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Position Measurement Based Slave Torque Feedback Control for Teleoperation Systems With Time-Varying Communication Delays

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IEEE/CAA Journal of Automatica Sinica 2023年第2期10卷 388-402页

作者： Xian Yang Jing Yan Changchun Hua Xinping Guan the Institute of Information Science and Engineering Yanshan University the Key Laboratory for Computer Virtual Technology and System Integration of hebei province Qinhuangdao 066004China IEEE the Institute of Electrical Engineering Yanshan UniversityQinhuangdao 066004China the Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China

Bilateral teleoperation system is referred to as a promising technology to extend human actions and intelligence to manipulating objects *** the tracking control of teleoperation systems,velocity measurements are necessary to provide feedback ***,due to hardware technology and cost constraints,the velocity measurements are not always *** addition,the time-varying communication delay makes it challenging to achieve tracking *** paper provides a solution to the issue of real-time tracking for teleoperation systems,subjected to unavailable velocity signals and time-varying communication *** order to estimate the velocity information,immersion and invariance(I&I)technique is employed to develop an exponential stability velocity *** the proposed velocity observer,a linear relationship between position and observation state is constructed,through which the need of solving partial differential and certain integral equations can be ***,the mean value theorem is exploited to separate the observation error terms,and hence,all functions in our observer can be analytically *** the estimated velocity information,a slave-torque feedback control law is presented.A novel Lyapunov-Krasovskii functional is constructed to establish asymptotic tracking *** particular,the relationship between the controller design parameters and the allowable maximum delay values is ***,simulation and experimental results reveal that the proposed velocity observer and controller can guarantee that the observation errors and tracking error converge to zero.

关键词： Asymptotic stability bilateral teleoperation time-varying delay velocity observer

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Self-healable,Eu^(3+)-based polymeric gels containing terpyridyl groups with tunable luminescence based on ion recognition

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Journal of Rare Earths 2020年第7期38卷 705-710,I0001页

作者： Shenglu Wang Yajuan Li Fengjuan Shen Tao Wang Xudong Yu hebei Research Center of Pharmaceutical and Chemical Engineering College of ScienceHebei University of Science and TechnologyShijiazhuang 050080China

Novel luminescent materials that change their emission colors in responding to external stimuli have attracted increasing attentions in the past ***,we report the preparation of a novel kind of Eu3+-based polymeric organogel with three *** dynamic coordination interactions,the organogel shows fast self-healing and adjustable fluorescent emission properties in the presence of different metal ions via coordination interaction competition *** coordination interaction also endows the gel with multiple stimuli-responsive properties such as water,base and *** multistimuli responsive fluorochromic organogel demonstrates a new way of preparing optical materials and bio-relevant sensors.

关键词： Polymer gel Rare earth Stimuli-responsive

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Synthesis and Characterization of a Two-dimensional Cadmium(Ⅱ) Metal Organic Framework with Fes Topology

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Chinese Journal of Structural Chemistry 2014年第7期33卷 1050-1056页

作者：李欢欢刘利明春伦崔广华 College of Chemical Engineering Hebei United University

A new Cd（II） coordination polymer, {[Cd（Hnbta）（L）]·H2O}n （L = 1,4-bis（5,6-dime- thylbenzimidazol-l-yl）butane）, H3nbta= 5-nitrobenzene-1,2,3-tricarboxylic acid）, has been hydro -thermally synthesized and characterized by elemental analyses, IR, XRPD, and single-crystal X-ray diffraction. The title compound crystallizes in the monoclinic system, space group P21/n with a = 17.3056（13）, b = 11.0114（9）, c = 17.7484（14） A,β= 117.3640（10）°, V = 3003.7（4） A3, Z = 4, C31H31CdN5O9, Mr = 730.01, Dc = 1.614 g/cm3, μ= 0.792 mm·-1and F（000） = 1488. The cadmium（II） ions are bridged by Hnbta2- to generate a two-dimensional metal organic framework with fes topology. In addition, the thermal stability and fluorescence properties of the complex were also studied.

关键词： Cd(II) complex crystal structure fluorescence property,5-nitrobenzene-1,2,3-tricarboxylic acid

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Effects of effluent organic matters on endocrine disrupting chemical removal by ultrafiltration and ozonation in synthetic secondary effluent

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Journal of Environmental Sciences 2019年第2期31卷 57-64页

作者： Xiurong Si Zunfang Hu Ding Ding Xu Fu Civil Engineering Department North China Institute of Aerospace Engineering Shandong Institute of Geophysical and Geochemical Exploration

Endocrine disrupting chemicals(EDCs) in the secondary effluent discharged from wastewater treatment plants are of great concern when water reuse is intended. Ozonation and ultrafiltration(UF) are powerful technologies reported to eliminate EDCs. Due to the importance of effluent organic matters(EfOMs) in secondary effluent, the effects of three kinds of EfOM on the treatment of five EDCs using ozonation and UF were investigated. The three kinds of EfOM studied were humic acid sodium salt(NaAH), bovine serum albumin(BSA)and sodium alginate(NaAg); and the five EDCs were estrone, 17β-estradiol, estriol, 17α-ethynyl estradiol and bisphenol A. The results showed that EfOM accelerated the decay rate of ozone and inhibited the degradation efficiency of EDCs by ozonation in the order NaAH > BSA > *** ultraviolet absorbance at 280 nm(UVA_(280)) has potential for use as a surrogate indicator to assess EDC removal via ozonation without conducting difficult EDC analyses. When the decline in UVA_(280) exceeded 18%, the five EDCs had been completely removed. The UF behavior of NaAH,BSA and NaAg was found to follow the cake filtration law. The fouling potential of EfOM followed the order NaAg > NaAH > BSA; while EfOM on the membrane surface enhanced EDC removal in the order NaAH > BSA > NaAg. The mean retention rate of the membrane was increased by 24%, 10% and 8%, respectively. The properties of EDCs and EfOM cakes both influenced the EDC removal rates due to adsorption, size exclusion and charge attraction.

关键词： Endocrine disrupting chemicals Ultrafiltration Ozonation Effluent organic matters Secondary effluent

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Influence of cerium doping on structure and electrochemical properties of LiNi0.5Mn1.5O4 cathode materials

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Journal of Rare Earths 2017年第9期35卷 887-895页

作者：吴伟秦兴郭建玲王江峰杨慧毓王丽 Institute of Power Source and Ecomaterials Science Hebei University of TechnologyTianjin 300130China Key Laboratory of Special Functional Materials for Ecological Environment and Information(hebei University of Technology) Ministry of EducationTianjin 300130China Key Laboratory for New Type of Functional Materials in hebei province Hebei University of TechnologyTianjin 300130China

Pristine LiNi_（0.5）Mn_（1.5）O_4 and cerium doped LiCe_xNi_（0.5–x）Mn_（1.5）O_4（x=0.005, 0.01, 0.02） cathode materials were synthesized by solid-state method. The effect of Ce doping content on structure and electrochemical properties of LiNi_（0.5）Mn_（1.5）O_4 cathode material was systematically investigated. The samples were characterized by X-ray diffraction（XRD）, Fourier transformation infrared spectrometer（FT-IR）, scanning electron microscopy（SEM）, electrochemical impedance spectroscopy（EIS）, cyclic voltammetry（CV） and constant-current charge/discharge tests. The results showed that Ce doping did not change the cubic spinel structure with Fd3m space group, but effectively restrained the formation of Li_xNi_（1–x）O impurity phase. Appropriate Ce doping（x=0.005） could decrease the extent of confusion between lithium ions and transition metal ions, increase the lattice parameter and Ni/Mn disordering degree（Mn^（3＋） content）. The synergic effects of the above factors led to the optimal electrochemical performance of LiCe_（0.005）Ni_（0.495）Mn_（1.5）O_4 sample. The discharge capacity at 10 C rate could reach 115.4 mAh/g, 94.82% of that at 0.2C rate, and the capacity retention rate after 100 cycles at 1C rate could reach 94.51%. However, heavier Ce doping had an adverse effect on the electrochemical properties, which might be due to the lower disordering degree and existence of more CeO_2 secondary phase.

关键词： lithium ion battery cathode material LiNi_(0.5)Mn_(1.5)O_4 cerium doping rare earths

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Free radical oxidation reaction for selectively solvatochromic sensors with dynamic sensing ability

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Chinese Chemical Letters 2020年第7期31卷 1919-1922页

作者： Fengjuan Shen Tao Wang Xudong Yu Yajuan Li College of Science Hebei University of Science and TechnologyShijiazhuang 050080China

A novel BODIPY(boradiazaindacene) dye denoted as BODIPY-DT containing terpyridine unit has been designed and *** dye is found to be selective and visual solvatochromic sensor toward DMF among test organic *** sensing process displays time-controllable,dynamic signal outputs in the emission colors including red,purple,yellow and even white emission *** is presented that selective free radical oxidation reaction happens during the recognition process.

关键词： Solvent sensor BODIPY Dynamic sensing Photosensitizer

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Communication-Aware Formation Control of AUVs With Model Uncertainty and Fading Channel via Integral Reinforcement Learning

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IEEE/CAA Journal of Automatica Sinica 2023年第1期10卷 159-176页

作者： Wenqiang Cao Jing Yan Xian Yang Xiaoyuan Luo Xinping Guan the Institute of Electrical Engineering Yanshan UniversityQinhuangdao 066004China IEEE the Institute of Information Science and Engineering Yanshan UniversityQinhuangdao 066004China the Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China

Most formation approaches of autonomous underwater vehicles(AUVs)focus on the control techniques,ignoring the influence of underwater *** paper is concerned with a communication-aware formation issue for AUVs,subject to model uncertainty and fading *** integral reinforcement learning(IRL)based estimator is designed to calculate the probabilistic channel parameters,wherein the multivariate probabilistic collocation method with orthogonal fractional factorial design(M-PCM-OFFD)is employed to evaluate the uncertain channel *** the estimated signal-to-noise ratio(SNR),we employ the IRL and M-PCM-OFFD to develop a saturated formation controller for AUVs,dealing with uncertain dynamics and current *** the proposed formation approach,an integrated optimization solution is presented to make a balance between formation stability and communication *** innovations lie in three aspects:1)Construct an integrated communication and control optimization framework;2)Design an IRL-based channel prediction estimator;3)Develop an IRL-based formation controller with ***,simulation results show that the formation approach can avoid local optimum estimation,improve the channel efficiency,and relax the dependence of AUV model parameters.

关键词： Autonomous underwater vehicles(AUVs) communication-aware formation reinforcement learning uncertainty

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SnO2-montmorillonite composite for removal and inhibition Microcystis aeruginosa assisted by UV-light

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Progress in Natural Science:Materials International 2018年第3期28卷 281-287页

作者： Na Gu Xiaoyu Meng Jinlong Gao Kuitao Wang Pei Zhao Huihui Qin School of Science Hebei University of Science and Technology School of Chemical and Pharmaceutical Engineering Hebei University of Science and Technology Key Laboratory of Medicinal Molecular Chemistry in hebei province Hebei University of Science and Technology

Cyanobacterial blooms have become a serious pollution problem,in particular,for water *** aeruginosa(***)is most common toxic cyanobacterial bloom in fresh *** this paper,Sn O2-montmorillonite composite was prepared by ion exchange method and applied to remove *** with the assistance of *** structure of the resulting composite was identified by XRD,IR and *** was determined that some Sn O2nanoparticles were inserted into the interlayer of montmorillonite and some were dispersed on the surface of *** removal efficiency was judged by the rate of 95%after treatment with 0.3 g/L Sn O2-montmorillonite for 1 *** O2-montmorillonite composite absorbed *** and promoted *** lysis by damaging cell wall and *** cellular contents,including protein and chlorophyll a,were then degraded with the assistance of UV-light,which inhibited the biological activity of *** fact,Sn O2-montmorillonite composite removed *** by combination of adsorption flocculation and UV-induced catalytic *** O2-montmorillonite shows promise to become an effective material for the removal of algae and the cyanobacteria bloom.

关键词： SnO2 Montmorillonite Cyanobacteria bloom control Microcystis aeruginosa degradation Photo-induced degradation

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An Iterative Compensation Algorithm for Springback Control in Plane Deformation and Its Application

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Chinese Journal of Mechanical Engineering 2019年第2期32卷 212-223页

作者： Rui Ma Chunge Wang Ruixue Zhai Jun Zhao Key Laboratory of Advanced Forging & Stamping Technology and ScienceMinistry of Education of China Yanshan University College of Mechanical Engineering Yanshan University College of Mechanical and Energy Engineering Ningbo Institute of Technology Zhejiang University Key Laboratory of Roll Forming Technology Research

In order to solve the springback problem in sheet metal forming, the trial and error method is a widely used method in the factory, which is time-consuming and costly for its non-direction and non-quantitative. Finite element simulation is an e ective method to predict the springback of complex shape parts, but its precision is sensitive to the simulation model, particularly material model and boundary conditions. In this paper, the simple iterative method is introduced to establish the iterative compensation algorithm, and the convergence criterion of iterative parameters is put forward. In addition, the new algorithm is applied to the V-free bending and stretch-bending processes, and the convergence of curvature and bending angle is proved theoretically and verified experimentally. At the same time,the iterative compensation experiments for plane bending show that, the new method can predict the next compensaantido tnh ev atlaureg ebta cseurdv oatnu trhe ew sitphri tnhgeb earcrko ro fo fe laecshs ttehsat,n s0 o. 5 th%a ta rteh eo btatraigneet db aefntedri n2 g-3 a nitgelrea tiwoitnhs.t Thhei se rrreosre aorf clhe sps rtohpaons e±s 0 a.1%new iterative compensation algorithm to predict springback in sheet metal forming process, where each compensation value depends only on the iteration parameter di erence before and after springback for the same forming process of same material.

关键词： Springback control Iterative compensation algorithm Convergence criterion V-free bending Stretchbending

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Study of lepton EDMs in the U(1)X SSM

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Chinese Physics C 2022年第9期46卷 36-47页

作者： Lu-Hao Su Dan He Xing-Xing Dong Tai-Fu Feng Shu-Min Zhao Department of Physics Hebei UniversityBaoding 071002China Key Laboratory of High-precision Computation and Application of Quantum Field Theory of hebei province Baoding 071002China Department of Physics Chongqing UniversityChongqing 401331China

The minimal supersymmetric extension of the standard model(MSSM)is extended to the U(1)XSSM,whose local gauge group is SU(3)C×SU(2)L×U(1)Y×U(1)*** obtain the U(1)XSSM,we add new superfields to the MSSM,namely,three Higgs singletsηη,S and right-handed neutrinosν*** charge conjugate and parity(CP)violating effects are considered to study the lepton electric dipole moment(EDM)in the U(1)*** are more CP violating phases in the U(1)XSSM than in the standard model(SM).In this model,several new parameters(θS,θBB′,θBL)are considered as CP violating phases;hence,there are new contributions to lepton *** is conducive to exploring the source of CP violation and probing new physics beyond the SM.

关键词： lepton electric dipole moment

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