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第43届中国控制会议

作者： Ling Yang Kai Wang Xin Ma Zizhong Wei Jiankang Zhang Center for Robotics School of Control Science and EngineeringEngineering Research Center of Intelligent Unmanned SystemMinistry of EducationShandong University

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Unmeasurable velocities and noise amplification by numerical differentiators are difficult problems for crane *** this paper,an adaptive controller,without velocity feedback,is proposed for 3-D ship-mounted cranes to achieve swing suppression and accurate boom positioning. Auxiliary variables are designed to substitute for velocities that cannot be obtained directly. Additionally,bounded functions are utilized to constrain the input torque for safety. The stability of the control system is rigorously proven using Lyapunov's method. Furthermore,simulations validate the effectiveness of the proposed method.

关键词： Adaptive control Ship-mounted Cranes Wave Disturbances

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Real-time reconstruction on micro-CT setup 5

Real-time reconstruction on micro-CT setup

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5th Symposium on Pattern Recognition and Applications, SPRA 2024

作者： Gilmanov, Marat Bulatov, Konstantin Bugai, Oleg Ingacheva, Anastasia Chukalina, Marina Nikolaev, Dmitrii Arlazarov, Vladimir Smart Engines Service LLC Moscow117312 Russia Institute for Information Transmission Problems RAS Moscow Russia Federal Research Center Computer Science and Control RAS Moscow Russia

ISBN: (数字)9781510688803

ISBN: (纸本)9781510688797

Dose reduction in computed tomography is one of the most urgent questions with a deep research history. One of the rising potentially powerful tools for dose reduction is monitored tomographic reconstruction. This promising concept heavily relies on utilizing real-time reconstruction from currently available data, which is the main topic of the present paper. The main result of achieving a real-time reconstruction on a commercially available micro-CT setup utilizing SmartTomoEngine SDK is highlighted and presented in more detail. The new acquisition order is proposed, allowing for faster convergence of intermediate reconstruction results. An optimization of reconstruction from partial data is proposed, which allowed the production of 385 and 440 reconstructions for standard and proposed acquisition orders correspondingly during a single acquisition of 512 projections, achieving a real-time reconstruction. The results are produced with the use of only a single previous-generation consumer-grade graphical processing unit. The study results demonstrate that with proposed optimizations monitored tomographic reconstruction can be effectively utilized for practical applications using the current generation of existing setups in the micro CT application field. Copyright © 2025 SPIE.

关键词： Computerized tomography

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Extraction and identifcation of spectrum characteristics of coal and rock hydraulic fracturing and uniaxial compression signals

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International Journal of Coal science & Technology 2023年第4期10卷 1-16页

作者： Ya′nan Qian Quangui Li Qianting Hu Zhizhong Jiang Ronghui Liu Jie Li Wenxi Li Changjun Yu State Key Laboratory of Coal Mine Disaster Dynamics and Control Chongqing UniversityChongqing 400044China School of Resources and Safety Engineering Chongqing UniversityChongqing 400044China State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal Mines(Anhui University of Science and Technology) Huainan 232001China Mining College of Guizhou University Guiyang 550025GuizhouChina China Coal Technology and Engineering Group Shenyang Research Institute Fushun 113122China

Microseismic(MS)events generated during coal and rock hydraulic fracturing(HF)include wet events caused by fracturing fuid injection,in addition to dry events caused by stress *** mixture of these two events makes efective fracturing MS events pickup *** study is based on physical experiments of diferent coal and rock HF and uniaxial *** diferences of waveform characteristic parameters of various coal and rock ruptures were analyzed using the Hilbert–Huang transform,leading to some useful *** phase characteristics of the acoustic emission(AE)energy difered signifcantly and responded well to the pumping pressure *** AE waveforms of HF exhibit similar energy and frequency distribution characteristics after Empirical mode *** main frequency bands for coal,sandstone,and shale samples are 100–300 kHz,while the mudstone sample is in the range of 50–150 *** decay ratios for coal,sandstone,shale and mudstone samples are 0.78,0.83,0.67 and 0.85,*** compared to the uniaxial compression test,the main frequency bands of HF were reduced for coal,sandstone and mudstone samples,whereas shale remained essentially *** duration,instantaneous energy,and total energy of the HF waveform are smaller than those of uniaxial compression,while the decay ratio is greater,especially for the mudstone *** waveform characteristic parameters,trained using the multilayer perceptron neural network,can efectively identify HF and uniaxial compression events with an accuracy of 96%.

关键词： Hydraulic fracturing Uniaxial compression Hilbert-Huang transform Acoustic emission Microseismic

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Cooperative Localization in Unknown Environment towards Multi-Robot Systems

Cooperative Localization in Unknown Environment towards Mult...

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第43届中国控制会议

作者： Xiaohang Yang Lelai Zhou Chen Zhang Xincheng Tian Yibin Li School of Control Science and Engineering Shandong University Engineering Research Center of Intelligent Unmanned System Ministry of Education

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

Localization plays an important role in robotics, aiming at the problem of multi-robot cooperative localization in a GPS-denied environment, a multi-sensor fusion cooperative localization method based on relative observations is presented in this paper. The relative observation module is comprised primarily of a monocular camera and an ultra-wideband(UWB),which associates visual detection with UWB distance measurement data to obtain relative measurement models for multi-robot systems. An Extended Cubature Kalman Filter(ECKF) is designed to fuse observations and internal sensor odometry data to improve system accuracy and robustness. The algorithm deploys on a single robot, with a fleet of sharing relative *** evaluate the performance of the proposed method, we conduct the experiment in the Gazebo simulation environment and the cooperative localization experiment is carried out on three unmanned robots in the real world. Comparing the global camera position as the ground truth, the results show the accuracy and robustness of our system.

关键词： Multi-Robot Systems Relative Localization Cooperative Localization GPS-denied environment Cubature Kalman Filtering

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Water-soluble chitosan promotes remediation of Pb-contaminated soil by Hylotelephium spectabile

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Frontiers of Environmental science & engineering 2024年第7期18卷 109-122页

作者： Bingxin Guo Yiwei Zhang Junxing Yang Tianwei Qian Junmei Guo Xiaona Liu Yuan Jiao Tongbin Chen Guodi Zheng Wenjun Li Fei Qi College of Environmental Science and Engineering Taiyuan University of TechnologyShanxi Key Laboratory of Earth Surface Processes and Resource Ecological Security in Fenhe River BasinShanxi Engineering Research Center of Low Carbon Remediation for Water and Soil Pollution in Yellow River BasinJinzhong 030600China Center for Environmental Remediation Institute of Geographic Sciences and Natural Resources ResearchChinese Academy of SciencesBeijing 100101China University of Chinese Academy of Sciences Beijing 100049China Shanxi Transportation Holding Ecological Environment Co. Ltd.Shanxi 030000China Beijing Key Lab for Source Control Technology of Water Pollution College of Environmental Science and EngineeringBeijing Forestry UniversityBeijing 100083China

Water-soluble chitosan(WSC)has been studied for its ability to mobilize soil Pb and promote the phytoremediation by Hylotelephium spectabile in Pb-contaminated *** aimed to clarify the internal mechanism by which wSC impacts phytoremediation by examining plant growth and Pb accumulation performance of *** as well as the Pb form,functional groups,and mineral phases of Pb-contaminated *** effectively decreased soil pH and activated Pb migration in rhizosphere soils,with a considerable increase in water-soluble and acid-extractable Pb by 29%-102%and 9%-65%,respectively,and a clear decreasing trend in reducible and oxidizable ***-transform infrared spectroscopy revealed a significant increase in amino and hydroxyl groups in the soil generated by *** coordination of Pb with amino and hydroxyl groups may play an important role in the formation of Pb complexes and activation of Pb in *** field trials,the application of WSC significantly increased Pb accumulation in *** by 125.44%,reaching 92 g/hm^(2).Moreover,the organic matter and nitrogen in the soils were increased by WSc,which improved the growth conditions of *** obvious growth inhibition was observed in either the pot or field ***,WSC is a promising chelating agent for mobilizing Pb in ***,WSC can be potentially used to boost ***-mediated phytoremediation of Pb-contaminatedfarmland.

关键词： Phytoremediation Pb-contaminated soil Water-soluble chitosan Hylotelephium spectabile Fourier transform infrared spectroscopy

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New mechanism of FA in composted sludge inducing Cu fixation on Albite in open-pit mine soil

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Journal of Environmental sciences 2022年第6期34卷 142-150页

作者： Jiapeng Wan Yifan Zeng Mei Wang Bin Dong Zuxin Xu State Key Laboratory of Pollution Control and Resource Reuse College of Environmental Science and EngineeringTongji UniversityShanghai 200092China YANGTZE Eco-Environment Engineering Research Center China Three Gorges CorporationBeijing 100038China Shanghai Investigation Design&Research Institute Co.Ltd Shanghai 200335China

Fulvic acid(FA),typical organic matter derived from humification process in composted sludge,possesses the potential to remediate mine soils contaminated by heavy *** understand the cooper(Cu)immobilizing process in open-pit mine soil induced by FA,changes of Cu speciation in mixture of open-pit mine soil and composted sludge was tracked over 180 *** was observed that the organic-bound and residual fraction of Cu increased dramatically with the corresponding decrease of Fe/Mn oxide-bound Cu in the first 60 days,then the organic-bound fraction decreased to about its initial proportion during 60-120 days,while residual fraction still increased,and the proportion of residual Cu accounted for over85%and became stable after 120 *** reveal the mechanism of FA inducing Cu fixation on Albite which is the main phase of soil primary ore,two groups of Cu adsorption experiments with and without FA were *** the addition of FA,the adsorption capacity of Cu by Albite increased by 1.55 times and the content of residual Cu in Albite increased by7.7 *** was found that the Cu absorbed in smaller Albite particle induced by FA formed a secondary mineral——Chrysocolla,causing increase of residual fraction of *** results revealed the mechanism:FA was absorbed on the surface of Albite after complexing with Cu ions in the solution,and then it induced Cu into the interlayer and pore channels of *** Cu in the Albite was immobilized by forming Chrysocolla finally.

关键词： Fulvic acid Composted sludge Heavy metal Open-pit mine Mineralization

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EXPERIMENTAL ANALYSIS OF OBTAINING BIOGAS FROM WASTEWATER TREATMENT PLANT SLUDGE

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UPB Scientific Bulletin, Series B: Chemistry and Materials science 2024年第4期86卷 145-154页

作者： Măcinic, Magdalena-Elena Boncescu, Corina Şerban, Dana Andreya Robescu, Lăcrămioara Diana Lăcureanu, Andra-Maria Dept. of Hydraulic Machinery & Environmental Eng National University of Science & Technology POLITEHNICA Bucharest Romania Dept. of The Center for Advanced Research on New Materials Products and Innovative Processes/CAMPUS Laboratory for Analysis Control and Remediation of Contaminated Sites National University of Science and Technology POLITEHNICA Bucharest Romania

This article presents the results regarding experimental research activities of obtaining biogas from wastewater treatment plants sludge. In this research, three experiments have been done, in which the temperature varied between 34-50oC to analyze both the mesophilic and thermophilic regime. The scope was obtaining methane and hydrogen from the sludge collected from WWTP on the Romanian coast. The maximum methane value was 2.8%, for the temperature of 35oC. The hydrogen was obtained in high quantities only in the thermophilic regime at temperatures close to 50°C. © 2024, Politechnica University of Bucharest. All rights reserved.

关键词： Wastewater treatment

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Resilient Event-Triggered control of Connected Automated Vehicles Under Cyber Attacks

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IEEE/CAA Journal of Automatica Sinica 2023年第12期10卷 2300-2302页

作者： Ning Zhao Xudong Zhao Ning Xu Liang Zhang the College of Control Science and Engineering Bohai UniversityJinzhou 121013China the Institute of Ocean Research Bohai UniversityJinzhou 121013China the Faculty of Electronic Information and Electrical Engineering Dalian University of TechnologyDalian 116024China the College of Information Science and Technology Bohai UniversityJinzhou 121013China

Dear Editor,This letter contributes to designing a resilient event-triggered controller for connected automated vehicles under cyber attacks,including denial-of-service(DoS)and deception *** characterize the effect of... 详细信息

关键词： DoS service automated

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Development of an Adaptive Artifact Subspace Reconstruction Based on Hebbian/Anti-Hebbian Learning Networks for Enhancing BCI Performance

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IEEE Transactions on Neural Networks and Learning Systems 2024年第1期35卷 348-361页

作者： Tsai, Bo-Yu Diddi, Sandeep Vara Sankar Ko, Li-Wei Wang, Shuu-Jiun Chang, Chi-Yuan Jung, Tzyy-Ping Institute of Biomedical Engineering and the Brain Research Center National Yang Ming Chiao Tung University Hsinchu300 Taiwan Hsinchu300 Taiwan College of Biological Science and Technology National Yang Ming Chiao Tung University Hsinchu300 Taiwan Institute of Electrical and Control Engineering Institute of Biomedical Engineering Brain Research Center College of Electrical and Computer Engineering National Yang Ming Chiao Tung University Department of Electronics and Electrical Engineering Hsinchu300 Taiwan Kaohsiung Medical University Department of Biomedical Science and Environment Biology Drug Development and Value Creation Research Center Kaohsiung807 Taiwan Taipei Veterans General Hospital Taipei11217 Taiwan National Yang Ming Chiao Tung University Brain Research Center School of Medicine Taipei112 Taiwan University of California San Diego Swartz Center for Computational Neuroscience San DiegoCA92093 United States

Brain-computer interface (BCI) actively translates the brain signals into executable actions by establishing direct communication between the human brain and external devices. Recording brain activity through electroencephalography (EEG) is generally contaminated with both physiological and nonphysiological artifacts, which significantly hinders the BCI performance. Artifact subspace reconstruction (ASR) is a well-known statistical technique that automatically removes artifact components by determining the rejection threshold based on the initial reference EEG segment in multichannel EEG recordings. In real-world applications, the fixed threshold may limit the efficacy of the artifact correction, especially when the quality of the reference data is poor. This study proposes an adaptive online ASR technique by integrating the Hebbian/anti-Hebbian neural networks into the ASR algorithm, namely, principle subspace projection ASR (PSP-ASR) and principal subspace whitening ASR (PSW-ASR) that segmentwise self-organize the artifact subspace by updating the synaptic weights according to the Hebbian and anti-Hebbian learning rules. The effectiveness of the proposed algorithm is compared to the conventional ASR approaches on benchmark EEG dataset and three BCI frameworks, including steady-state visual evoked potential (SSVEP), rapid serial visual presentation (RSVP), and motor imagery (MI) by evaluating the root-mean-square error (RMSE), the signal-to-noise ratio (SNR), the Pearson correlation, and classification accuracy. The results demonstrated that the PSW-ASR algorithm effectively removed the EEG artifacts and retained the activity-specific brain signals compared to the PSP-ASR, standard ASR (Init-ASR), and moving-window ASR (MW-ASR) methods, thereby enhancing the SSVEP, RSVP, and MI BCI performances. Finally, our empirical results from the PSW-ASR algorithm suggested the choice of an aggressive cutoff range of c =1-10 for activity-specific BCI applications and a moderat

关键词： Electroencephalography

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OPS-YOLO: A Lightweight Foreign Objectors Detection Model for Overhead Power System 43

OPS-YOLO: A Lightweight Foreign Objectors Detection Model fo...

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43rd Chinese control Conference, CCC 2024

作者： Liu, Boning Shi, Rui Deng, Heng Zhang, Liguo Beijing University of Technology Faculty of Information Technology Beijing100124 China Engineering Research Center of Intelligence Perception and Autonomous Control Ministry of Education Beijing100124 China

ISBN: (纸本)9789887581581

The performance of modern railway transit systems heavily relies on the overhead power system (OPS). However, OPSs built on the ground are vulnerable to foreign objects that can pose a threat to railway safety. In this paper, an improved lightweight detection method called OPS-YOLO, which is based on YOLO-v5, is proposed to detect foreign objects in OPSs. First, the Ghostnet-v2 is improved to compress the lightweight backbone model to slim down the original YOLO-v5 and reduce the complexity and computation. Then, a parameter-free attention mechanism SimAM is introduced to enhance the detection precision of OPS-YOLO. Furthermore, the Focal-EIoU is chosen as the loss function of the OPS-YOLO to improve object border localization precision while accelerating bounding box regression speed. To evaluate the performance of OPS-YOLO, we generate a customized dataset of OPS scenarios by using augmentation methods to expand the existing samples and improve training results. Finally, we extensive experimental tests on the dataset are conducted to verify the proposed method. Results show that the proposed OPS-YOLO improves the mAP by 0.5% compared to the classical YOLO-v5s network. Additionally, OPS-YOLO compresses the model parameters by 37.9% and reduces the model size by 37.5%. It is demonstrated that OPSYOLO can achieve a balance between computational efficiency and detection accuracy, making it suitable for automating OPS supervision and reducing reliance on human inspection. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Convolutional neural networks

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