检索结果-内蒙古大学图书馆

Carbon neutrality of wastewater treatment-A systematic concept beyond the plant boundary

Environmental Science and Ecotechnology 2022年第3期11卷 57-63页

作者： Lanqing Li Xiuheng Wang Jingyu Miao Aliya Abulimiti Xinsheng Jing Nanqi Ren State Key Laboratory of Urban Water Resource and Environment School of EnvironmentHarbin Institute of TechnologyHarbin150090PR China School of Civil and Environmental Engineering Harbin Institute of Technology(Shenzhen)Shenzhen518055China

Recently,every industry has been working to achieve carbon neutrality,and the wastewater sector is no ***,little research focuses on the carbon accounting of wastewater treatment and the roadmap to carbon ***,to systematically perform accounting,we provide a sketch that describes three boundaries of the wastewater system and propose that the carbon neutrality of the wastewater system is far beyond the plant ***,we identify the direct and indirect carbon emissions of wastewater *** addition to direct emissions of CH_(4) and N_(2)O,direct fossil CO_(2) emissions from wastewater treatment should be included in accounting to set accurate ***,the technologies that assist in achieving carbon-neutral wastewater treatment both within-thefence of wastewater treatment plants and beyond the plant boundary are *** measurements of energy recovery,resource recovery,and water reuse contribute to reaching this *** concepts of energy neutrality and carbon neutrality are *** wastewater treatment cases in energy self-sufficiency may not achieve carbon ***,resource recovery methods are encouraged,especially to produce carbon-based ***,the trend of preference for the decentralized sewage treatment system is pinpointed,and systematic thinking to set the urban infrastructure layout as a whole is advocated.

关键词： Carbon neutrality Wastewater treatment Fossil CO_(2)emissions system boundaries systematic thinking

来源：评论

学校读者我要写书评

暂无评论

Rubik’s cube as in-situ programmable matter and a reconfigurable mechanical metamaterial

引用

Science China(Technological Sciences) 2024年第10期67卷 3221-3234页

作者： ZHU ShaoWei CHEN Huan YANG XiaoQiang TAN Li JIN Shuai CHEN LiMing LIU Tao TAN XiaoJun WANG LianChao WANG Bing MUAMER Kadic State Key Laboratory of Coal Mine Disaster Dynamics and Control Chongqing UniversityChongqing 400030China College of Aerospace Engineering Chongqing UniversityChongqing 400030China School of Civil Aviation Northwestern Polytechnical UniversityXi’an 710129China National Key Laboratory of Science and Technology on Advanced Composites in Special Environments Harbin Institute of TechnologyHarbin 150080China Institut FEMTO-ST CNRS UMR 6174University BourgogneFranche-ComtBesan¸con 25000France

As part of the 4th industrial revolution,programmable mechanical metamaterials exhibit great application potential in flexible robotics,vibration control,and impact ***,maintaining a programmed state without sustaining the external stimulus is often challenging and leads to additional energy *** by Rubik’s cube,we design and study an in-situ programmable and distribution-reconfigurable mechanical metamaterial(IPDR-MM).A matrix model is developed to model IPDR-MMs and describe their morphological *** on this model,the reinforcement learning method is employed to find the pathways for morphological *** find that IPDR-MMs have controllable stiffness across several orders of magnitude and a wide range of adjustable anisotropies through morphology ***,because of the independence of the directions of morphology transformation and bearing,IPDR-MMs exhibit good stability in bearing and can readily achieve high *** Rubik’s cube-inspired design concept is also instructive for other deformable structures and metamaterials,and the current version of the proposal should be sufficiently illustrative to attract and broaden interdisciplinary interests.

关键词： mechanical metamaterials in-situ programmable distribution-reconfigurable Rubik’s cube controllable stiffness and anisotropy

来源：评论

学校读者我要写书评

暂无评论

Energy-Consumption Optimization Control for Lunar Rover's Travel with Torque-Distribution-strategy in Rear Wheels

Energy-Consumption Optimization Control for Lunar Rover's Tr...

引用

IEEE International Conference on Control Science and systems Engineering (CCSSE)

作者： Delun Li Jianfei Cao Yiliang Chen Zongwu Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (数字)9798331517199

ISBN: (纸本)9798331517205

In anticipation of future extensive lunar surface operations, lunar rovers are required to advance towards higher speeds and improved energy conservation. When traveling at high speeds on the lunar surface, the vehicle's energy expenditure is greatly amplified by the influence of the terrain, particularly in conditions where driving and steering are coupled. This paper proposes an energy-saving control strategy for lunar rovers that employs dynamic rear-axle torque distribution, with the goal of optimizing transient energy consumption during travel. To tackle the challenge of non-differentiable functions within the optimization objectives, we suggest using a zeroth-order gradient optimization method for resolution, dynamically constraining the range of control parameters to fulfill the dynamic torque distribution objectives as needed for the task. The energy-saving control effectiveness of the algorithm has been confirmed through simulation, demonstrating a minimum energy-saving ratio of at least 4%, which increases to over 11% as the speed level rises, offering a valuable technical solution for the energy optimization of lunar rovers.

关键词： Space vehicles Energy consumption Torque Distribution strategy Moon Wheels Optimization methods systems engineering and theory Vehicle dynamics Transient analysis

来源：评论

学校读者我要写书评

暂无评论

Leveraging large language models for comprehensive locomotion control in humanoid robots design

引用

Biomimetic Intelligence & robotics 2024年第4期4卷 48-63页

作者： Shilong Sun Chiyao Li Zida Zhao Haodong Huang Wenfu Xu School of Mechanical Engineering and Automation Harbin Institute of TechnologyShenzhen 518055China Guangdong Provincial Key Laboratory of Inteligent Morphing Mechanisms and Adaptive Robotics Shenzhen 518055China Key University Laboratory of Mechanism&Machine Theory and Intelligent Unmanned Systems of Guangdong Shenzhen 518055China

This paper investigates the utilization of large language models(LLMs)for the comprehensive control of humanoid robot *** reinforcement learning(RL)approaches for robot locomotion are resource-intensive and rely heavily on manually designed reward *** address these challenges,we propose a method that employs LLMs as the primary designer to handle key aspects of locomotion control,such as trajectory planning,inverse kinematics solving,and reward function *** using user-provided prompts,LLMs generate and optimize code,reducing the need for manual *** approach was validated through simulations in Unity,demonstrating that LLMs can achieve human-level performance in humanoid robot *** results indicate that LLMs can simplify and enhance the development of advanced locomotion control systems for humanoid robots.

关键词： Humanoid robots Large language models Locomotion control Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

A Family of Deployable Single-Loop Metamorphic Mechanisms for Aerospace Manipulators: Synthesis, Network, and Analysis

SSRN

引用

SSRN 2024年

作者： Zhang, Yang Kang, Xi Li, Bing State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China

Guided by predetermined degrees of freedom for different desired tasks, the type synthesis of single-loop metamorphic mechanisms (SLMMs) has long posed a challenge. Owing to the complexity and coupling of their overconstraints and the variability of constraints arising from bifurcation motions, it is difficult to ensure geometric coordination and synchronous motion for a network of multiple SLMMs. Here, we propose an approach to type synthesize SLMMs using the atlas method. A novel family of SLMMs is further synthesized. The mobility analysis of a selected 7R SLMM is carried out via screw theory. The kinematics and bifurcation phenomena are analyzed and verified through numerical simulation using computer-aided design models. To evaluate the performance of the SLMMs, the mapping relationship between key design parameters and performance indicators, such as the grasping angle, folding angle, and mechanical advantage, is studied. A networking method is then proposed by considering the geometric coordination conditions and variation of the overconstraints of SLMMs. Prototypes of an SLMM and manipulator with optimal geometrical parameters are developed to verify the feasibility and correctness of the proposed method and kinematic analysis. © 2024, The Authors. All rights reserved.

关键词： Manipulators

来源：评论

学校读者我要写书评

暂无评论

A Meta-reinforcement Learning Framework for Adaptive Quadrotor UAV Attitude Control 25th

A Meta-reinforcement Learning Framework for Adaptive Quadro...

引用

25th International Conference on Parallel and Distributed Computing, Applications and Technologies, PDCAT 2024

作者： Zhao, Kaidong Li, Yanjie Liu, Zihan Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen China School of Mechanical Engineering and Automation The Harbin Institute of Technology Shenzhen Shenzhen518055 China

ISBN: (纸本)9789819642069

This paper presents a meta-reinforcement learning approach for quadrotor UAV attitude control, addressing the limitations of traditional control methods in complex, dynamic, and uncertain environments. Our method integrates the advantages of context learning, Gaussian sampling, and multi-task training to rapidly adapt to diverse aircraft parameters and environmental conditions. Specifically, we utilize historical information quadruples as contextual data to accurately estimate current task characteristics through real-time observation and learning. In the latent space, we employ Gaussian sampling to effectively handle unknown UAV parameters. To validate the method’s efficacy, we conducted a series of experiments in the Bullet simulator, including single attitude tracking, resultant acceleration control, and continuous trajectory tracking. Experimental results demonstrate that our approach significantly outperforms traditional PID controllers and domain randomization-based SAC methods in terms of stability, rapid response, and trajectory tracking precision. Through multi-task training, our controller has developed the ability to swiftly adapt to novel situations. This research provides a robust and flexible solution for adaptive control of quadrotor UAVs, showing promise for more efficient and stable flight control in complex and dynamically changing environments. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Reinforcement learning

来源：评论

学校读者我要写书评

暂无评论

Design and Experimental Evaluation of WLR-III

Design and Experimental Evaluation of WLR-III

引用

IEEE International Conference on robotics and Biomimetics

作者： Xu Li Yili Fu State Key Laboratory of Robotics and System Harbin Institute of Technology and State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Intelligent Robot Research Center Zhejiang Laboratory and State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

This paper introduces the design and experimental evaluation of WLR-III, which stands for the third-generation hydraulic wheel-legged robot. WLR-III is expected to be applied to disaster scenarios where the mobility, adaptability and manipulation capability are required. Based on the development of the previous two generations of wheel-legged robots, this work continuously optimizes the design to achieve higher mobility and stronger adaptability by reducing weight & inertia. The hydraulic power transmission system adopts a hose-less design method to ensure the robustness of the system. What's more prominent is that the successful development of hydraulic power unit (HPU) enables WLR-III to realize hydraulic power autonomy. In addition, to accomplish all kinds of operational tasks in the rescue scene, the electro-hydraulic hybrid drives anthropomorphic arms with heavy load grippers were developed. Finally, the effectiveness and reliability of design optimization have been evaluated through a series of experiments, including grassland movement, load bearing, obstacle-stepping and tool-operating. To the authors' best knowledge, this is the first time that a hydraulic powered autonomous wheel-legged humanoid robot with the ability to operate simple tools has been developed.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Automatic venous segmentation in venipuncture robot using deep learning

Automatic venous segmentation in venipuncture robot using de...

引用

2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： He, Tianbao Guo, Chuangqiang Jiang, Li Liu, Hansong Harbin Institute of Technology State Key Laboratory of Robotics and System Heilongjiang Province Harbin China

ISBN: (纸本)9781665436786

Vein identification plays a pivotal role in realizing automatic venipuncture, and it has become a difficulty to segment the veins efficiently as well as accurately in the research of full-automatic venipuncture robots. Most studies in the field of vein segmentation have only focused on traditional image processing methods, the segmentation accuracy and generalization performance of which are poor. Therefore, we propose an automatic image segmentation algorithm using the U-Net model with the attention mechanism (Attention-UNet) which can suppress unnecessary features. Besides, the encoder-decoder and the skip-connection structure are applied for multi-scale feature recognition so that the segmentation accuracy can be improved. Meanwhile, on digital arm images for the vein segmentation data set (DAIVS data set), the newly-built human forearm veins data set, the effectiveness of the proposed method in vein segmentation is verified. Finally, we conduct experiments to acquire and process venous images with the Attention-UNet in real-time on the venipuncture robot. These results indicate that machine vision has better performance in complex visual tasks and can be translated into clinical application. © 2021 IEEE.

关键词： Robots

来源：评论

学校读者我要写书评

暂无评论

Design and Optimization of a Ferrite Assisted Synchronous Reluctance Motor for New Energy Vehicles 27

Design and Optimization of a Ferrite Assisted Synchronous Re...

引用

27th International Conference on Electrical Machines and systems, ICEMS 2024

作者： Chen, Bin Xiao, Yong Li, Xia Han, Xueqiu Hu, Yusheng Li, Liyi Guangdong Provincial Key Laboratory of High-speed and Energy Conservation Motor System Zhuhai China Gree Electric Appliances INC. of Zhuhai Zhuhai China Harbin Institute of Technology Harbin China

ISBN: (纸本)9784886864406

A ferrite assisted synchronous reluctance motor with UV-shaped permanent magnet poles for new energy vehicles is proposed in the paper. The influence of the structure parameters on the torque, torque ripple and demagnetization are analyzed in detail, and the optimization variables are selected based on the analysis results firstly. And then, in view of the variable working conditions of motors for vehicles, an optimization method for multiple working conditions based on the division of typical working conditions is proposed. The optimized motor has greater output capacity, higher overall efficiency, and the torque ripple under various working conditions is greatly reduced. © 2024 The institute of Electrical Engineers of Japan.

关键词： Demagnetization

来源：评论

学校读者我要写书评

暂无评论

Cam-Driven Frequency Up-Conversion Mechanism For Kinetic Energy Harvesting

Cam-Driven Frequency Up-Conversion Mechanism For Kinetic Ene...

引用

Micro and Nanotechnology for Power Generation and Energy Conversion Applications (PowerMEMS)

作者： Heng Zhao Tianyi Tang Yunfei Li Mingqi Mei Huicong Liu School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced Robotics Soochow University Suzhou CHINA State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin CHINA

ISBN: (数字)9798350380200

ISBN: (纸本)9798350380217

This paper proposes an ocean wave energy harvester (WEH) with a cam-driven frequency up-conversion mechanism. It utilizes a planar pendulum structure to achieve motion response to ultra-low-frequency wave excitation and then converts the mechanical energy of the pendulum into high-frequency and high-power electrical energy output through the cam-driven frequency upconversion mechanism. WEH’s superior design enables high-power output even under excitation below 1 Hz. At the excitation frequency of 0.75 Hz and resistance load of $20 \Omega$, the maximum power output can reach 461.4 mW. Due to its high output power, the WEH can be integrated into the ocean observation buoy to power the sensors, thereby enabling long-term, unattended operation of the buoy in remote offshore areas.

关键词： Temperature sensors Resistance Ocean waves Frequency conversion Sensor systems Sensors Power systems Wave energy conversion Power generation Ocean temperature

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：