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A chemometric analysis on the fluorescent dissolved organic matter in a full-scale sequencing batch reactor

Chen Qian, Wei Chen, Wei-Hua Li, Han-Qing Yu

《环境科学与工程前沿（英文）》 2017年第11卷第4期 doi: 10.1007/s11783-017-0962-2

摘要： Rapid monitoring of water quality is crucial to the operation of municipal wastewater treatment plants (WWTPs). Fluorescence excitation-emission matrix (EEM) in combination with parallel factor analysis (PARAFAC) has been used as a powerful tool for the characterization of dissolved organic matter (DOM) in WWTPs. However, a recent work has revealed the drawback of PARAFAC analysis, i.e., overestimating the component number. A novel method, parallel factor framework-clustering analysis (PFFCA), has been developed in our earlier work to resolve this drawback of PARAFAC. In the present work, both PARAFAC and PFFCA were used to analyze the EEMs of water samples from a full-scale WWTP from a practical application point of view. The component number and goodness-of-fit from these two methods were compared and the relationship between the relative score change of component and the actual concentration was investigated to evaluate the estimation error introduced by both methods. PFFCA score and actual concentration exhibited a higher correlation coefficient ( = 0.870) compared with PARAFAC ( <0.771), indicating that PFFCA provided a more accurate relative change estimation than PARAFAC. The results suggest that use of PARAFAC may cause confusion in selecting the component number, while EEM-PFFCA is a more reliable alternative approach for monitoring water quality in WWTPs.

关键词： Wastewater treatment plants (WWTPs) Excitation-emission matrix (EEM) Parallel factor (PARAFAC) Parallel factor framework-clustering analysis (PFFCA)

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基于GPU的密度峰值并行聚类算法 Article

Ke-shi GE, Hua-you SU, Dong-sheng LI, Xi-cheng LU

《信息与电子工程前沿（英文）》 2017年第18卷第7期页码 915-927 doi: 10.1631/FITEE.1601786

摘要：基于密度峰值的聚类方法DP （density peak）由于其新颖有效的特点而广泛应用于科学研究。然而，当确定集群中心时，DP会对每对数据点操作多次，从而导致较高的计算复杂度。在本文中，我们提出了一种基于GPU （graphics processing unit）的高效并行密度峰值算法。我们分析密度峰值聚类算法的原理来研究其计算瓶颈，并评估其并行的潜力。根据分析，我们提出了CUDA-DP （compute unified device architecture-DP），一种针对GPU架构的高效并行密度峰值聚类算法，并用CUDA实现了这种并行方法。具体来说，我们使用共享内存减少了全局内存访问量。更进一步，为了利用GPU的合并访问机制，我们将CUDA-DP程序的数据结构从AOS （array of structures）重构为SOA （structure of arrays）。另外，我们分别引入二进制搜索方法和采样方法，以避免对距离矩阵进行排序造成的计算开销。实验结果表明，与基于CPU的密度峰值实现相比，CUDA-DP可以实现超过45倍的加速。

关键词： GPU；密度峰值；聚类；并行计算

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Optimization and simultaneous heat integration design of a coal-based ethylene glycol refining process by a parallel

《化学科学与工程前沿（英文）》 2023年第17卷第9期页码 1280-1288 doi: 10.1007/s11705-023-2301-4

摘要： Coal to ethylene glycol still lacks algorithm optimization achievements for distillation sequencing due to high-dimension and strong nonconvexity characteristics, although there are numerous reports on horizontal comparisons and process revamping. This scenario triggers the navigation in this paper into the simultaneous optimization of parameters and heat integration of the coal to ethylene glycol distillation scheme and double-effect superstructure by the self-adapting dynamic differential evolution algorithm. To mitigate the influence of the strong nonconvexity, a redistribution strategy is adopted that forcibly expands the population search domain by exerting external influence and then shrinks it again to judge the global optimal solution. After two redistributive operations under the parallel framework, the total annual cost and CO₂ emissions are 0.61%/1.85% better for the optimized process and 3.74%/14.84% better for the superstructure than the sequential optimization. However, the thermodynamic efficiency of sequential optimization is 11.63% and 10.34% higher than that of simultaneous optimization. This study discloses the unexpected great energy-saving potential for the coal to ethylene glycol process that has long been unknown, as well as the strong ability of the self-adapting dynamic differential evolution algorithm to optimize processes described by the high-dimensional mathematical model.

关键词： ethylene glycol redistribution heat integration optimization parallel framework

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Identification of sources, characteristics and photochemical transformations of dissolved organic matter with EEM-PARAFAC in the Wei River of China

《环境科学与工程前沿（英文）》 2021年第15卷第5期 doi: 10.1007/s11783-020-1340-z

摘要：

• The source of DOM in surface water and sediment is inconsistent.

关键词： Dissolved organic matter Parallel factor analysis Excitation-emission matrices Photodegradation

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A systematic approach to ON-OFF event detection and clustering analysis of non-intrusive appliance load

Chuan Choong YANG,Chit Siang SOH,Vooi Voon YAP

《能源前沿（英文）》 2015年第9卷第2期页码 231-237 doi: 10.1007/s11708-015-0358-6

摘要： The aim of non-intrusive appliance load monitoring (NIALM) is to disaggregate the energy consumption of individual electrical appliances from total power consumption utilizing non-intrusive methods. In this paper, a systematic approach to ON-OFF event detection and clustering analysis for NIALM were presented. From the aggregate power consumption data set, the data are passed through median filtering to reduce noise and prepared for the event detection algorithm. The event detection algorithm is to determine the switching of ON and OFF status of electrical appliances. The goodness-of-fit (GOF) methodology is the event detection algorithm implemented. After event detection, the events detected were paired into ON-OFF pairing appliances. The results from the ON-OFF pairing algorithm were further clustered in groups utilizing the -means clustering analysis. The -means clustering were implemented as an unsupervised learning methodology for the clustering analysis. The novelty of this paper is the determination of the time duration an electrical appliance is turned ON through combination of event detection, ON-OFF pairing and -means clustering. The results of the algorithm implementation were discussed and ideas on future work were also proposed.

关键词： non-intrusive appliance load monitoring event detection goodness-of-fit (GOF) K-means clustering ON-OFF pairing

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Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurable

《机械工程前沿（英文）》 2021年第16卷第4期页码 765-781 doi: 10.1007/s11465-021-0655-1

摘要： Generalized parallel mechanisms with a configurable moving platform have become popular in the research field of parallel mechanism. This type of gripper mechanism can be applied to grasp large or heavy objects in different environments that are dangerous and complex for humans. This study proposes a family of novel (5 + 1) degrees of freedom (three translations and two rotations plus an additional grasping motion) gripper mechanisms based on the generalized parallel mechanisms with a configurable moving platform. First, the configurable moving platform, which is a closed loop, is designed for grasping manipulation. The hybrid topological arrangement is determined to improve the stiffness of the manipulator and realize high load-to-weight ratios. A sufficient rule based on Lie group theory is proposed to synthesize the mechanism. The hybrid limb structure is also enumerated. A family of novel gripper mechanisms can be assembled through the hybrid limbs by satisfying the rule. Two examples of the gripper mechanisms with and without parallelogram pairs are shown in this study. A kinematic analysis of the example mechanism is presented. The workspace shows that the mechanism possesses high rotational capability. In addition, a stiffness analysis is performed.

关键词： generalized parallel mechanism configurable moving platform gripper mechanism type synthesis kinematic analysis

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Motion capability analysis of a quadruped robot as a parallel manipulator

Jingjun YU,Dengfeng LU,Zhongxiang ZHANG,Xu PEI

《机械工程前沿（英文）》 2014年第9卷第4期页码 295-307 doi: 10.1007/s11465-014-0317-7

摘要：

This paper presents the forward and inverse displacement analysis of a quadruped robot MANA as a parallel manipulator in quadruple stance phase, which is used to obtain the workspace and control the motion of the body. The robot MANA designed on the basis of the structure of quadruped mammal is able to not only walk and turn in the uneven terrain, but also accomplish various manipulating tasks as a parallel manipulator in quadruple stance phase. The latter will be the focus of this paper, however. For this purpose, the leg kinematics is primarily analyzed, which lays the foundation on the gait planning in terms of locomotion and body kinematics analysis as a parallel manipulator. When all four feet of the robot contact on the ground, by assuming there is no slipping at the feet, each contacting point is treated as a passive spherical joint and the kinematic model of parallel manipulator is established. The method for choosing six non-redundant actuated joints for the parallel manipulator from all twelve optional joints is elaborated. The inverse and forward displacement analysis of the parallel manipulator is carried out using the method of coordinate transformation. Finally, based on the inverse and forward kinematic model, two issues on obtaining the reachable workspace of parallel manipulator and planning the motion of the body are implemented and verified by ADAMS simulation.

关键词： quadruped robot actuated joints selection kinematics analysis motion planning parallel manipulator

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Error analysis and optimization of a 3-degree of freedom translational Parallel Kinematic Machine

null

《机械工程前沿（英文）》 2014年第9卷第2期页码 120-129 doi: 10.1007/s11465-014-0300-3

摘要：

In this paper, error modeling and analysis of a typical 3-degree of freedom translational Parallel Kinematic Machine is presented. This mechanism provides translational motion along the Cartesian X-, Y- and Z- axes. It consists of three limbs each having an arm and forearm with prismatic-revolute-revolute-revolute joints. The moving or tool platform maintains same orientation in the entire workspace due to its joint arrangement. From inverse kinematics, the joint angles for a given position of tool platform necessary for the error modeling and analysis are obtained. Error modeling is done based on the differentiation of the inverse kinematic equations. Variation of pose errors along X, Y and Z directions for a set of dimensions of the parallel kinematic machine is presented. A non-dimensional performance index, namely, global error transformation index is used to study the influence of dimensions and its corresponding global maximum pose error is reported. An attempt is made to find the optimal dimensions of the Parallel Kinematic Machine using Genetic Algorithms in MATLAB. The methodology presented and the results obtained are useful for predicting the performance capability of the Parallel Kinematic Machine under study.

关键词： translational Parallel Kinematic Machine error modeling global error transformation index

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Design, analysis, and neural control of a bionic parallel mechanism

《机械工程前沿（英文）》 2021年第16卷第3期页码 468-486 doi: 10.1007/s11465-021-0640-8

摘要： Although the torso plays an important role in the movement coordination and versatile locomotion of mammals, the structural design and neuromechanical control of a bionic torso have not been fully addressed. In this paper, a parallel mechanism is designed as a bionic torso to improve the agility, coordination, and diversity of robot locomotion. The mechanism consists of 6-degree of freedom actuated parallel joints and can perfectly simulate the bending and stretching of an animal’s torso during walking and running. The overall spatial motion performance of the parallel mechanism is improved by optimizing the structural parameters. Based on this structure, the rhythmic motion of the parallel mechanism is obtained by supporting state analysis. The neural control of the parallel mechanism is realized by constructing a neuromechanical network, which merges the rhythmic signals of the legs and generates the locomotion of the bionic parallel mechanism for different motion patterns. Experimental results show that the complete integrated system can be controlled in real time to achieve proper limb–torso coordination. This coordination enables several different motions with effectiveness and good performance.

关键词： neural control behavior network rhythm motion pattern

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Design and analysis of partially decoupled translational parallel mechanisms with single-loop structures

《机械工程前沿（英文）》 2022年第17卷第3期 doi: 10.1007/s11465-022-0695-1

摘要： This study presents a family of novel translational parallel mechanisms (TPMs) with single-loop topological structures. The proposed mechanism consists of only revolute and prismatic joints. The novel TPMs are simpler in structure and have fewer joints and components than the well-known Delta Robot. Four types of 2-degree of freedom driving systems are applied to different limb structures to avoid the moving actuator that causes the problem of increased moving mass. Four sample TPMs are constructed using the synthesized limbs, and one of them is investigated in terms of kinematic performance. First, a position analysis is performed and validated through numerical simulation to reveal the characteristics of partially decoupled motion, which improves the controllability of TPM. Second, singular configurations are identified, and the resulting singularity curve is obtained. Lastly, the workspace of TPM is analyzed, and the relationship between the singular configurations and the reachable workspace is explored. The workspace of the 3-CRR (C denotes the cylindrical joint and R denotes the revolute joint) translational mechanism is also presented to prove that the proposed TPM has a fairly large workspace.

关键词： translational parallel mechanism single loop multiple driving system workspace analysis singularity

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A comprehensive analysis of a 3-P (Pa) S spatial parallel manipulator

Yuzhe LIU,Liping WANG,Jun WU,Jinsong WANG

《机械工程前沿（英文）》 2015年第10卷第1期页码 7-19 doi: 10.1007/s11465-015-0324-3

摘要：

In this paper, a novel 3-degree of freedom (3-DOF) spatial parallel kinematic machine (PKM) is analyzed. The manipulator owns three main motions (two rotations and one translation) and three concomitant motions (one rotation and two translations). At first, the structure of this spatial PKM is simplified according to the characteristic of each limb. Secondly, the kinematics model of this spatial PKM is set up. In addition, the relationship between the main motions and concomitant motions is studied. The workspaces respectively based on the outputs and inputs are derived and analyzed. Furthermore, the velocity model is put forward. Two indexes based on the velocity model are employed to investigate the performance of this spatial PKM. At last, the output error model can be obtained and simulated. The comprehensive kinematics analysis in this paper is greatly useful for the future applications of this spatial PKM.

关键词： parallel mechanism concomitant motions kinematics workspaces error model

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我国生态文明治理能力建设制约因素与制度改革任务分析

张惠远,张强,刘煜杰,刘淑芳,郝海广

《中国工程科学》 2015年第17卷第8期页码 137-136

摘要：

本文从生态文明建设与经济、政治、文化、社会建设五位一体的角度对我国生态文明治理能力建设的制约因素与制度改革任务进行了系统分析，研究探讨了生态文明治理能力建设的内涵、目标与建设框架，从法治、体制、机制等方面总结分析了我国生态文明治理能力建设的现状和制约因素，并针对这些问题围绕法治建设、体制改革、政府管理、市场运行、公众参与、文化引导分析提出了制度改革的重点任务。

关键词：生态文明；治理能力；制约因素；制度改革；建设框架

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A visual graphic approach for mobility analysis of parallel mechanisms

Xu PEI, Jingjun YU

《机械工程前沿（英文）》 2011年第6卷第1期页码 92-95 doi: 10.1007/s11465-011-0213-3

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Module-based method for design and analysis of reconfigurable parallel robots

Fengfeng XI, Yuwen LI, Hongbo WANG

《机械工程前沿（英文）》 2011年第6卷第2期页码 151-159 doi: 10.1007/s11465-011-0121-6

摘要：

This paper presents a method for the design and analysis of reconfigurable parallel robots. The inherent modularity in a parallel robot lends itself as a natural candidate for reconfiguration. By taking the branches as building blocks, many modular parallel robots can be constructed, from which a reconfigurable parallel robot can be realized. Among three types of reconfigurations, namely, geometry morphing, topology morphing, and group morphing, the method presented here is for the last two reconfigurations, thereby advancing the current research that is mainly limited to geometry morphing. It is shown that the module-based method not only provides a systematic way of designing a reconfigurable parallel robot, but also offers a unified modeling for robot analysis. Two examples are provided, one showing the topology morphing and the other showing the group morphing.

关键词： reconfigurable parallel robot topology morphing group morphing

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Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

Qizhi MENG, Fugui XIE, Xin-Jun LIU

《机械工程前沿（英文）》 2018年第13卷第2期页码 211-224 doi: 10.1007/s11465-018-0471-4

摘要：

This paper deals with the conceptual design, kinematic analysis and workspace identification of a novel four degrees-of-freedom (DOFs) high-speed spatial parallel robot for pick-and-place operations. The proposed spatial parallel robot consists of a base, four arms and a 1½ mobile platform. The mobile platform is a major innovation that avoids output singularity and offers the advantages of both single and double platforms. To investigate the characteristics of the robot’s DOFs, a line graph method based on Grassmann line geometry is adopted in mobility analysis. In addition, the inverse kinematics is derived, and the constraint conditions to identify the correct solution are also provided. On the basis of the proposed concept, the workspace of the robot is identified using a set of presupposed parameters by taking input and output transmission index as the performance evaluation criteria.

关键词： spatial parallel robot pick-and-place operations mobility analysis kinematic modeling workspace identification