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2024 China Automation Congress, CAC 2024

作者： Zhao, Xiaoyao Zhou, Fan Zhao, Jun Wang, Wei Key Laboratory of Intelligent Control and Optimization for Industrial Equipment Ministry of Education Dalian China School of Control Science and Engineering Dalian University of Technology Dalian China

ISBN: (纸本)9798350368604

Aiming at the complex field environment of dense medium separation process and the large amount of matrix inversion calculation in the traditional PI-GPC solution process, an adaptive stepped generalized predictive control method with proportional-integral structure (PI-ASGPC-LESO) based on active disturbance rejection strategy is proposed. Considering the large amount of calculation when PI-GPC solves the optimal control rate, an adaptive step factor dependent on the system adjustment error is introduced to constrain the change of the control amount, which reduces the amount of calculation in the solution process. In view of the complex on-site environment of dense medium separation and the large interference in the system, LESO is added to the loop to suppress external disturbances and compensate the unmodeled error of the system. In order to verify the effectiveness of the proposed method, a comparative experiment with traditional PI-GPC and PI-GPC-LESO was designed with the dense medium separation system of a coal preparation plant as the control object. The experimental results show that the proposed method effectively improves the dynamic performance of the system, with shorter adjustment time, smaller overshoot, and stronger anti-interference ability. © 2024 IEEE.

关键词： Disturbance rejection

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A review of electrooxidation systems treatment of poly-fluoroalkyl substances (PFAS): electrooxidation degradation mechanisms and electrode materials

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Environmental science and Pollution Research 2024年第30期31卷 42593-42613页

作者： Shi, Lifeng Leng, Chunpeng Zhou, Yunlong Yuan, Yue Liu, Lin Li, Fuping Wang, Hao Key Laboratory of Bioelectrochemical Water Pollution Control Technology in Tangshan City North China University of Science and Technology Tangshan China College of Civil and Architectural Engineering North China University of Science and Technology Tangshan China Hebei Industrial Technology Institute of Mine Ecological Remediation Tangshan063000 China

The prevalence of polyfluoroalkyls and perfluoroalkyls (PFAS) represents a significant challenge, and various treatment techniques have been employed with considerable success to eliminate PFAS from water, with the ultimate goal of ensuring safe disposal of wastewater. This paper first describes the most promising electrochemical oxidation (EO) technology and then analyses its basic principles. In addition, this paper reviews and discusses the current state of research and development in the field of electrode materials and electrochemical reactors. Furthermore, the influence of electrode materials and electrolyte types on the deterioration process is also investigated. The importance of electrode materials in ethylene oxide has been widely recognised, and therefore, the focus of current research is mainly on the development of innovative electrode materials, the design of superior electrode structures, and the improvement of efficient electrode preparation methods. In order to improve the degradation efficiency of PFOS in electrochemical systems, it is essential to study the oxidation mechanism of PFOS in the presence of ethylene oxide. Furthermore, the factors influencing the efficacy of PFAS treatment, including current density, energy consumption, initial concentration, and other parameters, are clearly delineated. In conclusion, this study offers a comprehensive overview of the potential for integrating EO technology with other water treatment technologies. The continuous development of electrode materials and the integration of other water treatment processes present a promising future for the widespread application of ethylene oxide technology. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2024.

关键词： Electrochemical oxidation

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Safe Corridor Constrained Trajectory Planning for Formation Flight of Fixed-Wing Unmanned Aerial Vehicles 1

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Ji, Jialin Peng, Yiyang Zhao, Changchun Xu, Guangtong Xu, Chao Gao, Fei State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou310027 China Huzhou Institute Zhejiang University Huzhou313000 China Shanghai Aerospace Control Technology Institute Shanghai201109 China

ISBN: (数字)9789819733408

ISBN: (纸本)9789819733392

Autonomous formation flight of fixed-wing unmanned aerial vehicles (UAVs) in confined environments still remains an open problem. To tackle this challenge, this paper proposes a safe corridor constrained trajectory planning method for formation flight. A novel safe corridor construct method is designed to generate collision-free space in narrow passage. Then, the formation keeping constraint is described by using Laplacian matrix, and the similarity deviation between current formation and predefined formation is used as the cost function in the optimization problem. The formation flight trajectory planning problem is formulated via MINCO, a powerful spatial-temporal joint trajectory representation method, to efficiently generate dynamically feasible trajectory for fixed-wing UAVs. Numerical simulations on formation flight scenarios are implemented, and the results validate the effectiveness and efficiency of the safe corridor constrained trajectory planning method. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Antennas

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A Monocular Biological Simultaneous Localization and Mapping Method Based on a Bionic Vision Model

A Monocular Biological Simultaneous Localization and Mapping...

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2023 International Conference on Frontiers of Robotics and Software engineering, FRSE 2023

作者： Guo, Sitong Zhang, Yu Zhejiang University Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Hangzhou China

ISBN: (纸本)9798350301113

Animals can navigate robustly through large unknown environments, utilizing inaccurate sensor and egomotion cues. Inspired by the mechanism of the human visual system, this paper presents a biological simultaneous localization and mapping (SLAM) system based on a monocular vision sensor to perform navigation tasks in complex environments. Specifically, our contributions are two folds: an improved monocular visual odometry with a scale recovery algorithm to calibrate the estimated robot pose, and a bionic vision model based on image enhancement algorithm and feature extraction approach to detect closed-loop. Experiments on public datasets demonstrate that our proposed method performs competitively in illumination-varying scenarios indoors and outdoors, which achieve a trade-off to maintain performances in terms of accuracy, execution time, and robustness. © 2023 IEEE.

关键词： Vision

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Adaptive Attitude control for a Coaxial Tilt-Rotor UAV via Immersion and Invariance Methodology

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1710-1713页

作者： Longlong Chen Zongyang Lv Xiangyu Shen Yuhu Wu Xi-Ming Sun the Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and the School of Control Science and EngineeringDalian University of TechnologyDalian 116024China

Dear Editor,This letter is concerned with the attitude control for a novel tiltrotor unmanned aerial vehicle with two pairs of tiltable coaxial rotors and one rear *** immersion and invariance-based adaptive attitude controller for the tilt-rotor unmanned aerial vehicle is *** the proposed control strategy,an adaptive update law is specially designed to compensate for the uncertainties of damping *** stability of the resulting closed-loop coaxial tiltrotor unmanned aerial vehicle(CTRUAV)system is proved by the Lyapunov methodology and LaSalle’s invariance ***。

关键词： theory. invariance letter

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Analyzing the spatiotemporal evolution and driving forces of gross ecosystem product in the upper reaches of the Chaobai River Basin

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Frontiers of Environmental science & engineering 2024年第8期18卷 117-132页

作者： Jiacheng Li Qi Han Liqiu Zhang Li Feng Guihuan Liu Beijing Key Laboratory for Source Control Technology of Water Pollution College of Environmental Science and EngineeringBeijing Forestry UniversityBeijing 100083China Engineering Research Center for Water Pollution Source Control&Eco-remediation College of Environmental Science and EngineeringBeijing Forestry UniversityBeijing 100083China Center of Eco-compensation Chinese Academy of Environmental PlanningMinistry of Ecology of EnvironmentBeijing 100041China

The Chaobai River Basin,which is a crucial ecological barrier and primary water source area within the Beijing-Tianjin-Hebei region,possesses substantial ecological *** gross ecosystem product(GEP)in the Chaobai River Basin is a reflection of ecosystem conditions and quantifies nature’s contributions to humanity,which provides a basis for basin ecosystem service management and *** study investigated the spatiotemporal evolution of GEP in the upper Chaobai River Basin and explored the driving factors influencing GEP spatial *** patterns from 2005 to 2020 were analyzed,and GEP was calculated for 2005,2010,2015,and *** driving factors influencing GEP spatial differentiation were identified using the optimal parameter-based geographical detector(OPGD)*** key findings are as follows:(1)From 2005 to 2020,the main ecosystem types were forest,grassland,and *** areas experienced significant changes,and conversions mainly occurred among urban,water,grassland and agricultural ecosystems.(2)Temporally,the GEP in the basin increased from 2005 to 2020,with regulation services *** the county(district)scale,GEP exhibited a north-west-high and south-east-low pattern,showing spatial differences between per-unit-area GEP and county(district)GEP,while the spatial variations in per capita GEP and county(district)GEP were similar.(3)Differences in the spatial distribution of GEP were influenced by regional natural geographical and socioeconomic *** these factors,gross domestic product,population density,and land-use degree density contributed *** among different driving forces noticeably impacted GEP spatial *** findings underscore the necessity of incorporating factors such as population density and the intensity of land-use development into ecosystem management decision-making processes in the upper reaches of the Chaobai River *** policies

关键词： Ecosystem pattern Gross ecosystem product(GEP) Spatiotemporal evolution Optimal parameter-based geographical detector(OPGD) Chaobai River Basin

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Efficient production of 14α‑OH‑AD by engineered Mycolicibacterium neoaurum via coupled cofactor and reconstructed electron transport system

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Systems Microbiology and Biomanufacturing 2023年第2期3卷 358-369页

作者： Chenwei Zhang Yanbing Shen Yuanyuan Gao Zehui Zan Min Wang Key Laboratory of Industrial Fermentation Microbiology Ministry of EducationTianjin Key Laboratory of Industrial MicrobiologyTianjin University of Science and TechnologyTianjinChina Engineering Research Center of Microbial Metabolism and Fermentation Process Control College of BiotechnologyTianjin University of Science and TechnologyTianjin 300457People’s Republic of China

14α-hydroxy-androst-4-ene-3,17-dione(14α-OH-AD)is an important precursor for the synthesis of steroid drugs with anticancer and carcinolytic ***,14α-OH-AD was mostly synthesized by whole-cell fermentation of mold fungi using androstenedione(AD)as a substrate,which had difficulties in product isolation and purification as well as problems of high production *** this study,the source of the 14α-hydroxylase gene was *** 14α-hydroxylase genes were heterologously expressed in Mycolicibacterium neoaurum(MNR)M3ΔksdD,which enabled the one-step biotransformation from the cheap substrate phytosterols(PS)to 14α-OH-AD,reducing the difficulty of product purification and production *** is more,to alleviate the problem of poor activity of 14α-hydroxylase,the 14α-hydroxylase gene was co-expressed with the electron transport chain element genes and the coenzyme regeneration genes,and a superior engineered strain MNR M3ΔksdD/pMV261-14α-G6PDH was ***,the transformation conditions were optimized for the transformation of PS by the engineered *** molar yield of 14α-OH-AD reached to 60.4±2.3%(about 0.22 g/L productivity).This study investigated for the first time the effects of the tandem electron transport chain element genes and the tandem coenzyme regeneration genes on the 14α-hydroxylation reaction,providing a theoretical basis for the industrial production of 14α-OH-AD.

关键词： 14α-hydroxy-androst-4-ene-3,17-dione Mycolicibacterium neoaurum 14α-hydroxylase Electron transportation Coenzyme regeneration

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Pedestrian trajectory prediction method based on automatic driving

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Journal of Intelligent and Fuzzy Systems 2024年第4期46卷 9291-9310页

作者： Huang, Mengtao Wang, Jiaxuan College of Electrical and Control Engineering Xi’an University of Science and Technology Xi’an China Xi’an Key Laboratory of Electrical Equipment Condition Monitoring and Power Supply Security Xi’an China

Pedestrian trajectory prediction plays a crucial role in autonomous driving, as its accuracy directly affects the autonomous driving system’s comprehension of the environment and subsequent decision-making processes. Current trajectory prediction methods tend to oversimplify pedestrians to mere point coordinates, utilizing positional information to infer interactions among individuals while overlooking the temporal correlations between them, thereby excessively simplifying pedestrian characteristics. To address the aforementioned issues, this paper proposes a trajectory prediction model for autonomous driving applications, that takes into account both pedestrian motion characteristics and scene interaction. The model optimizes the LSTM unit structure twice, serving to learn correlations among long trajectories of pedestrians and to integrate multiple forms of information into the neighborhood interaction module. Furthermore, our model introduces dual attention mechanisms for individuals and scenes, focusing on the key motion points of individual pedestrians and their interactive behavior with others in busy scenarios. The efficacy of the model was validated on the MOT16 pedestrian dataset and the Daimler pedestrian path prediction dataset, outperforming mainstream methods with 8% and 10% reductions in Average Displacement Error and Final Displacement Error respectively. © 2024 – IOS Press. All rights reserved.

关键词： Forecasting

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Terrain-Based Hierarchical Trajectory Planning for Low-Altitude Flight of Fixed-Wing Aircrafts 1

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Zhong, Yuhang Han, Zhichao Peng, Yiyang Zhao, Changchun Xu, Guangtong Xu, Chao Gao, Fei State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou310027 China Huzhou Institute Zhejiang University Huzhou313000 China Shanghai Aerospace Control Technology Institute Shanghai201109 China

ISBN: (数字)9789819733408

ISBN: (纸本)9789819733392

For the complex low-altitude flight mission of fixed-wing aircrafts, this paper proposes a terrain-based trajectory generation method based on hierarchical planning framework. The sampling-based path planning algorithm, rapidly-exploring random tree (RRT*), is modified to search collision-free low-altitude path according to the terrain information. Since the generated path by RRT is not dynamically feasible, the subsequent trajectory optimization step is introduced to refine the non-smooth path. In this step, an advanced numerical optimization method is used to achieve spatial optimization subject to the flight performance of fixed-wing aircrafts, which can improve the trajectory smoothness and dynamic feasibility effectively. Numerical simulations on complex terrains are conducted, and the results validate the effectiveness and efficiency of the proposed method. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Fixed wings

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Metagenomic Insight Reveals the Microbial Structure and Function of the Full-Scale Coking Wastewater Treatment System:Gene-Based Nitrogen Removal

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engineering 2024年第5期36卷 76-89页

作者： Jiaying Ma Fan Wang Haifeng Fan Enchao Li Huaqiang Chu Xuefei Zhou Yalei Zhang State Key Laboratory of Pollution Control and Resource Reuse College of Environmental Science and EngineeringTongji UniversityShanghai 200092China Shanghai Institute of Pollution Control and Ecological Security Tongji UniversityShanghai 200092China Baowu Water Technology Co. Ltd.Shanghai 201999China

Microbial communities play crucial roles in pollutant removal and system stability in biological systems for coking wastewater(CWW)treatment,but a comprehensive understanding of their structure and functions is still lacking.A five month survey of four sequential bioreactors,anoxic 1/oxic 1/anoxic 2/oxic 2(A1/O1/A2/O2),was carried out in a full-scale CWW treatment system in China to elucidate operational performance and microbial *** results showed that A1/O1/A2/O2 had excellent and stable performance for nitrogen *** total nitrogen(TN;(17.38±6.89)mgL1)and ammonium-nitrogen(NH4 t-N;(2.10±1.34)mg·L^(-1))in the final biological effluent satisfied the Chinese national standards for *** analysis of 16S ribosome RNA(rRNA)sequencing and metagenomic sequencing showed that the bacterial communities and metagenomic function profiles of A1 and O1 shared similar functional structures,while those of A2 significantly varied from those of other bioreactors(p<0.05).The results indicated that microbial activity was strongly connected with activated sludge ***,Nitrosomonas,and SM1A02 were responsible for nitrification during the primary anoxic-oxic(AO)stage and Azoarcus and Thauera acted as important denitrifiers in *** cycling-related enzymes and genes work in the A1/O1/A2/O2 ***,the hao genes catalyzing hydroxylamine dehydrogenase(EC 1.7.2.6)and the napA and napB genes catalyzing nitrate reductase(EC 1.9.6.1)played important roles in the nitrification and denitrification processes in the primary and secondary AO stages,*** mixed liquor suspended solids(MLSS)/total solids(TS),TN removal rate(RR),total organic carbon(TOC)(RR),and NH_(4)^(+)t-N(RR)were the most important environmental factors for regulating the structure of core bacterial genera and nitrogen-cycling *** were the potential main participants in nitrogen metabolism in the A1/O1/A2/O2 system for CWW *** study prov

关键词： Coking wastewater Full-scale Microbial community Metagenomic sequencing Nitrogen-cycling genes Environmental factor

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