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Study on ionic liquids based novel method for separation and purification of silkworm pupa protein

Chinese Chemical Letters 2023年第1期34卷 382-387页

作者： Wen Zhang Shaoqi Yang Baozeng Ren Xingmei Lu Cai Jia Beijing Key Laboratory of Ionic Liquids Clean Process CAS Key Laboratory of Green Process and EngineeringState Key Laboratory of Multiphase Complex SystemsInstitute of Process EngineeringChinese Academy of SciencesBeijing 100190China Zhengzhou Institute of Emerging Industrial Technology Zhengzhou 450000China Key Laboratory of New Materials and Facilities for Rural Renewable Energy of Ministry of Agriculture and Rural Affairs College of Mechanical&Electrical EngineeringHenan Agricultural UniversityZhengzhou 450002China School of Chemical Engineering Zhengzhou UniversityZhengzhou 450001China

Silkworm pupa protein(SPP)that obtained by traditional method usually had a high fat content,which would impose restrictions on the further use of ***,various functionalized ionic liquids(ILs)were used to extract SPP from silkworm pupae,the structure-performance relationship of ILs with their SPP separation performance were explored at the same *** research showed that the maximum extraction yield of SPP was up to 62.6%with less than 0.5%low fat content by using 1-ethyl-3-methylimidazolium chloride([Emim]Cl),when the dissolution experiment was conducted at 90°C for 24 h with ethanol bath as the regeneration *** with the structure of raw material,the regenerated SPP maintained the native protein ***,all regenerated SPP showed a decreased crystallinity,which also exhibited decreased fraction of theα-helix comparing to thatβ-sheet united with coil random structures.

关键词： Silkworm pupa protein Ionic liquids Protein backbone Silkworm pupa Separation

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Digital CEOs in Digital Enterprises:Automating,Augmenting,and Parallel in Metaverse/CPSS/TAOs

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 820-823页

作者： Juanjuan Li Rui Qin Sangtian Guan Xiao Xue Peng Zhu Fei-Yue Wang with State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China the College of Intelligence and Computing Tianjin UniversityTianjin 300072China School of Economics and Management Nanjing University of Science and TechnologyNanjing 210094China the State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190 Faculty of Innovation Engineering Macao University of Science and TechnologyMacao 999078China

BIG models or foundation models are rapidly emerging as a key force in advancing intelligent societies[1]–[3]Their significance stems not only from their exceptional ability to process complex data and simulate advan... 详细信息

关键词： exceptional Auto advancing

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An Abstract Domain of Linear Templates with Disjunctive Right-Hand-Side Intervals 9th

An Abstract Domain of Linear Templates with Disjunctive Ri...

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9th International Symposium on Dependable software engineering: Theories, Tools and Applications, SETTA 2023

作者： Xu, Han Chen, Liqian Fan, Guangsheng Yin, Banghu Wang, Ji College of Computer National University of Defense Technology Changsha410073 China Hunan Key Laboratory of Software Engineering for Complex Systems Changsha410073 China HPCL National University of Defense Technology Changsha410073 China College of Systems Engineering National University of Defense Technology Changsha410073 China

ISBN: (纸本)9789819986637

Abstract interpretation provides a general framework for analyzing the value ranges of program variables while ensuring soundness. Abstract domains are at the core of the abstract interpretation framework, and the numerical abstract domains aiming at analyzing numerical properties have received extensive attention. The template constraint matrix domain (also called the template polyhedra domain) is widely used due to its configurable constraint matrix (describing limited but user-concerned linear relationships among variables) and its high efficiency. However, it cannot express non-convex properties that appear naturally due to the inherent disjunctive behaviors in a program. In this paper, we introduce a new abstract domain, namely the abstract domain of linear templates with disjunctive right-hand-side intervals, in the form of ∑iaixi∈⋁j=0p[cj,dj] (where ai ’s and p are configurable and fixed before conducting analysis). Experimental results of our prototype are encouraging: In practice, the new abstract domain can find interesting non-convex invariants that are out of the expressiveness of the classic template constraint matrix abstract domain. © 2024, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Abstract domain Abstract interpretation Invariant Template constraint matrix

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End-point Steady Control for Whole-Body Control Mobile Manipulators by Null Space Tunation 8

End-point Steady Control for Whole-Body Control Mobile Manip...

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8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Zhang, Enjin Gan, Yahui Dai, Xianzhong School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education NanJing China

ISBN: (纸本)9798350300178

This paper deal with the end-point steady control problem of a mobile manipulators(MM) at the velocity level. Mobile manipulators are usually kinematically redundant when performing tasks, so multiple subtasks can be performed simultaneously, such as tracking the trajectory of the end effector(EE), optimizing manipulability, etc. First, the mobile manipulators system is modeled as an ordinary jointed manipulator. The velocity of the EE has a higher priority, scheduling low-priority tasks in the null space of high-priority tasks leaves high-priority tasks unaffected. The damped least square method is used to generate a kinematic inverse solution with singular robustness, and the gradient projection method is used to optimize the manipulability measure. By analyzing the structure of the Jacobian matrix, the complexity of gradient calculation is reduced. Finally, the effectiveness of the proposed algorithm is verified by simulation experiments. © 2023 IEEE.

关键词： Jacobian matrices

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Multisymplectic Unscented Kalman Filter for Geometrically Exact Beams 1

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The 6th International Conference on Geometric Science of Information, GSI 2023

作者： Li, Tianzhi Wang, Jinzhi Department of Mechanics and Engineering Science State Key Laboratory for Turbulence and Complex Systems Peking University Beijing100871 China

ISBN: (数字)9783031382994

ISBN: (纸本)9783031382987

This paper introduces an unscented Kalman filter for the dynamics of geometrically exact beams based on multisymplectic geometry and Hamel’s formalism for classical field theories. The presented approach is a field-theoretic analogue of the well-known unscented Kalman filter. The discrete-time propagation equations are derived from the discrete variational principle, rather than a direct discretization of the continuous-time differential equations. As such, the proposed estimation scheme respects intrinsic physical structures of mechanical systems and exhibits excellent numerical properties such as energy conservation and structure preservation. The approach is also applicable to a wide range of models characterized by one-dimensional field theory. Properties of the proposed estimation algorithm are illustrated with numerical simulations. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Differential equations

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Bézier-UKF Enhanced Incremental MPC Planner for Quadrotor Based Target Following 25

Bézier-UKF Enhanced Incremental MPC Planner for Quadrotor B...

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25th IEEE International Conference on Industrial Technology, ICIT 2024

作者： Zhang, Haodi Su, Jinya Li, Shihua School Of Automation Southeast University Nanjing China Southeast University Key Laboratory Of Measurement And Control Of Complex Systems Of Engineering Ministry Of Education Nanjing China

ISBN: (纸本)9798350340266

This paper presents a vision-based tracking control for a quadrotor to follow a moving target without assuming any quadrotor-target communication. Constant turn rate & acceleration model (CTRA) is first drawn to describe the target's motion, allowing to infer unmeasurable target motion variables while mitigating the adverse effects of vision sensor noises through an unscented Kalman filter (UKF). Then the target's future trajectory is firstly predicted by using a Bézier curve, which is further treated as virtual observation of the CTRA model within the prediction horizon so that a better target trajectory prediction is derived by using the proposed Bézier- UKF fusion predictor method. The outputs of Bézier- UKF predictor are input into an incremental model predictive control (IMPC) planner as the target reference, enabling the derivation of the desired position, velocity and acceleration signal for the quadrotor. These signals are implemented by the low-level SE(3) geometric controller. Finally, we conduct a comparative study of the proposed method against baseline planners such as MPC and IMPC planners in high-fidelity AirSim simulation environment, demonstrating better target following performance. © 2024 IEEE.

关键词： Model predictive control

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Enhancing Human-AI Trust by Describing AI Decision-Making Behavior

Enhancing Human-AI Trust by Describing AI Decision-Making Be...

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2023 IEEE International Conference on Unmanned systems, ICUS 2023

作者： Lou, Zhouwei Wei, Haikun School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing China

ISBN: (纸本)9798350316308

Air combat game is a highly complex and dynamic decision-making problem that is crucial for ensuring national security and improving combat efficiency. In recent years, artificial intelligence (AI) technologies such as deep reinforcement learning have made significant progress in the air combat game field, surpassing human experts' capabilities. However, the decision-making process of AI algorithms often lacks transparency and interpretability, resulting in low trust in them, which limits their promotion and application in practical scenarios. To enhance human-AI trust, this paper proposes a decision explanation method based on natural language generation. As the most direct means of information transmission, natural language can help people quickly understand the behavior and intent of AI algorithms. Taking a one-on-one air combat game as an experimental scenario, this paper constructs a combat dataset mapping temporal states to behavioral explanations and designs an attention-based Encoder-decoder architecture (AED) capable of generating natural language descriptions of current AI decision-making behavior based on a period of combat data. Experimental results show that AED can accurately describe the decision-making behavior of AI algorithms and help improve the level of human-AI trust. © 2023 IEEE.

关键词： Deep learning

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PMSM System Identification by Knowledge-informed Machine Learning 22

PMSM System Identification by Knowledge-informed Machine Lea...

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22nd IEEE International Conference on Industrial Informatics, INDIN 2024

作者： Yu, Yue Tong, Jiageng Xia, Jinhui Su, Jinya Li, Shihua School of Automation Southeast University Nanjing China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China

ISBN: (纸本)9798331527471

Because of its excellent efficiency, compact dimensions, and accurate control features, Permanent Magnet Synchronous Motor (PMSM) are experiencing widespread applications across various industries. By accurately characterizing the dynamic behavior of PMSM systems through system identification, engineers can ensure that PMSM motors reach their maximum potentials and meet the stringent requirements of modern industrial and technical systems while reducing energy consumption and maintenance costs. The traditional recursive least squares method is sensitive to noises, and unable to accurately identify parameters in complex environments. Pure data-driven models lack interpretability and require complex model architecture and computational costs. To this end, this work draws knowledge-informed neural ordinary differential equations (NODEs) for system identification, which embeds system prior knowledge into the NODEs for more efficient and accurate model learning. Comparative simulations show that this method not only obtains a higher-precision system model, but also significantly reduces the amount of training data and computation costs. © 2024 IEEE.

关键词： Cost reduction

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PWM Wave-Based Cooperative Vector Control of Multiple Stepper Motors for Unmanned Surface Vehicles 7

PWM Wave-Based Cooperative Vector Control of Multiple Steppe...

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7th Asian Conference on Artificial Intelligence Technology, ACAIT 2023

作者： Xu, Ruizhe Xu, Yihang Wu, Yongbao Liu, Jian Xue, Lei Southeast University Key Laboratory of Measurement And Control of Complex Systems of Engineering Ministry of Education School of Automation Nanjing China

ISBN: (纸本)9798350359145

This paper studies the control system of multiple stepper motors. Four stepper motors are selected to design the vector control system for the actual application scenario of the unmanned surface vehicles. This paper designs a PWM wave-based motor control algorithm taking into account the characteristics of stepper motors. We proposes a closed-loop control algorithm incorporating magnetic encoders. The system applies CAN bus to realize the communication among stepper motors, enabling distributed cooperative control four stepper motors of the unmanned surface vehicles. In this paper, the multiple stepper motor system is modeled and finally simulated and experimentally verified to achieve cooperative vector control of multiple stepper motors for surface vehicles. © 2023 IEEE.

关键词： Vectors

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Autonomous Path Planning and Realization for Dual Robot Cooperation Based on ROS Framework 8

Autonomous Path Planning and Realization for Dual Robot Coop...

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8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Shao, Jiawei Gan, Yahui Dai, Xianzhong School of Automation Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education NanJing China

ISBN: (纸本)9798350300178

To realize dual-robot autonomous path planning and realization, the trajectory planning research of dual-robot is carried out using the open-source robot operating system ROS as the simulation platform. The motion planning-related file configuration is completed by using MoveIt! In trajectory planning, cubic spline interpolation is performed on the trajectory points generated by the RRT-Connect path planning algorithm to complete the planning of the dual-arm assembly task. The communication between ROS nodes and ROS is established in the controller, and the processed trajectory points are communicated with the controller through ROS-Industrial. The experimental results show that the trajectory of the dual robot movement process is smooth and continuous, the stability is strong, and the error is small, which can ensure the completion of basic assembly tasks. © 2023 IEEE.

关键词： Motion planning

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