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Variation of spatio-temporal distribution of on-road vehicle emissions based on real-time RFID data

Journal of Environmental Sciences 2022年第6期34卷 151-162页

作者： Yonghong Liu Wenfeng Huang Xiaofang Lin Rui Xu Li Li Hui Ding School of Intelligent Systems Engineering Sun Yat-sen UniversityGuangzhou 510006China Guangdong Provincial Key Laboratory of Intelligent Transportation System Guangzhou 510006China Guangdong Provincial Engineering Research Center for Traffic Environmental Monitoring and Control Guangzhou 510006China Shantou Municipal Urban Public Transportation Management Office Shantou 515000China

High-resolution vehicular emissions inventories are important for managing vehicular pollution and improving urban air quality. This study developed a vehicular emission inventory with high spatio-temporal resolution in the main urban area of Chongqing, based on realtime traffic data from 820 RFID detectors covering 454 roads, and the differences in spatiotemporal emission characteristics between inner and outer districts were analysed. The result showed that the daily vehicular emission intensities of CO, hydrocarbons, PM2.5, PM10,and NO_(x) were 30.24, 3.83, 0.18, 0.20, and 8.65 kg/km per day, respectively, in the study area during 2018. The pollutants emission intensities in inner district were higher than those in outer district. Light passenger cars(LPCs) were the main contributors of all-day CO emissions in the inner and outer districts, from which the contributors of NO_(x) emissions were different. Diesel and natural gas buses were major contributors of daytime NO_(x) emissions in inner districts, accounting for 40.40%, but buses and heavy duty trucks(HDTs) were major contributors in outer districts. At nighttime, due to the lifting of truck restrictions and suspension of buses, HDTs become the main NO_(x) contributor in both inner and outer districts,and its three NO_(x) emission peak hours were found, which are different to the peak hours of total NO_(x) emission by all vehicles. Unlike most other cities, bridges and connecting channels are always emission hotspots due to long-time traffic congestion. This knowledge will help fully understand vehicular emissions characteristics and is useful for policymakers to design precise prevention and control measures.

关键词： Spatio-temporal distribution Link-level vehicular emission inventory Real-time RFID data HDTs Chongqing

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Extended NNs-Based Adaptive Event-Triggered Asymptotic control for Nonlinear systems Against Actuator Faults 7

Extended NNs-Based Adaptive Event-Triggered Asymptotic Contr...

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7th International Symposium on Autonomous systems, ISAS 2024

作者： Liu, Shanlin Zhang, Yingwei Zhao, Xudong Wang, Hesheng Northeastern University College of Information Science and Engineering Shenyang China Northeastern University State Laboratory of Synthesis Automation of Process Industry Shenyang China Dalian University of Technology Faculty of Electronic Information and Electrical Engineering Dalian China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9798350363173

In this article, an adaptive event-triggered asymp¬totically fault-tolerant control (FTC) issue for nonlinear systems with actuator faults is investigated. An extended neural networks (NNs) technique is introduced to estimate unknown functions of the system under consideration. Compared with traditional NNs that ignore approximation errors, the proposed extended NNs further processes approximation errors, reducing the conservatism of the proposed algorithm. Then, within the framework of backstepping method, a new adaptive control strategy is developed by combining event-triggered mechanism (ETM) and bound estimation (BE) approach, which ensures the asymptotic convergence of system states while also reducing the transmission of unnecessary information, thus improving the utilization of communication resources. At the same time, the designed controller eliminates the adverse effects of actuator failures and system nonlinear terms. Finally, a simulation example of a single-link robot system is provided to demonstrate that the developed control strategy can ensure that all signals are bounded and system states are asymptotically convergent. © 2024 IEEE.

关键词： Approximation algorithms

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Multi-Branch Spatial-Temporal Attention Graph Convolution Network for Skeleton-based Action Recognition 41

Multi-Branch Spatial-Temporal Attention Graph Convolution Ne...

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第41届中国控制会议

作者： Daoshuai Wang Dewei Li Yaonan Guan Gang Wang Haibin Shao Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Skeleton-based human action reco gnition has attracted considerable research interest due to its robustness to dynamic environments and complex *** based on graph neural networks have achieved great success in this ***,most of these graph neural network based methods adopt a single-branch or two-stream structure with limited input *** to the separation of space and time,many methods cannot pay attention to the critical information of human skeleton sequence,and multi-scale spatial-temporal dependent attention modeling becomes the key to *** paper proposes a novel multi-branch Spatio-temporal attention graph convolutional neural network(MB-STAGCN) to recognize human actions from skeleton *** proposed model adopts a multi-branch structure,fuses three-stream features,and then inputs them into the backbone network to extract features from multiple perspectives to a greater ***,we design a new temporal convolutional block for multi-scale extraction of information in the backbone *** also propose an attention block named Spatio-temporal Concat Attention(STCatAtt) to capture critical *** on benchmark datasets show remarkable performance for human action reco gnition,demonstrating the effectiveness of our method.

关键词： Skeleton-based human action recognition MB-STAGCN STCatAtt

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Towards Efficient Path Finding and Moving Stability-Focused Trajectory Planning for Mobile Robots

Towards Efficient Path Finding and Moving Stability-Focused ...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Hou, Muyang Lei, Zhenya Hu, Haidong Wang, Zhong Wang, Yong Xie, Le Wang, Hesheng Shanghai Jiao Tong University Department of Automation Shanghai200240 China School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China Beijing Institute of Control Engineering Beijing100190 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Department of Automation Shanghai200240 China

ISBN: (纸本)9781665481090

Nowadays, mobile robots play an important role in a variety of service scenarios. They need to plan and track trajectories to accomplish tasks such as delivery or guided tours. In such tasks, there are two remaining challenges: on one hand, the time and memory consumption of present path planners are still significant;on the other hand, service robots, which have a higher center of gravity, demand greater moving stability than that of current trajectory planners provide. To address these two challenges. Firstly, we propose a safety boundary first A∗ which fully utilizes environmental obstacle information to create a safety boundary and searches in it to quickly find an initial path. Secondly, we formulate the trajectory optimization problem as a nonlinear optimization problem, where the smoothness, safety, feasibility, and moving stability of the robot are taken into account. Furthermore, to constrain the robot's lateral acceleration, we design a time allocation algorithm based on non-uniform B-spline, enhancing the quality of the resulting trajectory. Simulations and real-world experiments demonstrate that our algorithms significantly improve path search efficiency, enhance moving stability, reduce the difficulty of tracking, and improve the quality of task completion. © 2024 IEEE.

关键词： Trajectories

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Configuration Synthesis of Weakly Coupled Parallel Hip Exoskeletons With Large Workspace

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Journal of Mechanisms and Robotics 2025年第7期17卷 074502页

作者： Xu, Jilong Liu, Fucai Engineering Research Center of the Ministry of Education for Intelligent Control System and Intelligent Equipment Yanshan University Qinhuangdao 066004 China Key Lab of Industrial Computer Control of Heibei Province Yanshan University Qinhuangdao 066004 China

To address the issues of strong motion coupling, high control difficulty, and insufficient degrees-of-freedom (DoFs) in existing bio-syncretic parallel hip exoskeletons, a design scheme characterized by weak coupling is proposed. A configuration synthesis method for weakly coupled parallel hip exoskeletons is introduced by deriving the conditions that the transmission wrench screws (TWSs) in each limb must satisfy. Furthermore, to tackle the problem of limited workspace in parallel hip exoskeletons, a design method aimed at increasing the operational workspace is presented. By applying the proposed methods to the configuration synthesis of the hip exoskeleton, several weakly coupled configurations with expanded workspaces are generated. Finally, the correctness and effectiveness of the proposed methods are validated through case analyses.

关键词： weakly coupled hip exoskeleton configuration synthesis parallel robots Screws mechanism synthesis and analysis wearable devices parallel mechanism Exoskeleton devices workspace mechanisms and robots

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A Co-regularization Facial Emotion Recognition Based on Multi-Task Facial Action Unit Recognition 41

A Co-regularization Facial Emotion Recognition Based on Mult...

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第41届中国控制会议

作者： Chinonso Paschal Udeh Luefeng Chen Sheng Du Min Li Min Wu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Facial emotion recognition helps feed the growth of the future artificial intelligence with the development of emotion recognition,learning,and analysis of different angles of a human face and head *** worlds recent pandemic gave rise to the rapid installment of facial recognition for fewer applications,while emotion recognition is still within the experimental *** current challenges encountered with facial emotion recognition(FER) are the difference between background *** todays world shows us that humans soon need robotics in the most significant role of human perception,attention,memory,decision-making,and human-robot interaction(HRI) needs *** merging the head pose as a combination towards the FER to boost the robustness in understanding emotions using the convolutional neural networks(CNN).The stochastic gradient descent with a comprehensive model is adopted by applying multi-task learning capable of implicit parallelism,inherent and better global optimizer in finding better network *** executing a multi-task learning model using two independent datasets,the experiment with the FER and head pose learning multi-views co-regularization frameworks were subsequently merged with validation accuracy.

关键词： head pose facial expression convolution neural network deep learning emotion recognition

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An online drilling rate of penetration(ROP) optimization method 41

An online drilling rate of penetration(ROP) optimization met...

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第41届中国控制会议

作者： Tuo Wang Chao Gan Weihua Cao School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

Drilling rate of penetration(ROP) optimization is crucial due to its vital role in increasing the drilling efficiency and decreasing the non-productive *** existing methods seldom pay attention to updating model parameter during drilling,which is actually important for ROP optimization under dynamical and uncertain downhole *** this paper,an online drilling ROP optimization method is proposed via three stages(drilling data pre-processing,online ROP modelling and online optimal operational parameters optimization).In the first stage,drilling data is pre-processed by resampling and Savitzky-Golay *** this,support vector regression and moving-window strategy are introduced together to establish an online ROP model in the next ***,particle swarm optimization algorithm is applied in the online ROP optimization framework to obtain the optimal operational parameters in the last *** results indicated the effectiveness of the proposed method.

关键词： Rate of penetration Drilling optimization Online optimization Moving-window strategy

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Flow Field Simulation and Nozzle Parameter Optimization of Rust Removal Robot Based on High-Pressure Water Jet Technology 1

Flow Field Simulation and Nozzle Parameter Optimization of R...

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1st International Conference on Applied Physics and Mathematics, ICAPM 2023

作者： Peng, Wei Ma, Yue Li, Bin Wang, Xinjie Peng, Pai Wang, Jinyuan Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

To enhance the safety and longevity of large ships, employing high-pressure water jet technology for rust removal is crucial in this article, the qualitative relationship among the key parameters of high-pressure water jet rust removal is analyzed theoretically. Secondly, the flow field simulation is carried out using Computational Fluid Dynamics (CFD) software to verify the relationship among the key parameters. Finally, the influence of different nozzle length-diameter ratios on jet characteristics is analyzed. The simulation results show that the nozzle end length is 0 mm and the nozzle diameter is 1mm for the straight-cone convergent nozzle with a shrinking angle of 30° when the diameter of the length-diameter ratio remains unchanged and the length of the nozzle end is changed. Simultaneously, the highest values are observed for the nozzle exit velocity and the impact force on the target surface. The impact range of target shear force takes the maximum value when the length-diameter ratio is 1. Further, by changing the length of the nozzle-end and the nozzle diameter in the length-diameter ratio, the influence on the jet characteristics can be concluded that the nozzle diameter has a greater influence on the nozzle exit velocity than the nozzle-end length. On this basis, the optimized nozzle parameters can be obtained i.e., the nozzle-end length is 1 mm and the nozzle diameter is 1 mm, such that the effective striking area of the jet is the largest and the striking effect is the best. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Computational fluid dynamics

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Design of the Slave Hand Structure and Interference Detection for the Master-Slave Craniotomy Surgical Robot 2

Design of the Slave Hand Structure and Interference Detectio...

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2nd International Conference on intelligent Equipment and Special Robots, ICIESR 2023

作者： Zhao, Lei Zhang, Guobin Li, Zehua Liu, Zhenzhong Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

ISBN: (纸本)9781643685144

Existing neurosurgical robots are prone to interfering with each other in a narrow operating space due to the overlapping of several arms, which poses a great safety risk during surgery. In this paper, a 7-DOF dual-arm robot is designed to cooperate with the surgeon to complete craniotomy by manipulating the master hand mechanism. Aiming at the pain point that two real-time dynamic slave hands are prone to interference, this paper establishes a simplified model of the robot envelope, and transforms the interference detection problem between the robots into the interference checking of geometric primitives. If the interference between the two arms is detected by the algorithm, the surgical path of the current robotic arm is immediately terminated to ensure the safety of the surgery. Finally, the algorithm is simulated and verified with the robot designed in this paper. The results show that the algorithm is feasible and has high computational efficiency. © 2024 The Authors.

关键词： Structural design

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Development of a PLCopen-Based controller for Flexible Fatigue Test Applications 30

Development of a PLCopen-Based Controller for Flexible Fatig...

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30th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2024

作者： Lyu, Xiaofan Wang, Pingjiang Gao, Chaoyang Zhao, Donglin Wei, Peng Luo, Wenbin Huazhong University of Science and Technology School of Mechanical Science and Engineering Wuhan China Quanzhou Hust Research Institute of Intelligent Manufacturing QuanZhou China Huazhong University of Science and Technology National Numerical Control System Engineering Research Center Wuhan China

ISBN: (纸本)9798350391916

Aiming at the flexibility and reconfigurability needs for fatigue test applications, the demand for a PLCopen-based development framework arises. In this study, we utilize the IEC 61131-3 programmable language and PLCopen specifications to design the controller for electro-hydraulic servo loading system. Firstly, PLCopen group function block diagrams are proposed in accordance with experiments. Multiple groups can manage different experiments simultaneously. Then, PLCopen channel function block diagrams are designed to manage district channels in a group. To correct tracking errors, each channel incorporates a peak-valley phase compensator. Peak-valley phase compensator could potentially be used to adjust for multi-frequency sinusoidal spectrum. Finally, simulation and experiment results verify that tracking error could be kept within a defined neighbourhood region. © 2024 IEEE.

关键词： Fatigue testing

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