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ONLINE MODEL AND ACTUATOR FAULT TOLERANT CONTROL FOR AUTONOMOUS MOBILE ROBOT

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Chinese Journal of Mechanical Engineering 2007年第3期20卷 29-33页

作者： SONG Qi jiang zhe HAN Jianda Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Department of Auto-Control Shenyang Institute of Aeronautical Engineering Shenyang 110136 China

A novel fault-tolerant adaptive control methodology against the actuator faults is proposed. The actuator effectiveness factors （AEFs） are introduced to denote the healthy of actuator, and the unscented Kalman filter （UKF） is employed for online estimation of both the motion states and the AEFs of mobile robot. A square root version of the UKF is introduced to improve efficiency and numerical stability. Using the information from the UKF, the reconfigurable controller is designed automatically based on an enhancement inverse dynamic control （IDC） methodology. The experiment on a 3-DOF omni-directional mobile robot is performed, and the effectiveness of the proposed method is demonstrated.

关键词： Unscented Kalman filter Active model Fault tolerance Inverse dynamic control

Removal of Arsenic(V) from Aqueous Solutions by Lanthanum-loaded Zeolite

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Acta Geologica Sinica(English Edition) 2008年第5期82卷 1015-1019页

作者： PU Hongping HUANG jiangbo jiang zhe Department of Environmental Science and Engineering Kunming University of Science and Technology Kunming 630093 The Center for Resource and Environment Research Guilin Research Institute of Geology for Mineral Resources Guilin 541004 Technischen Universitiit Munchen Germany

A new adsorption process for the removal of As（V） ion from aqueous solutions is studied in this paper using lanthanum-loaded zeolite. The removal efficiency of different adsorbents, activated alumina and activated carbon are obtained in the study for comparison. The results show that lanthanum-loaded zeolite is an effective adsorbent for the removal of As（V） from aqueous solutions. Then, the pH effect and regeneration of modified zeolite on the As（V） removing efficiency are also assessed. It functions with a wide range of pH （2-8）. After adsorption, zeolite adsorbed with As（V） ions can be regenerated successfully with 1 M NaOH. Based on the data obtained, an adsorption mechanism and the possible complex structure are tentatively presented. Compare to other adsorbents, easy availability of this adsorbent, excellent adsorption capacity, wide optimum pH range, and regeneration are expected to be utilized in practical operations.

关键词： lanthanum-loaded zeolite arsenic adsorption mechanism regeneration

Optimization of CO_2 separation technologies for Chinese refineries based on a fuzzy comprehensive evaluation model

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Petroleum Science 2015年第1期12卷 197-206页

作者： Qian-Qian Song Qing-zhe jiang Zhao-zheng Song State Key Laboratory of Heavy Oil Processing China University of Petroleum

This study aims at determining the optimal CO2 separation technology for Chinese refineries, based on current available technologies, by the method of comprehensive evaluation. Firstly, according to the characteristics of flue gas from Chinese refineries, three feasible CO2 separation technologies are selected. These are pressure swing adsorption （PSA）, chemical absorption （CA）, and membrane absorption （MA）. Secondly, an economic assessment of these three techniques is carried out in accordance with cash flow analysis. The results show that these three techniques all have economic feasibility and the PSA technique is the best. Finally, to further optimize the three techniques, a two-level fuzzy comprehensive evaluation model is established, including economic, technological, and environmental factors. Considering all the factors, PSA is optimal for Chinese refineries, followed by CA and MA. Therefore, to reduce Chinese refineries carbon emission, it is suggested that CO2 should be captured from off-gases using PSA.

关键词： Chinese refineries CO2 emission Separation technique Economic evaluation AHP-entropy method Fuzzy comprehensive evaluation model

Urban natural gas demand and factors analysis in China:Perspectives of price and income elasticities

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Petroleum Science 2022年第1期19卷 429-440页

作者： Jia-Man Li Xiu-Cheng Dong Qin-zhe jiang Kang-Yin Dong School of International Trade and Economics University of International Business and EconomicsBeijing100029China UIBE Belt&Road Energy Trade and Development Center University of International Business and EconomicsBeijing100029China

Urban natural gas is becoming the main sector driving China’s natural gas consumption growth in recent *** study explores the impacts of urban natural gas price,wage,socioeconomic determinants,and meteorological conditions on urban natural gas demand in China over ***,this study also analyzes the potential regional heterogeneity and asymmetry in the impacts of gas price and income on China’s urban gas *** results reveal that:(1)The increased gas price can significantly reduce the urban gas demand,and the average income level may effectively promote the gas demand,also,a strong switching effect exists between electricity and natural gas in urban China;(2)these impacts are heterogeneous in regions among China,urban natural gas demand is largely affected by the gas price in regions with high-gas-price and by income in regions with low-gas-price;and(3)the impact of gas price on urban gas consumption is consistent in regions with different urban natural gas consumption,while the impact of income is *** study further provides several policy implications for improving the urban natural gas industry in China.

关键词： Urban natural gas demand Natural gas price Average wage Regional heterogeneity Asymmetry analysis

Advanced transition metal/nitrogen/carbon-based electrocatalysts for fuel cell applications

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Science China Chemistry 2020年第11期63卷 1517-1542页

作者： Tang Tang Liang Ding zhe jiang Jin-Song Hu Li-Jun Wan Beijing National Laboratory for Molecular Sciences CAS Key Laboratory of Molecular Nanostructure and NanotechnologyInstitute of ChemistryChinese Academy of SciencesBeijing 100190China University of Chinese Academy of Sciences Beijing 100049China

The development of advanced transition metal/nitrogen/carbon-based(M/N/C)catalysts with high activity and extended durability for oxygen reduction reaction(ORR)is critical for platinum-group-metal(PGM)free fuel cells but still remains great *** this review,we summarize the recent progress in two typical M/N/C catalysts(atomically dispersed metal-nitrogen-carbon(M-N-C)catalysts and carbon-supported metal nanoparticles with N-doped carbon shells(M@NC))with an emphasis on their potential applications in fuel *** with understanding the active sites in these two types of catalysts,the representative innovative strategies for enhancing their intrinsic activity and increasing the density of these sites are systematically *** synergistic effects of M-N-C and M@NC are subsequently discussed for those M/N/C catalysts combining both of *** translate the material-level catalyst performance into high-performance devices,we also include the recent progress in engineering the porous structure and durability of M/N/C catalysts towards efficient performance in fuel cell *** the viewpoint of industrial applications,the scale-up cost-effective synthesis of M/N/C catalysts has been lastly *** this knowledge,the challenges and perspectives in designing advanced M/N/C catalysts for potential PGM-free fuel cells are proposed.

关键词： electrocatalysis ORR metal-nitrogen-carbon M@NC fuel cells oxygen reduction

Rotational character of sound intensity and surface sound intensity

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Chinese Journal of Acoustics 1991年第4期10卷 296-304页

作者： jiang zhe and GUO Hua(jiangsu Institute of Technology)

By using the concept of complex sound intensity, the rotational character of the active sound intensity which is the real component of the complex sound intensity is descussed in this paper. It is shown that it is the irrotational component of the active sound intensity that transfers sound energy in sound field. When sound power is measured with the two- microphone technique, the rotation of the active sound intensity has an effect on it. Because the irrotational component of the active sound intensity depends only on the surface sound intensity, measuring the surface sound intensity can avoid the effect of the rotation. Based on atuo- power spectra, formulas about the surface sound intensity are given in this paper, providing a theoretical basis for measuring the surface sound intensity.

关键词： Rotational character of sound intensity and surface sound intensity

Highly integrated smart mountaineering clothing with dual-mode synergistic heating and sensitive sensing for personal thermal management and human health monitoring

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Journal of Materials Science & Technology 2024年第15期182卷 12-21页

作者： Yifan Cui Guolin zheng zhe jiang Man Zhou Yuanyuan Yu Ping Wang Qiang Wang Key Laboratory of Science and Technology of Eco-Textiles Ministry of EducationJiangnan UniversityWuxi 214122China

The development of multifunctional textiles is an effective strategy to improve the quality of human *** single-mode heaters and strain sensors have been developed,but their low integration leads to multiple devices being installed on the garment,which greatly increases the weight of the garment and thus reduces its ***,bio-enzymatic polymerization and a simple shaking deposition method were used to prepare poly(3,4-ethylenedioxythiophene)(PEDOT)and copper(Ⅱ)sulfide(CuS)onto the surface of the elastic nylon fabrics,which endowed the fabrics with excellent dual-mode heating properties and sensitive sensing properties,and used to develop highly integrated multifunctional and smart mountaineering *** electro-driven heating mode,low-voltage(6 V)and high-voltage(12 V)heating can be used for joint heat therapy and active rapid deicing,*** photo-driven heating mode,low intensity(0.3 sun)and high intensity(1.5 sun)heating can be used for joint heat therapy and rapid antibacterial,*** addition,the fabric has the ability of dual-mode synergistic heating,and the surface temperature of the fabric can exhibit an ultra-high temperature of 137.9℃ under the external stimulation of 0.3 sun and 12 *** fabric will greatly enhance the deicing and antibacterial efficiencies under the synergistic *** work provides a facile strategy for the fabrication of flexible and highly integrated multifunctional electronic devices,and therefore has great potential for the design and development of all-in-one multifunctional electronic devices such as personal thermal management,soft robotics,and human-computer interaction.

关键词： Synergistic heating Negative response strain In situ enzymatic polymerization Rapid photothermal antibacterial On-demand hyperthermia

Constructing hierarchical nanosheet-on-microwire FeCo LDH@Co3O4 arrays for high-rate water oxidation

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Nano Research 2022年第12期15卷 10021-10028页

作者： Tang Tang zhe jiang Jun Deng Shuai Niu Ze-Cheng Yao Wen-Jie jiang Lin-Juan Zhang Jin-Song Hu Beijing National Laboratory for Molecular Sciences(BNLMS) CAS Key Laboratory of Molecular Nanostructure and NanotechnologyInstitute of ChemistryChinese Academy of SciencesBeijing100190China University of the Chinese Academy of Sciences Beijing100049China Beijing National Laboratory for Condensed Matter Physics Institute of PhysicsChinese Academy of SciencesBeijing100190China Shanghai Synchrotron Radiation Facility Shanghai Institute of Applied PhysicsChinese Academy of SciencesShanghai201800China Dalian National Laboratory for Clean Energy Dalian116023China

Alkaline electrochemical water oxidation powered by renewable energies is a promising and environmentally friendly way to produce *** industrial water electrolyzers are commonly operated at a high current density,calling for abundant and durable active sites to participate *** rational design of hierarchically structured electrocatalysts is thus essential to industrial water ***,we develop a Fe3+induced nanosizing strategy for fabricating such a hierarchical FeCo LDH@Co3O4(LDH:layered double hydroxide)nanostructure array for high-rate water *** functional theory(DFT)simulations indicate that the introduction of Fe3+with a small ion radius and high electrical repulsion in the LDH layer distorted the LDH layer,resulting in a reduced nanosheet size and enabling the formation of a hierarchical *** structure cannot be achieved without the participation of Fe3+*** from the significantly enhanced electrochemical surface areas and charge/mass transport due to the hierarchical structure together with the boosted intrinsic activity by electronic modulation of Fe3+,such FeCo LDH@Co3O4 electrode can deliver an industrial-level current density of 1,000 mA·cm-2 at a small overpotential of 392 mV for water *** assembled in a water electrolyzer,it delivers a current density of 100 mA·cm-2 at a low operation voltage of 1.61 *** by solar light,the electrolyzer demonstrates high solar-to-hydrogen efficiency of 18.15%with stable and reproducible *** results provide new insights for constructing hierarchical nanostructures for advanced water oxidation and other diverse applications.

关键词： electrocatalysts oxygen evolution reaction water splitting hierarchical structures layered double hydroxides

Mechanism of Effect of Microwave Modification on Pulverized Coal Combustion Properties

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Journal of Iron and Steel Research International 2014年第3期21卷 312-320页

作者： Qing-hai PANG Jian-liang ZHANG Rui MAO zhe jiang Tong LIU School of Metallurgical and Ecological Engineering University of Science and Technology Beijing Fushun Special Steel Shares Co. Ltd.

The mechanism of microwave modification or： facilitating the combustion properties of pulverized coal （PC） was investigated. Experimental researches on granularity and functional group as well as combustion properties of PC before and after modification were carried out. Micromorphology observation indicated that the size of PC par- ticles was relatively small, which was in accordance with the results of granularity analysis of PC. FT-IR （Fourier- transform infrared） spectra of two PCs indicated that the proportion of the functional groups with high activity in- creased after microwave irradiation. Furthermore, no valid effect of microwave was found on carbon matrix except small variations in PC particle size, which only led to subtle improvement in combustion of residual coke. Activation energies of Yungang and Yangquan PCs in temperature zone between 450--650 ℃ were reduced by 12.00% and 10.13%, respectively, which meant that microwave modification might effectively facilitate the combustion proper- ties of PC. Nevertheless, decrease in activation energies of residual cokes was 3.560% and 3.67% respectively, which was subtle and can be regarded as the result of smaller particle size produced by microwave irradiation.

关键词： pulverized coal injection combustion microwave modification