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Fractional order adaptive robust formation control of multiple quad-rotor UAVs with parametric uncertainties and wind disturbances

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Chinese Journal of Aeronautics 2022年第8期35卷 204-220页

作者： Nasim ULLAH Yasir MEHMOOD Jawad ASLAM Shaoping WANG khamphe phoungthong Environmental Assessment and Technology for Hazardous Waste Management Research Center Faculty of Environmental ManagementPrince of Songkla UniversitySongkhla 90112Thailand Department of Electrical Engineering College of Engineering Taif UniversityAl-HawiyahTaif P.O Box:888Kingdom of Saudi Arabia School of Mechanical and Manufacturing Engineering NUSTIslamabad 44000 Pakistan School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100083China Faculty of Environmental Management Prince of Songkla UniversitySongkla90112Thailand

In recent times,multiple Unmanned Aerial Vehicles(UAVs)are being widely utilized in several areas of applications such as agriculture,surveillance,disaster management,search and rescue *** of robustness of applied control schemes determines how accurate a swarm of UAVs accomplish group *** and trajectory tracking controllers are required for the swarm of multiple *** like external environmental effects,parametric uncertainties and wind gusts make the controller design process as a challenging *** article proposes fractional order formation and trajectory tacking controllers for multiple quad-rotors using Super Twisting Sliding Mode Control(STSMC)*** compensate the effects of the disturbances due to parametric uncertainties and wind gusts,Lyapunov function based adaptive controllers are ***,Lyapunov theorem is used to guarantee the stability of the proposed *** types of controllers,namely fixed gain STSMC and fractional order Adaptive Super Twisting Sliding Mode Control(ASTSMC)methods are tested for the swarm of UAVs by performing the numerical simulations in MATLAB/Simulink *** the presented results,it is verified that in presence of wind disturbances and parametric uncertainties,the proposed fractional order ASTSMC technique showed improved robustness as compared to the fixed gain STSMC and integer order ASTSMC.

关键词： Adaptive robust control Fractional order control Nonlinear control Quad-rotor UAVs Swarm formation control

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Distribution of heavy metals in water and sediment of an urban river in a developing country:A probabilistic risk assessment

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International Journal of Sediment Research 2022年第2期37卷 173-187页

作者： Mir Mohammad Ali Saima Rahman Md Saiful Islam Md Refat Jahan Rakib Shaharior Hossen Md Zillur Rahman Tapos Kormoker Abubakr M. Idris khamphe phoungthong Institute of Disaster Management Khulna University of Engineering and Technology Department of Aquaculture Sher-e-Bangla Agricultural University Department of Urban and Regional Planning Khulna University of Engineering and Technology Department of Soil Science Patuakhali Science and Technology University Department of Fisheries and Marine Science Noakhali Science and Technology University Department of Fisheries Science Chonnam National University Quality Control Chemistry Lab Department of Fisheries Department of Emergency Management Patuakhali Science and Technology University Department of Chemistry College of Science King Khalid University Research Center for Advanced Materials Science (RCAMS) King Khalid University Environmental Assessment and Technology for Hazardous Waste Management Research Center Faculty of Environmental Management Prince of Songkla University

River water and sediment embody environmental characteristics that give valuable eco-environmental *** to rapid industrialization,the aquatic environment of any urban river can be seriously polluted by heavy metals(HMs).The global concern is caused by heavy metal pollution because of its potential harm to aquatic ecosystems and human *** the Bhairab River,Bangladesh,surface sediment concentrations of globally alarming toxic metals such as arsenic(As),chromium(Cr),cadmium(Cd),and lead(Pb) were measured to determine the ecological and human health risks of the riverine *** average As,Cr,Cd,and Pb concentrations in water were 3.55,31.74,1.44,and23.82 μg/L,respectively,and in sediment were 4.13,34.17,1.66,and 25.46 mg/kg,*** the winter,metals in sediment were higher than during the *** most sediment samples,the enrichment factor(EF),contamination factor(CF),geoaccumulation index(I),pollution load index(PLI) of As,Cr,Cd,and Pb indicated moderate *** potential ecological risk(PER) in sediment followed the descending order of Cd> As> Pb> *** contamination level of toxic metals implied that the condition is frightening and probably severely affecting the aquatic ecology of this riverine ecosystem.

关键词： Toxic metals Environmental risk Bioaccumulation Ecological risk Bangladesh

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Leaching toxicity characteristics of municipal solid waste incineration bottom ash

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Frontiers of Environmental Science & Engineering 2016年第2期10卷 399-411页

作者： khamphe phoungthong Yi XIA Hua ZHANG Liming SHAO Pinjing HE State Key Laboratory of Pollution Control & Resource Reuse Tongji University Shanghai 200092 China Institute of Waste Treatment and Reclamation Tongji Universily Shanghai 200092 China Centre for the Technology Research and Training on Household Waste in Small Towns & Rural Area Ministry of Housing and Urban-RuralDevelopment of PR China (MOHURD) Shanghai 200092 China

The continuously increasing production of municipal solid waste incineration bottom ash （MSWIBA） has promoted its utilization as construction material and raised environmental concern. The physico-chemical properties and leaching behavior of MSWIBA were studied, and ecotoxicological testing using a luminescent bacterium bioassay was performed to assess the ecological pollution risks associated with its leached constituents. The MSWIBA was leached by two types of leachants, H2SO4/HNO3 and HAc solution, at different liquid to solid ratios and contact times. The concentrations of heavy metals and anions in the leachates were analyzed. Multi- variate statistical analyses, including principle component analysis, Pearson＇s correlation analysis and hierarchical cluster analysis, were used to evaluate the contributions of the constituents to the toxicity （ECso） of the MSWIBA leachate. The statistical analyses of the ecotoxicological results showed that the Ba, Cr, Cu, Pb, F and total organic carbon （TOC） concentrations were closely correlated with the ECso value, and these substances were the main contributors to the ecotoxicity of the MSWIBA leachate. In addition, the cluster of these variables indicated similar leaching behaviors. Overall, the research demonstrated that the ecotoxicological risks resulting from MSWIBA leaching could be assessed before its utilization, which provides crucial information for the adaptation of MSWIBA as alternative materials.

关键词： Municipal solid waste incineration bottomash alternative material leaching tests toxicity Vibrio qinghaiensis (Q67)

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Phytotoxicity and groundwater impacts of leaching from thermal treatment residues in roadways

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Journal of Environmental Sciences 2018年第1期30卷 58-67页

作者： khamphe phoungthong Li-Ming Shao Pin-Jing He Hua Zhang State Key Laboratory of Pollution Control & Resource Reuse Tongji University Institute of Waste Treatment and Reclamation Tongji University Centre for the Technology Research and Training on Household Waste in Small Towns & Rural Area Ministry of Housing and Urban-Rural Development of PR China (MOHURD)

The use of coal fly ash（CFA）, municipal solid waste incinerator bottom ash（MSWIBA） and flue gas desulfurization residue（FGDR） in road construction has become very common owing to its economical advantages. However, these residues may contain toxic constituents that pose an environmental risk if they leach out and flow through the soil, surface water and ***, it is necessary to assess the ecotoxicity and groundwater impact of these residues before decisions can be made regarding their utilization for road construction. In this study,the physico-chemical characteristics, leaching and phytotoxicity of these residues were investigated. Specifically, multivariate analyses were used to evaluate the contributions of the leaching constituents of the CFA, MSWIBA and FGDR leachates to the germination index of wheat seeds. B, Ba, Cr, Cu, Fe and Pb were found to be more toxic to the wheat seeds than the other heavy metals. Furthermore, the leached concentrations of the constituents from the CFA, MSWIBA and FGDR were below the regulatory threshold limits of the Chinese identification standard for hazardous wastes. Analyses conducted using a numerical groundwater model（Wisc LEACH） indicated that the predicted field concentrations of metals from the CFA, MSWIBA and FGDR increased with time up to about 30 years at the point of compliance, then decreased with time and distance. Overall, this study demonstrated that the risks resulting from MSWIBA, CFA and FGDR leaching could be assessed before its utilization for road construction, providing crucial information for the adoption of these alternative materials.

关键词： Thermal treatment residues Bottom ash Flue gas desulfurization residue Heavy metals Phytotoxicity Groundwater impact

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Emissions of particulate matter and associated polycyclic aromatic hydrocarbons from agricultural diesel engine fueled with degummed,deacidified mixed crude palm oil blends

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Journal of Environmental Sciences 2013年第4期25卷 751-757页

作者： khamphe phoungthong Surajit Tekasakul Perapong Tekasakul Gumpon Prateepchaikul Naret Jindapetch Masami Furuuchi Mitsuhiko Hata Department of Chemistry and Center of Excellence for Innovation in Chemistry(PERCH-CIC) Faculty of SciencePrince of Songkla UniversityHat YaiSongkhla 90112Thailand Energy Technology Research Center and Department of Mechanical Engineering Faculty of EngineeringPrince of Songkla UniversityHat YaiSongkhla 90112Thailand National Center of Excellence for Environmental and Hazardous Waste Management(EHWM) Southern Consortium Universities at Prince of Songkla University Hat YaiSongkhla 90112Thailand Graduate School of Natural Science and Technology Kanazawa UniversityKakuma-machiKanazawa 920-1162Japan

Mixed crude palm oil （MCPO）, the mixture of palm fiber oil and palm kernel oil, has become of great interest as a renewable energy source. It can be easily extracted from whole dried palm fruits. In the present work, the degummed, deacidified MCPO was blended in petroleum diesel at portions of 30% and 40% by volume and then tested in agricultural diesel engines for long term usage. The particulates from the exhaust of the engines were collected every 500 hr using a four-stage cascade air sampler. The 50% cut-off aerodynamic diameters for the first three stages were 10, 2.5 and 1μm, while the last stage collected all particles smaller than 1 μm. Sixteen particle bounded polycyclic aromatic hydrocarbons （PAHs） were analyzed using a high performance liquid chromatography. The results indicated that the size distribution of particulate matter was in the accmnulation mode and the pattern of total PAHs associated with fine-particles （〈 1 μm） showed a dominance of larger molecular weight PAHs （4--6 aromatic rings）, especially pyrene. The mass median diameter, PM and total PAH concentrations decreased when increasing the palm oil content, but increased when the running hours of the engine were increased. In addition, Commercial petroleum diesel （PB0） gave the highest value of carcinogenic potency equivalent （BaPeq） for all particle size ranges. As the palm oil was increased, the; BaPeq decreased gradually. Therefore the degununed-deacidified MCPO blends are recommended for diesel substitute.

关键词： mixed crude palm oil palm oil blend agricultural diesel engine potycyclic aromatic hydrocarbon particulate matter

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基于生物化学性质的固体废物厌氧降解特征参数

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中国环境科学 2014年第4期34卷 983-988页

作者：郑苇 khamphe phoungthong 吕凡邵立明何品晶同济大学固体废物处理与资源化研究所上海200092 住房和城乡建设部村镇建设司农村生活垃圾处理技术研究与培训中心上海200092

为了更简便有效地预测固体废物的厌氧降解参数,通过代表性单组份废物的生物化学甲烷潜力实验,研究了甲烷产生潜力,降解速率和碳贮藏因子这3种厌氧降解参数与生物化学性质的关系.结果表明,通过因子分析,可用多糖、蛋白质、脂肪和木质素4... 详细信息

为了更简便有效地预测固体废物的厌氧降解参数,通过代表性单组份废物的生物化学甲烷潜力实验,研究了甲烷产生潜力,降解速率和碳贮藏因子这3种厌氧降解参数与生物化学性质的关系.结果表明,通过因子分析,可用多糖、蛋白质、脂肪和木质素4种成分替代C、H、N、多糖、蛋白质、脂肪、半纤维素、纤维素和木质素9种成分;再通过偏最小二乘回归数值分析,在厌氧降解参数与多糖、蛋白、脂肪、木质纤维素之间建立线性关系.结果表明,脂肪和多糖含量越高,甲烷产生潜力和降解速率就越大;木质素含量越高,则碳贮藏因子越大.蛋白质含量的增加会导致甲烷产生潜力的减小.研究建立的线性方程可为预测固体废物厌氧降解参数提供一种新的方法.

关键词：生物化学性质因子分析厌氧降解参数偏最小二乘分析预测线性方程

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