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Diversity and dynamic response of anaerobic ammonia oxidation granular sludge

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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Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

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Frontiers of Mechanical Engineering 2021年第3期16卷 435-450页

作者： Boyu MA Zongwu XIE Zainan JIANG Hong LIU School of Mechatronics Engineering Harbin Institute of TechnologyHarbin 150001China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Seven-degree-of-freedom redundant manipulators with link offset have many advantages,including obvious geometric significance and suitability for configuration *** configuration is similar to that of the experimental module manipulator(EMM)in the Chinese Space Station Remote Manipulator ***,finding the analytical solution of an EMM on the basis of arm angle parameterization is *** study proposes a high-precision,semi-analytical inverse method for ***,the analytical inverse kinematic solution is established based on joint angle ***,the analytical inverse kinematic solution for a non-offset spherical-roll-spherical(SRS)redundant manipulator is derived based on arm angle *** approximate solution of the EMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS ***,the error is corrected using a numerical method through the analytical inverse solution based on joint angle *** selecting the stride and termination condition,the precise inverse solution is computed for the EMM based on arm angle ***,case solutions confirm that this method has high precision,and the arm angle parameterization method is superior to the joint angle parameterization method in terms of parameter selection.

关键词： 7-DOF redundant manipulator inverse kinematics semi-analytical arm angle link offset

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Augmented machine learning for sewage quality assessment with limited data

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Environmental Science and Ecotechnology 2025年第1期23卷 193-203页

作者： Jia-Qiang Lv Wan-Xin Yin Jia-Min Xu Hao-Yi Cheng Zhi-Ling Li Ji-Xian Yang Ai-Jie Wang Hong-Cheng Wang State Key Laboratory of Urban Water Resource and Environment School of EnvironmentHarbin Institute of TechnologyHarbin150090China School of Civil and Environmental Engineering Harbin Institute of Technology ShenzhenShenzhen518055China College of the Environment Liaoning UniversityShenyang110036China

Physical,chemical,and biological processes within sewers significantly alter sewage composition during *** leads to the formation of sulfide and methanedcompounds that contribute to sewer corrosion and greenhouse gas *** modeling of these compounds is essential for effective sewer management,but the development of machine learning(ML)models is hindered by differences in data accessibility and sampling frequencies of water quality *** we present a mechanistically enhanced hybrid(ME-Hybrid)model that combines mechanistic modeling with data-driven *** model harmonizes datasets with varying sampling frequencies and generates synthetic samples for ML training,thereby enhancing the monitoring of methane and sulfide in *** optimal MEHybrid model integrates the backpropagation neural network with mechanistic frequency *** demonstrate that the ME-Hybrid model outperforms pure ML and linear interpolation in capturing fluctuating trends and extremes of sulfide concentrations,achieving a coefficient of determination(R2)of *** samples generated through mechanistic augmentation closely approximate real samples in modeling performance,statistical distribution,and data *** enables the model to maintain high predictive accuracy(R2>0.76)for sulfide even when trained on only 50%of the ***,the ME-Hybrid model successfully assesses sewer methane concentrations with an R2 of 0.94,validating its applicability and generalization *** results provide a reliable methodological framework for modeling and prediction under data *** facilitating better monitoring and management of sewer systems,the ME-Hybrid model aids in the development of strategies that minimize environmental impacts,enhance urban resilience,and ultimately lead to sustainable urban water systems.

关键词： Machine learning Hybrid model Mechanistic augmentation Sewer system Sulfide and methane

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Robust beam splitter with fast quantum state transfer through a topological interface

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Frontiers of physics 2023年第5期18卷 293-309页

作者： Jia-Ning Zhang Jin-Xuan Han Jin-Lei Wu Jie Song Yong-Yuan Jiang Department of Optoelectronics Science Harbin Institute of TechnologyWeihai 264209China School of Physics Harbin Institute of TechnologyHarbin 150001China School of Physics and Microelectronics Zhengzhou UniversityZhengzhou 450001China Collaborative Innovation Center of Extreme Optics Shanxi UniversityTaiyuan 030006China Key Laboratory of Micro-Nano Optoelectronic Information System Ministry of Industry and Information TechnologyHarbin 150001China Key Laboratory of Micro-Optics and Photonic Technology of Heilongjiang Province Harbin Institute of TechnologyHarbin 150001China

The Su–Schrieffer–Heeger(SSH)model,commonly used for robust state transfers through topologically protected edge pumping,has been generalized and exploited to engineer diverse functional quantum ***,we propose to realize a fast topological beam splitter based on a generalized SSH model by accelerating the quantum state transfer(QST)process essentially limited by adiabatic *** scheme involves delicate orchestration of the instantaneous energy spectrum through exponential modulation of nearest neighbor coupling strengths and onsite energies,yielding a significantly accelerated beam splitting *** to properties of topological pumping and accelerated QST,the beam splitter exhibits strong robustness against parameter disorders and losses of *** addition,the model demonstrates good scalability and can be extended to two-dimensional crossed-chain structures to realize a topological router with variable numbers of output *** work provides practical prospects for fast and robust topological QST in feasible quantum devices in large-scale quantum information processing.

关键词： quantum state transfer beam splitter topological router

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Immobilized microalgal system:An achievable idea for upgrading current microalgal wastewater treatment

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Environmental Science and Ecotechnology 2023年第2期14卷 3-17页

作者： Meina Han Chaofan Zhang Shih-Hsin Ho State Key Laboratory of Urban Water Resource and Environment School of EnvironmentHarbin Institute of TechnologyHarbin150090PR China

Efficient wastewater treatment accompanied by sustainable“nutrients/pollutants waste-wastewaterresources/energy nexus”management is acting as a prominent and urgent global issue since severe pollution has occurred *** wastes from wastewater into the value-added microalgalbiomass stream is a promising goal using biological wastewater treatment *** review proposed an idea of upgrading the current microalgal wastewater treatment by using immobilized microalgal ***,a systematic analysis of microalgal immobilization technology is displayed through an in-depth discussion on why using immobilized microalgae for wastewater ***,the main technical approaches employed for microalgal immobilization and pollutant removal mechanisms by immobilized microalgae are ***,from high-tech technologies to promote large-scale production and application potentials in diverse wastewater and bioreactors to downstream applications lead upgradation closer,the feasibility of upgrading existing microalgal wastewater treatment into immobilized microalgal systems is thoroughly ***,several research directions are proposed toward the future immobilized microalgal system for microalgal wastewater treatment ***,it appears that using immobilization for further upgrading the microalgae-based wastewater treatment can be recognized as an achievable alternative to make microalgal wastewater treatment more *** information and perspectives provided in this review also offer a feasible reference for upgrading conventional microalgae-based wastewater treatment.

关键词： Microalgae Immobilized microalgal system Biological wastewater treatment Removal mechanisms Technical upgrading

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Real-time Trajectory Planning for Redundant 7-dof Space Manipulators with Unknown Link Lengths

Real-time Trajectory Planning for Redundant 7-dof Space Mani...

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robotics, Control and Automation (ICRCA), International Conference on

作者： Jian Liu Zhiqi Li Shicai Shi Minghe Jin State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331544577

ISBN: (纸本)9798331544584

Trajectory planning for redundant space manipulators in complex spatial environments is critical for ensuring successful on-orbit task execution, especially when the manipulator’s link lengths are unknown. Traditional algorithms struggle to establish the transformation between task space and joint space under such conditions, posing significant challenges to autonomous trajectory planning. This study proposes a novel trajectory planning method for a seven-degree-of-freedom redundant space manipulator with a shoulder-wrist offset. The method utilizes a trained pose control decision system to generate continuous, smooth, and singularity-free trajectories in real time, satisfying positional and orientational accuracy requirements for target capture. A neural network with strong nonlinear fitting capabilities is employed as the position control decision module for joints 1-4, trained using a "cautious exploration, greedy exploitation" strategy for efficient and safe trajectory optimization. For joints 5-7, an analytical orientation control decision module adjusts the end-effector’s attitude. Together, these modules form a pose control decision system that adheres to constraints on joint angular velocity, acceleration, and singularity avoidance. The proposed approach is validated through simulations in both static and dynamic scenarios, with simulation results confirming its effectiveness.

关键词： Accuracy Trajectory planning Simulation Position control Aerospace electronics Manipulators Control systems Real-time systems Angular velocity Manipulator dynamics

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A Microgravity Simulation Experimental Platform For Small Space Robots In Orbit

arXiv

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arXiv 2025年

作者： Luo, Hang Zhou, Nanlin Zhang, Haoxiang Han, Kai Zhao, Ning Yang, Zhiyuan Qi, Jian Zhao, Sikai Zhao, Jie Zhu, Yanhe State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This study describes the development and validation of a novel microgravity experimental platform that is mainly applied to small robots such as modular self-reconfigurable robots. This platform mainly consists of an air supply system, a microporous platform and glass. By supplying air to the microporous platform to form an air film, the influence of the weight of the air foot and the ventilation hose of traditional air-float platforms on microgravity experiments is solved. The contribution of this work is to provide a platform with less external interference for microgravity simulation experiments on small robots. Copyright © 2025, The Authors. All rights reserved.

关键词： Microgravity processing

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A Lower Limb Exosuit for Assisting Knee Joint in Rehabilitation During Walking

A Lower Limb Exosuit for Assisting Knee Joint in Rehabilitat...

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Mechatronics and robotics Engineering (ICMRE), International Conference on

作者： Yao Huang Haotian Ju Songhao Guo Tianjiao Zheng Jie Zhao Yanhe Zhu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (数字)9798331509293

ISBN: (纸本)9798331509309

For knee rehabilitation patients, it is difficult to maintain balance while walking, and completing a normal gait cycle is challenging. Therefore, we propose a lower limb exosuit tailored for the knee rehabilitation patients to assist in normal walking, and experimentally evaluated the assistance effect of the lower limb exosuit. We mimic the mechanism of the skeletal muscles near the knee joint, by contracting and relaxing the length of the flexible Bowden cable between the thigh and calf, generating assistive torque on the knee joint periodically. We use Inertial Measurement Unit (IMU) to measure lower limb motion parameters, identify gait cycle states, and calculate corresponding plantar pressure and knee joint torque for each phase. We compared surface electromyography (sEMG) signals of three muscle groups (biceps femoris (BF), quadriceps femoris (QF), and gastrocnemius (G)) under conditions of wearing and not wearing the exosuit. The experimental results show that compared to not wearing the exosuit, the mean normalized sEMG signals of the three muscle groups decreased by 4.61 %, 2.41 %, and 3.97% respectively while wearing it, the peak values decreased by 11.60%, 25.69%, and 14.99% respectively, with the quadriceps femoris receiving the highest degree of assistance.

关键词： Knee Legged locomotion Limbs Torque Measurement units Thigh Muscles Pressure measurement Torque measurement Robots

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A Lower Limb Exosuit for Assisting Knee Joint in Rehabilitation During Walking 11

A Lower Limb Exosuit for Assisting Knee Joint in Rehabilitat...

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11th International Conference on Mechatronics and robotics Engineering, ICMRE 2025

作者： Huang, Yao Ju, Haotian Guo, Songhao Zheng, Tianjiao Zhao, Jie Zhu, Yanhe Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9798331509293

关键词： Neuromuscular rehabilitation

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Effect of trigger system on experimental dispersion characteristics of active surface wave testing

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Earthquake Engineering and Engineering Vibration 2024年第2期23卷 311-318页

作者： Lin Shibin Jeramy C.Ashlock Zhu Liming Qin Zexiang Li Bo Zhu Xingji Zhai Changhai State Key Laboratory of Precision Blasting Jianghan UniversityWuhan 430056China Hubei Key Laboratory of Blasting Engineering Jianghan UniversityWuhan 430056China Department of Civil Construction&Environmental EngineeringIowa State UniversityAmesIA 50010USA Wuhan Airport Road Development Co. Ltd.Wuhan 430065China School of Civil and Environmental Engineering Harbin Institute of TechnologyShenzhen 518055China Key Lab of Structures Dynamic Behavior and Control of the Ministry of Education Harbin Institute of TechnologyHarbin 150090China Key Lab of Smart Prevention and Mitigation of Civil Engineering Disaster of the Ministry of Industry and Information Technology Harbin Institute of TechnologyHarbin 150090China

A trigger system is typically employed in active seismic testing to trigger and synchronize multichannel surface wave data *** effect of the trigger system on the dispersion image of surface waves is empirically known to be negligible,however,theoretical explanation regarding the effect of the trigger system is *** study systematically examines the theory for surface wave dispersion analysis and proves that the effect of the trigger system on a dispersion image is negligible via a solid theoretical ***,based on the new theoretical explanation,an alternative method that uses only the relative phase difference between sensors to extract dispersion characteristics with better conceptual clarity is *** active surface wave testing cases are considered to validate the theory and *** results indicate that(1)an accurate trigger system is not necessary for surface wave data acquisition,and(2)it is unnecessary to assume that the impact point is the generation point of the surface waves for the experimental dispersion analysis.

关键词： site investigation surface waves data acquisition dispersion

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