Automated visual inspection of on- and off-shorewind turbines using aerial robots provides several benefits, namely, a safe working environment by circumventing the need for workers to be suspended high above the grou...
Automated visual inspection of on- and off-shorewind turbines using aerial robots provides several benefits, namely, a safe working environment by circumventing the need for workers to be suspended high above the ground, reduced inspection time, preventive maintenance, and access to hard-to-reach areas. A novel nonlinear model predictive control (NMPC) framework alongside a global wind turbine path planner is proposed to achieve distance-optimal coverage for wind turbine inspection. Unlike traditional MPC formulations, visual tracking NMPC (VT-NMPC) is designed to track an inspection surface, instead of a position and heading trajectory, thereby circumventing the need to provide an accurate predefined trajectory for the drone. An additional capability of the proposed VT-NMPC method is that by incorporating inspection requirements as visual tracking costs to minimize, it naturally achieves the inspection task successfully while respecting the physical constraints of the drone. Multiple simulation runs and real-world tests demonstrate the efficiency and efficacy of the proposed automated inspection framework, which outperforms the traditional MPC designs, by providing full coverage of the target wind turbine blades as well as its robustness to changing wind conditions. The implementation codes 1 1 https://***/open-airlab/VTNMPC-Autonomous-Wind-Turbine-Inspection are open-sourced.
After long-term weathering, the most toxic components of residual spilled oil in seawater are polycyclic aromatic hydrocarbons. Benzo[a]pyrene (BaP) is a typical polycyclic aromatic hydrocarbon with high molecular wei...
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After long-term weathering, the most toxic components of residual spilled oil in seawater are polycyclic aromatic hydrocarbons. Benzo[a]pyrene (BaP) is a typical polycyclic aromatic hydrocarbon with high molecular weight, wide distribution, stable properties, and strong carcinogenicity in marine environment. Marine microalgae play an important role in the removal of BaP. Previous studies have mainly focused on the photodegradation of BaP by microalga. However, there are few research on microalgae with heterotrophic ability to degrade BaP. In this study, a microalga, Chlorella vulgaris (C. vulgaris) LH-1, with heterotrophic ability to degrade BaP was studied, the effect of BaP concentration on microalgae growth was explored, and the possible degradation mechanism of BaP by this kind of microalgae was proposed. The results showed that low concentration BaP (-1) had less obvious influence on the growth of C. vulgaris under the mixotrophic condition (with illumination), but a higher concentration BaP (＞ 5 mg L-1) had a significant inhibitory effect on the growth of this microalgae. Under heterotrophic cultivation (without illumination), low concentration BaP (-1) promoted the growth of C. vulgaris LH-1, while high concentration BaP (＞20 mg L-1) led to inhibit the growth of this microalga significantly. The degradation rates of mixotrophic and heterotrophic C. vulgaris LH-1 were 62.56~74.13%, and 52.07~71.67%, respectively, when BaP concentration range from 0.5 to 2 mg/L. Microalgae RNA transcriptome sequencing analysis showed that the gene expression of functional enzyme of C. Vulgaris LH-1 such as phenol 2-monooxygenase activity, protocatechuate 3,4-dioxygenase activity, catechol 1,2-dioxygenase activity, styrene degradation, and benzoate degradation were up-regulated in the process of BaP degradation. Based on the results of metabolites detected by high performance liquid chromatography/ quadruple time-of-flight mass spectrometry (HPLC/ Q-TOF), C. Vulgaris LH-1 may de
In this paper, we propose a continuous-time-based LiDAR-inertial-vehicle odometry method, which can tightly fuse the data from Light Detection And Ranging (LiDAR), inertial measurement units (IMU), and vehicle measure...
In this paper, we propose a continuous-time-based LiDAR-inertial-vehicle odometry method, which can tightly fuse the data from Light Detection And Ranging (LiDAR), inertial measurement units (IMU), and vehicle measurements. The lateral acceleration constraint is further added to trajectory estimation to make the estimated trajectory follow the motion characteristics of vehicles. In addition, since vehicle model parameters vary with different motion conditions and tyre pressure, we estimate vehicle correction factors that rectify changes in vehicle model parameters online, and also analyze the observability of these vehicle correction factors. In experiments, the proposed method is evaluated and compared with state-of-the-art methods in the public dataset. The experimental results show that the proposed method achieves more accurate results in all sequences since we add additional sensor measurements and utilize the characteristic of vehicle motion to restrict the trajectory estimation. The ablation study also proved the effectiveness of continuous-time representation, online correction factor estimation, and incorporation of lateral acceleration constraint.
This paper summarizes the technical activities of a three-year-long IEEE Task Force (TF) on State Estimation (SE) for Integrated Energy Systems (IES). It presents the formal definition and characteristics of IES, alon...
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In this paper, we propose a novel entropy minimization based semi-supervised method for semantic segmentation. Entropy minimization has proven to be an effective semi-supervised method for realizing the cluster assump...
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Identifying influential nodes is a recognized challenge for the tremendous number of nodes in complex networks. Most of proposed methods detect the influential nodes based on their degree or topological location, whic...
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In recent years, knowledge reasoning has demonstrated substantial progress in inferring missing information, effectively alleviating the limitations caused by the incompleteness of knowledge graphs (KGs). Dealing with...
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Volatile organic compounds(VOCs)are ubiquitous organic pollutants affecting atmospheric environment and human *** development of new efficient and environmentally friendly materials utilizing photothermal synergistic ...
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Volatile organic compounds(VOCs)are ubiquitous organic pollutants affecting atmospheric environment and human *** development of new efficient and environmentally friendly materials utilizing photothermal synergistic catalysis for purification of VOCs is still ***,we design and prepare a core–shell TiN@TiO_(2)nanostructure integrating with nanoscaled Pt(Pt/[TiN@TiO_(2)])by an attractive quenching *** strong light-harvesting capability of Pt and TiN components improve light-to-heat utilization efficiency by their intrinsic surface plasmon resonance *** TiO_(2)component upon the surface and the coexisting coupling effect of Pt0 and Pt2+enhance the photocatalytic effect of the *** a result,the catalytic performance is significantly improved with toluene(120 ppm)conversion of 100%under the gas hourly space velocity of 72,000 mL·g^(−1)·h^(−1)and light illumination of 500 mW·cm^(−2).The desired catalyst thus achieves highly efficient coupling effect of photocatalysis and light-to-heat conversion for promoting VOCs abatement.
Crowdsourcing testing leverages extensive user participation to identify and fix potential issues in industrial control software, ensuring its security and reliability. Decentralized applications (DApps) can utilize b...
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This paper studies the distributed bandit convex optimization problem with time-varying inequality constraints, where the goal is to minimize network regret and cumulative constraint violation. To calculate network cu...
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