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A Survey on Design,Actuation,Modeling,and control of Continuum Robot

Cyborg and Bionic Systems 2022年第1期2022卷 22-34页

作者： Jingyu Zhang Qin Fang Pingyu Xiang Danying Sun Yanan Xue Rui Jin Ke Qiu Rong Xiong Yue Wang Haojian Lu State Key Laboratory of Industrial Control and Technology Zhejiang UniversityHangzhou 310027China Institute of CyberSystems and Control The Department of Control Science and Engineering Zhejiang UniversityHangzhou 310027China Department of Plastic Surgery Sir Run Run Shaw HospitalZhejang University of MedicineHangzhou 310016China

Inthis paper,we describethe advances inthe design,actuation,modeling,and controlfield of continuum *** decades ofpioneering research,many innovativeve structural designandUntethered magnetic robots are agood example;its external actuationcharteristigotten a lot of interest ***,modeling approachesbased on continuunnechals after years oof *** when combined withnumerical analytic methodschtFifecodle-b *** the control,*** and hybrid control methodscombined with sensor *** the other hand,tladeg and control of continum *** data-driven modeling technique simplifies modeling aproves anti-interference and generalization *** paper discusses the current development and challenges of continum robots in the above felds and provides prospectsfor the future.

关键词： Robot modeling generalization

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Finite element joint simulation model applied to fast mechanical switching of controlled resonance combination circuit breakers

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High Voltage 2025年第2期10卷 419-435页

作者： Puyi Cui Guoli Li Zehui Sun Jiazi Xu Guoyong Zhang Zhong Chen Weiping Guan School of Electrical Engineering and Automation Anhui UniversityHefeiChina Engineering Research Center of Power Quality Ministry of EducationAnhui UniversityHefeiChina Anhui Key Laboratory of Industrial Energy-Saving and Safety Anhui UniversityHefeiChina Anhui Collaborative Innovation Center of Industrial Energy-Saving and Power Quality Control Anhui UniversityHefeiChina Anhui Zhengguangdian Electric Power Technology Co. HefeiChina Electric Power Research Institute of State Grid Anhui Electric Power Co. Ltd.HefeiChina

Fast mechanical switches(FMSs)are critical components of DC circuit breakers(DCCBs),which require the switch action time to break to a sufficient distance within 3 ms in the DC line breaking scenario,while ensuring a long service *** breaking mechanism significantly affects the current interruption capability of *** operation of the repulsion mechanism,along with the morphology of the arc and its transformation within the interrupter chamber,collectively influence the breaking performance of the *** paper presents a comprehensive analysis of the FMSs,which serves as the pivotal component of controlled resonance combination circuit breakers(CRCBs).This study establishes a multi physics coupling simulation analysis method based on the equivalent circuit of repulsion mechanism discharge,combined with electromagnetic and solid mechanics *** constructing a full cycle magnetohydrodynamic particle arc(MHP)model and using a combined simulation of Finite Element joint model(FEJM),the evolution law of arc characteristics during the superimposed current interruption process was systematically *** focus was on analysing the physical process of the zero zone of the superimposed arc,the multi physics field coupling relationship of the arc,and the interaction mechanism with external characteristic *** combining with optimisation design methods,the effectiveness of the model was verified through experiments,FEJM provides comprehensive technical support for effectively reflecting the stress issues of core components during the breaking process of FMS and can provide accurate theoretical references for the optimisation design of mechanical motion components in *** also accurately represents the arc extinguishing process during the breaking of FMS and provides a convenient method for the selection and design of circuit parameters for the entire circuit breaker.

关键词： dc circuit breakers dccbs which interrupter chambercollectively dc line breaking repulsion mechanismalong fast mechanical switching breaking mechanism fast mechanical switches fmss finite element joint simulation model

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Numerical analysis on the transport properties and residence time distribution of ribbon biomass particles in a riser reactor based on CFD-DEM approach

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Particuology 2024年第4期87卷 133-146页

作者： Haichao Zhao Conghui Gu Bingyang Xu Yuan Liu Mingpu Du Kaiyuan Deng Jingyu Zhu Iana Voronina Zhulin Yuan School of Energy and Power Jiangsu University of Science and TechnologyZhenjiang212100China China Tobacco Jiangxi Industrial Co.Ltd. Nanchang330096China Institute of Mechanics and Power Engineering Ogarev Mordovia State UniversitySaransk430005Russia Key Laboratory of Energy Thermal Conversion and Control of Ministry of Education School of Energy and EnvironmentSoutheast UniversityNanjing210096China

A bended ribbon biomass particle model was developed to explore the dynamic transport properties inside a riser *** time distribution(RTD)of the particles was analyzed by using the Eulerian-Lagrange *** effects of sampling height,particle density,particle size and gas-to-solid mass ratio on RTD were *** coupled Computational Fluid Dynamics and Discrete Element Method(CFD-DEM)model was verified firstly by experimental data on pressure drop and residence time distribution density *** simulation results demonstrated that the ribbon biomass particles display a typical annular-core spatial distribution during *** RTD of particles exhibit an approximate single-peaked normal *** mean residence time(MRT)can reach up to 0.7 s when the particle density is 1200 kg/m^(3).Particle with higher density has longer mean residence *** flow patterns are closer to plug flow if particle length over 12 *** particle flow pattern is not sensitive to changes in particle density and size,while the gas-to-material mass ratio has a significant impact on it.

关键词： Riser Gas-solids two-phase flow Ribbon biomass particles Residence time distribution CFD-DEM

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Main environmental drivers of abundance,diversity and community structure of comammox Nitrospira in paddy soils

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Pedosphere 2023年第5期33卷 808-818页

作者： Fuyun GAO Yaying LI Haoxin FAN Jiantao XUE Huaiying YAO Key Laboratory of Urban Environment and Health Institute of Urban EnvironmentChinese Academy of SciencesXiamen 361021China Zhejiang Key Laboratory of Urban Environmental Processes and Pollution Control CAS Haixi Industrial Technology Innovation Center in BeilunNingbo 315800China University of Chinese Academy of Sciences Beijing 100049China Research Center for Environmental Ecology and Engineering School of Environmental Ecology and Biological EngineeringWuhan Institute of TechnologyWuhan 430073China

The recently discovered complete ammonia oxidizers comammox Nitrospira contain clades A and B that can establish an independent one-step nitrification process;however,little is known about their environmental drivers or habitat distributions in agricultural *** studies on comammox Nitrospira in paddy soils have mainly focused on small-scale samples,and there is a lack of multisite research on comammox Nitrospira in paddy *** this study,we conducted a survey of 36 paddy soils to understand the community structure,abundance,and diversity of comammox Nitrospira and the degree to which they are affected by environmental factors at a large *** Nitrospira were found to be widely distributed among the paddy *** abundance of comammox Nitrospira clade A was mostly lower than that of clade B,whereas its diversity was mostly higher than that of clade *** analysis showed that multiple factors affected(P<0.05)the abundance of comammox Nitrospira,including soil pH,organic matter,total carbon,and total nitrogen,latitude,mean annual temperature,and mean annual ***,there was a clear relationship between the comammox Nitrospira community and habitat,indicating that some amplicon sequence variants(ASVs)had a unique dominant position in specific *** analysis showed that the ASVs of comammox Nitrospira clade A clustered with the known sequences in the paddy soils and were significantly different from the known sequences in other habitats,which may be related to the unique paddy field *** contrast,comammox Nitrospira clade B showed no clear habitat *** results support the wide distribution and high abundance of comammox Nitrospira in paddy soils and provide novel insights into nitrogen cycling and nutrient management in agricultural ecosystems.

关键词： ammonia-oxidizing archaea ammonia-oxidizing bacteria amplicon sequence variant complete ammonia oxidizer environmental factor habitat nitrification nitrogen cycling

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DeepFilter: An Instrumental Baseline for Accurate and Efficient Process Monitoring

arXiv

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arXiv 2025年

作者： Wang, Hao Chen, Zhichao Pan, Licheng Jiang, Xiaoyu Song, Yichen He, Qunshan Liu, Xinggao The State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou310027 China

Effective process monitoring is increasingly vital in industrial automation for ensuring operational safety, necessitating both high accuracy and efficiency. Although Transformers have demonstrated success in various fields, their canonical form based on the self-attention mechanism is inadequate for process monitoring due to two primary limitations: (1) the step-wise correlations captured by self-attention mechanism are difficult to capture discriminative patterns in monitoring logs due to the lacking semantics of each step, thus compromising accuracy;(2) the quadratic computational complexity of self-attention hampers efficiency. To address these issues, we propose DeepFilter, a Transformer-style framework for process monitoring. The core innovation is an efficient filtering layer that excel capturing long-term and periodic patterns with reduced complexity. Equipping with the global filtering layer, DeepFilter enhances both accuracy and efficiency, meeting the stringent demands of process monitoring. Experimental results on real-world process monitoring datasets validate DeepFilter’s superiority in terms of accuracy and efficiency compared to existing state-of-the-art models. © 2025, CC BY.

关键词： Wiener filtering

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On tuning of ADRC with competing design indices:a quantitative study

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control Theory and Technology 2023年第1期21卷 16-33页

作者： Yutao Zhao Yi Huang Zhiqiang Gao Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100049China Department of Electrical Engineering and Computer Science Center for Advanced Control TechnologiesCleveland State UniversityClevelandOH 44115USA

controller optimization has mostly been done by minimizing a certain single cost *** practice,however,engineers must contend with multiple and conflicting considerations,denoted as design indices(DIs)in this *** to account for such complexity and nuances is detrimental to the applications of any advanced control *** paper addresses this challenge heads on,in the context of active disturbance rejection controller(ADRC)and with four competing DIs:stability margins,tracking,disturbance rejection,and noise *** this end,the lower bound for the bandwidth of the extended state observer is first established for guaranteed closed-loop ***,one by one,the mathematical formula is meticulously derived,connecting each DI to the set of controller *** our best knowledge,this has not been done in the context of *** formulas allow engineers to see quantitatively how the change of each tuning parameter would impact all of the DIs,thus making the guesswork *** example is given to show how such analytical methods can help engineers quickly determine controller parameters in a practical scenario.

关键词： Uncertain systems Active disturbance rejection control(ADRC) Design indices(DIs) Extended state observer(ESO)

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Model Predictive control with Disturbance Compensation for Trajectory Tracking of Three-Degree-of-Freedom Spherical Joint Actuator 27

Model Predictive Control with Disturbance Compensation for T...

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27th International Conference on Electrical Machines and Systems, ICEMS 2024

作者： Wen, Yan Chen, Ziyang Li, Guoli Wang, Qunjing Zhang, Qian Ju, Lufeng Anhui University School of Internet Hefei China Anhui University School of Electrical Engineering and Automation Hefei China Anhui University National Engineering Laboratory of Energy-Saving Motor & Control Technology Hefei China Anhui University Anhui Key Laboratory of Industrial Energy-Saving and Safety Hefei China Anhui University Anhui Collaborative Innovation Center of Industrial Energy-Saving and Power Quality Control Hefei China

ISBN: (纸本)9784886864406

To address tracking errors and susceptibility to interference in the actual trajectory of the three-degree-of-freedom (3-DOF) spherical joint actuator, a model predictive tracking control scheme incorporating disturbance compensation is proposed. Firstly, the nonlinear dynamics model of the 3-DOF spherical joint actuator is linearized through the feedback linearization. Then, model predictive control is employed to manage the multivariate constraint problem and achieve online rolling optimization. On this basis, disturbance compensation is added to eliminate the influence of external disturbance and to control the 3-DOF spherical joint actuator more accurately. Finally, the simulation results demonstrated the effectiveness and precision of the proposed control algorithm. This strategy effectively ensures the stability of the system's closed-loop system. It maintains strong robustness in the presence of external disturbance, which allows the 3-DOF spherical joint actuator to reach the desired position steadily. © 2024 The Institute of Electrical Engineers of Japan.

关键词： Spheres

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Programmable logic controller memory management vulnerability analysis 3

Programmable logic controller memory management vulnerabilit...

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2022 3rd International Conference on Signal Processing and computer Science, SPCS 2022

作者： Geng, Yangyang Ma, Rongkuan Wei, Qiang Wang, Wenhai State Key Laboratory of Mathematical Engineering and Advanced Computing Zhengzhou China State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310000 China

Programmable logic controller (PLC) is omnipresent in industrial control system (ICS), which plays an imperative part in critical infrastructures. However, once a PLC is compromised by an attacker, it will create destructive effects on critical infrastructures. The memory systems in PLCs are considered significant targets for attackers to disrupt real-world physical processes. In this paper, we proposed five types of attacks on the PLC memory management mechanism. Furthermore, we evaluated the feasibility of our memory attack generation approach on six PLCs from three leading controller vendors. A total of 22 memory attack payloads are implemented with several vulnerabilities on the target PLCs. © Published under licence by IOP Publishing Ltd.

关键词： Programmable logic controllers

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Five-level anti-counterfeiting based on versatile luminescence of tri-doped double perovskites

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Nano Research 2024年第11期17卷 9971-9979页

作者： Xingru Yang Yuhang Sheng Linglong Zhang Lun Yang Fangjian Xing Yunsong Di Cihui Liu Fengrui Hu Xifeng Yang Guofeng Yang Yushen Liu Zhixing Gan Center for Future Optoelectronic Functional Materials School of Computer and Electronic Information/School of Artificial Intelligence Nanjing Normal University Nanjing 210023 China College of Physics Nanjing University of Aeronautics and Astronautics Key Laboratory of Aerospace Information Materials and Physics (NUAA) MIIT Nanjing 211106 China Hubei Key Laboratory of Photoelectric Materials and Devices School of Materials Science and Engineering Hubei Normal University Huangshi 435002 China College of Engineering and Applied Sciences and MOE Key Laboratory of Intelligent Optical Sensing and Manipulation Nanjing University Nanjing 210093 China College of Electronic and Information Engineering Changshu Institute of Technology Suzhou 215500 China School of Science Jiangsu Provincial Research Center of Light Industrial Optoelectronic Engineering and Technology Jiangnan University Wuxi 214122 China Yancheng Polytechnic College Yancheng 224005 China

Luminescent materials with multi-emission features are difficult to be replicated, which are highly desirable for advanced anti-counterfeiting. Here, we report the pioneering synthesis of Mn^(2+)/Yb^(3+)/Er^(3+) tri-doped Cs2Ag0.8Na0.2InCl6 double perovskites (MYE-DP), which exhibit photoluminescence (PL) covering from visible to near-infrared (NIR). The PL colors under excitations of 254 and 365 nm are notably different due to the changed relative emission intensities of self-trapped excitons (STEs) and Mn^(2+) d–d transition. Moreover, under the excitation of a NIR laser, the MYE-DP exhibits upconversion (UC) emissions of Mn^(2+) and Er^(3+). After ceasing the excitation, the long-lived trapped electrons can be thermally released to Mn^(2+) and Er^(3+) ions, resulting in both visible and NIR afterglow. Based on multi-modal emissions of the MYE-DP, we demonstrate a five-level anti-counterfeiting strategy, which significantly increases the anti-counterfeiting security. In addition, this work provides valuable insights into the energy transfer between STEs, Mn^(2+), Ln^(3+), and traps, laying a solid foundation for future development of new lead-free perovskites.

关键词： anti-counterfeiting photoluminescence self-trapped excitons upconversion

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State-of-the-art in food safety: The potential of CRISPR/Cas-based lateral flow assay technology in the field of food analysis

Food Safety and Health

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Food Safety and Health 2024年第0期 155-171页

作者： Sun, Yang Zhong, Kunli Nie, Lanmengya Xu, Yan Wang, Yiran Yuan, Jingtao Jiang, Shuai Li, Xu Zhang, Zhidong Li, Xiangfei Jiang, Ling State Key Laboratory of Materials-Oriented Chemical Engineering College of Food Science and Light Industry Nanjing Tech University Nanjing China Key Laboratory for Food Nutrition and Safety Control of Xinjiang Production and Construction Corps School of Food Science and Technology Shihezi University Xinjiang Shihezi China Xinjiang Key Laboratory of Special Environmental Microbiology Institute of Microbiology Xinjiang Academy of Agricultural Sciences Urumqi China Engineering Laboratory for Industrial Microbiology Molecular Beeding of Anhui Province College of Biologic & Food Engineering Anhui Polytechnic University Wuhu China

Food safety is essential for public health, with key hazards including microbial and chemical contamination and pesticide residues. Therefore, food testing is integral to ensuring food safety. Combining CRISPR/Cas with lateral flow assays (LFAs) leverages CRISPR's robust trans-acting activity, specific target recognition, and high enzymatic efficiency while retaining LFA's advantages of direct visualization, low cost, and simple operation. This combination enhances food safety detection capabilities. In this paper, we review the CRISPR-based lateral flow combined detection technology, summarize its basic principles and features, and focus on its integrated applications. The technology is fast, accurate, and cost-effective in detection, and is thus widely used in various testing fields, especially in food pathogen and viral infection detection. Finally, we highlight the technology's potential to improve various aspects, such as detection strength, and discuss the barriers and pre-commercialization issues of CRISPR/Cas detection platforms. We also provide solutions to increase the likelihood of its commercialization. Currently, CRISPR lateral flow assays are anticipated for broad detection applications. Researchers are investigating Cas protein properties to enhance assay stability and accuracy, promising enhanced food and bioassay safety in the future. © 2024 The Author(s). Food Safety and Health published by John Wiley & Sons Australia, Ltd on behalf of International Association of Dietetic Nutrition and Safety.

关键词： CRISPR detection platform food safety lateral flow assay low-cost manner

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