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arXiv 2024年

作者： Zheng, Shiqi Ahn, Choon Ki Jiang, Xiaowei Yan, Huaicheng Shi, Peng The School of Automation China University of Geosciences Wuhan430079 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China The Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China The Shaoyang Institute of Advanced Manufacturing Technology Shaoyang422000 China The School of Electrical Engineering Korea University Seoul136-701 Korea Republic of The Key Laboratory of Smart Manufacturing in Energy Chemical Process of Ministry of Education East China University of Science and Technology Shanghai200237 China The School of Electrical and Mechanical Engineering The University of Adelaide AdelaideSA5005 Australia

This paper investigates the cooperative output regulation (COR) of nonlinear multi-agent systems (MASs) with long input delay based on periodic event-triggered mechanism. Compared with other mechanisms, periodic event-triggered control can automatically guarantee a Zeno-free behavior and avoid the continuous monitoring of triggered conditions. First, a new periodic event-triggered distributed observer, which is based on the fully asynchronous communication data, is proposed to estimate the leader information. Second, a new distributed predictor feedback control method is proposed for the considered nonlinear MASs with input delay. By coordinate transformation, the MASs are mapped into new coupled ODE-PDE target systems with some disturbance-like terms. Then, we show that the COR problem is solvable. At last, to further save the communication resource, a periodic event-triggered mechanism is considered in the sensor-to-controller transmission in every agent. A new periodic event-triggered filter is proposed to deal with the periodic event-triggered feedback data. The MASs with input delay are mapped into coupled ODE-PDE target systems with sampled data information. Then, Lyapunov-Krasovskii functions are constructed to demonstrate the exponential stability of the MASs. Simulations verify the validity of the proposed results. © 2024, CC BY-NC-ND.

关键词： Feedback control

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Boosting Peroxymonosulfate Activation via Co-Based LDH-Derived Magnetic Catalysts:A Dynamic and Static State Assessment of Efficient Radical-Assisted Electron Transfer processes

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Energy & Environmental Materials 2024年第5期7卷 301-312页

作者： Wenhan Yang Junming Xia Fanfan Shang Ge Ge Yang Bin Wang Hairui Cai Lingyun Jing Hao Zhu Shengchun Yang Chao Liang Guosheng Shao MOE Key Laboratory for Nonequilibrium Synthesis and Modulation of Condensed Matter School of PhysicsNational Innovation Platform(Center)for Industry-Education Integration of Energy Storage TechnologyXi'an Jiaotong UniversityXi'an 710000China State Key Laboratory of Organic Electronics and Information Displays&Institute of Advanced Materials(1AM) Nanjing University of Posts&Telecommunications9 Wenyuan RoadNanjing 210023China College of Petroleum and Chemical Engineering Lanzhou University of TechnologyLanzhou 730050China Key Laboratory of Western China's Environmental Systems(Ministry of Education)and Gansu Engineering Research Center of Fine Particles Pollution Control Technology and Equipment College of Earth and Environmental SciencesLanzhou UniversityLanzhou 730000China State Center for International Cooperation on Designer Low-Carbon&Environmental Materials(CDLCEM) School of Materials Science and EngineeringZhengzhou UniversityZhengzhou 450001China

Heterogeneous catalysts promoting efficient production of reactive species and dynamically stabilized electron transfer mechanisms for peroxomonosulfates(PMS)still lack systematic ***,a more stable magnetic layered double oxides(CFLDO/N-C),was designed using self-polymerization and high temperature carbonization of *** CFLDO/N-C/PMS system effectively activated PMS to remove 99%(k=0.737 min^(-1))of tetracycline(TC)within 10 *** CFLDO/N-C/PMS system exhibited favorable resistance to inorganic anions and natural organics,as well as satisfactory suitability for multiple *** magnetic properties of the catalyst facilitated the separation of catalysts from the liquid phase,resulting in excellent reproducibility and effectively reducing the leaching of metal *** electronic bridge was constructed between cobalt(the active platform of the catalyst)and PMS,inducing PMS to break the O-O bond to generate the active *** combination of static analysis and dynamic evolution confirmed the effective adsorption of PMS on the catalyst surface as well as the strong radical-assisted electron transfer ***,we further identified the sites where the reactive species attacked the TC and evaluated the toxicity of the *** findings offer innovative insights into the rapid degradation of pollutants achieved by transition metals in SR-AOPs and its mechanistic elaboration.

关键词： advanced oxidation process degradation mechanisms electron transport layered double hydroxide reactive species

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EGO-Swarm: A Fully Autonomous and Decentralized Quadrotor Swarm System in Cluttered Environments

EGO-Swarm: A Fully Autonomous and Decentralized Quadrotor Sw...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Xin Zhou Jiangchao Zhu Hongyu Zhou Chao Xu Fei Gao State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China National Engineering Research Center for Industrial Automation (Ningbo Institute) Ningbo China Huzhou Institute Zhejiang University Huzhou China

This paper presents a decentralized and asynchronous systematic solution for multi-robot autonomous navigation in unknown obstacle-rich scenes using merely onboard resources. The planning system is formulated under gradient-based local planning framework, where collision avoidance is achieved by formulating the collision risk as a penalty of a nonlinear optimization problem. In order to improve robustness and escape local minima, we incorporate a lightweight topological trajectory generation method. Then agents generate safe, smooth, and dynamically feasible trajectories in only several milliseconds using an unreliable trajectory sharing network. Relative localization drift among agents is corrected by using agent detection in depth images. Our method is demonstrated in both simulation and real-world experiments. The source code is released for the reference of the community.

关键词： Location awareness Systematics Codes Navigation Conferences Robustness Trajectory

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Two Feature Fusion Network Based on Efficient Deep Residual Shrinkage Spatial-Temporal Graph Convolution for Emotion Recognition from Gaits

Two Feature Fusion Network Based on Efficient Deep Residual ...

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Chinese control and Decision Conference, CCDC

作者： Xiaoqing Liu Sen Zhang Wendong Xiao School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China Key Laboratory of Advanced Control of Iron and Steel Process (Ministry of Education) Beijing China Shunde Graduate School University of Science and Technology Beijing Foshan China Beijing Engineering Research Center of Industrial Spectrum Imaging Beijing China

ISBN: (纸本)9781665478977

Emotion Recognition plays a key role in human social activities. Most current methods choose facial information for emotion recognition. But facial information is easily limited by distance in large scenes. Gait information can break this limitation, but the amount of publicly available data is small. This paper proposes two feature fusion network based on efficient deep residual shrinkage spatial-temporal graph convolution to achieve automatic emotion recognition from gaits in large scenes. Firstly chebyshev polynomial approximation graph convolution is combined with efficient deep residual shrinkage network to obtain efficient deep residual shrinkage spatial-temporal graph convolution network to extract deep features. Then sixteen temporal affective features extracted from gaits are used as input of efficient deep residual shrinkage network to extract new affective features. Finally the deep features is spliced with new affective features to divided emotion into happy,angry,sad and neutral. We performed a ten-flod cross-validation experiment on the E-gait real datasets. The highest recognition accuracy is 0.87, with an average of 0.85. Experimental results show that the proposed model is effective in dealing with emotion recognition promblem from gait in fewer sample situation.

关键词： Emotion recognition Convolution Chebyshev approximation Feature extraction

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EVA-Planner: Environmental Adaptive Quadrotor Planning

EVA-Planner: Environmental Adaptive Quadrotor Planning

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Lun Quan Zhiwei Zhang Xingguang Zhong Chao Xu Fei Gao State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Huzhou Institute Zhejiang University Huzhou China National Engineering Research Center for Industrial Automation (Ningbo Institute) Ningbo China

The quadrotor is popularly used in challenging environments due to its superior agility and flexibility. In these scenarios, trajectory planning plays a vital role in generating safe motions to avoid obstacles while ensuring flight smoothness. Although many works on quadrotor planning have been proposed, a research gap exists in incorporating self-adaptation into a planning framework to enable a drone to automatically fly slower in denser environments and increase its speed in a safer area. In this paper, we propose an environmental adaptive planner to adjust the flight aggressiveness effectively based on the obstacle distribution and quadrotor state. Firstly, we design an environmental adaptive safety aware method to assign the priority of the surrounding obstacles according to the environmental risk level and instantaneous motion tendency. Then, we apply it into a multi-layered model predictive contouring control (Multi-MPCC) framework to generate adaptive, safe, and dynamical feasible local trajectories. Extensive simulations and real-world experiments verify the efficiency and robustness of our planning framework. Benchmark comparison also shows superior performances of our method with another advanced environmental adaptive planning algorithm. Moreover, we release our planning framework as open-source ros-packages¹ .

关键词： Adaptation models Trajectory planning Heuristic algorithms Predictive models Prediction algorithms Robustness Planning

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Bifunctional Covalent Triazine Frameworks Based on Ti-On Bonds for Micropollutants Removal: Effects of 3d Extended Structure and Electron Transport Bridges

SSRN

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SSRN 2023年

作者： Shen, Yi Wu, Jiaxin Zhu, Chao Zhao, Jinkai Fang, Qile Zheng, Yong Ferguson, Calum T.J. Song, Shuang Key Laboratory of Microbial Technology for Industrial Pollution Control of Zhejiang Province College of Environment Zhejiang University of Technology Hangzhou310032 China Advanced Institute of Natural Sciences Beijing Normal University Zhuhai Campus Zhuhai519087 China College of Materials and Chemical Engineering China Three Gorges University Yichang443002 China Max Planck Institute for Polymer Research Ackermannweg Mainz1055128 Germany

Adsorption-photocatalysis technology enables the enrichment of pollutants and the regeneration of materials, which is expected to control long-lasting organic micropollutants (OMPs) in water. In particular, taking the comprehensive advantages of composites to simultaneously improve the adsorption and photocatalytic performance is currently worth considering. Therefore, a kind of Ti/MDCTF composite with specific and strong chemical bonds (Ti-ON bonds) was synthesized by a facile approach. Compared with pristine MDCTF, 30%-Ti/MDCTF showed an increased saturated adsorption capacity (440.56 μmol/g) and a 5.6-fold increase in photocatalytic degradation kinetic (0.315 h-1). It was comfirmed by homogenous surface diffusion model (HSDM) that the adsorption kinetics were controlled by the intra-particle diffusion. Additionally, 30%-Ti/MDCTF exhibited a high photocatalytic regeneration efficiency (91.7%) after 7 rounds of degradation cycles in the natural water matrix. Experimental results and theoretical analysis collaboratively showed that the porous 3D extended structure with expanded interlayer spacing promoted the mass transfer and adsorption of OMPs. Furthermore, the Ti-ON bonds acting as electron transport bridges could promote the generation of photogenerated electrons from CTF and directional movement of them to TiO2 for efficient utilization. These findings reinforce the understanding of the adsorption-promoted 3D structure and site-specific regulation of directed electron-feeding, providing a feasible and convenient solution for the removal of OMPs in water. © 2023, The Authors. All rights reserved.

关键词： Adsorption

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VID-Fusion: Robust Visual-Inertial-Dynamics Odometry for Accurate External Force Estimation

VID-Fusion: Robust Visual-Inertial-Dynamics Odometry for Acc...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Ziming Ding Tiankai Yang Kunyi Zhang Chao Xu Fei Gao State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Huzhou Institute Zhejiang University Huzhou China National Engineering Research Center for Industrial Automation Ningbo Institute Ningbo China

Recently, quadrotors are gaining significant attention in aerial transportation and delivery. In these scenarios, an accurate estimation of the external force is as essential as the six degree-of-freedom (DoF) pose since it is of vital importance for planning and control of the vehicle. To this end, we propose a tightly-coupled Visual-Inertial-Dynamics (VID) system that simultaneously estimates the external force applied to the quadrotor along with the six DoF pose. Our method builds on the state-of-the-art optimization-based Visual-Inertial system [1], with a novel deduction of the dynamics and external force factor extended from VIMO [2]. Utilizing the proposed dynamics and external force factor, our estimator robustly and accurately estimates the external force even when it varies widely. Moreover, since we explicitly consider the influence of the external force, when compared with VIMO [2] and VINS-Mono [1], our method shows comparable and superior pose accuracy, even when the external force ranges from neglectable to significant. The robustness and effectiveness of the proposed method are validated by extensive real-world experiments and application scenario simulation. We will release an open-source package of this method along with datasets with ground truth force measurements for the reference of the community.

关键词： Force measurement Torque Force Dynamics Pose estimation Estimation Transportation

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Structural and Physicochemical Properties and Changes in Vitro Digestion and Fermentation of Dietary Fiber from Tea Residues Modified by Fermentation

SSRN

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SSRN 2024年

作者： Xia, Ting Nie, Yaning Chen, Yang Zhang, Nannan Wang, Yongqi Liu, Shunhang Bai, Xiaoli Cao, Hailong Xu, Yongquan Wang, Min State Key Laboratory of Food Nutrition and Safety Tianjin Engineering Research Center of Microbial Metabolism and Fermentation Process Control College of Biotechnology Tianjin University of Science and Technology Tianjin300457 China Yunnan Tasly Deepure Bio-Tea Group Co Ltd Yunnan665099 China State Key Laboratory of Core Technology in Innovative Chinese Medicine Tasly Holding Group Co. Ltd Tianjin300410 China Department of Gastroenterology and Hepatology General Hospital Tianjin Medical University National Key Clinical Specialty Tianjin Institute of Digestive Diseases Tianjin Key Laboratory of Digestive Diseases Tianjin300052 China

The aim of this study was to investigate the structure, physicochemical properties, and changes in vitro digestion and fermentation between unfermented tea residue dietary fiber (UDF) and fermented tea residue soluble dietary fiber (FSDF). The results showed that the total dietary fiber yield in FSDF was significantly increased from 61.87% to 75.37% after fermentation modification. Monosaccharide composition analysis showed that xylose and glucose accounted for a higher proportion in FSDF. FSDF had smaller particle size, lower crystallinity and higher thermal stability. The water holding capacity, oil holding capacity and water swelling capacity of FSDF were significantly increased. Rheological properties showed that FSDF exhibited higher viscosity and better elastic than UDF. Furthermore, FSDF generated more short-chain fatty acids, and the structure was looser than UDF, which was easier to be utilized by intestinal flora. These findings provided higher value of dietary fiber in tea residue by fermentation modification as functional products. © 2024, The Authors. All rights reserved.

关键词： Tea

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A study of the limits of imaging capability due to water scattering effects in underwater ghost imaging

arXiv

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arXiv 2023年

作者： Yuliang, L.I. Chen, Mingliang Jinquan, Q.I. Deng, Chenjin Longkun, D.U. Zunwang, B.O. Chang, H.A.N. Zhihua, M.A.O. Yan, H.E. Shao, Xuehui Han, Shensheng Key Laboratory of Quantum Optics Shanghai Institute of Optics and Fine Mechanics Chinese Academy of Sciences Shanghai201800 China Center of Materials Science and Optoelectronics Engineering University of Chinese Academy of Sciences Beijing100049 China Institute for Quantum Science and Technology College of Science National University of Defense Technology Changsha410073 China State Key Laboratory of Satellite Ocean Environment Dynamics Second Institute of Oceanography State Oceanic Administration Hangzhou310012 China Key Laboratory of Space Laser Communication and Detection Technology Shanghai Institute of Optics and Fine Mechanics Chinese Academy of Sciences Shanghai201800 China National Laboratory of Aerospace Intelligent Control Technology Beijing100089 China Hangzhou Institute for Advanced Study University of Chinese Academy of Sciences Hangzhou310024 China

Underwater ghost imaging is an effective means of underwater detection. In this paper, a theoretical and experimental study of underwater ghost imaging is carried out by combining the description of underwater optical field transmission with the inherent optical parameters of the water body. This paper utilizes the Wells model and the approximate S-S scattering phase function to create a model for optical transmission underwater. The second-order Glauber function of the optical field is then employed to analyze the scattering field's degradation during the transmission process. This analysis is used to evaluate the impact of the water body on ghost imaging. The simulation and experimental results verify that the proposed underwater ghost imaging model can better describe the degradation effect of water bodies on ghost imaging. A series of experiments comparing underwater ghost imaging at different detection distances are also carried out in this paper. In the experiments, cooperative targets can be imaged up to 65.2m (9.3AL, at attenuation coefficient c=0.1426m-1 and the scattering coefficient b=0.052m-1) and non-cooperative targets up to 41.2m (6.4AL, at c=0.1569m-1 and b=0.081m-1) . By equating the experimental maximum imaged attenuation length for cooperative targets to Jerlov-I water (b=0.002m-1 and a=0.046m-1), the system will have a maximum imaging distance of 193m. Underwater ghost imaging is expected to achieve longer-range imaging by optimizing the system emission energy and detection sensitivity. © 2023, CC BY-NC-SA.

关键词： Light transmission

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Distributed Constrained Online Nonconvex Optimization with Compressed Communication

arXiv

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arXiv 2025年

作者： Zhang, Kunpeng Xu, Lei Yi, Xinlei Cao, Ming Johansson, Karl H. Chai, Tianyou Yang, Tao State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China Department of Mechanical Engineering University of Victoria VictoriaBCV8W 2Y2 Canada Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Shanghai201210 China Engineering and Technology Institute Groningen Faculty of Science and Engineering University of Groningen GroningenAG 9747 Netherlands Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Digital Futures Stockholm10044 Sweden

This paper considers distributed online nonconvex optimization with time-varying inequality constraints over a network of agents. For a time-varying graph, we propose a distributed online primal–dual algorithm with compressed communication to efficiently utilize communication resources. We show that the proposed algorithm establishes an O(T max{1−θ1,θ1}) network regret bound and an O(T 1−θ1/2) network cumulative constraint violation bound, where T is the number of iterations and θ1 ∈ (0, 1) is a user-defined trade-off parameter. When Slater’s condition holds (i.e, there is a point that strictly satisfies the inequality constraints at all iterations), the network cumulative constraint violation bound is reduced to O(T 1−θ1). These bounds are comparable to the state-of-the-art results established by existing distributed online algorithms with perfect communication for distributed online convex optimization with (time-varying) inequality constraints. Finally, a simulation example is presented to validate the theoretical results. Copyright © 2025, The Authors. All rights reserved.

关键词： Convex optimization

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