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ER‐Mapping: An extrinsic robust coloured mapping system using residual evaluation and selection

IET Cyber-Systems and Robotics 2024年第2期6卷 97-108页

作者： Changjian Jiang Zeyu Wan Ruilan Gao Yu Zhang State Key Laboratory of Industrial Control Technology College of Control Science and EngineeringZhejiang UniversityHangzhouChina Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province HangzhouChina

The colour-enhanced point cloud map is increasingly being employed in fields such as robotics,3D reconstruction and virtual *** authors propose ER-Mapping(Extrinsic Robust coloured Mapping system using residual evaluation and selection).ER-Mapping consists of two components:the simultaneous localisation and mapping(SLAM)subsystem and the colouring *** SLAM subsystem reconstructs the geometric structure,where it employs a dynamic threshold-based residual selection in LiDAR-inertial odometry to improve mapping *** the other hand,the col-ouring subsystem focuses on recovering texture information from input images and innovatively utilises 3D–2D feature selection and optimisation methods,eliminating the need for strict hardware time synchronisation and highly accurate extrinsic *** were conducted in both indoor and outdoor *** results demonstrate that our system can enhance accuracy,reduce computational costs and achieve extrinsic robustness.

关键词： robot vision sensor fusion simultaneous localisation and mapping(robots)

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Design of a High Precision Multichannel 3D Bioprinter

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Chinese Journal of Mechanical engineering 2023年第6期36卷 127-146页

作者： Jintao Li Bin Zhang Yichen Luo Huayong Yang State Key Laboratory of Fluid Power Transmission and Control School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China

Three-dimensional(3D)printing technology is expected to solve the organ shortage ***,owing to the accuracy limitations,it is difficult for the current bioprinting technology to achieve an accurate control of the spatial position and distribution of a single cell or single component *** this study,to accurately achieve the directional deposition of different cells and biological materials in the spatial position for the construction of large transplantable tissues and organs,a high-precision multichannel 3D bioprinter with submicron-level motion accuracy is designed,and concurrent and synergistic printing methods are *** on the high-precision motion characteristics of the gantry structure and the requirements of concurrent and synergistic printing,a 3D bioprint-ing system with a set of 6 channels is designed to achieve six-in-one *** on the Visual C++environ-ment,a control system software that integrates the programmable multi-axis controller(PMAC)motion,pneumatic,and temperature control subsystems was developed and ***,based on measurements and experiments,the 3D bioprinter and its control system was verified to fulfil the requirements of multichannel,concurrent,and syn-ergistic printing with submicron-level motion accuracy,significantly shortening the printing time and improving the printing *** study not only provides an equipment basis for printing complex heterogeneous tissue structures,but also improves the flexibility and functionality of bioprinting,and ultimately makes the construction of complex multicellular tissues or organs possible.

关键词： 3D bioprinting High precision Concurrent and synergistic printing Multichannel control system Six-in-one printing

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Command filter-based I&I adaptive control for MIMO uncertain systems with input saturation and disturbances

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Science China(Information Sciences) 2023年第12期66卷 64-79页

作者： Qi HAN Zhitao LIU Hongye SU Xiangbin LIU State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang University School of Electronic Information Engineering Beijing Jiaotong University

This paper develops a control strategy based on immersion and invariance(I&I) adaptive methodology for a class of multi-input multi-output(MIMO) systems in the presence of parametric uncertainty, input saturation, and external disturbance. To avoid the analytic calculation in the backstepping process, a highgain auxiliary system is constructed to compensate for the effect of command filter error. The first-order command filters are also employed in the construction procedure of the I&I adaptive law to simplify its design and remove the structural conditions on the regressors. A filter-based disturbance observer is developed to counteract the effect of the external disturbance produced by a partially known exogenous *** overcome the input saturation nonlinearity, a smooth function is introduced to approximate the input saturation with an extended state and a bounding estimation law. Stringent analysis guarantees the stability of closed-loop system. Finally, simulated examples confirm the effectiveness of the suggested method.

关键词： adaptive control command filtered backstepping disturbance observer immersion and invariance MIMO systems

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Toward a rapid and convenient nanoplastic quantification method in laboratory-scale study based on fluorescence intensity

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Frontiers of Environmental Science & engineering 2024年第5期18卷 117-126页

作者： Ruiqi Yan Sen Lin Qian Ding Lei Zhang Xia Yu Wentao Zhao Qian Sui State Environmental Protection Key Laboratory of Environmental Risk Assessment and Control on Chemical Process School of Resources and Environmental EngineeringEast China University of Science and TechnologyShanghai200237China State Key Laboratory of Pollution Control and Resource Reuse College of Environmental Science and EngineeringTongji UniversityShanghai200092China Shanghai Institute of Pollution Control and Ecological Security Shanghai200092China

The thorough investigation of nanoplastics(NPs)in aqueous environments requires efficient and expeditious quantitative analytical methods that are sensitive to environmentally relevant NP concentrations and convenient to *** analysis-based quantitative methods have been acknowledged as effective and rapid approaches for quantifying NP concentrations in laboratory-scale ***,we compared three commonly used optical response indicators,namely fluorescence intensity(FI),ultraviolet absorbance,and turbidity,to assess their performance in quantifying ***,orthogonal experiments were conducted to evaluate the influence of various water quality parameters on the preferred indicator-based quantification *** results revealed that FI exhibits the highest correlation coefficient(>0.99)with NP ***,the limit of quantification(LOQ)for various types of NPs is exceptionally low,ranging from 0.0089 to 0.0584 mg/L in ultrapure water,well below environmentally relevant *** variations in water quality parameters such as pH,salinity,suspended solids(SS),and humic acid,a robust relationship between detectable FI and NP concentration was ***,an increased matrix,especially SS in water samples,results in an enhanced LOQ for ***,the quantitative method remains applicable in real water bodies,especially in drinking water,with NP LOQ as low as 0.0157–0.0711 mg/*** exceeds the previously reported detectable concentration for 100 nm NPs at 40µg/mL using surface-enhanced Raman *** study confirms the potential of FI as a reliable indicator for the rapid quantification of NPs in aqueous environments,offering substantial advantages in terms of both convenience and cost-effectiveness.

关键词： Nanoplastic quantification Fluorescence intensity Drinking water Limit of quantification(LOQ) Matrix effects

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Reduced-Order Observer-Based Resilient control for MASs with Time-Varying Delay Against DoS Attacks

IEEE Transactions on Industrial Cyber-Physical Systems

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IEEE Transactions on Industrial Cyber-Physical Systems 2024年 2卷 51-59页

作者： Qiu, Xiaojie Meng, Wenchao Xu, Jinming Yang, Qinmin Zhejiang University State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Hangzhou310027 China

This paper concentrates on the resilient control issue in multi-agent systems (MASs) with the time-varying delay subjected to denial of service (DoS) attacks. To eliminate the impact of DoS attacks, a novel resilient control framework is constructed for MASs, where a variable following the Bernoulli distribution process is utilized to denote the behaviors of the attacker. Besides, we design a novel reduced-order (RO) observer with internal time-varying delay to estimate the unknown output of the system and compensate for lost data in the channels. Different from the general observers, the designed observer can ensure both the reduced-order observation errors and the full-order ones can converge to zero. Furthermore, an RO observer-based distributed protocol is devised such that the consensus errors of the closed-loop systems asymptotically converge to zero. Simulation comparisons are provided to validate the efficiency and superiority of our approach. © 2023 IEEE.

关键词： Multi agent systems

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Diversity and dynamic response of anaerobic ammonia oxidation granular sludge

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Journal of Environmental Sciences 2025年第6期152卷 262-275页

作者： Jiahong Ye Xiang Li Yan Yuan Yayi Wang Yong Huang JunMa Han Wang Pengze Dang Pei-ling Xu School of Environmental Science and Engineering Suzhou University of Science and TechnologySuzhou 215009China State Key Laboratory of Pollution Control and Resources Reuse Shanghai Institute of Pollution Control and Ecological SecurityCollege of Environmental Science and EngineeringTongji UniversityShanghai 200092China State Key Laboratory of Urban Water Resource and Environment Harbin Institute of TechnologyHarbin 150090China

Red anaerobic ammonia oxidation (Anammox) granular sludge (AnGS) has been reported insuccessfully operating Anammox systems, and its color is associated with sludge ***, in long-term operating systems, AnGS exhibits different sensory colors, physicalstructures, community structures, and denitrification performance, but the relationship betweenthem has not yet been *** AnGS of the Anammox system, which has beenin operation for more than a decade, can be divided into twomain categories: red and *** specific Anammox activity (SAA) in conventional red AnGS increased continuously asthe particle size increased from <0.51 mm to 6.02 ± 0.84 mm. The SAA of white AnGS wereslightly lower than those of red AnGS with similarly-size granules but significantly higherthan AnGS with smaller red granules. Compared with red AnGS, the extracellular polymericsubstances of white AnGS were significantly reduced,mainly due to the higher intracellulariron content, resulting in lower heme c concentration. Thus, heme c may prove not to bean evaluative tool for measuring Anammox activity. Red and white AnGS, whether throughself-aggregation or adsorption by hydroxyl apatite and other carriers, will face the fate ofinternal voids during particle size growth. White AnGS exhibited amore complex microbialcommunity than red AnGS. Candidatus Brocadia was abundant in red AnGS and the abundanceincreased with increasing granule size. Candidatus Kuenenia and Candidatus Jetteniamade significant contributions to denitrification in white AnGS. This study provides a newperspective on particle selection for anammox engineering applications.

关键词： Anaerobic ammonium oxidation granular sludge Sensory diversity Intracellular iron Heme Enzyme activity Microbial diversity

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Matrix Coding Enabled Impact Mitigation against Primary False Data Injection Attacks in Cyber-Physical Microgrids

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IEEE Transactions on Power Systems 2025年第4期40卷 3144-3159页

作者： Liu, Mengxiang Zhang, Xin Zhao, Chengcheng Deng, Ruilong University of Sheffield School of Electrical and Electronic Engineering Sheffield United Kingdom Zhejiang University State Key Laboratory of Industrial Control Technology The College of Control Science and Engineering Hangzhou China

The impact mitigation against false data injection attacks (FDIAs) has become a prevailing topic in enhancing the cyber resilience of microgrids. In particular, the primary FDIA (PFDIA) injecting biases into the sensor channel of the primary controller can fake the real physical states and result in devastating control commands to the power conversion device. Nevertheless, existing impact mitigation schemes cannot handle the PFDIA due to the primary control's strict real-time requirement. Therefore, this paper proposes a time- and cost-efficient impact mitigation scheme against the PFDIA by alternately encoding the transmitted measurement with an invertible coding matrix. Specifically, when the PFDIA is detected by unknown input observers (UIOs), two additional half-downsampled UIOs, which only require simple multiplication, addition, and subtraction operations within each control cycle, will be triggered to obtain the residuals under encoded and unencoded data. The complete bias vector can be then reconstructed recursively from these two residuals, and the bias will be removed from the compromised data to eliminate the malicious attack impact. Based on the theoretical analysis of reconstruction performance, the coding matrix is optimised to minimise the system noises' impact on reconstruction accuracy subject to the reconstruction stability and the encoding's hiddenness from the adversary. Finally, extensive experimental studies are conducted to validate the effectiveness, superiority, robustness, and lightweightness of the proposed impact mitigation scheme. © 1969-2012 IEEE.

关键词： Encoding (symbols)

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Web Layout Design of Large Cavity Structures Based on Topology Optimization

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Computer Modeling in engineering & Sciences 2024年第3期138卷 2665-2689页

作者： Xiaoqiao Yang Jialiang Sun Dongping Jin State Key Laboratory ofMechanics and Control for Aerospace Structures College of Aerospace EngineeringNanjing University of Aeronautics and AstronauticsNanjing210016China

Large cavity structures are widely employed in aerospace engineering, such as thin-walled cylinders, blades andwings. Enhancing performance of aerial vehicles while reducing manufacturing costs and fuel consumptionhas become a focal point for contemporary researchers. Therefore, this paper aims to investigate the topologyoptimization of large cavity structures as a means to enhance their performance, safety, and efficiency. By usingthe variable density method, lightweight design is achieved without compromising structural strength. Theoptimization model considers both concentrated and distributed loads, and utilizes techniques like sensitivityfiltering and projection to obtain a robust optimized configuration. The mechanical properties are checked bycomparing the stress distribution and displacement of the unoptimized and optimized structures under the sameload. The results confirm that the optimized structures exhibit improved mechanical properties, thus offering keyinsights for engineering lightweight, high-strength large cavity structures.

关键词： Topology optimization lightweight design web layout design cavity structure

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Unmanned aerial vehicle orthogonal laser localization by Gaussian mixture model‐based map representation

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IET Cyber-Systems and Robotics 2023年第3期5卷 37-44页

作者： Zeyu Wan Changjian Jiang Yu Zhang State Key Laboratory of Industrial Control Technology College of Control Science and EngineeringZhejiang UniversityHangzhouChina

Localization is a core problem in mobile robot *** localization and mapping(SLAM)costs much for an unmanned aerial vehicle(UAV).This research aims to design an orthogonal laser scan device for localization and to save computation *** on disturbance analysis,residual influences on sensor state are quantitative,and they are related to uncertainty and *** research applied the residual selection method to a *** feature point detection utilises multi‐scale and Gaussian model fitting techniques to guarantee true *** map is represented by Gaussian Mixture Models(GMM)with lower memory *** orthogonal laser scan device is composed and placed on a UAV for real‐time three‐dimensional localization,whose er-rors are at the centimeter level.

关键词： indoor positioning mobile robots unmanned aerial vehicle

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Electrical tree degradation of MgO/epoxy resin composites at different voltage frequencies

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High Voltage 2024年第3期9卷 581-590页

作者： Yunxiao Zhang Wenxin Lin Yuanxiang Zhou Weiwei Xing Jiayu Cheng Chenyuan Teng College of Electrical Engineering and Automation Fuzhou UniversityFujian Key Laboratory of New Energy Generation and Power ConversionFuzhouChina State Key Laboratory of Control and Simulation of Power Systems and Generation Equipment Department of Electrical EngineeringTsinghua UniversityBeijingChina

Electrical tree degradation is one of the main causes of insulation failure in high-frequency *** tree degradation is studied on pure epoxy resin(EP)and MgO/EP composites at frequencies ranging from 50 Hz to 130 *** results show that the tree initiation voltage of EP decreases,while the growth rate and the expansion coefficient increase with ***,the bubble phenomenon at high frequencies in EP composites is *** with trap distribution character-istics within the material,the intrinsic mechanism of epoxy composites to inhibit the growth of the electrical tree at different frequencies is *** can be concluded that more deep traps and blocking effect are introduced by doping nano-MgO into EP bulks,which can improve the electrical tree resistance performance of EP composites in a wide frequency range.

关键词： composites tree Electrical

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