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2011 International Conference on Information and Automation, ICIA 2011

作者： Liu, Jizhu Hao, Shuanghui Wang, Shaohua Zhang, Peng Chen, Tao School of Mechanical and Electric Engineering Soochow University Suzhou Jiangsu Province China School of Mechanical Engineering Harbin Institute of Technology Harbin Heilongjiang Province China Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen guangdong Province China State Key Laboratory of Transducer Technology Chinese Academy of Sciences Shanghai China

ISBN: (纸本)9781457702686

Permanent magnetic synchronous motor (PMSM) with high speed, large torque and high power usually employs centralized high power, which increases the capacity of the transformer, and reduces the reliability of the system, so the paper proposes a scheme based on an autonomous decentralized architecture, in which the stator winding uses distributed network structure, each coil of the winding is controlled by a separate driving controller, to improve the fault tolerance of the driving system. The paper deduces the formula for PMSM vector coordinate transformation, and the formula for motor self-inductance and mutual-inductance, as well as the motor voltage and electromagnetic torque model in decentralized architecture, taking a 8-pole 12-slot PMSM as example, establishes the mathematical model of current compensation with constant motor instantaneous electromagnetic torque before and after one or all coils of phase A are failed, finally tests the correctness of the current compensation model by using finite element simulating analysis and concrete experiments. © 2011 IEEE.

关键词： Synchronous motors

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Self-motion Manifolds of an 8-DOF Non-holonomic Mobile Manipulator

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Journal of Donghua University(English Edition) 2010年第3期27卷 400-406页

作者：姚玉峰赵建文孙立宁 State Key Laboratory of Robotics and System Harbin Institute of Technology

For the non-holonomic constraint robot,determining the pose of its end-effector will rely on its joints' displacement and the velocity of its non-holonomic constraint joints as ***,it becomes increasingly difficult to obtain the analytic solution of its self-motion manifold in the traditional way for solving matrix *** this paper,we take the pose of end manipulator as the result of the joint sequential motion based on the mentality of motion equivalence,the structure and the reference velocity which correspond precisely to the points in self-motion manifold as self-motion *** an analytical solution for the self-motion manifold of the 8 degree of freedom wheeled mobile manipulator is presented by taking vector algebra as a tool,which facilitates deriving the closed solution of its self-motion *** the closing part of this paper,calculating examples of self-motion manifold and mechanism self-motion simulation are proposed,which proves the validity of solution algorithm for self-motion manifold.

关键词： wheeled mobile manipulator self-motion non-holonomic constraint redundancy

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Sewage Treatment plant hydrogen sulfide and ammonia diffusion of research in Summer

Sewage Treatment plant hydrogen sulfide and ammonia diffusio...

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International Conference on Remote Sensing, Environment and Transportation Engineering (RSETE)

作者： Kun Wang Na Gao Qingliang Zhao Junchen Yang Yitong Piao State Key Laboratory of Urban Water Resources and Environments Harbin Institute of Technology China

The stench which is sent out by the operation process of sewage treatment plants will seriously affect nearby residents of normal life, causing environmental problems. With sewage treatment plant as the research object, detection of sewage treatment plant individual processing unit the absence of hydrogen sulfide and ammonia concentration confirm the main producer hydrogen sulfide and ammonia processing units for grid, sink sand pool, A pool, sludge dewatering rooms. Among the highest concentration to discharge ammonia 5.6 mg/m 3 , hydrogen sulfide highest concentration to 0.21 mg/m 3 . At the same time, Using professional eia auxiliary software system EIAProA and according to seven meteorological condition and actual testing chrome value conduct atmospheric pollutant dispersion simulation, get individual processing unit of hydrogen sulfide and ammonia concentration diagram, processing elements such as the absence of hydrogen sulfide and ammonia concentration superposition produced simulation maps, various structures concentration simulation maps, etc.

关键词： Sewage treatment Atmospheric modeling Water resources Dispersion Discharges Software systems Pollution control

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Sewage treatment plant hydrogen sulfide and ammonia diffusion of research in summer

Sewage treatment plant hydrogen sulfide and ammonia diffusio...

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2011 International Conference on Remote Sensing, Environment and Transportation Engineering, RSETE 2011

作者： Wang, Kun Gao, Na Zhao, Qingliang Yang, Junchen Piao, Yitong State Key Laboratory of Urban Water Resources and Environments Harbin Institute of Technology China

ISBN: (纸本)9781424491711

The stench which is sent out by the operation process of sewage treatment plants will seriously affect nearby residents of normal life, causing environmental problems [1]. With sewage treatment plant as the research object, detection of sewage treatment plant individual processing unit the absence of hydrogen sulfide and ammonia concentration confirm the main producer hydrogen sulfide and ammonia processing units for grid, sink sand pool, A pool, sludge dewatering rooms. Among the highest concentration to discharge ammonia 5.6 mg/m3, hydrogen sulfide highest concentration to 0.21 mg/m3. At the same time, Using professional eia auxiliary software system EIAProA and according to seven meteorological condition and actual testing chrome value conduct atmospheric pollutant dispersion simulation, get individual processing unit of hydrogen sulfide and ammonia concentration diagram, processing elements such as the absence of hydrogen sulfide and ammonia concentration superposition produced simulation maps, various structures concentration simulation maps, etc. © 2011 IEEE.

关键词： Hydrogen sulfide

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Research on the optimization of PID control of remotely operated underwater vehicle

Research on the optimization of PID control of remotely oper...

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International Conference on Computer Science and Service system (CSSS)

作者： Weijia Ma Yongjie Pang Chanjuan Jiang Xin Du State Key Laboratory Autonomous Underwater Vehicle Harbin Engineering of Technology Harbin China Army Aviation Institute BeiJing China

Ant colony algorithm (ACA) is a heuristic evolutionary algorithm, which is based on bionic population, and PID controller of remote control underwater vehicle (ROV) can be optimized by it. Optimal combination of PID control parameters can be obtained by simulating the way ants find the shortest path, and then these parameters can be improved by ACA. The simulation results show that PID controller optimized by ACA will rise faster and overshoot smaller. The PID parameters improved by ACA will be better controlled than before.

关键词： Underwater vehicles Laboratories Particle swarm optimization Electronic mail Optimization Self organizing feature maps

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Tremor Suppression Method via Magnetorheological Damper and Fuzzy Neural Network Control

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Journal of Donghua University(English Edition) 2010年第4期27卷 486-490页

作者：李军强臧希喆赵杰 State Key Laboratory of Robotics and System Harbin Institute of Technology

Based on the performance of magnetorheological damper we have developed,a tremor suppression method using human limb nonrigid characteristic was *** tremor suppression machine was designed,and the measure part and the tremor suppression part were ***,the mathematic models of fuzzy neural network and elbow nonrigid tremor were worked *** selected training data set,the off-line fuzzy neural network training was *** the tremor suppression method was simulated in *** the simulation results,it is found that the tremor suppression method has presented suppresses tremor effectively,and the tremor amplitude and tremor suppression torque can be controlled with angle displacement sensor.

关键词： magnetorheological damper nonrigid body fuzzy neural network tremor suppression

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The conditions of oxic-settling-anoxic process on sludge reduction in the active sludge system

The conditions of oxic-settling-anoxic process on sludge red...

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International Conference on Remote Sensing, Environment and Transportation Engineering (RSETE)

作者： Zhao-Hui Meng Chun-Guang Yu Wan-Qian Guo Shui-Li Yu Max Dohmann State Key Laboratory of Urban Water Resource and Environment Harbin Institute of Technology Harbin China Heilongjiang East University Harbin China State Key Laboratory of Pollution Control and Resource Reuse University of Tongji Shanghai China

This paper studied the effect of microbial species grow speed(MPGS), soluble microbial populations(SMPs) on the excess sludge production in the oxic-settling-anoxic process (OSA process), a modification of conventional activated sludge process by inserting a sludge holding tank in a sludge return line. The OSA process may provide a cost-effective way to reduce excess sludge production in activated sludge processes. The system was operated using synthetic wastewater for 4 months. The results showed that MPGS and SMP did not affect the sludge reduction. It was also found that the OSA system performed better than the traditional system in terms of the chemical oxygen demand removal efficiency and sludge settle ability.

关键词： Production Sludge treatment Chemicals Wastewater Substrates Water pollution Wastewater treatment

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A comparative study on the start-up characteristics of A2/O process between moderate and low temperature

A comparative study on the start-up characteristics of A2/O ...

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2011 International Conference on Electric technology and Civil Engineering, ICETCE 2011

作者： He, Junguo Wang, Yan Han, Baoping Zhang, Jingjing State Key Laboratory of Urban Water Resources and Environments School of Municipal and Environmental Engineering Harbin Institute of Technology Harbin 150090 China

ISBN: (纸本)9781457702907

As wastewater treatment plants may experience a fluctuant sewage temperature, which will result in some effects on the biomass activity and the removal rate, there is a strong need for a systematic study of the impact of temperature on the start-up process. In this study, two lab-scale A 2/O setups were explored to compare the overall removal and conversion rule of organic pollutants at moderate (23C) and low temperature (12C) respectively. The results showed that acceptable removal efficiency of COD and TP could be achieved at both temperature. But nitrification was restrained at low temperature. The effluent of COD, ammonia nitrogen and TP at 23C and 12C was 25.8/31.53 mg/L, 0.97/11.85 mg/L and 0.25/0.36 mg/L respectively when the system was stable. In addition, no apparent differences were found in organic pollutants conversion under these two temperature conditions. The effluent of ammonia nitrogen could be reduced to 4.58 mg/L under low-temperature by increasing the amount of return sludge from the sedimentation tank to the first step of aerobic stage. © 2011 IEEE.

关键词： Temperature

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Simulation and Controlling for Weld Shape Process in P-GMAW Based on Fuzzy Logic

Simulation and Controlling for Weld Shape Process in P-GMAW ...

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2011 IEEE International Conference Mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Zhihong Yan Lin Wun Guangjun Zhang College of Mechanical Engineering and Applied Electronics Technology Beijing University of Technolog State Key Laboratory of Advanced Welding Production Technology Harbin Institute of Technology Harbin

A sensing and controlling system is established for pulsed gas metal arc welding (P-GMAW). The topside weld pool characterizing parameters can be captured in real-time and the back side weld pool width can be predicted from these parameters by a neural network model. A fuzzy controller is established and then the close loop controlling for weld penetration is realized. Based on some topside weld pool neural networks and the back side weld pool width neural network, a simulation system is constructed and the results suggest the fuzzy controller can meet the requirements of weld shape process controlling. The variable gap experiments also validate the performance of the fuzzy controller;the maxim controlling error is 0.47mm.

关键词： P-GMAW Fuzzy logic Neural networks Simulation and controlling

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An investigation of factors associated with the preparation of immunomagnetic beads

An investigation of factors associated with the preparation ...

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International Conference on Consumer Electronics, Communications and Networks

作者： Jian Wang Chao Li Yujie Feng National Engineering Research South Center of Urban Water Resources Harbin China State Key Laboratory of Urban Water Resource and Environment Harbin Institute of Technology Harbin China

ISBN: (纸本)9781612844589

Parameters affecting antibody conjugation with immunomagnetic beads (IMB) are investigated when Goat antiMouse IgG/HRP is used as a model antibody. Results found that antibody could be conjugated on the surface of magnetic beads (MB) by physiochemical adsorption and covalent bonds. The polystyrene/acrylamide magnetic beads (amino-MB) could bind more antibodies than polystyrene/acrylic acid magnetic beads (carboxyl-MB) when the concentration of antibodies ranged from 0.25 to 1.0mg/L. For amino-magnetic beads, the conjugation amount of antibodies increased gradually as the antibody to MB ratio increased from 5 to 20mg/g, while the value of antibodies kept stable when the ratio increased to 30 from 20mg/g. It is also found that the conjugation amount of antibodies increased rapidly in the first 1h and then kept unchanged the followed 1hr at the ratio of 20mg/g. There is a significant difference between conjunction amount of antibodies of IMB prepared with Tris buffer and Carbonate buffer solution (CBS). The maximal conjugation amount of antibodies on the amino-magnetic beads' surface is 3.66mg/g when 2h incubation supplied with Tris buffer. The buffer also affects the dispersion of IMB. The dispersion of IMB prepared with CBS is better than that with Tris buffer before washing by TBST, while it is adverse after washing.

关键词： Immune system Magnetic separation Electron tubes Saturation magnetization Coatings Magnetic cores Dispersion

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