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UAV-Assisted FSO Communication system with Amplify-and-Forward Protocol under AOA Fluctuations:A Performance Analysis

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China Communications 2023年第11期20卷 111-130页

作者： Maozhe Xu Guanjun Xu Youran Dong Weizhi Wang Qinyu Zhang Zhaohui Song Shanghai Key Laboratory of Multidimensional Information Processing East China Normal UniversityShanghai 200241China State Key Laboratory of Integrated Services Networks Xidian UniversityXi’an 710126China Space Information Research Institute Hangzhou Dianzi UniversityHangzhou310018China Peng Cheng Laboratory Shenzhen 518052China Communication Engineering Research Center Harbin Institute of TechnologyShenzhen 518055China

Free space optical(FSO)communication has recently aroused great interest in academia due to its unique features,such as large transmission band,high data rates,and strong anti-electromagnetic *** the aim of evaluating the performance of an FSO communication system and extending the line-of-sight transmission distance,we propose an unmanned aerial vehicle(UAV)-assisted dual-hop FSO communication system equipped with amplifyand-forward protocol at the relay ***,we consider impairments of atmospheric absorption,pointing errors,atmospheric turbulence,and link interruptions due to angle-of-arrival fluctuations in the relay *** Gamma-Gamma and Malaga distributions are used to model the influence of atmospheric turbulence on the source-to-UAV and UAVto-destination links,*** derive closedform expressions of the probability density function(PDF)and cumulative distribution function(CDF)for the proposed communication system,in terms of the Meijer-G *** on the precise PDF and CDF,analytical expressions for the outage probability,average bit error rate,and ergodic capacity are proposed with the aid of the extended generalized bivariate Fox’s H ***,we show that there is a match between the analytical results and numerical results,and we analyze the influence of the system and channel parameters on the performance.

关键词： amplify-and-forward protocol angle-ofarrival fluctuations FSO communication Malaga distribution UAV relay

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Reconstruction Method of Stator Magnetomotive Force of High-Speed Fault-Tolerant Permanent Magnet Synchronous Motor with Single Winding Independent Control Structure

Reconstruction Method of Stator Magnetomotive Force of High-...

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International Conference on Electrical Machines and systems (ICEMS)

作者： Zhibai Gao Jiwei Cao Chengbao Zhong Jiaxi Liu Yuchen Song Liyi Li Department of Electrical Engineering Harbin Institute of Technology Harbin China Guangdong Provincial Key Laboratory of High-Performance Servo System Zhuhai China

ISBN: (数字)9784886864406

ISBN: (纸本)9798350379105

Aiming at the reliability problem of permanent magnet synchronous motor system, a reconstruction method of stator magnetomotive force based on independent winding control structure is established in this paper. For the problem of stator magnetomotive force reconstruction after fault, the mathematical derivation based on current is carried out in this paper, and the current control target of reconstructing stator magnetomotive is obtained. Through this method, the current of each phase of the motor with independent winding control structure can be quickly obtained by formula, and the motor system can run at the same power, torque and speed before and after the fault. Finally, the prototype model based on this method is established by finite element simulation, which proves the effectiveness of this method.

关键词： Torque Force Windings Fault tolerant systems Stator windings Prototypes Reconstruction algorithms Permanent magnet motors Finite element analysis Periodic structures

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Hydrothermally Synthesized Vanadium Diselenide: A Cathode Active Material for Aqueous Zinc-Ion Batteries

Hydrothermally Synthesized Vanadium Diselenide: A Cathode Ac...

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International Conference on (ICEPT) Electronic Packaging technology

作者： Xinxin Wang Shang Wang Yan Feng Xinyang Ma Jiayun Feng He Zhang Yanhong Tian State Key Laboratory of Advanced Welding and Joining Harbin Institute of Technology Harbin China

As an emerging energy storage system, aqueous zinc-ion batteries have attracted widespread attention in fields of wearable electronics and healthcare devices. However, limited cycle stability of cathode materials has hindered the commercialization of zinc-ion batteries. Herein, we synthesized vanadium diselenide nanoflakes using hydrothermal method as cathode active material, which exhibited promising cycle performance after the 20 charge-discharge cycles. The assembled zinc battery maintained a specific capacity of 110mAh/g under 0.1C in 150 cycles. This investigation illuminates the potential advancements of aqueous batteries in the realm of portable energy storage devices.

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Line Feature Based Visual Servo Control with TDE for Underwater Vehicle Manipulator systems Target Grasping

Line Feature Based Visual Servo Control with TDE for Underwa...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Yunfei Zhang Xinyu Bian Yize Sun Zongyu Zhang Hai Huang Xu Yang National Key Laboratory of Autonomous Marine Vehicle Technology Harbin Engineering University Harbin China State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (数字)9798350384185

ISBN: (纸本)9798350384192

Underwater vehicle manipulator systems (UVMSs) is becoming a research hotspot in the field of marine intelligent equipment. Introducing visual feedback equipped with cameras in the loop to guide UVMS to complete the grasping has comprehensive advantages of response speed, work efficiency and intelligence. In this paper, mapping between the feature error and the motion of the UVMS generalized degrees of freedom is established to realize the suspended grasping under the coordinated motion of the vehicle body and the manipulator. Then, a UVMS motion control algorithm based on time delay estimation (TDE) is constructed for visual servo autonomous grasping process, the TDE of which is used to estimate and compensate the lumped interference in real time. The Lyapunov theory is applied to analyze its stability and its control performance is verified through simulation experiments. The simulation results shew the effectiveness of the proposed visual servo control with TED method based on line features.

关键词： Visualization Heuristic algorithms Dynamics Estimation Grasping Stability analysis Servomotors Vehicle dynamics Underwater vehicles Manipulator dynamics

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Sim-to-Real Grasp Detection with Global-to-Local RGB-D Adaptation

Sim-to-Real Grasp Detection with Global-to-Local RGB-D Adapt...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Haoxiang Ma Ran Qin Modi Shi Boyang Gao Di Huang State Key Laboratory of Software Development Environment School of Computer Science and Engineering Beihang University Beijing China Geometry Robotics and the School of Computer Science and Technology Harbin Institute of Technology Harbin China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This paper focuses on the sim-to-real issue of RGB-D grasp detection and formulates it as a domain adaptation problem. In this case, we present a global-to-local method to address hybrid domain gaps in RGB and depth data and insufficient multi-modal feature alignment. First, a self-supervised rotation pre-training strategy is adopted to deliver robust initialization for RGB and depth networks. We then propose a global-to-local alignment pipeline with individual global domain classifiers for scene features of RGB and depth images as well as a local one specifically working for grasp features in the two modalities. In particular, we propose a grasp prototype adaptation module, which aims to facilitate fine-grained local feature alignment by dynamically updating and matching the grasp prototypes from the simulation and real-world scenarios throughout the training process. Due to such designs, the proposed method substantially reduces the domain shift and thus leads to consistent performance improvements. Extensive experiments are conducted on the GraspNet-Planar benchmark and physical environment, and superior results are achieved which demonstrate the effectiveness of our method. Code is available at https://***/mahaoxiang822/GL-MSDA.

关键词： Training Codes Pipelines Prototypes Benchmark testing Robustness robotics and automation

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A Two-Stage Energy Management Framework for Minimizing Degradation and Equivalent Hydrogen Consumption of Electric-Hydrogen Hybrid Energy Storage systems in Islanded Microgrids

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IEEE Internet of Things Journal 2025年第12期12卷 20607-20625页

作者： Tang, Yuzhen Min, Fanqi Zheng, Zhuoqun Deng, Chengwei Xie, Jingying Yang, Hengzhao ShanghaiTech University School of Information Science and Technology Shanghai201210 China Chinese Academy of Sciences Shanghai Advanced Research Institute Shanghai201210 China University of Chinese Academy of Sciences Beijing100049 China Shanghai Aerospace Power Technology Co. Ltd Shanghai201112 China Shanghai Institute of Space Power-Sources State Key Laboratory of Space Power Source Technology Shanghai200245 China Huzhou Yongxing Lithium Battery Technology Co. Ltd Huzhou313099 China China Aerospace Science and Technology Corporation Beijing100048 China Harbin Institute of Technology School of Chemistry and Chemical Engineering Harbin150001 China

Enabled by the Internet of Things technology, effective control and management of critical assets such as energy storage in electric power systems is of great interest. This paper proposes a two-stage energy management framework to minimize the degradation and equivalent hydrogen consumption of electric-hydrogen hybrid energy storage systems in the context of islanded microgrids. The first stage minimizes the system degradation by optimizing the start-stop states of the hydrogen components including the electrolyzer and the fuel cell. The logic variables associated with the start-stop states and the component reference power are optimized in the first stage. The second stage minimizes the system equivalent hydrogen consumption while minimizing the deviation of the component power with respect to the component reference power determined in the first stage. The objective function of the second stage introduces two weights to measure the contributions of the battery and the hydrogen components to the system equivalent hydrogen consumption, which are defined based on the two virtual forces related to the battery state of charge (SOC) and the hydrogen storage tank state of hydrogen charge (SOHC). Offline and real-time simulations demonstrate the effectiveness of the framework in properly allocating the net load power to the battery and the hydrogen components to optimize the two objectives. Furthermore, the effects of the virtual forces on the SOC, SOHC, and system equivalent hydrogen consumption are investigated. © 2014 IEEE.

关键词： Charge storage

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Experimental Investigation on Natural Circulation Characteristics of Core Make-Up Tank Under Rolling Conditions 29

Experimental Investigation on Natural Circulation Characteri...

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2022 29th International Conference on Nuclear Engineering, ICONE 2022

作者： Wang, Shuguang Zhang, Jinlei Shen, Ya'ou Liu, Xiaobo Ding, Shuhua Liu, Yusheng Li, Dongyang Tang, Jilin Heilongjiang Provincial Key Laboratory of Nuclear Power System & Equipment Harbin Engineering University Harbin China Science and Technology on Reactor System Design Technology Laboratory Nuclear Power Institute of China Chengdu China Nuclear and Radiation Safety Center Beijing China

ISBN: (纸本)9780791886502

In the floating nuclear power plant, Core Make-up Tank (CMT) is one of the passive safety facilities, has been widely used in nuclear engineering. Under emergency conditions, natural circulation occurs and consequent thermal stratification appears in CMT system. However, rolling motion will directly affect the natural circulation and destroy the formation of thermal stratification, so there will be uncertain and unknown change of the safety injection capacity of CMT. Based on above analysis, this work carried out experiments under rolling conditions to reveal natural circulation and thermal stratification characteristics in CMT. A temperature detecting matrix formed by thermocouples is deployed in CMT. It is concluded that thermal stratification distribution is affected by the rolling conditions. Rolling conditions increase the thickness of thermal stratification and reduce the temperature gradient. The CMT natural circulation has two stages, the influence of rolling motion on the average flow in the first stage of natural circulation is very weak, but rolling motion will significantly affect the second stage of natural circulation and advance the decline time of direct vessel injection (DVI) flow rate. The transition time of natural circulation stage and the flow change in the second stage of natural circulation are related to the thermal stratification in CMT. The impact of rolling conditions should not be ignored when evaluating the performance of CMT. © 2022 by ASME.

关键词： Safety engineering

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Sim-to-Real Grasp Detection with Global-to-Local RGB-D Adaptation

arXiv

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arXiv 2024年

作者： Ma, Haoxiang Qin, Ran Shi, Modi Gao, Boyang Huang, Di The State Key Laboratory of Software Development Environment School of Computer Science and Engineering Beihang University Beijing China The Geometry Robotics and the School of Computer Science and Technology Harbin Institute of Technology Harbin China

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A Practical Multi-camera SLAM system for Large Mobile Robots

A Practical Multi-camera SLAM System for Large Mobile Robots

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Big Data, Artificial Intelligence and Risk Management (ICBAR), International Conference on

作者： Yunlong Dong Hong Ding Fusheng Zha Mantian Li State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin 150080 China

It is very important to provide sufficient visual perception for large mobile robots to improve their security and intelligence. Considering the narrow field of vision and insufficient perception of a single camera, this paper proposes a practical multi-camera SLAM system. According to the hardware structure of the large mobile robot, the layout scheme of the multi-camera is designed and its field of view is analyzed. To make full use of the advantages of multi-camera data fusion, a multi-camera localization algorithm based on the main localization module and sub-localization module is proposed. In order to build a dense 3D point cloud map, a novel depth estimation method is present, which first uses the depth estimation method based on camera geometry to obtain a preliminary depth map, and then uses a convolutional neural network to refine it. Comprehensive experiments prove that our multi-camera SLAM system achieves appealing results and has strong practicability.

关键词： Location awareness Simultaneous localization and mapping Three-dimensional displays Robot vision systems Estimation Cameras Mobile robots

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Kinetics and mechanisms of non-radically and radically induced degradation of bisphenol A in a peroxymonosulfate-chloride system

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Environmental Science and Ecotechnology 2024年第6期22卷 191-197页

作者： Zhao Song Yu Zhang Yanhu Yang Yidi Chen Nanqi Ren Xiaoguang Duan State Key Laboratory of Urban Water Resource and Environment Shenzhen Key Laboratory of Organic Pollution Prevention and ControlSchool of Civil and Environmental EngineeringHarbin Institute of Technology(Shenzhen)Shenzhen518055PR China School of Materials and Environmental Engineering Shenzhen Polytechnic UniversityShenzhen518055PR China School of Chemical Engineering The University of AdelaideAdelaideSA5005Australia

Bisphenol A,a hazardous endocrine disruptor,poses significant environmental and human health threats,demanding efficient removal *** biological methods struggle to treat BPA wastewater with high chloride(Cl^(-))levels due to the toxicity of high Cl^(-)to *** persulfate-based advanced oxidation processes(PS-AOPs)have shown promise in removing BPA from high Cl^(-)wastewater,their widespread application is always limited by the high energy and chemical usage *** we show that peroxymonosulfate(PMS)degrades BPA in situ under high Cl^(-)*** was completely removed in 30 min with 0.3 mM PMS and 60 mM Cl^(-).Non-radical reactive species,notably free chlorine species,including dissolved Cl_(2)(l),HClO,and ClO−dominate the removal of BPA at temperatures ranging from 15 to 60℃.Besides,free radicals,including•OH and Cl_(2)^(•−),contribute minimally to BPA removal at 60°*** on the elementary kinetic models,the production rate constant of Cl_(2)(l)(32.5 M^(−1) s^(−1))is much higher than HClO(6.5×10^(−4) M^(−1) s^(−1)),and its degradation rate with BPA(2×10^(7) M^(−1) s^(−1))is also much faster than HClO(18 M^(−1) s^(−1)).Furthermore,the degradation of BPA by Cl_(2)(l)and HClO were enlarged by 10-and 18-fold at 60℃ compared to room temperature,suggesting waste heat utilization can enhance treatment ***,this research provides valuable insights into the effectiveness of direct PMS introduction for removing organic micropollutants from high Cl^(-)*** further underscores the critical kinetics and mechanisms within the PMS/Cl⁻system,presenting a cost-effective and environmentally sustainable alternative for wastewater treatment.

关键词： BPA removal Saline wastewater Peroxymonosulfate Free chlorine Kinetic model

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