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Optimization and design of Cloud-Edge-End Collaboration Computing for Autonomous Robot Control Using 5G and Beyond

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Journal of Beijing Institute of Technology 2022年第5期31卷 454-463页

作者： Hao Wang China Railway Siyuan Survey and design group Co. Ltd.Wuhan 430063China

Robots have important applications in industrial production, transportation, environmental monitoring and other fields, and multi-robot collaboration is a research hotspot in recent years. Multi-robot autonomous collaborative tasks are limited by communication, and there are problems such as poor resource allocation balance, slow response of the system to dynamic changes in the environment, and limited collaborative operation capabilities. The combination of 5G and beyond communication and edge computing can effectively reduce the transmission delay of task offloading and improve task processing efficiency. First, this paper designs a robot autonomous collaborative computing architecture based on 5G and beyond and mobile edge computing(MEC).Then, the robot cooperative computing optimization problem is studied according to the task characteristics of the robot swarm. Then, a reinforcement learning task offloading scheme based on Qlearning is further proposed, so that the overall energy consumption and delay of the robot cluster can be minimized. Finally, simulation experiments demonstrate that the method has significant performance advantages.

关键词： robot collaboration mobile edge computing(MEC) 5G and beyond network task offloading resource allocation

The Essence and Planning Compilation of “Multi-Planning System Integration”: A Case Study on Urban-Rural Integrated Planning of Dali City

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China City Planning Review 2015年第4期24卷 48-56页

作者： Su Han Chen Hao Li Min Yunnan design Institute group

As multi-planning system integration is an important approach to planning compilation and management in the new era, this paper sums up the essence of multi-planning system integration based on the analysis on the differences and similarities of various plans. In addition, it explores, from the perspective of planning compilation and implementation, a general multi-planning system integration means on the basis of spatial elements, authority management, and technical standards. It then summarizes the key outcome: one plan, database, coordination mechanism, and so on, discovering a new planning compilation and management approach for regional coordination, ecological coexistence, urban-rural interaction, and efficient resource utilization.

关键词： multi-planning system integration one plan planning compilation planning management

Removal of F- and organic matter from coking wastewater by coupling dosing FeCl3 and AlCl3

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Journal of Environmental Sciences 2021年第12期33卷 2-11页

作者： Shuo Li Mengjie Liu Fuming Meng Xia Hu Wenzheng Yu College of resource and Environmental Engineering Guizhou UniversityGuiyang 550025China Key Laboratory of Drinking Water Science and Technology Research Centre for Eco-Environmental SciencesChinese Academy of SciencesBeijing 100086China Jinan Municipal Engineering design&Research Institute(group)Co.LTD China

Coagulation and precipitation is a widely applied method to remove F-from wastewater.In this work,the effect of coagulation on the removal of F-and organic matter from coking wastewater was studied using Al Cl3and Fe Cl3as compound coagulants.The removal rates of F-and organic matter under different coagulant doses and p H conditions were investigated.The results show that the highest removal rates of F-by Al Cl3and Fe Cl3are 94.4%and 25.4%,respectively;when the dosage is 10 mmol/L,the TOC removal rates of Fe Cl3and Al Cl3reach 20.4%and 34.7%,respectively.Therefore,the removal rate of F-by Al Cl3is higher than that of Fe Cl3,but the removal rate of organic matter by Fe Cl3is relatively higher.The addition of Ca2+can promote the removal of F-,but the removal rate of organic matter decreases.In addition,by investigating the effects of different p H and Fe–Al ratio on the removal rate,the removal effect of adding Fe Cl3and Al Cl3at the same time was discussed.The results show that the most suitable working condition for the removal of organic matter and F-is that the p H is 6.5 and the molar ratio of Al/Fe is 8:2.Overall,the removal mechanism of F-and organic matter in coking wastewater by Fe Cl3and Al Cl3was explored in this study.The experimental results can provide reference for the advanced treatment of coking wastewater.

关键词： Coagulation Coking wastewater Fluoride Organic matter

Effects of Different States of Fe on Anaerobic Digestion:A Review

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Journal of Harbin Institute of Technology(New Series) 2015年第6期22卷 69-75页

作者： Wencheng Ma Hongmei Xin Dan Zhong Fengyue Qian Hongjun Han Yuan Yuan State Key Laboratory of Urban Water resource and Environment Harbin Institute of Technology School of Municipal and Environmental Engineering Harbin Institute of Technology Shanghai Municipal Engineering design Institute(group) CO. LTD.

Anaerobic digestion is widely used in the treatment of industrial wastewater,excess activated sludge,municipal waste,crop straw and livestock manure,with the functions of environmental protection and energy recovery. This review summarizes and evaluates the present knowledge of effects of different states of Fe( ZVI,Fe( II),Fe( III)) on hydrogen and methane production in anaerobic digestion process. The potential promotion effects of iron oxides nanoparticles( IONPs),especially magnetite nanoparticles on anaerobic digestion are also mentioned. Fe plays important role in transporting electron,stimulating bacterial growth and increasing hydrogen and methane production rate by promoting enzyme activity. Adding Fe with different morphologies and valence states in anaerobic digestion to increase biogas( hydrogen and methane) production and enhance organic matter degradation simultaneously,which has attracted many scientists' attention in recent years. Rapid progress in this area has been made over the last few years,since Fe is essential to the fermentative hydrogen and methane production,while few is known about how Fe affects the fermentative biogas production. This review is significant to maintain the stable operation of the biogas project.

关键词： anaerobic digestion Fe hydrogen and methane production iron oxide nanoparticles magnetite manoparticles

Physical model investigation on effects of drainage condition and cement addition on consolidation behavior of tailings slurry within backfilled stopes

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International Journal of Minerals,Metallurgy and Materials 2023年第8期30卷 1490-1501页

作者： Qinghai Ma Guangsheng Liu Xiaocong Yang Lijie Guo School of Civil and resource Engineering University of Science and Technology BeijingBeijing 100083China BGRIMM Technology group Beijing 100160China National Centre for International Research on Green Metal Mining Beijing 100160China

Estimation of stressses within the tailings slurry during self-weight consolidation is a critical issue for cost-effective barricade design and efficient backfill planning in underground mine stopes.This process requires a good understanding of self-weight consolidation behaviors of the tailings slurry within practical stopes,where many factors can have significant effects on the consolidation,including drainage condition and cement addition.In this paper,the prepared tailings slurry with different cement contents(0,4.76wt%,and 6.25wt%)was poured into1.2 m-high columns,which allowed three drainage scenarios(undrained,partial lateral drainage near the bottom part,and full lateral drainage boundaries)to investigate the effects of drainage condition and cement addition on the consolidation behavior of the tailings slurry.The consolidation behavior was analyzed in terms of pore water pressure(PWP),settlement,volume of drainage water,and residual water content.The results indicate that increasing the length of the drainage boundary or cement content aids in PWP dissipation.In addition,constructing an efficient drainage boundary was more favorable to PWP dissipation than increasing cement addition.The final stable PWP on the column floor was not sensitive to cement addition.The final settlement of uncemented tailings slurry was independent of drainage conditions,and that of cemented tailings slurry decreased with the increase in cement addition.Notably,more pore water can drain out from the cemented tailings slurry than the uncemented tailings slurry during consolidation.

关键词： tailings backfill consolidation slurry drainage cement content physical model test

Tuning the primary selective nanochannels of MOF thin-film nanocomposite nanofiltration membranes for efficient removal of hydrophobic endocrine disrupting compounds

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Frontiers of Environmental Science & Engineering 2022年第4期16卷 1-13页

作者： Ruobin Dai Hongyi Han Yuting Zhu Xi Wang Zhiwei Wang State Key Laboratory of Pollution Control and resource Reuse Shanghai Institute of Pollution Control and Ecological SecuritySchool of Environmental Science and EngineeringTongji UniversityShanghai 200092China Tongji Architectural design(group)Co. Ltd.Environmental Engineering BranchShanghai 200092China

Metal organic framework(MOF)incorporated thin-film nanocomposite(TFN)membranes have the potential to enhance the removal of endocrine disrupting compounds(EDCs).In MOF-TFN membranes,water transport nanochannels include(i)pores of polyamide layer,(ii)pores in MOFs and(iii)channels around MOFs(polyamide-MOF interface).However,information on how to tune the nanochannels to enhance EDCs rejection is scarce,impeding the refinement of TFN membranes toward efficient removal of EDCs.In this study,by changing the polyamide properties,the water transport nanochannels could be confined primarily in pores of MOFs when the polyamide layer became dense.Interestingly,the improved rejection of EDCs was dependent on the water transport channels of the TFN membrane.At low monomer concentration(i.e.,loose polyamide structure),the hydrophilic nanochannels of MIL-101(Cr)in the polyamide layer could not dominate the membrane separation performance,and hence the extent of improvement in EDCs rejection was relatively low.In contrast,at high monomer concentration(i.e.,dense polyamide structure),the hydrophilic nanochannels of MIL-101(Cr)were responsible for the selective removal of hydrophobic EDCs,demonstrating that the manipulation of water transport nanochannels in the TFN membrane could successfully overcome the permeability and EDCs rejection trade-off.Our results highlight the potential of tuning primary selective nanochannels of MOF-TFN membranes for the efficient removal of EDCs.

关键词： Porous metal organic framework Thin-film nanocomposite membrane Primary selective nanochannels Nanofiltration Endocrine disrupting compounds

Chemical compositions of sulfides in the porphyry Cu ores,Yangla Cu deposit,Yunnan,China:implication for ore genesis

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Acta Geochimica 2020年第6期39卷 947-972页

作者： Xinfu Wang Bo Li Zuopeng Xiang Yan Yue Guo Tang Faculty of Land and resource Engineering Kunming University of Science and TechnologyKunming 650093China Kunming Prospecting design Institute of China Nonferrous Metals Industry Co. LtdKunming 650051China

The Yangla Cu deposit is the largest ore deposit in the Jinshajiang polymetallic metallogenic belt,northwest Yunnan,China.There is no consensus on the genesis of the ore deposit owing to the limited studies on the chemical compositions of sulfides.This study used an electron probe micro-analyzer to constrain the chemical compositions of pyrite,chalcopyrite,molybdenite,and sphalerite in the porphyry Cu ore of the Yangla Cu deposit and compared them with the chemical compositions of sulfides in the skarn Cu ore.The trace element contents and their occurrences were used to estimate the metallogenic temperature and infer the genesis of the Yangla deposit.The results show that the sulfides in the porphyry Cu ores have variations of ore element concentrations relative to their theoretical values.Pyrite is depleted in S but elevated in Fe;chalcopyrite is depleted in Cu,Fe,and S;and molybdenite and sphalerite are enriched in S whilst depleted in Mo and Zn.The concentrations of the main metallogenic elements Cu,Fe,Mo,Zn,and S in the porphyry are generally lower than those in skarn,suggesting that the porphyry ore was formed in a moderate to moderate-high temperature metallogenic environment.The formation time may also be slightly later than that of the skarn Cu ore.Elements such as As,Co,Cu.Pb,Zn,Mo,Cd,and Ni mainly exist as isomorphic replacements and mineral inclusions in the sulfides of both porphyry and skarn Cu ores.The trace element features of sulfides in the two ore bodies show that the Yangla Cu deposit may be a composite super imposed ore deposit,and让s formation has undergone the process of exhalative-sedimentary to skarnporphyry mineralization.

关键词： Sulfides Trace elements Chemical composition Yangla Cu deposit Yunnan

SCC-UEFAS, an urban-ecological-feature based assessment system for sponge city construction

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Environmental Science and Ecotechnology 2022年第4期12卷 8-17页

作者： Zi-Tong Zhao Hou-Ming Cheng Sheng Wang Hai-Yan Liu Zi-Ming Song Jun-Hui Zhou Ji-Wei Pang Shun-Wen Bai Shan-Shan Yang Jie Ding Nan-Qi Ren State Key Laboratory of Urban Water resource and Environment Harbin Institute of TechnologyHarbin150000China Central&Southern China Municipal Engineering design and Research Institute Co. LtdWuhan430010China China Energy Conservation and Environmental Protection group Beijing100089China

An effective sponge city construction evaluation system plays a crucial role in evaluating sponge city construction schemes.The construction of a sponge city evaluation system still faces challenges related to incomplete index selection and unscientific weight division.Limited studies have focused on the comprehensive assessment of sponge city construction in the early stages.This study constructed a scientific assessment indicator system and a quantitative indicator weight at all levels by literature review and statistical analysis methods from an objective perspective.To demonstrate how to utilize our evaluation methods,three construction schemes randomly generated by MATLAB were evaluated under evaluation states of constant weight and variable weight,respectively.Scheme 3 had the highest score of 0.638 under the constant weight assessment,but it cannot practically be the final construction scheme due to the imbalance between indicators.Compared to the constant weight assessment,a variable weight assessment can effectively balance the states of the evaluation index with changes in the decision variable.Among the three schemes,Scheme 2 is the best choice with a value of 0.0355 under variable weight evaluation due to punishment and incentives in the variable weight method.The concept of“punishing”a disadvantageous indicator and“motivating”an advantageous indicator increases the relative advantages of the indices,ultimately affecting the assessment results of schemes and leading to a more balanced state.This study provides reasonable analysis and decision-making mechanisms to support decision-making and guide the scientific selection of a construction scheme.

关键词： Sponge city evaluation system Principal component analysis Factor analysis Variable weight theory

A novel multistage anoxic/aerobic process with sludge regeneration zone (R-MAO) for advanced nitrogen removal from domestic sewage

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Journal of Environmental Sciences 2023年第2期124卷 758-768页

作者： Lin Cao Rong Sun Wenyi Dong Hongjie Wang Zhongyi Dai Xue Wang Jin Xie Hua Li School of Chemical Engineering Huaqiao UniversityXiamen 361021China State Key Laboratory of Urban Water resource and Environment School of Environment Harbin Institute of TechnologyHarbin 150090China School of Civil and Environmental Engineering Harbin Institute of Technology ShenzhenShenzhen 518055China Central and Southern China Municipal Engineering design&Research Institute Co. Ltd.Wuhan 430010China Shenzhen Water group Co. Ltd.Shenzhen 518000China

To achieve advanced nitrogen removal from actual municipal sewage,a novel multistage anoxic/aerobic process with sludge regeneration zone(R-MAO)was developed.The reactor was used to treat actual domestic sewage and the nitrogen removal capacity of the sludge regeneration zone(R zone)was investigated during the long-term operation.The best performance was obtained at the R zone’s Oxidation-Reduction Potential(ORP)of-50±30 mV and hydraulic residence times(HRT)of 1.2 hr.The average effluent COD,TN,NH_(4)^(+)-N and NO_(3)^(−)-N of the R-MAO process were 18.0±2.3,7.5±0.6,1.0±0.5 and 4.6±0.4 mg/L,respectively,with the corresponding removal efficiency of COD,TN and NH_(4)^(+)-N were 92.9%±1.0%,84.1%±1.5% and 97.5%±1.1%.Compared to the sole MAO system,the TN removal efficiency of the R-MAO increased by 10.1%.Besides,under the optimal conditions,the contribution of the R zone in the R-MAO that removal COD,TN,NH_(4)^(+)-N and NO_(3)^(−)-N were 0.36,0.15,0.032 and 0.82 g/day.High-throughput sequencing results showed that uncultured_bacterium_f_Burkholderiaceae(5.20%),OLB8(1.04%)and Ottowia(1.03%)played an important role in denitrification in the R zone.This study provided effective guidance for the design and operation of the R-MAO process in domestic sewage treatment.

关键词： Advanced nitrogen removal Multistage anoxic/aerobic process Sludge regeneration zone(R zone) Microbial community