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International Conference on Electric technology and Civil Engineering (ICETCE)

作者： Zhi-qiang Chen Fei Zheng Qin-xue Wen Ke-zhong Dou State Key Laboratory of Urban Water Resource and Environment Harbin Institute of Technology (SKLUWREHIT ) China

Characteristic of pollutants removal in CASS process under long influent and short aerobic time were carried out to achieve CASS technique maintain high biological nutrient and phosphorus removal capabilities under low temperatures. The operation model of main reaction zone was 4 hours influent with mixing, 2hours aerobic, 1 hour sedimentation and 1 hour effluent, aerobic phase was operated after 2 hours influent. In the first 2 hours influent phase, phosphorus release and denitrification were observed in three zones of CASS reactor. The total amount of phosphorus released can reach 9.5 times as large as the amount of influent phosphorus. The operation mode of CASS process under long influent and short aerobic phase has good effluent quality and the effluent concentration of COD and ammonia can still reach level A standard.

关键词： Effluents Inductors Wastewater Board of Directors Water resources Biological system modeling

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Factors influencing the start-up and stability of partial nitrification in a continuous flow reactor

Factors influencing the start-up and stability of partial ni...

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International Conference on Electronics, Communications and Control (ICECC)

作者： Chengcheng Wu Yongzhen Peng Liang Zhang Key Laboratory of Beijing Water Quality Science and Water Environment Recovery Engineering Beijing University of Technology Beijing China State Key Laboratory of Urban Water Resource and Environment Harbin Institute of Technology Harbin China

The start-up and stability of partial nitrification in a continuous flow bioreactor was investigated in this study. Nitrogen loading rate (NLR) was set to be the central examined factor and partial nitrification performance of AO system was monitored with its variation. Results from experiments indicated that NLR was the most direct factor leading to nitrite accumulation, and inhibition of free ammonia (FA) and free nitrite acid (FNA) had significant effect on partial nitrification. The gap between the specific growth rate of ammonia-oxidizing bacteria (AOB) and that of nitrite-oxidizing bacteria (NOB) leads to the AOB enrich and NOB eliminate in the system fed by high ammonia concentration inflow.

关键词： Nitrogen Microorganisms Inductors Compounds Wastewater Loading

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A Fenton-like system combined by Co2+ and potassium Monopersulfate for the treatment of benzoic acid

A Fenton-like system combined by Co2+ and potassium Monopers...

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2011 International Conference on Consumer Electronics, Communications and Networks, CECNet 2011

作者： Chen, Liwei Ma, Jun State Key Laboratory of Urban Water Resource and Environment Harbin Institute of Technology Harbin 150090 China National Engineering Research Center of Urban Water Resource and Environment Harbin 150090 China

ISBN: (纸本)9781612844572

In this paper, the Fenton-like oxidation system combined by Co2+ and potassium Monopersulfate (PMS) for the treatment of benzoic acid (BA) was investigated. The BA degradation was increased with the increasing of Co 2+ dosage and PMS dosage. However, when the molar ratios of Co 2+ to PMS were higher than 1:50, the increase of BA degradation rates were not so visible. The new system was more efficient than the conventional Fenton system for it shown obvious catalytic activity in a much wider pH range from 4 to 10. The Co2+ / PMS system led the formation of sulfate radicals, which were identified with quenching studies using specific alcohols. The sulfate radicals are stronger oxidants than hydroxyl radicals especially in neutral pH range. The Co2+ / PMS Fenton-like oxidation process could be considered as one of the most promising technologies for practical application for water treatment. © 2011 IEEE.

关键词： Catalyst activity

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Adaptive inverse control of random vibration based on the filtered-X LMS algorithm

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Earthquake Engineering and Engineering Vibration 2010年第1期9卷 141-146页

作者： Yang Zhidong,Huang Qitao~(++),Han Junwei~§and Li Hongren~§National key laboratory of Robots Technique and system,harbin institute of technology,harbin 150080,China PhD Candidate ~++ PhD ~§Professor National Key Laboratory of Robots Technique and System Harbin Institute of Technology Harbin China

Random vibration control is aimed at reproducing the power spectral density （PSD） at specified control points. The classical frequency-spectrum equalization algorithm needs to compute the average of the multiple frequency response functions （FRFs）, which lengthens the control loop time in the equalization process. Likewise, the feedback control algorithm has a very slow convergence rate due to the small value of the feedback gain parameter to ensure stability of the system. To overcome these limitations, an adaptive inverse control of random vibrations based on the filtered-X least mean-square （LMS） algorithm is proposed. Furthermore, according to the description and iteration characteristics of random vibration tests in the frequency domain, the frequency domain LMS algorithm is adopted to refine the inverse characteristics of the FRF instead of the traditional time domain LMS algorithm. This inverse characteristic, which is called the impedance function of the system under control, is used to update the drive PSD directly. The test results indicated that in addition to successfully avoiding the instability problem that occurs during the iteration process, the adaptive control strategy minimizes the amount of time needed to obtain a short control loop and achieve equalization.

关键词： random vibration power spectral density frequency response function adaptive inverse control filtered-X LMS algorithm

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Brain-Computer Interface Design Using Signal Powers Extracted During Motor Imagery Tasks

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Chinese Journal of Biomedical Engineering(English Edition) 2011年第4期20卷 139-149页

作者： HE Ke-ren WANG Xin-guang ZOU Ling MA Zheng-hua School of Information Science ＆ Engineering at the Changzhou University Changzhou 213164 China State Key Laboratory of Robotics and System （HIT） Harbin Institute of Technoigy Harbin 150001 China

Accurate classification of EEG left and right hand motor imagery is an important issue in brain-computer interface. Firstly, discrete wavelet transform method was used to decompose the average power of C3 electrode and C4 electrode in left-right hands imagery movement during some periods of time. The reconstructed signal of approximation coefficient A6 on the 6al level was selected to build up a feature signal. Secondly, the performances by Fisher Linear Discriminant Analysis with two different threshold calculation ways and Support Vector Machine methods were compared. The final classification results showed that false classification rate by Support Vector Machine was lower and gained an ideal classification results.

关键词： brain-computer interface motor imagery feature extraction pattern classification

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Analysis and development of the hydraulic secondary regulation system based on the CPR

Analysis and development of the hydraulic secondary regulati...

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International Conference on Fluid Power and Mechatronics (FPM)

作者： Wei Shen Jihai Jiang Department of Mechanical and Electronical Engineering Harbin Institute of Technology Harbin Heilongjiang China State Key Laboratory of Fluid Power Transmission and Control Zhejiang University Hangzhou Zhejiang China

This paper describes the basic components and characteristics of the hydraulic secondary regulation system based on the CPR(Common Pressure Rail), then primarily focuses on the application of the CPR in various industries combined with the advantages of the CPR which can recover energy and drive several loads independently rather than great interference with each other. Also the paper analyses the key technologies of the CPR including the exposition in the development process of the hydraulic transformer, the analysis in energy-saving components and constant pressure control of pumping station in the CPR, and then looks forward to the development prospects of the CPR.

关键词： Oil insulation Vehicles Hybrid power systems Torque Batteries Hydraulic systems Engines

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Wheel slip-sinkage and its prediction model of lunar rover

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Journal of Central South University 2010年第1期17卷 129-135页

作者：丁亮高海波邓宗全陶建国 Aerospace Mechanism and Control Key Laboratory of Fundamental Science for National Defense Harbin Institute of Technology State Key Laboratory of Robotics and System Ha rbin Institute of Technology

In order to investigate wheel slip-sinkage problem, which is important for the design, control and simulation of lunar rovers, experiments were carried out with a wheel-soil interaction test system to measure the sinkage of three types of wheels in dimension with wheel lugs of different heights and numbers under a series of slip ratios (0-0.6). The curves of wheel sinkage versus slip ratio were obtained and it was found that the sinkage with slip ratio of 0.6 is 3-7 times of the static sinkage. Based on the experimental results, the slip-sinkage principle of lunar's rover lugged wheels (including the sinkage caused by longitudinal flow and side flow of soil, and soil digging of wheel lugs) was analyzed, and corresponding calculation equations were derived. All the factors that can cause slip sinkage were considered to improve the conventional wheel-soil interaction model, and a formula of changing the sinkage exponent with the slip ratio was established. Mathematical model for calculating the sinkage of wheel according to vertical load and slip ratio was developed. Calculation results show that this model can predict the slip-sinkage of wheel with high precision, making up the deficiency of Wong-Reece model that mainly reflects longitudinal slip-sinkage.

关键词： lunar rover slip-sinkage loose lunar soil stress distribution slip ratio

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Design and Control of a Coupling Mechanism-Based Prosthetic Hand

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Journal of Shanghai Jiaotong university(Science) 2010年第5期15卷 571-577页

作者：王新庆刘伊威姜力杨大鹏李楠刘宏黄海 State Key Laboratory of Robotics and System Harbin Institute of Technology Institute of Robotics and Mechatronics German Aerospace Center Key Laboratory of Science and Technology for National Defence of Autonomous Underwater Vehicle Harbin Engineering University

A five-fingered,multi-sensory and biomimetic hand is *** cambered palm is specially designed by utilizing the knowledge of *** position of each finger is arranged according to human hand *** finger with three phalanges could fulfill flexion-extension movement *** the fingers are designed using coupling link *** location of the thumb is designed by maximizing interaction area between the thumb and other *** opposite thumb could grasp along a cone surface,while maintaining its *** hardware architecture is divided into control system and human-machine interaction *** mechanical parts,sensors and motion control systems are integrated in the hand *** addition,a skin-like glove is designed,which makes the hand more *** to our primary experimental results,the hand can accomplish several grasp modes by applying an intuitive surface electromyography control *** success rate of 10 modes is up to 90%.

关键词： prosthetic hand coupling mechanism electromyography control support vector machine (SVM)

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Sensing principle and optimization of curvature optical fiber sensor

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Guangdianzi Jiguang/Journal of Optoelectronics Laser 2011年第4期22卷 507-511页

作者： Di, Hai-Ting Fu, Yi-Li Liu, Ren-Qiang College of Engineering and Technology Northeast Forestry University Harbin 150040 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China School of Mechanical Engineering Shanghai Jiaotong University Shanghai 200240 China

To better understand the working principle and improve the performance of the curvature optical fiber sensor, the ray tracing simulation was carried out by using the optical analysis software TracePro, which provides the sensing process. The modulation principle of sensitive zone to light intensity was described by using geometric optics analysis method. The mathematic model of relations among light loss, parameters of sensitive zone's configuration and bending curvature was presented. Experiments were performed to validate the effectiveness of the proposed mathematic model. The rays will concentrate to the convex side of the bending fiber. That is, the light intensity will increase at convex side while decrease at concave side, which leads to the changes of light leakage at sensitive zone and realizes the modulation to light intensity.

关键词： Ray tracing

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Bond graph model of permanent magnet linear synchronous motor

Bond graph model of permanent magnet linear synchronous moto...

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2010 2nd International Conference on Industrial and Information systems, IIS 2010

作者： Teng, Li Yanjie, Liu Lining, Sun State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

ISBN: (纸本)9781424482177

The increasingly widespread industrial applications of permanent magnet linear synchronous motor (PMLSM) are self evident testimonies of the effectiveness of PMLSM in addressing the high requirements associated with these application areas. PMLSM direct drive system is a typical multi-domain system. This article proposes a bond graph model of PMLSM that can incorporate with other components in direct drive system to form dynamic electromechanical model. Principle of PMLSM under field-oriented control is equal to DC motor is illustrated firstly. Then bond graph model of PMLSM is built according to the equivalent circuit. The model is validated by comparing with a common used model which shows that bond graph model are equal to the model and represents clearly interactions between elements. © 2010 IEEE.

关键词： Vector control (Electric machinery)

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