

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Memory Mechanisms Based Few-Shot Continual Learning Railway Obstacle Detection

Memory Mechanisms Based Few-Shot Continual Learning Railway ...

引用

Chinese Automation Congress (CAC)

作者： Zhiyuan Li Di Shang Zongru Ma Yiqing Liu Yanfeng Lu State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Science (CASIA) University of Chinese Academy of Sciences (UCAS) Beijing China Traffic Control Technology Co. Ltd. Beijing China

Efficient and accurate railway track obstacle detection is crucial for ensuring travel safety. In order to solve the problem of small amount of track obstacle data and variable types of obstacles, we introduce the concept of few-shot continual learning into the object detection algorithm. This paper introduces a novel memory mechanisms-based multi-Domain few-shot continual learning algorithm. By simulating working memory and long-term memory processes, our method combines few-shot learning with continual adaptation to varying obstacles. The proposed double-loop approach reduces catastrophic forgetting, enhances model generalization, and improves detection accuracy. This innovation holds promise for advancing railway safety through effective obstacle detection. The proposed method showcases remarkable efficiency and accuracy in the detection of railway obstacles. Our experimental results demonstrate significant improvements compared to other methods.

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