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2022 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2022

作者： Tian, Haoyu Ma, Xin Shandong University Center of Robotics School of Control Science and Engineering Jinan250061 China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

Human-following is an important part of man-machine interaction and has wide application value. In Human-following, the following stability, human comfort and obstacle avoidance are considered comprehensively. To solve the above problems, we propose a human behavioral dynamics-based impedance control for collision avoidance of human-following robot, which take the comfort and the following stability into consideration. Specifically, an impedance control method combined with virtual interaction force is introduced to simulate the human social dynamic characteristics to improve the comfort of human-following. The uniformly ultimately bounded property of the impedance control is proved by using the Lyapunov stability theorem. Moreover, an obstacle component constructed by behavioral dynamics is proposed to extend the impedance controller for collision avoidance. Behavioral dynamics compared with an artificial potential field method possess better collision avoidance performance during humanfollowing. The simulation results validate that the human-following system integrated with collision avoidance is effective. © 2022 IEEE.

关键词： Collision avoidance

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NO reduction by carbon-based gases based on coal gasification fractions:NO reduction intermediate identification and kinetic analysis

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Frontiers of Environmental science & engineering 2025年第3期19卷 175-189页

作者： Xiang Zhang Jian Tian Tanghui Hu Guangyong Yue Xianlong Liu Wen Zhou Xiaohong Liu Xinye Wang Ministry-of-Education Key Laboratory for the Green Preparation and Application of Functional Materials Hubei Engineering Research Center for Green Industrialization Technology of Industrial WasteSchool of Materials Science and EngineeringHubei UniversityWuhan 430062China Hubei Huda Tianshu New Energy Materials Industrial Research and Design Institute Co. Ltd.Wuhan 430062China Wuhan Tianshu Dust Removal Equipment Co. Ltd.Wuhan 430062China Engineering Laboratory for Energy System Process Conversion&Emission Control Technology of Jiangsu Province School of Energy and Mechanical EngineeringNanjing Normal UniversityNanjing 210042China

Combining pulverized coal gasifiers with cement kiln production is promising for application in low-cost and efficient NO *** paper presents a pulverized coal gasifier catalytic denitration technique and investigates the homogeneous reduction(by CO and CH_(4))and heterogeneous catalytic reduction(by coke,CaO,MgO,and Fe_(2)O_(3))of NO.A combination of Chemkin simulations and fixed-bed experiments is used to elucidate the reaction pathways and key intermediates of NO reduction by carbon-based *** addition,the activation energies for different catalyst combinations were analyzed via reaction *** results demonstrate that the presence of small amounts of O_(2) inhibits NO reduction by CO but promotes NO reduction by CH_(4).The NCO·radical is essential for the NO reduction process,and the generation of this radical depends on the CH_(4) cleavage intermediate and O·*** and Fe_(2)O_(3) exhibit more significant catalytic effects on NO reduction by carbon-based gases than the other catalysts *** presence of a small amount of O_(2) in the reacting gas mixtures facilitates the NO reduction *** activation energy is reduced to 1.02 kJ/mol,and the NO conversion reaches 99.80%when the catalyst is C+CaO+MgO+Fe_(2)O_(3) and the gas composition is CO+CH_(4)+O_(2).This work provides theoretical support and data recommendations for the use of pulverized coal gasifiers for the denitrification of cement kilns.

关键词： Carbon-based gas Catalytic denitration Coke Kinetic analysis Reaction mechanism

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COVID-19 transmission driven by age-group mathematical model in Shijiazhuang City of China

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Infectious Disease Modelling 2023年第4期8卷 1050-1062页

作者： Fengying Wei Ruiyang Zhou Zhen Jin Senzhong Huang Zhihang Peng Jinjie Wang Ximing Xu Xinyan Zhang Jun Xu Yao Bai Xiaoli Wang Bulai Lu Zhaojun Wang Jianguo Xu School of Mathematics and Statistics Fuzhou UniversityFuzhou350116FujianChina Center for Applied Mathematics of Fujian Province Fuzhou UniversityFuzhou350116FujianChina Key Laboratory of Operations Research and Control of Universities in Fujian Fuzhou UniversityFuzhou350116FujianChina Complex Systems Research Center Shanxi UniversityTaiyuan030006ShanxiChina School of Statistics and Data Science ZhiYing Research Center for Health DataNankai University300071TianjinChina Department of Biostatistics School of Public HealthNanjing Medical UniversityNanjing211166JiangsuChina Nankai Institute of Economics Binhai Development InstituteNankai UniversityTianjin300071China Children's Hospital of Chongqing Medical University Chongqing400010China Jinzhou Center for Disease Control and Prevention Jinzhou121000LiaoningChina School of Statistics and Data Science Nankai UniversityTianjin300071China Xi'an Center for Disease Control and Prevention Xi'an710061ShaanxiChina Beijing Center for Disease Control and Prevention Beijing100013China Suzhou Center for Disease Control and Prevention Suzhou215004JiangsuChina State Key Laboratory of Communicable Disease Prevention and Control National Institute for Communicable Disease Control and PreventionChinese Center for Disease Control and PreventionBeijing102206China Institute of Public Health Nankai UniversityTianjin300071China

Background:A COVID-19 outbreak in the rural areas of Shijiazhuang City was attributed to the complex interactions among vaccination,host,and non-pharmaceutical interventions(NPIs).Herein,we investigated the epidemiological characteristics of all reported symptomatic cases by picking Shijiazhuang City,Hebei Province in Northern China as research *** addition,we established an age-group mathematical model to perform the optimal fitting and to investigate the dynamical profiles under three ***:All reported symptomatic cases of Shijiazhuang epidemic(January 2-February 3,2021)were investigated in our *** cases were classified by gender,age group and location,the distributions were analyzed by epidemiological ***,the reported data from Health Commission of Hebei Province was also analyzed by using an age-group mathematical model by two phases and three ***:Shijiazhuang epidemic caused by SARS-CoV-2 wild strain was recorded with the peak 84 cases out of 868 reported symptomatic cases on January 11,2021,which was implemented with strong NPIs by local government and referred as baseline situation in this *** research results showed that R0 under baseline situation ranged from 4.47 to 7.72,and Rt of Gaocheng Distinct took 3.72 with 95%confidence interval from 3.23 to 4.35 on January 9,the declining tendencies of Rt under baseline situation were kept till February 3,the value of Rt reached below 1 on January 19 and remained low value up to February 3 for Gaocheng District and Shijiazhuang City during Shijiazhuang *** indicated Shijiazhuang epidemic was under control on January ***,if the strong NPIs were kept,but remote isolation operated on January 11 was not implemented as of February 9,then the scale of Shijiazhuang epidemic reached 9,482 cases from age group who were 60 years old and over out of 31,017 symptomatic *** investigation also revealed that Shijiazhuang epidemic reache

关键词： COVID-19 Wild strain Non-pharmaceutical interventions Shijiazhuang epidemic Transmission dynamics

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Energy Shaping Based Nonlinear Anti-Swing controller for Double-Pendulum Rotary Crane with Distributed-Mass Beams

Energy Shaping Based Nonlinear Anti-Swing Controller for Dou...

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2022 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2022

作者： Li, Gang Ma, Xin Li, Zhi Li, Yibin Shandong University Center of Robotics School of Control Science and Engineering Jinan250061 China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

Rotary cranes usually transfer the heavy mass and large payloads with distributed mass beam in practice. As a typical underactuated system, the dynamic model is very complicated and challenging due to the actuated boom luffing motion and underactuated distributed mass beam payload swing vibration. To simplify the dynamic model, the existing control method regards the payload as the mass point, which ignores the geometry of the payload. This paper proposes an energy shaping based nonlinear anti-swing controller for double-pendulum rotary crane with distributed-mass beams. The rotary crane dynamic model is established based on the Lagrange's method. After analysis the energy function, a nonlinear anti-swing controller is designed for the rotary crane. It successfully solves the boom positioning and payload anti-swing problems with a distributed mass beam payload. LaSalle's invariance theorem and Lyapunov technology are helped to analysis the stability of the rotary crane control system. Finally, the proposed controller shows effective and robust control performance in the simulation verification. © 2022 IEEE.

关键词： controllers

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A dual-robot collaborative coverage path planning method for complex surfaces based on a 2.5D grid map

A dual-robot collaborative coverage path planning method for...

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第43届中国控制会议

作者： Hui Gao Qihang Zhang Xin Ma Center for Robotics School of Control Science and EngineeringShandong UniversityEngineering Research Center of Intelligent Unmanned SystemMinistry of Education

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

The coverage path planning(CPP) for complex three-dimensional(3 D) surfaces is one of the challenging problems in the field of path *** this paper,we propose a dual-robot collaborative coverage path planning method based on a 2.5-dimensional(2.5 D)grid map to address the CPP problem for complex ***,to effectively describe the CPP problem for complex surfaces,we establish a new model called the Generalized Traveling Salesman Problem(GTSP).Secondly,we develop a 2.5 D grid map that better conforms to the shape of complex surfaces by preserving their height ***,an adaptive Vertex Reward-based Coverage Path Planning(VR-CPP) algorithm is proposed to solve GTSP,which can achieve a coverage path with shorter length,fewer transitions,and lower robot energy *** tests are carried out on complex surface and the results validate the effectiveness of the proposed approach.

关键词： Coverage path planning(CPP) Dual-robot Complex surfaces Vertex Reward-based Coverage Path Planning

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Implementation of the Algebraic Multigrid Solver Designed for Graphics Processing Units Based on the AMGCL Framework 16th

Implementation of the Algebraic Multigrid Solver Designed ...

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16th International Conference on Parallel Computational Technologies, PCT 2022

作者： Ryabkov, O.I. Federal Research Center "Computer Science and Control" of the Russian Academy of Sciences Moscow Russia

ISBN: (纸本)9783031116223

The implementation of the Algebraic Multigrid (AMG) solver designed specifically for Graphics Processing Units (GPUs) is presented. It is based on the well-known and highly efficient AMGCL header-only library designed and implemented by D. Demidov using C++. The original AMGCL approach for GPU speedup relies on the initialization (setup) phase performed purely on the CPU, while the solution (iteration process) is moved to the GPU. This approach works well for the case of transient solvers, when the system matrix does not change much during time-stepping. However, it does not fit for cases of highly nonlinear systems or stationary systems, especially when a linear system is formed in the device memory. For these systems it is better to use GPU-only solvers. To implement the GPU-oriented AMG solver, the design of the original framework had to be changed. The maximal independent set aggregation algorithm and derived smoothed aggregation operations are added to the framework. A number of smoothers on the intermediate levels are implemented with full support for GPUs. The full AMG hierarchy can now be constructed entirely on the GPU with no CPU invokes. The method is tested against the original AMGCL framework on matrices derived from elliptic and parabolic partial differential equations (PDEs). It is shown that the GPU-only approach can speed up the setup phase by up to 5-6 times compared to the original framework. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Graphics processing unit

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Optimal Phase control of Limit-Cycle Oscillators with Strong Inputs through Phase-Amplitude Reduction

Optimal Phase Control of Limit-Cycle Oscillators with Strong...

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IEEE Conference on Decision and control

作者： Norihisa Namura Hiroya Nakao Department of Systems and Control Engineering Institute of Science Tokyo Tokyo Japan Department of Systems and Control Engineering Research Center for Autonomous Systems Materialogy Institute of Science Tokyo Tokyo Japan

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

We present a method for optimal phase control of limit-cycle oscillators using strong inputs. Based on the phase-amplitude reduction, which provides a concise representation of the oscillator dynamics, we design an optimal control input that quickly realizes the target phase while keeping the oscillator state close to the original limit cycle by penalizing the amplitude deviations. The derived scheme requires only a single one-dimensional phase equation even for the control of high-dimensional oscillators. We demonstrate the effectiveness of the proposed method by comparing the control performance with other methods, using the van der Pol oscillator and Willamowski-Rössler oscillator as examples.

关键词： Boundary value problems Limit-cycles Optimal control Phase control controllability Mathematical models Vectors Synchronization Oscillators Predictive control

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Design of High Voltage and High Power Supply for Aerospace Based on LLC Resonant Converter 8

Design of High Voltage and High Power Supply for Aerospace B...

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8th International Conference on Energy System, Electricity, and Power, ESEP 2023

作者： Wu, Yu-Heng Zheng, Yan Wan, Cheng'an Zhi, Shubo Guo, Xiaofeng Yang, Dongping Beijing Spacecrafts Manufacturing Co. Ltd. Beijing100080 China Beijing Space Power Conversion and Control Engineering Research Center Beijing100190 China

ISBN: (数字)9781510679801

ISBN: (纸本)9781510679795

With the development of space technology, space load equipment, including high-power electric thrusters, have more and more stringent requirements on DC power supply, such as voltage, power, efficiency and reliability. However, the particularity of space environment and the performance of existing astronaut-grade devices limit the direct realization of high-voltage busbar output. The 100V bus voltage of domestic spacecraft can not meet the demand of high-power load. Based on the 100V bus supply voltage of the spacecraft, this paper adopts a half-bridge LLC resonant converter to realize the simulation design of 600V output voltage and 1kW output power. Through the FHA modeling and modal analysis of the LLC resonant converter, the circuit parameter design is completed, and the influence of the circuit parasitic parameters is analyzed theoretically and through simulation. The correctness of the design is verified by Simulink simulation. Considering the reliability, the spatial high-power system adopts multi-module parallel topology, which is conducive to improving the power and power density of single module, and the sub-side capacitor array structure is convenient for multi-module parallel, which provides a feasible scheme for the miniaturization of space power supply. © 2024 SPIE.

关键词： Modal analysis

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Prediction of Wave Forces on Floating Body using Gated Recurrent Unit Network

Prediction of Wave Forces on Floating Body using Gated Recur...

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2022 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2022

作者： Wang, Kai Ma, Xin Yan, Mingwei Li, Zhi Li, Yibin Shandong University Center for Robotics School of Control Science and Engineering Jinan250061 China

ISBN: (数字)9781665469838

ISBN: (纸本)9781665469838

Wave-body interaction is an important problem for offshore crane lifting or lowering the payload in waves. Computational Fluid Dynamics (CFD) require high computational and time costs to deal with wave-body interaction problems, which cannot provide real-Time data for the deep-sea crane control systems in practical engineering. This paper proposes an efficient method for predicting wave forces on the moving floating bodies using Gated Recurrent Unit (GRU) networks. To obtain the accurate training dataset, the numerical wave tank (NWT) for simulating wave-body interactions is proposed by integrating OpenFOAM software and the waves2Foam library. The test cases of wave interaction with the floating body is first carried out to verify the NWT by comparing the numerical results against experimental data. The dataset is established by CFD simulation for training, testing, and validating of the GRU network. The procedures of training the neural network for predicting the wave force on the payload submerged in waves are presented in detail. The results show that the prediction network can accurately predict the dynamic response of wave-body interactions in a shorter time than CFD methods. © 2022 IEEE.

关键词： Forecasting

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Chemical characteristics and water stability evaluation of groundwater in the CKDu Zone of Sri Lanka

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Journal of Environmental sciences 2024年第12期146卷 67-80页

作者： Dazhou Hu Suresh Indika Madhubhashini Makehelwala COORAY Titus Liying Zhu Zhonghe Pang Hui Zhong Sujithra K.Weragoda K.B.S.N.Jinadasa Rohan Weerasooriya Yuansong Wei State Key Joint Laboratory of Environment Simulation and Pollution Control Research Center for Eco-Environmental SciencesChinese Academy of SciencesBeijing 100085China Laboratory of Water Pollution Control Technology Research Center for Eco-Environmental SciencesChinese Academy of SciencesBeijing 100085China University of Chinese Academy of Sciences Beijing 100049China Department of Applied Earth Sciences Uva Wellassa UniversityBadulla 90000Sri Lanka China-Sri Lanka Joint Research and demonstration Center for Water Technology Ministry of Water SupplyE.O.E.Pereira MawathaPeradeniya 24000Sri Lanka National Water Supply and Drainage Board Katugastota 20800Sri Lanka Department of Civil Engineering Faculty of EngineeringUniversity of PeradeniyaPeradeniya 20400Sri Lanka National Institute of Fundamental Studies Kandy 20000Sri Lanka

Groundwater is the main source of drinking water for the rural population in the chronic kidney disease of unknown etiology(CKDu)zone of the North Central Province(NCP)in Sri *** this study,a total of 334 groundwater samples(311 dug wells,21 tube wells and 2 springs)during the wet season from two aquifers in the NCP were collected,and inves-tigated their chemical characteristics and evaluate their water quality,including ground-water chemistry,main ion sources,the corrosion and scaling potential of *** results showed that the two hydrochemical types of groundwater in the NCP were mainly of the Ca-HCO_(3),Na·Ca-HCO_(3)types,with the main HCO_(3)−,Na^(+)and Ca^(2+)ions in both types of groundwater originating from silicate and evaporite salt dissolution and influenced by alternating cation adsorption,while the presence of NO_(3)−was mainly ***-uation ofwater stability using namely Langelier saturation index(LSI),Ryznar stability index(RSI),Puckorius scaling index(PSI)and Larson-Skold index(LS),indicated that most ground-water presents corrosion potential and has corrosion behavior tendency of metals to some *** water quality of Polonnaruwa was better than that of Anuradhapura in the NCP,and when the groundwater was worse than the“good”grade,which must be properly treated before it is used as drinking water.

关键词： CKDu zone Rock weathering Cation alternating adsorption Water stability Water quality assessment

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