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Vision-based trajectory tracking control of quadrotors using super twisting sliding mode control

Cyber-Physical Systems 2020年第4期6卷 207-230页

作者： Wu, Wenhui Jin, Xin Tang, Yang Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education East China University of Science and Technology Shanghai China

A trajectory-tracking problem for a vision-based quadrotor control system is investigated in this paper. A super twisting sliding mode (STSM) controller is proposed for finite-time trajectory tracking control. With the help of the homogeneous technique, the closed-loop system is proved to be finite-time stable. In addition, due to the introduction of super twisting mechanism, the controller can restrain chattering effect of sliding mode control. On the other hand, a pose estimation through data fusion is proposed to localise the quadrotor. A Kalman filter (KF) is utilised to fuse the estimated pose from semi-direct monocular visual odometry (SVO) with data from inertial measurement unit (IMU). A number of simulations are carried out on MATLAB and physical engine simulator Gazebo. The results show that the proposed system controller has better performances in terms of robustness and anti-disturbance than the proportional–integral–derivative (PID) controller and the first order sliding mode controller. © 2020 Informa UK Limited, trading as Taylor & Francis Group.

关键词： Closed loop systems

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Oxidation of emerging organic contaminants by in-situ H_(2)O_(2) fenton system

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Green Energy & Environment 2024年第3期9卷 417-434页

作者： Yuqin Ni Chuxiang Zhou Mingyang Xing Yi Zhou State Environmental Protection Key Lab of Environmental Risk Assessment and Control on Chemical Processes School of Resources&Environmental EngineeringEast China University of Science and TechnologyShanghai200237China Key Laboratory for Advanced Materials and Institute of Fine Chemicals National Engineering Laboratory for Industrial Wastewater TreatmentSchool of Chemistry and Molecular EngineeringEast China University of Science and Technology130 Meilong RoadShanghai200237China Department of Applied Natural Sciences Technische Hochschule LubeckMonkhofer Weg 23923562 LubeckGermany

The existence and risk of emerging organic contaminants(EOCs)have been under consideration and paid much effort to degrade these *** system is one of the most widely used technologies to solve this *** original Fenton system relies on the hydroxyl radicals produced by Fe(Ⅱ)/H_(2)O_(2) to oxidize the organic ***,the application of the Fenton system is limited by its low iron cycling efficiency and the high risks of hydrogen peroxide transportation and *** introduction of external energy(including light and electricity etc.)can effectively promote the Fe(Ⅲ)/Fe(Ⅱ)cycle and the reduction of oxygen to produce hydrogen peroxide in *** review introduces three in-situ Fenton systems,which are electro-Fenton,Photo-Fenton,and chemical *** mechanism,influencing factors,and catalysts of these three in-situ Fenton systems in degrading EOCs are discussed *** review strengthens the understanding of Fenton and in-situ Fenton systems in degradation,offering further insight into the real application of the in-situ Fenton system in the removal of EOCs.

关键词： In-situ H_(2)O_(2)production Fenton Emerging organic contaminants Photocatalysis Electrocatalysis

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Privacy Preservation by Local Design in Cooperative Networked control Systems

arXiv

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arXiv 2022年

作者： Yang, Chao Yang, Wen Shi, Hongbo Key Laboratory of Advanced Control and Optimization for Chemical Processes Dept. of Automation East China University of Science and Technology Shanghai200237 China

In this paper, we study the privacy preservation problem in a cooperative networked control system working for the task of LQG control. The system consists of a user and a server: the user owns the state process, the server provides computation capability, and the user employs the server to compute control inputs for it. To enable the server's computation, the user needs to provide the measurements of the process states to the server. However, the user regards the states as privacy and wants the server to have deviated knowledge of the state estimates rather than the true value. Regarding that, we propose a novel local design of privacy preservation, which creates a deviation in the server's knowledge of the state estimates from the true value. Meanwhile, we propose an associated privacy metric to measure the deviation and analyze the privacy performance accordingly. Furthermore, we analyze the service loss in the LQG control performance caused by the privacy scheme. Finally, we study the performance trade-off between the privacy preservation and the LQG control, where the proposed optimization problems are solved by numerical methods efficiently. Copyright © 2022, The Authors. All rights reserved.

关键词： Networked control systems

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Global Convergence Guarantees of (A)GIST for a Family of Nonconvex Sparse Learning Problems

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IEEE Transactions on Cybernetics 2022年第5期52卷 3276-3288页

作者： Zhang, Hengmin Qian, Feng Shang, Fanhua Du, Wenli Qian, Jianjun Yang, Jian East China University of Science and Technology Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education School of Information Science and Engineering Shanghai200237 China Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai200092 China Xidian University Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education School of Artificial Intelligence Xi'an710071 China Peng Cheng Laboratory Shenzhen518066 China Nanjing University of Science and Technology Pca Laboratory Key Lab. of Intelligent Percept. and Syst. for High-Dimensional Information of Ministry of Education Nanjing210094 China Nanjing University of Science and Technology Jiangsu Key Laboratory of Image and Video Understanding for Social Security School of Computer Science and Engineering Nanjing210094 China

In recent years, most of the studies have shown that the generalized iterated shrinkage thresholdings (GISTs) have become the commonly used first-order optimization algorithms in sparse learning problems. The nonconvex relaxations of the \ell _{0} -norm usually achieve better performance than the convex case (e.g., \ell _{1} -norm) since the former can achieve a nearly unbiased solver. To increase the calculation efficiency, this work further provides an accelerated GIST version, that is, AGIST, through the extrapolation-based acceleration technique, which can contribute to reduce the number of iterations when solving a family of nonconvex sparse learning problems. Besides, we present the algorithmic analysis, including both local and global convergence guarantees, as well as other intermediate results for the GIST and AGIST, denoted as (A)GIST, by virtue of the Kurdyka-Lojasiewica (KL) property and some milder assumptions. Numerical experiments on both synthetic data and real-world databases can demonstrate that the convergence results of objective function accord to the theoretical properties and nonconvex sparse learning methods can achieve superior performance over some convex ones. © 2013 IEEE.

关键词： Optimization

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Intelligent scheduling and flexible operation for the commercial-scale coal-fired power plant integrated with post-combustion carbon capture

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IFAC-PapersOnLine 2022年第9期55卷 553-558页

作者： Peizhi Liao Xiao Wu Meihong Wang Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education School of Information Science and Engineering East China University of Science and Technology Shanghai 200237 China Key Laboratory of Energy Thermal Conversion and Control of Ministry of Education School of Energy and Environment Southeast University Nanjing 210096 China

This paper develops a two-level control structure for commercial-scale coal-fired power plant integrated with post-combustion carbon capture (CFPP-PCC). In high-level scheduler, an economic objective function with the consideration of grid demand, price conditions and system constraints is developed. Deep belief network is utilized to develop the steady-state model for CFPP-PCC process. Intelligent scheduling of electricity generation and capture level is then implemented using Bayesian optimization. Given the optimal setpoints, model predictive controller (MPC) is applied to achieve flexible operation in the low-level supervisory control. The simulation results show that the proposed control structure specifies an economically attractive operation profile for the CFPP-PCC process.

关键词： Coal-fired power plant Post-combustion carbon capture Deep belief network Optimal scheduling Model predictive control

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Techno-Economic Assessment of Modified Fischer-Tropsch Synthesis Process for Direct Co2 Conversion into Jet Fuel

SSRN

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SSRN 2023年

作者： Han, Yide Kamkeng, Ariane D.N. Otitoju, Olajide Ding, Yuxing Wang, Meihong Department of Chemical and Biological Engineering The University of Sheffield SheffieldS1 3JD United Kingdom Key Laboratory of Advanced Control and Optimisation for Chemical Processes Ministry of Education East China University of Science and Technology Shanghai200237 China

Direct use of CO2 through modified Fischer-Tropsch synthesis (FTS) process presents a viable approach for the production of carbon-neutral jet fuel. However, achieving high performance for the CO2-FTS process remains a significant challenge. Current technology can only achieve low CO2 conversion and low jet fuel yield using tailored catalysts, which hinders the commercial deployment of direct CO2-FTS process. This paper presents a techno-economic assessment (TEA) of jet fuel production via CO2-FTS process at commercial-scale. Two ex-situ water removal configurations: (a) multi-stage CO2-FTS process and (b) CO2-FTS with tail gas recycle process were conducted to assess their potential for performance improvement. Process performance was evaluated using a model developed in Aspen Plus® linking with Aspen Custom Modeller®, while economic evaluation was carried out in Aspen Process Economic Analyzer®. The CO2-FTS model was based on first principles and modified Anderson-Schulz-Flory (ASF) distribution. Results indicated that both ex-situ water removal configurations can significantly improve the process performance. CO2-FTS process with 90% tail gas recycle has the best performance for both technical and economic analysis. The process achieved 85.8% CO2 conversion and 35.6% jet fuel yield with the lowest energy demand of 5.30 MWh per tonne of produced jet fuel. Moreover, it boasts the lowest minimum selling price (MSP) of jet fuel at $2.6/kg despite incurring the second-highest capital expenditure cost of M$ 451.3. A comparison of the two ex-situ water removal configurations at 61.9% and 76.5% CO2 conversion, suggests that both processes exhibit comparable technical performances, yet the recycling of tail gas holds the potential to reduce economic costs. Consequently, this study will inspire researchers on process improvement and cost reduction of the commercial-scale CO2-FST jet fuel production. © 2023, The Authors. All rights reserved.

关键词： Carbon dioxide

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Study of Photocatalytic Activity of a Nanostructured Composite of ZnS and Carbon Dots

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Advances in Nanoparticles 2022年第4期11卷 111-128页

作者： Irié Bi Irié Williams Essy Kouadio Fodjo Pomi Bi Boussou Narcisse Aka Alla Martin Koffi Koffi Kra Sylvestre Trokourey Albert Zhen Gu Laboratory of Constitution and Reaction of Matter UFR SSMT Université Felix Houphouet Boigny Abidjan Cote d’Ivoire Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of Education East China University of Science and Technology Shanghai China

Environmental pollution jeopardizes our existence. For this purpose, research is moving more and more towards the search for economic means and green chemistry to curb this phenomenon. In this context, the photocatalytic activity of zinc sulfide nanoparticles (ZnS NPs) and nanostructured composite ZnS/carbon dots (ZnS/CDs) was evaluated after their synthesis. The results of X-ray diffraction (XRD) analysis indicate that the crystal structure of ZnS/CDs is identical to that of the cubic phase structure of ZnS, revealing that the cubic phase structure of ZnS was not altered in the presence of CDs. Indeed, there is no additional peak in the crystal structure of ZnS/CDs, revealing that the crystalline structure of ZnS is not responsible for the difference in photocatalytic activity between ZnS/CDs and ZnS NPs. Moreover, analysis performed by transmission electron microscopy (TEM) shows aggregation of the synthesized ZnS and ZnS/CDs nanoparticles with an average size estimated around 10 nm and 12 nm, respectively. In addition, the reflectance study in the visible range shows a reduction in the sunlight reflection intensity using ZnS/CDs compared to the capability of ZnS NPs. Photocatalytic degradation tests reveal that ZnS/CDs have the best methylene blue (MB) degradation rate. Indeed, under the optimal conditions, the photocatalytic activity can reach 100% efficiency within 100 min and 240 min of sunlight exposure for the degradation of 7.5 mg/L MB using ZnS/CDs and ZnS, respectively. This improvement in photocatalytic activity of ZnS/CDs may be due to the presence of CDs which can permit to undergo a reduction of reflection properties of ZnS NPs in the visible range. These results show that CDs can play a key role in enhancing the photocatalytic activity of ZnS, and suggest that ZnS/CDs could be used as eco-friendly composite materials for the degradation of organic pollutants of similar structures in the aquatic environment under solar irradiation.

关键词： Fluorescent Carbon Dots (CDs) Photocatalytic Degradation of Methylene Blue Sunlight Reflectance Property Synthesis of ZnS Nanoparticles

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Secure Impulsive Synchronization in Lipschitz-Type Multi-Agent Systems Subject to Deception Attacks

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IEEE/CAA Journal of Automatica Sinica 2020年第5期7卷 1326-1334页

作者： Wangli He Zekun Mo Qing-Long Han Feng Qian IEEE Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of EducationEast China University of Science and TechnologyShanghai 200237China School of Software and Electrical Engineering Swinburne University of TechnologyMelbourne VIC 3122Australia

Cyber attacks pose severe threats on synchronization of multi-agent *** attack,as a typical type of cyber attack,can bypass the surveillance of the attack detection mechanism silently,resulting in a heavy ***,the problem of mean-square bounded synchronization in multi-agent systems subject to deception attacks is investigated in this *** control signals can be replaced with false data from controllerto-actuator channels or the *** success of the attack is measured through a stochastic variable.A distributed impulsive controller using a pinning strategy is redesigned,which ensures that mean-square bounded synchronization is achieved in the presence of deception *** sufficient conditions are derived,in which upper bounds of the synchronization error are ***,two numerical simulations with symmetric and asymmetric network topologies are given to illustrate the theoretical results.

关键词： Deception attacks impulsive control multi-agent systems(MASs) synchronization

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Intelligent droplet tracking with correlation filters for digital microfluidics

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Chinese chemical Letters 2021年第11期32卷 3416-3420页

作者： Libin Li Zhen Gu Jia-Le Zhou Bingyong Yan Cong Kong Hua Wang Hui-Feng Wang Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of Education East China University of Science and TechnologyShanghai 200237China Key Laboratory of East China Sea Fishery Resources Exploitation Ministry of Agriculture and Rural AffairsEast China Sea Fisheries Research InstituteChinese Academy of Fishery SciencesShanghai 200090China Department of Laboratory Medicine Renji HospitalSchool of MedicineShanghai Jiao Tong UniversityShanghai 200137China

Tracking the movement of droplets in digital microfluidics is essential to improve its control stability and obtain dynamic information for its applications such as point-of-care testing,environment monitoring and chemical ***,an intelligent,accurate and fast droplet tracking method based on machine vision is developed for applications of digital *** continuously recognize the transparent droplets in real-time and avoid the interferes from background patterns or inhomogeneous illumination,we introduced the correlation filter tracker,enabling online learning of the multi-features of the droplets in Fourier *** show the proposed droplet tracking method could accurately locate the *** also demonstrated the capacity of the proposed method for estimation of the droplet velocity as faster as 20 mm/s,and its application in online monitoring the Griess reaction for both colorimetric assay of nitrite and study of reaction kinetics.

关键词： Digital microfluidics Correlation filter trackers Machine vision Reaction kinetics Colorimetric assay

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Physical Safety and Cyber Security Analysis of Multi-Agent Systems:A Survey of Recent Advances

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IEEE/CAA Journal of Automatica Sinica 2021年第2期8卷 319-333页

作者： Dan Zhang Gang Feng Yang Shi Dipti Srinivasan the Research Center of Automation and Artificial Intelligence Zhejiang University of TechnologyHangzhou310023 Key Laboratory of Advanced Control and Optimization for Chemical Processes(East China University of Science and Technology) Ministry of EducationShanghai 200237China the Department of Biomedical Engineering City University of Hong KongHong KongChina the Department of Mechanical Engineering University of VictoriaCanada the Department of Electrical and Computer Engineering National University of SingaporeSingapore

Multi-agent systems(MASs)are typically composed of multiple smart entities with independent sensing,communication,computing,and decision-making ***,MASs have a wide range of applications in smart grids,smart manufacturing,sensor networks,and intelligent transportation *** of the MASs are often coordinated through information interaction among agents,which is one of the most important factors affecting coordination and cooperation ***,unexpected physical faults and cyber attacks on a single agent may spread to other agents via information interaction very quickly,and thus could lead to severe degradation of the whole system performance and even destruction of *** paper is concerned with the safety/security analysis and synthesis of MASs arising from physical faults and cyber attacks,and our goal is to present a comprehensive survey on recent results on fault estimation,detection,diagnosis and fault-tolerant control of MASs,and cyber attack detection and secure control of MASs subject to two typical cyber ***,the paper concludes with some potential future research topics on the security issues of MASs.

关键词： Consensus deception attack deny-of-service(DoS)attack fault detection fault estimation fault tolerant control multiagent systems

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