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Autotrophic Nitrogen Removal-Dominated Simultaneous Endogenous Partial Denitrification/Anammox (Epda) system Achieved by Anaerobic Duration Optimization

SSRN

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SSRN 2024年

作者： Li, Dong Zeng, Fanxu Yang, Songwei Zhu, Yuliang Li, Zhu Zeng, Huiping Zhang, Jie Key Laboratory of Water Science and Water Environment Recovery Engineering Beijing University of Technology Beijing100124 China State Key Laboratory of Urban Water Resource and Environment Harbin Institute of Technology Harbin150090 China

The endogenous partial denitrification process (EPD) led by glycogen-accumulating organisms (GAOs) has become an alternative to NO2− supply in mainstream anaerobic-ammonia oxidation (anammox). However, low autotrophic nitrogen removal contribution is an urgent problem that needs to be solved in simultaneous endogenous partial denitrification/anammox (EPDA) system. This study used anaerobic duration optimization to enhance the autotrophic nitrogen removal capacity of EPDA system. The results showed that the EPDA activity increased from 0.67 to 1.09 mg N/g VSS·h after anaerobic time was extended to 120 min. This significantly improved the contribution of anammox to TIN removal, increasing from 23.5% to 61.6%. During the phase III, *** of 4.5±1.8 mg/L and NRE of 92.2%±3.0%. The enrichment of AnAOB (0.34%) and GAOs (1.54% Defluviicoccus) was responsible for maintaining the stability of the EPDA process. This study provides a feasible optimization strategy for improving the contribution of autotrophic nitrogen removal in the EPDA system. © 2024, The Authors. All rights reserved.

关键词： Ammonia

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RGB-D Grasp Detection via Depth Guided Learning with Cross-modal Attention

RGB-D Grasp Detection via Depth Guided Learning with Cross-m...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ran Qin Haoxiang Ma 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

Planar grasp detection is one of the most fundamental tasks to robotic manipulation, and the recent progress of consumer-grade RGB-D sensors enables delivering more comprehensive features from both the texture and shape modalities. However, depth maps are generally of a relatively lower quality with much stronger noise compared to RGB images, making it challenging to acquire grasp depth and fuse multi-modal clues. To address the two issues, this paper proposes a novel learning based approach to RGB-D grasp detection, namely Depth Guided Cross-modal Attention Network (DGCAN). To better leverage the geometry information recorded in the depth channel, a complete 6-dimensional rectangle representation is adopted with the grasp depth dedicatedly considered in addition to those defined in the common 5-dimensional one. The prediction of the extra grasp depth substantially strengthens feature learning, thereby leading to more accurate results. Moreover, to reduce the negative impact caused by the discrepancy of data quality in two modalities, a Local Cross-modal Attention (LCA) module is designed, where the depth features are refined according to cross-modal relations and concatenated to the RGB ones for more sufficient fusion. Extensive simulation and physical evaluations are conducted and the experimental results highlight the superiority of the proposed approach.

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A new assistant robot system for abdominal minimally invasive surgery

A new assistant robot system for abdominal minimally invasiv...

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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Feng, Mei Li, Jinhui Jin, Xinze Wang, Chao Lu, Xiuquan Fu, Yili Key Laboratory of CNC Equipment Reliability Ministry of Education School of Mechanical and Aerospace Engineering Jilin University Jilin Changchun130022 China Harbin Institute of Technology State Key Lab Robot &systems Heilongjiang Harbin China

ISBN: (纸本)9781665481090

A new assistant robot system for abdominal minimally invasive surgery is proposed in this paper to meet the needs of traditional abdominal surgeries. The system is comprised primarily of a robotic arm system, end-effectors and a master manipulator. A novel remote center mechanism is proposed in the robotic arm system, furthermore, a flexible end-effector and a seven-degree-of-freedom master manipulator are designed independently. Based on this new assistant robot system for abdominal minimally invasive surgery, hand-eye coordination intuitive control is implemented, and relevant experiments are designed to validate the control system and control algorithm. © 2022 IEEE.

关键词： End effectors

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Force Distribution-Based Control Strategy of Landing Gear for the Unmanned Helicopter Landing on the Inclined Surface

Force Distribution-Based Control Strategy of Landing Gear fo...

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IEEE International Conference on robotics and Biomimetics

作者： Baolin Tian Haitao Yu Shihao Mao Yuxin Cui Zhen Yan Haibo Gao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China College of Electronic Information Engineering Beihang University and the Shanghai Academy of Spaceflight Technology Shanghai China

ISBN: (纸本)9781665481106

The unmanned helicopter plays an important role in the fields of cargo transportation and rescue missions. Due to the limitation of the traditional landing gear structure, the unmanned helicopter has more stringent requirements on the landing terrain. In order to improve the ability to land on the inclined surface for the unmanned helicopter, a novel control strategy of the landing gear based on contact force distribution algorithm is proposed. The overall of landing process includes the desired position tracking stage, the following stage and the attitude adjusting stage. By obtaining the desired acceleration according to the landing and attitude correcting curve of the fuselage, and calculating the desired force based on contact force distribution algorithm, the adaptive motion and trajectory tracking of the landing gear during the landing process has been realized. The simulation results have demonstrated the effectiveness of the strategy when the unmanned helicopter with the initial roll angle of -3 degrees and pitch angle of 3 degrees lands on the inclined surface of 7.07 degrees. In the future, the control strategy can provide a reference for the dynamic landing of the unmanned helicopter while at sea.

关键词： Sea surface Gears Trajectory tracking Simulation Helicopters Force Transportation

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A Path Planning Algorithm of Spray Robot based on 3D Point Cloud

A Path Planning Algorithm of Spray Robot based on 3D Point C...

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2020 International Conference on Communications, Information system and Computer Engineering, CISCE 2020

作者： Yang, Jubo Kong, Minxiu Wang, Rundong School of Mechatronics Engineering Harbin Institute of Technology Harbin China State Key Laboratory of Robotics and System Harbin China

ISBN: (纸本)9781728197616

The automatic path planning method of spray robot has always been a challenging problem, especially for the mixed-line production of various workpieces. This paper discusses the self-acquisition technology of spray path based on the point cloud model of furniture. The coordinate relationship between the coordinate system of the spraying system and the adaptive adjustment of the pose are discussed for the point cloud pose of the furniture. The furniture surface path planning based on point cloud slices and edge spraying based on edge extraction technology were studied to obtain the ordered path point sequence and posture of the spray gun. Through the robot spraying experiment on flat furniture and complex curved furniture, the reliability of the algorithm is verified from the aspects of algorithm efficiency and spraying effect. © 2020 IEEE.

关键词： Motion planning

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A RCDNet for outdoor unmanned sweeping vehicles based on graph convolutional network

A RCDNet for outdoor unmanned sweeping vehicles based on gra...

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第33届中国控制与决策会议

作者： Dianyong Yu Saiyingnan Bian Changan Hu Jieming Lou State Key Laboratory of Robotics and System Harbin Institute of Technology

This paper proposes a graph convolutional network for road curb point detection(RCDNet) which converts road curb point detection into a point cloud segmentation *** input of the network comes from the point cloud below the segmented road ***,the point cloud enters a permutation network to ensure that the spatial permutability of the point cloud remains *** a neighbor number k is given,and k neighbor points of each point are calculated through the xyz attribute of the point *** k neighbor points used as the local features of the point are fused with the xyz attributes of the point to construct the edge *** convolving the edge features to extract higher-level point cloud spatial *** this method of fusion of local features and global features,more local information of the point cloud can be obtained,so that the network can segment the three-dimensional point cloud with higher accuracy.

关键词： Graph convolution Point cloud Local features RCDNet

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A Self-Strengthening Epidermis-Like Smart Coating Enabled by Dynamic Iron Sequestration

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CCS Chemistry 2021年第11期3卷 2655-2668页

作者： Xiaodong Qi Lei Yang Ying Hou Jiaqi Zhu Ming Yang Shouhua Feng Key Laboratory of Microsystems and Micronanostructures Manufacturing Harbin Institute of TechnologyHarbin 150080 State Key Laboratory of Inorganic Synthesis and Preparative Chemistry Jilin UniversityChangchun 130012

Living organisms rely on materials sequestration from the environment to strengthen their *** constant activity provides necessary supplies for critical biological functions,which is difficult by man-made structures due to the lack of a dynamic sequestration *** this study,it is shown that an epidermis-like smart coating can respond to changes in salinity to allow a spontaneous and progressive strengthening when supported by steel as a sustained iron *** self-strengthening is enabled by reaction-coupled diffusion,which makes possible the dynamic sequestration of iron from the in situ rusted steel,partially mimicking the iron accumulation process in a *** emergence of iron-phenolic coordination bonds continuously improves modulus,hardness,and adhesion,achieving a strengthening efficiency comparable to mussel ***,the bilayer design ensures long-term self-healing performance even during strengthening and a mechanically robust anticorrosion coating with an autonomic protection mechanism and gradually enhanced barrier properties during prolonged *** results provide a new venue for the design of stimuli-responsive smart materials characteristic of an open biological system and may serve as the basis for creating highly intelligent devices with sophisticated functionality.

关键词： biomimetics self-strengthening selfhealing smart coating epidermis-like

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High-Performance Floating Thermoelectric Generator for All-Day Power Supply

SSRN

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SSRN 2024年

作者： Wu, Zuoxu Wang, Jian Sun, Xiaoyu Lin, Chenhao Liu, Yijie Liu, Xingjun Mao, Jun Zhang, Qian Cao, Feng State Key Laboratory of Advanced Welding and Joining China School of Science Ministry of Industry and Information Technology Key Lab of Micro-Nano Optoelectronic Information System Harbin Institute of Technology Shenzhen518055 China School of Materials Science and Engineering Harbin Institute of Technology Shenzhen518055 China

Thermoelectric generators (TEGs) offer notable benefits in harnessing diverse low-grade waste heat from the environment. However, the uninterrupted capture of these energy resources still remains a huge challenge. Herein, we have developed a temperature-adaptive floating thermoelectric generator (TAFTEG) by integrating a temperature-adaptive absorber/emitter (TAA/E) to synergistically exploit renewable energy from the sun, outer space, and the water bodies by leveraging diurnal spectrally selective absorption and nocturnal radiative cooling. The WxV1-xO2-based TAA/E demonstrates remarkably solar absorption of ~96% and a superior switching ability of dynamic thermal radiation modulation from the low emission of ~45% to high emission of ~81%. Assembled with 8 pairs of Bi2Te3-based TEG legs, the TAFTEG enables a stable temperature difference of 34°C under indoor solar irradiation (1 kW m-2), yielding a peak power output of ~1.0 mW cm-2, and continuous all-day power supply under both clear and overcast conditons. This strategy paves a new avenue toward the round-the-clock power supply from ambient environments. © 2024, The Authors. All rights reserved.

关键词： Bismuth compounds

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MASQ: Multi-Agent Reinforcement Learning for Single Quadruped Robot Locomotion

arXiv

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arXiv 2024年

作者： Liu, Qi Guo, Jingxiang Lin, Sixu Ma, Shuaikang Zhu, Jinxuan Li, Yanjie The Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics The School of Mechanical Engineering and Automation The Harbin Institute of Technology Shenzhen518055 China

This paper proposes a novel method to improve locomotion for a single quadruped robot using multi-agent deep reinforcement learning (MARL). Many existing methods use single-agent reinforcement learning for an individual robot or MARL for the cooperative task in multi-robot systems. Unlike existing methods, this paper proposes using MARL for the locomotion of a single quadruped robot. We propose a learning structure called Multi-Agent Reinforcement Learning for Single Quadruped Robot Locomotion (MASQ), considering each leg as an agent to explore the action space of the quadruped robot, sharing a global critic, and learning cooperatively. Experimental results show that MASQ not only speeds up learning convergence but also enhances robustness in real-world settings, suggesting that applying MASQ to single robots such as quadrupeds could surpass traditional single-robot reinforcement learning approaches. Our study provides insightful guidance on integrating MARL with single-robot locomotion. © 2024, CC BY.

关键词： Deep reinforcement learning

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Synergetic Sludge Conditioning by Us Enhanced Fe2+ Activated Sodium Persulfate: Physicochemical Properties and Mechanisms

SSRN

引用

SSRN 2024年

作者： Lv, Zhiying You, Hong Xu, Mingze Leng, Haoran Li, Weirun Li, Zhipeng Zhu, Jing Zhang, Guoyu State Key Laboratory of Urban Water Resources and Environment Harbin Institute of Technology Harbin150090 China School of Marine Science and Technology Harbin Institute of Technology Weihai264209 China Weihai Science and Technology Innovation Development Center Weihai264499 China

Efficient dewatering of sewage sludge is an energy- and carbon-saving procedure for sludge treatment in wastewater treatment facilities. The ultrasound-coupled divalent iron ion activated persulfate process can effectively promote sludge dewatering and improve organic substance content. Under the action of ultrasound (US 50 w/L), divalent iron ions (Fe2+) 200 mg/g (TS), and persulfate (PDS) 200 mg/g (TS) for 60 min, the capillary suction time (CST) was reduced by 79.74%, and the moisture content of the dewatered sludge cake reached 56.51 wt%. The organic carbon content of treated sludge was also four times higher than the original sludge and types were richer in short-chain volatile species in US/Fe2+/PDS. Moreover, the correlation analysis found that the relationship of between CST and SV30, Zeta and LDH were positive correlation, and the relationship of SCOD and TC were positively correlated with the PN (SB-EPS). Mechanistic studies showed that the US/Fe2+/PDS system could produce oxygen activators by US coupling Fe2+ to strengthen the effect of activated PDS strongly, while the SO4·- radical was a dominant role. The cracking mechanism is divided into two pathways effectively degraded the macromolecule EPS into a small-molecule acid and further reduced the water-holding interfacial affinity as follow: (1) the radical path dominated by hydroxyl radicals (·OH), sulfate radicals (SO4·-), and superoxide radical (O2-·);(2) the non-radicals dominated by 1O2. Afterwards, the electrostatic force and interfacial free energy were reduced, resulting in enhanced self-flocculation and mobility to enhanced dewaterability. These findings demonstrated the US/Fe2+/PDS system had significant advantages in sludge cracking and provided theoretical support for its practical application. © 2024, The Authors. All rights reserved.

关键词： Sulfur compounds

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