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12th IUMRS International Conference on Advanced Materials(IUMRS-ICAM2013)

作者： Q.Cong X.He M.Gao X.Ma G.Li School of Environmental and Material Engineering Center of Advanced Functional MaterialsYantai University State Key Laboratory of Silicon Materials Zhejiang University National Laboratory of Industrial Control Technology Institute of CyberSystems and ControlZhejiang University

In order to extend the visible light response of ZnO, ZnO/Cu S nanocomposite with heterostructure was prepared by a simple two-step hydrothermal synthesis. The as prepared ZnO/Cu S heterostructured nanocomposite was characterised by SEM, photoluminescence, ultraviolet–visible spectroscopy and X-ray diffraction. On the other hand, chitosan is considered as a very promising natural biopolymer. It holds not only abundant resource and low cost but also has excellent adsorption properties to a broad range of organic pollutants and some heavy metal *** improve the adsorption properties of ZnO/Cu S heterostructured nanocomposite, a water soluble chitosan containing carboxyl groups was synthesised with graft *** modification of ZnO/Cu S heterostructured nanocomposite was carried out utilising the self-assembly process between hydroxyl groups of ZnO/Cu S nanocomposite and carboxyl groups of water soluble chitosan. Comparative tests before and after surface modification were performed with Fourier transform infrared spectroscopy. To examine the surface and interface properties of nanocomposites, chemical prototype sensor arrays were constructed based on ZnO, ZnO/Cu S nanocomposite, and ZnO/Cu S nanocomposite modified with chitosan containing carboxyl groups and quartz crystal microbalance devices. The adsorption response behaviours of the sensor arrays to some typical volatile compounds were examined. The results indicated that, with comparison to ZnO nanostructure, the ZnO/Cu S nanocomposite exhibited enhanced adsorption properties to some typical volatile compounds dramatically, and the effect of one layer modification on the surface adsorption properties of ZnO/Cu S nanocomposite is also very evident and useful, which provides a microenvironment of biocompatibility for ZnO/Cu S *** same time, ZnO/Cu S nanocomposite showed broadening visible light response and hence has good potential applications in new energy materials, photocatalysts

关键词： ZnO based nanocomposite,Heterostructures,Surface and interface properties,Self-assembly surface modification,Device arrays,Enhanced sensitivity

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Surface modification of ZnO nanosheets with Au/polyaniline and their properties

Surface modification of ZnO nanosheets with Au/polyaniline a...

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12th IUMRS International Conference on Advanced Materials(IUMRS-ICAM2013)

作者： Q.Cong H.Geng X.He M.Gao X.Ma G.Li School of Environmental and Material Engineering Center of Advanced Functional MaterialsYantai University State Key Laboratory of Silicon Materials Zhejiang University National Laboratory of Industrial Control Technology Institute of CyberSystems and ControlZhejiang University

ZnO has many potential applications, such as, solar cells, photocatalysts, chemical sensors and biosensors. However, to extend its visible light response is still a great challenge. In this paper,ZnO nanosheets were prepared by a wet chemical method. The surface treatment of ZnO nanosheets was carried out using chloroauric acid, and then reduced with aniline. A series of characterisations were examined by TEM(transmission electron microscopy), XRD(X-ray diffraction), the Fourier transform infrared(FTIR) spectra and ultraviolet-visible spectroscopy(UVvis). The experimental results indicated that ZnO nanosheets modified with a thin layer of Au/PANi composite exhibited wide visible light response. A chemical prototype sensor was constructed based on the ZnO/Au/polyaniline nanocomposites prepared and interdigital electrodes on flexible polymer substrates. The effects of surface treatment of ZnO nanosheets on the gas sensing behaviours were examined. The results indicated that the effective conductive channels for charge transfer and separation were formed due to the Au/polyaniline necklaces attached on the surface of ZnO nanosheets, and the type of conductivity of ZnO/Au/polyaniline nanocomposite changed to P-type from N-type with increasing the amounts of chloroauric acid. When the synthesis parameter of ZnO/Au/polyaniline nanocomposite was optimised, the gas sensitivity of ZnO/Au/PANi(polyaniline) was superior to that of PANi nanowire prepared under similar synthesis condition, and it has been found that this kind of nanocomposite not only possesses widening light response, harvests more visible light, but also presents effective channels for charge transfer. It would be useful in potential applications in photocatalysts or other fields.

关键词： ZnO Nano/microstructures,Surface modification,Nanocomposite,Broadening visible light response,Sensitive mechanism

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Adaptive visual servoing using common image features with unknown geometric parameters

Adaptive visual servoing using common image features with un...

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作者： Liu, Yun-Hui Wang, Hesheng Chen, Weidong Zhou, Dongxiang Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Hong Kong Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China State Key Laboratory of Robotics Technology and System Harbin Institute of Technology Harbin 150001 China Joint Center for Intelligent Sensing and Systems National University of Defense Technology China

This paper generalizes the concept of the depth-independent interaction matrix, developed for point and line features in our early work, to generalized image features. We derive the conditions under which the depth-independent interaction matrix can be linearly parameterized by the geometric parameters of the generalized image features, and propose an adaptive visual servo controller for robot manipulators using the generalized image features whose geometric parameters are unknown. To estimate the unknown parameters on-line, we propose new error functions that are linear to estimation errors of the parameters and an algorithm that minimizes the error functions using multiple images. The Lyapunov theory is used to prove asymptotic stability of the proposed controller based on the nonlinear dynamics of the manipulator. It is also shown that in addition to points and lines, other common image features like distances, angles, areas, and centroids all satisfy the conditions for the linear parameterization. Experiments have been conducted to validate the proposed control method. © 2013 Elsevier Ltd. All rights reserved.

关键词： controllers

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A Robust Strictly Passive Output—Error Identifier for Continuous—Time systems

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IFAC Proceedings Volumes 2013年第11期46卷 170-175页

作者： Lei Wang Romeo Ortega Hongye Su Xiangbin Liu Yang Zhu State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 P.R.China Laboratoire des Signaux et Systèmes L2S CNRS UMR 8506 Supélec Univ Paris Sud-P11 91192 Gif sur Yvette France Beijing Jiaotong University Beijing 100044 China

This paper shows that the adaptive output error identifier for linear time–invariant continuous–time systems proposed by (Betser and Zeheb [1995]) is robust vis–à–vis measurement noise. More precisely, it is proven that the map from the noise to the estimation error is –stable—provided a tuning parameter is chosen sufficiently large. A procedure to determine the required minimal value of this parameter is also given. If the noise is exponentially vanishing, asymptotic convergence to zero of the prediction error is achieved. Instrument for the establishment of the results is a suitable decomposition of the error system equations that allows us to strengthen—to strict —the well-known passivity property of the identifier. The estimator does not require fast adaptation, a dead-zone, nor the knowledge of an upperbound on the noise magnitude, which is an essential requirement to prove stability of standard output error identifiers. To robustify the estimator with respect to non–square integrable (but bounded) noises a prediction error-dependent leakage term is added in the integral adaptation. A simulated example, which is unstable for the equation error identifier and the output error identifier of (Betser and Zeheb [1995]), is used to illustrate the noise insensitivity property of the new scheme.

关键词： Output-error identification identification of continuous-time systems passivity

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A Review for Model Plant Mismatch Measures in Process Monitoring

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Chinese Journal of Chemical Engineering 2012年第6期20卷 1039-1046页

作者：王洪谢磊宋执环 State Key Laboratory of Industrial Control Technology Institute of Industrial Process ControlZhejiang University Institute of Cyber-Systems and Control Zhejiang University

Model is usually necessary for the design of a control loop. Due to simplification and unknown dynamics, model plant mismatch is inevitable in the control loop. In process monitoring, detection of mismatch and evaluation of its influences are demanded. In this paper several mismatch measures are presented based on different model descriptions. They are categorized into different groups from different perspectives and their potential in detection and diagnosis is evaluated. Two case studies on mixing process and distillation process demonstrate the efficacy of the framework of mismatch monitoring.

关键词： model plant mismatch process monitoring control loop behavior

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Improved LQG benchmark for control performance assessment on ARMAX model process

Improved LQG benchmark for control performance assessment on...

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8th International Symposium on Advanced control of Chemical Processes, ADCHEM 2012

作者： Liu, Zhe Su, Hong-Ye Xie, Lei Gu, Yong State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 Zhejiang China

ISBN: (纸本)9783902823052

control performance assessment for MPC systems has attracted a lot of interest in recent years. Compared with the typical MVC benchmark, the LQG benchmark gives a pragmatic assessment result. Based on the traditional LQG benchmark, the equigrid approach can improve the regression performance. In addition to the numerical algorithm, the recursive algorithm and the analytical algorithm were introduced to analyze the essential relationship in the LQG benchmark, which can save the computing cost and improve the regression effect. Based on the ARMAX model, the detailed procedures for these algorithms were discussed. In the simulation to a SISO process and a MIMO process, the different types of LQG benchmarks were calculated. © 2012 IFAC.

关键词： Benchmarking

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Mechanical Design of the Legs of Hydraulically Actuated Quadruped Bionic Robot

Mechanical Design of the Legs of Hydraulically Actuated Quad...

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2013 ICME International Conference on Complex Medical Engineering(2013 ICME复合医学工程国际会议)

作者： Xin Li Wentao Sun Junyao Gao Xingguang Duan Qiang Huang Hui Li Huaxin Liu Wenxue Zhao Zhe Xu Yi Liu Intelligent Robotics Institute State Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent control and decision of complex systems School of Mechatronical Engineering Beijing Institute of Technology Nandajie Zhongguancun Haidian Beijing 100081 China

ISBN: (纸本)9781467329705

This paper discusses the design of the mechanical structure of a quadruped robot and a three-dimensional simulation model is built under Adams simulating the mechanism's motion to capture the dynamic characteristics of the quadruped *** paper analyses the effect of the length of legs on the walking structure from different aspects: its movement speed,capability of climbing obstacles and the workspace of its foot *** addition,to achieve the optimization target of balancing the output force of each hydraulic cylinder,the paper establishes a mathematical model under required constraints working out the lever members that accommodated with the *** all these factors,the most satisfied structural parameters of the autonomous quadruped robot are selected.

关键词： hydraulic quadruped robot the output force of the hydraulic cylinder structural parameters

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Photoinduced and microbial generation of hydrogen peroxide and organic peroxides in natural waters

Environmental Science and Engineering

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Environmental Science and Engineering 2013年第9783642322228期 139-207页

作者： Mostofa, Khan M.G. Liu, Cong-qiang Sakugawa, Hiroshi Vione, Davide Minakata, Daisuke Wu, Fengchang State Key Laboratory of Environmental Geochemistry Institute of Geochemistry Chinese Academy of Sciences Guiyang550002 China Department of Environmental Dynamics and Management Graduate School of Biosphere Science Hiroshima University 1-7-1 Kagamiyama Higashi-Hiroshima739-8521 Japan Dipartimento Chim Analit University Turin TurinI-10125 Italy Centro Interdipartimentale NatRisk GrugliascoTOI-10095 Italy School of Civil and Environmental Engineering Brook Byers Institute for Sustainable Systems Georgia Institute of Technology 828 West Peachtree Street Suite 320 AtlantaGA30332 United States State Environmental Protection Key Laboratory of Lake Pollution Control Chinese Research Academy of Environmental Sciences Chaoyang100012 China

The concentration of hydrogen peroxide (H2O2) in natural waters has been determined for the first time in 1925 by Harvey (Harvey 1925), who studied inshore and offshore water from the English Channel. © 2013, Spr... 详细信息

ISBN: (纸本)9783642361425

关键词： Hydrogen peroxide

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High temperature proton exchange membrane fuel cell hybrid power system monitoring platform designing

High temperature proton exchange membrane fuel cell hybrid p...

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International Conference on Automatic control and Artificial Intelligence, ACAI 2012

作者： Su, Hongye Zhang, Bo Cao, Zhixing Li, Xiuliang Chen, Xuelan State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou Zhejiang Province 310027 China

ISBN: (纸本)9781849195379

The design of 5kw high temperature proton exchange membrane fuel cell (HTPEMFC) hybrid power system monitoring platform is presented in this paper. The purpose of the system is to overcome the problems of low temperature proton exchange membrane fuel cell (LTPEMFC), such as poor water management and requirement of high-purity hydrogen. The present computerized real-time monitoring system is based on NI's PXIe hardware system and Labview software. The platform has two working modes - test mode and simulation mode. In the test mode, it provides the conditions for studying the problems of fuel cell hybrid power system, such as system performance, modelling and optimization, by completely monitoring all the working parameters in real-time. And in the simulation mode, besides the problems mentioned above, those with feeding control under changing loads, stability of output power and optimization of energy efficiency, can also be studied with multi-energy management system.

关键词： Monitoring

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Multiple model predictive control for oxygen starvation prevention of fuel cell system

Multiple model predictive control for oxygen starvation prev...

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International Conference on Automatic control and Artificial Intelligence, ACAI 2012

作者： Chen, Xuelan Li, Xiuliang Su, Hongye Cao, Zhixing Zhang, Bo State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou Zhejiang Province 310027 China

ISBN: (纸本)9781849195379

The purpose of this work is to prevent oxygen starvation of fuel cell system with the compressor surge and choke constraints considered. It has been already known that the compressor inertia causes the oxygen excess ratio to drop rapidly when the current drawn out of the fuel cell steps up dramatically. Thus we introduce a load actuator model to extract the load current out of the fuel cell as a performance variable. Then we are able to regulate the input of load actuator not only to smooth the transitions of load current to prevent the oxygen starvation, but also to track the desired current of fuel cell. Moreover, air supply system of fuel cell has strong nonlinear behaviors while working in a wide range. Thus a multiple multivariable model predictive controller has been introduced based on linearized models obtained from the fuel cell's nonlinear model linearized at operation points. The simulation results have demonstrated that the proposed control strategy is effective when applied to the fuel cell's nonlinear system.

关键词： Model predictive control

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