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SSRN 2024年

作者： Wang, Yi Tu, Chen Li, Yuan Yang, Shuai Liu, Ying Zhu, Xia Si, Shao-Cheng Luo, Run-Lai Pan, Xiang-Liang Luo, Yong-Ming State Key Laboratory of Soil and Sustainable Agriculture Institute of Soil Science Chinese Academy of Sciences Nanjing210008 China Key Laboratory of Microbial Technology for Industrial Pollution Control of Zhejiang Province College of Environment Zhejiang University of Technology Hangzhou310014 China Shandong Key Laboratory of Coastal Environment Process YICCAS Yantai264003 China China Construction Eighth Engineering Division Co. Ltd. Shanghai200444 China

Utilizing plant extracts for soil washing is a promising and cost-efficient strategy to permanently remove toxic metals from farmland soils. However, the efficiency of current plant extracts in heavy metals removal is constrained by the need of excessively high liquid-solid ratios (> 10:1), which limits their practical application in the farmland soils. To address this challenge, we developed a novel binary washing agent consisting of Fructus mume residue extract (RPM) and methylglycinediacetate acid (MGDA). Through optimization experiments, we determined an optimal composition of 50 g L-1 RPM and 0.34 g L-1 MGDA (RPMG3), which exhibited a remarkable synergistic effect on the removal of Cd and Cu from two polluted farmland soils. Compared to the single use of RPM or MGDA, RPMG3 increased metal removal efficiency by 44.6% - 303.8% in the alkaline dryland soil and 55.8% - 141.9% in the slightly acidic paddy soil, at an optimum liquid-solid ratio of 2:1. The contents of soil Cd and Cu can be reduced to below the risk screening values via acid activation, metal ion exchange, and complexation of functional groups. Moreover, the potential ecological risks associated with Cd in the soils were significantly mitigated due to the decrease in exchangeable and reducible Cd fractions following RPMG3 washing. Additionally, RPM and RPMG3 washing led to enhancements in soil organic carbon and nutrient concentrations, as well as increased activities of soil enzymes including catalase, urease, and β-glucosidase. Notably, RPMG3 washing exhibited the most pronounced promotion effect on wheat seed germination and growth. Taken together, the binary complex of RPMG3 demonstrates potential as an environmentally friendly green washing agent capable of in reducing heavy metals from farmland soil with great efficiency, even at low liquid-solid ratios. © 2024, The Authors. All rights reserved.

关键词： Washing

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Resolving the Contradiction Caused by Water-Lean Solvent Through a Split-Flow Heat Exchange Strategy Toward Efficient Carbon Dioxide Capture

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SSRN 2023年

作者： Zhan, Guoxiong Yuan, Bingling Duan, Yuanmeng Chen, Zhen Chen, Jianjun Li, Junhua State Key Joint Laboratory of Environment Simulation and Pollution Control School of Environment Tsinghua University Beijing100084 China Department of Chemical and Biochemical Engineering Technical University of Denmark Kgs Lyngby2800 Denmark

Amine-based chemisorption technology with water-lean solvent is a promising route towards low-cost CO2 capture. However, the low heat capacity of water-lean solvent makes efficient heat exchange through the traditional technology challenging, causing difficulty solvent regeneration. This paper proposes split-flow heat exchange strategy for CO2-rich solvent to reduce external steam consumption and increase the regeneration temperature. Optimized water-lean amine-based solvent, composed of blend amines and physical solvent, was employed and its CO2 capture performance analyzed for a bench-scale continuous system. A rigorously validated process simulation method is proposed for operational optimization and comprehensive economic, exergy, environment, energy analysis of the capture process on an industrial scale. The experimental and simulation results indicated that the optimal ratio of split-flow was 0.55-0.7, with this ratio resulting in the reflux temperature increasing from 90 to 110 °C. The proportion of total energy duty that went to reaction heat was increased to 80% from 61% in the benchmark case;this increase was ascribed to the synergistic promotion of physical solvent and split-flow heat exchange strategy. The water-lean solvent could operate at a regeneration duty of 2.07 GJ/t CO2 with a total capture cost of US $50.40/t CO2 (27% lower than the benchmark value) from coal-fired flue gas. In summary, the net CO2 reduction can be increased by 32%, taking the utility heat-cold consumption into account. This research indicates a feasible method of taking full advantage of water-lean solvent to achieve efficient CO2 capture. © 2023, The Authors. All rights reserved.

关键词： Energy utilization

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The Impact of Scco2 Exposure on the Imbibition of Shale and the Potential for Water Blockage Removal

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SSRN 2025年

作者： Kuang, Nianjie Zhou, Junping Xian, Xuefu Wang, Hongzhang Zhang, Jinyuan Liu, Zhengjie Huo, Zixuan Xu, Chenghao Peng, Yifan Jiang, Huaquan State Key Laboratory of Coal Mine Disaster Dynamics and Control Chongqing University Chongqing400044 China School of Resources and Safety Engineering Chongqing University Chongqing400044 China Chongqing Xiangguosi Underground Gas Storage Co. Ltd Chongqing401110 China

Shale gas production in its later stages is severely limited by the water blockage due to the retention of massive fracturing fluids in the reservoir. Effective removal of water blockage is critical for improving shale gas production. Supercritical CO2 (scCO2) has emerged as a promising fluid for alleviating water blockage of shale;however, its potential and mechanisms remain poorly understood. This study investigates the changes in shale imbibition behavior induced by scCO2 exposure and verifies its water blockage removal effect. Then, the water blockage removal mechanisms induced by scCO2 exposure were clarified from a microscopic perspective. The results reveal that scCO2 exposure prompts the imbibition capability of shale, especially accelerates its initial spontaneous imbibition rate and the late diffusion rate, which can be attributed to the formation of new corrosion pores and microfractures induced by scCO2 exposure, as well as increases in pore size, total pore volume and specific surface area. Consequently, the hydrophilicity of shale is reinforced. This interplay of factors facilitates the diffusion of the fracturing fluid. As water saturation within the reservoir decreases, the flow resistance of gas accordingly diminishes. © 2025, The Authors. All rights reserved.

关键词： Fracturing fluids

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Error modeling and parameter identification of a 5-DOF hybrid robot considering angular transmission error

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Robotics and Autonomous Systems 2025年 193卷

作者： Zhou, Jinyin Zhu, Bin Wu, Jun Tian, Yanling State Key Laboratory of Tribology in Advanced Equipment and Institute of Manufacturing Engineering Department of Mechanical Engineering Tsinghua University Beijing 100084 China Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipment and Control Beijing 100084 China School of Engineering University of Warwick Coventry CV4 7AL United Kingdom

The forms of angular transmission error are complex and diverse, and it is difficult to derive the error model theoretically. Therefore, the geometric error and angular transmission error are generally studied respectively by neglecting the interference of these errors. In this paper, a novel mixed error model(MEM) combining the fitting model and the theoretical model is derived, which is formed by adding the mixed angular transmission error model to the geometric error model in the form of joint extension positioning error. The mixed angular transmission error model is derived based on the fitting angular transmission error and geometric error interference analysis in uniaxial experiments. In the identification process, the angular transmission error under uniaxial experimental measurement is first measured and fitted, and then the geometric error and angular transmission error are identified simultaneously based on the MEM. A 5-DOF hybrid robot is used as an example to verify the error modeling method and parameter identification process. Based on the error modeling method and parameter identification scheme, the robot's motion error is dropped by more than 50% compared with the geometric error identification scheme. © 2025

关键词： Angular transmission error Error modeling Geometric error Hybrid robot Parameter identification

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Dynamic Safe Area Detection Method for Autonomous Vehicles in Hub Airport 40

Dynamic Safe Area Detection Method for Autonomous Vehicles i...

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40th Chinese control Conference, CCC 2021

作者： Pang, Xiaoyu Shangguan, Wei Cao, Yue Chai, Linguo Qiu, Weizhi Beijing Jiaotong University School of Electronic and Information Engineering Beijing100044 China State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing100044 China Key Laboratory of Intelligent Operation of Civil Aviation Airport Cluster Beijing100621 China

ISBN: (纸本)9789881563804

The application of autonomous driving technology will improve the level of airport autonomy and intelligent operation. In order to improve safety, autonomous vehicles need to accurately detect what portion of area inside the lane is free from obstacles. This paper proposes a safe area detection method, which uses a safe threshold to combine the lane detection model and the SSD object detection model to mark the safe area for airport autonomous vehicles. Finally, in the built airport simulation platform, we mainly compare the proposed method with the FCN area detection method. The simulation results show the proposed method improves accuracy rate by 7.91%, and speed by 17.90%, which can meet the requirements of real-time detection in hub airport. © 2021 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Autonomous vehicles

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Biallelic inactivation of SDHA results in comorbidity of pediatric recurrent neuroblastoma and gastric stromal tumor

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Genes & Diseases 2024年第6期11卷 99-102页

作者： Shen Yang Shixuan Zhang Wen Zhao Libing Fu Li Zhang Chan Hon Chui Ruolan Guo Yan Su Dayan Sun Huanmin Wang Department of Oncology Surgery Beijing Children's HospitalCapital Medical UniversityNational Center for Children's HealthBeijing 100045China State Key Laboratory of Genetic Engineering Collaborative Innovation Center for Genetics and DevelopmentSchool of Life Sciences and Human Phenome InstituteFudan UniversityShanghai 200438China Hematology Oncology Center Beijing Children's HospitalCapital Medical UniversityNational Center for Children's HealthBeijing100045China Department of Pathology Beijing Children's HospitalCapital Medical UniversityNational Center for Children's HealthBeijing 100045China Shanghai Institute of Precision Medicine Shanghai Jiao Tong University School of MedicineShanghai 200011China Surgery Centre for Children Mount Elizabeth Medical Centre228510Singapore Beijing Key Laboratory for Genetics of Birth Defects Beijing Pediatric Research instituteMOE Key Laboratory of Major Diseases in ChildrenGenetics and Birth Defects Control CenterBeijing Children's HospitalCapital Medical UniversityNational Center for Children's HealthBeijing 100045China Department of Neonatal Surgery Beijing Children's HospitalCapital Medical UniversityNational Center for Children's HealthBeijing 100045China MOE Key Laboratory of Major Diseases in Children Beijing Children's HospitalCapital Medical UniversityNational Centerfor Children's HealthBeijing 100045China

Neuroblastoma(NB)is a common pediatric extracranial solid tumor that exhibits varied characteristics,clinical features,and prognosis.1 Totally 1%-2%of cases show familial history with genetic links like ALK,PHOX2B mut... 详细信息

关键词： pediatric neoplasms neuroblastoma

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Design of Flaw Detection Hardware System in Electromagnetic Ultrasonic Inspection System 16

Design of Flaw Detection Hardware System in Electromagnetic ...

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16th Symposium on Piezoelectricity, Acoustic Waves, and Device Applications, SPAWDA 2022

作者： Wang, Ru-Ru Zhang, Ying-Hong Qian, Zheng-Hua Wang, Bin Wu, Xian-Wei Ma, Zhi-Yong Nanjing University of Aeronautics and Astronautics State Key Laboratory of Mechanics and Control of Mechanical Structures Nanjing210016 China Guilin University of Electronic Technology School of Mechanical and Electrical Engineering Guilin541004 China The Fourth Military Representative Office of the Naval Armament Department Stationed in Nanjing Nanjing211100 China

ISBN: (纸本)9798350320800

As a non-contact flaw detection technology, electromagnetic ultrasonic has a wide application prospect, especially suitable for harsh working conditions. However, due to the low energy conversion efficiency of the sensing elements of the electromagnetic ultrasonic testing equipment, the large electromagnetic interference of the transmitting circuit, and the attenuation problem of the ultrasonic propagation in the tested piece, the echo signal is low and often submerged in the noise, which cannot correctly reflect the acoustic reflection characteristics of the tested piece. The hardware flaw detection circuit is designed in this paper,which can effectively improve the signal strength, reduce the introduction of noise and suppress the propagation attenuation. The gain compensation module is composed of AD9762, AD603and field programmable gate array(FPGA), which mainly aims at the attenuation of ultrasonic propagation. The ultrasonic testing experiment on the aluminum standard specimen shows that the circuit magnification of the device can reach 110000, the signal-to-noise ratio is high, and the detection of weak signal reflected by defected is realized;The signal gain compensation is realized, and the echo signal error caused by ultrasonic propagation attenuation is improved, which has good engineering application value. © 2022 IEEE.

关键词： Ultrasonic testing

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Global and Asymptotically Efficient Localization from Range Measurements

arXiv

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arXiv 2022年

作者： Zeng, Guangyang Mu, Biqiang Chen, Jiming Shi, Zhiguo Wu, Junfeng The College of Control Science and Engineering The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou310027 China Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China The College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China The School of Data Science Chinese University of Hong Kong Shenzhen Shenzhen China The State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou China

We consider the range-based localization problem, which involves estimating an object's position by using m sensors, hoping that as the number m of sensors increases, the estimate converges to the true position with the minimum variance. We show that under some conditions on the sensor deployment and measurement noises, the LS estimator is strongly consistent and asymptotically normal. However, the LS problem is nonsmooth and nonconvex, and therefore hard to solve. We then devise realizable estimators that possess the same asymptotic properties as the LS one. These estimators are based on a two-step estimation architecture, which says that any √m-consistent estimate followed by a one-step Gauss-Newton iteration can yield a solution that possesses the same asymptotic property as the LS one. The keypoint of the two-step scheme is to construct a √mconsistent estimate in the first step. In terms of whether the variance of measurement noises is known or not, we propose the Bias-Eli estimator (which involves solving a generalized trust region subproblem) and the Noise-Est estimator (which is obtained by solving a convex problem), respectively. Both of them are proved to be √m-consistent. Moreover, we show that by discarding the constraints in the above two optimization problems, the resulting closed-form estimators (called Bias-Eli-Lin and Noise-Est-Lin) are also √m-consistent. Plenty of simulations verify the correctness of our theoretical claims, showing that the proposed two-step estimators can asymptotically achieve the Cramer-Rao lower bound. Copyright © 2022, The Authors. All rights reserved.

关键词： Spurious signal noise

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Correction: Membrane technologies in toilet urine treatment for toilet urine resource utilization: a review

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RSC Advances 2023年第7期13卷 4530-4531页

作者： Chengzhi Yu Wenjun Yin Zhenjiang Yu Jiabin Chen Rui Huang Xuefei Zhou State Key Laboratory of Pollution Control and Resource Reuse College of Environmental Science and Engineering Tongji University Shanghai 200092 China The Third Clinical Medical College Zhejiang Chinese Medical University Hangzhou 310053 China Shanghai Institute of Pollution Control and Ecological Security Tongji University Shanghai 200092 China

Correction for ‘Membrane technologies in toilet urine treatment for toilet urine resource utilization: a review’ by Chengzhi Yu et al., RSC Adv., 2021, 11, 35525–35535, https://***/10.1039/D1RA05816A.

Correction for ‘Membrane technologies in toilet urine treatment for toilet urine resource utilization: a review’ by Chengzhi Yu et al., RSC Adv., 2021, 11, 35525–35535, https://***/10.1039/D1RA05816A.

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A Nonlinear MPC-Net Optimization Framework for Wheeled Humanoid Robots with Whole Body Dynamics

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IEEE Transactions on Automation Science and engineering 2025年

作者： Li, Guoxin Liu, Xingjian Wu, Xiaoyu Tang, Qirong Zhang, Hao Li, Zhijun Shi, Peng Tongji University School of Mechanical Engineering Translational Research Center Shanghai YangZhi Rehabilitation Hospital Shanghai Sunshine Rehabilitation Center Shanghai200092 China Shanghai Key Laboratory of Wearable Robotics and Human-Machine Interaction Shanghai201804 China State Key Laboratory of High-Performance Precision Manufacturing Dalian116024 China Tongji University School of Mechanical Engineering Shanghai201804 China National University of Singapore Department of Biomedical Engineering 117583 Singapore Tongji University Department of Control Science and Engineering Shanghai201804 China The University of Adelaide School of Electrical and Mechanical Engineering SA5005 Australia Obuda University Budapest1034 Hungary

The task performance of mobile manipulators can be significantly enhanced by whole-body control and optimization in complex scenarios. Due to the nonlinear properties of whole-body dynamics and parameter uncertainty, modeling accurate system dynamics is essential in addition to designing an effective control strategy. However, traditional control methods have high computational costs and fail to deal with the parameter errors caused by model linearization. To address these issues, we propose a model predictive control (MPC)-Net, a learning-based approach that facilitates rapid online optimization by combining deep learning with multiple MPCs. Firstly, we develop a parameter identification algorithm based on a deep neural model to estimate the unknown dynamics parameters. Although the control performance of the MPC approach positively correlated with the prediction horizon, a long horizon would result in additional computational costs. Thus, MPC-Net is constructed by combining multiple sub-MPC issues, and the nonlinear coefficients are obtained by using a deep neural network-based optimization framework. Furthermore, MPC-Net generates the solution by combining the outputs of multiple sub-MPC problems using the nonlinear transformation of learned coefficients. Experiments are conducted on a mobile manipulator, which demonstrates the proposed MPC-Net-based optimization control offers fast efficient computation and low tracking error performance. © 2004-2012 IEEE.

关键词： Predictive control systems

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