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Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

《机械工程前沿（英文）》 2020年第15卷第2期页码 193-208 doi: 10.1007/s11465-019-0569-3

摘要： As a well-explored template that captures the essential dynamical behaviors of legged locomotion on sagittal plane, the spring-loaded inverted pendulum (SLIP) model has been extensively employed in both biomechanical study and robotics research. Aiming at fully leveraging the merits of the SLIP model to generate the adaptive trajectories of the center of mass (CoM) with maneuverability, this study presents a novel two-layered sagittal SLIP-anchored (SSA) task space control for a monopode robot to deal with terrain irregularity. This work begins with an analytical investigation of sagittal SLIP dynamics by deriving an approximate solution with satisfactory apex prediction accuracy, and a two-layered SSA task space controller is subsequently developed for the monopode robot. The higher layer employs an analytical approximate representation of the sagittal SLIP model to form a deadbeat controller, which generates an adaptive reference trajectory for the CoM. The lower layer enforces the monopode robot to reproduce a generated CoM movement by using a task space controller to transfer the reference CoM commands into joint torques of the multi-degree of freedom monopode robot. Consequently, an adaptive hopping behavior is exhibited by the robot when traversing irregular terrain. Simulation results have demonstrated the effectiveness of the proposed method.

关键词： legged robots spring-loaded inverted pendulum task space control apex return map deadbeat control irregular terrain negotiation

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Financing climate-resilient infrastructure: Determining risk, reward, and return on investment

Peter B. MEYER, Reimund SCHWARZE

《工程管理前沿（英文）》 2019年第6卷第1期页码 117-127 doi: 10.1007/s42524-019-0009-4

摘要：

Urban infrastructure investment is needed for both, mitigation of climate risks and improved urban resiliency. Financing them requires the translation of those benefits into measurable returns on investment in the context of emerging risks that capital markets can understand and appreciate. This paper develops a generic framework to identify what are the necessary and sufficient factors to economically favor climate-change resilient infrastructure in private investment decisions. We specifically demonstrate that carbon pricing alone will not generate the needed will, because market prices at present systematically fail to account for climate change risks such as the costs of stranded assets and the national and local co-benefits of investments in climate resiliency. Carbon pricing is necessary, but not sufficient for an enhanced private financing of climate-resilient infrastructure. The Paris Agreement and other supra-local policies and actors including city networks can concretely help to generate the sufficient social and political will for investments into climate change mitigation and resiliency at the city level.

关键词： infrastructure urban finance climate low carbon economy

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Land use/cover change effects on floods with different return periods: a case study of Beijing, China

Yueling WANG, Xiaoliu YANG

《环境科学与工程前沿（英文）》 2013年第7卷第5期页码 769-776 doi: 10.1007/s11783-013-0542-z

摘要： In this study, an approach integrating digital land use/cover change (LUCC) analysis, hydraulic modeling and statistical methods was applied to quantify the effect of LUCC on floods in terms of inundation extent, flood arrival time and maximum water depth. The study took Beijing as an example and analyzed five specific floods with return periods of 20-year, 50-year, 100-year, 1000-year and 10000-year on the basis of LUCC over a nine-year period from 1996 to 2004. The analysis reveals that 1) during the period of analysis Beijing experienced unprecedented LUCC; 2) LUCC can affect inundation extent and flood arrival time, and floods with longer return periods are more influenced; 3) LUCC can affect maximum water depth and floods with shorter return periods are more influenced; and 4) LUCC is a major flood security stressor for Beijing. It warns that those cities having experienced rapid expansion during recent decades in China are in danger of more serious floods and recommends that their actual land use patterns should be carefully assessed considering flood security. This integrated approach is demonstrated to be a useful tool for joint assessment, planning and management of land and water.

关键词： inundation extent flood arrival time maximum water depth shallow flow model

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Multiple input self-organizing-map ResNet model for optimization of petroleum refinery conversion units

《化学科学与工程前沿（英文）》 2023年第17卷第6期页码 759-771 doi: 10.1007/s11705-022-2269-5

摘要： This work introduces a deep-learning network, i.e., multi-input self-organizing-map ResNet (MISR), for modeling refining units comprised of two reactors and a separation train. The model is comprised of self-organizing-map and the neural network parts. The self-organizing-map part maps the input data into multiple two-dimensional planes and sends them to the neural network part. In the neural network part, residual blocks enhance the convergence and accuracy, ensuring that the structure will not be overfitted easily. Development of the MISR model of hydrocracking unit also benefits from the utilization of prior knowledge of the importance of the input variables for predicting properties of the products. The results show that the proposed MISR structure predicts more accurately the product yields and properties than the previously introduced self-organizing-map convolutional neural network model, thus leading to more accurate optimization of the hydrocracker operation. Moreover, the MISR model has smoother error convergence than the previous model. Optimal operating conditions have been determined via multi-round-particle-swarm and differential evolution algorithms. Numerical experiments show that the MISR model is suitable for modeling nonlinear conversion units which are often encountered in refining and petrochemical plants.

关键词： hydrocracking convolutional neural networks self-organizing map deep learning data-driven optimization

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偏振模色散对高速光码的影响

饶敏,孙小菡,张明德

《中国工程科学》 2002年第4卷第11期页码 67-70

摘要：

研究一阶、二阶偏振模色散（PMD）对10 Gb/s和40 Gb/s的光传输系统性能的影响，考虑PMD的统计特性，基于基本偏振态（PSP）理论数值模拟了非归零码（NRZ）和归零码（RZ）在传输过程中产生的脉冲畸变以及系统Q值的变化。结果表明，传输速率越高PMD对系统性能的影响越显著，二阶PMD也将不可忽略。另外，RZ码传输性能明显优于NRZ码并且可通过预啁啾进行改善。

关键词：偏振模色散（PMD）非归零码（NRZ）归零码（RZ）频率啁啾

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A bacterial artificial chromosome-based physical map of

Yuhua FU,Zhiqiang XIA,Shujuan WANG,Xin CHEN,Cheng LU,Mingcheng LUO,Hongbin ZHANG,Wenquan WANG

《农业科学与工程前沿（英文）》 2016年第3卷第4期页码 321-329 doi: 10.15302/J-FASE-2016124

摘要： Cassava ( ) is known as the third most important food crop in the tropics and also used for industrial feedstock for biofuels. Two new bacterial artificial chromosome (BAC) libraries were constructed for W14 ( ssp. ), a wild ancestor of domesticated cassava. The libraries were constructed with RI and dIII insertion vectors, respectively. The RI library has 29952 clones with an average insert size of 115 kb, while the dIII library consists of 29952 clones with an average insert of 129 kb. The combined libraries contain a total of 59904 clones with an average insert size of 125 kb, representing approximately 10 × haploid genome equivalents. A total of 29952 clones were fingerprinted and resulted in a cassava physical map composed of 2485 contigs with an average physical length of 336 kb and 2909 singletons, representing approximately 762 Mb of the cassava genome. 5000 clones located at the ends of BAC contigs were selected and sequenced. A total of 6077 SNPs and 231 indels were identified, that covered 459 gene sequences, of which 6 genes were associated with starch and sucrose metabolism. This BAC-based physical map provides valuable tools to understand the genetics and evolution of cassava.

关键词： cassava BAC library physical map

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自动驾驶地图有关政策的思考和建议

刘经南,董杨,詹骄,高柯夫

《中国工程科学》 2019年第21卷第3期页码 92-97 doi: 10.15302/J-SSCAE-2019.03.004

摘要：

自动驾驶地图作为实现汽车自动驾驶的关键基础设施，对于推动我国自动驾驶领域的商业化开发至关重要。现阶段，我国受地图测绘、应用和监管等相关法律法规的制度掣肘，在自动驾驶地图的产业化进程方面相对滞后。为此，本文着重分析了我国在自动驾驶地图开发、应用和管理中面临的主要政策法规问题：自动驾驶地图是否需加密的问题、自动驾驶地图部分地理信息表达受限的问题、自动驾驶地图地理信息采集资质和审图流程的问题、自动驾驶地图事故责任和保险问题、自动驾驶地图相关测试规范和测试场景问题。同时结合国内外自动驾驶领域的发展趋势，给出加快我国自动驾驶汽车开发和商业化进程的四点建议：制定自动驾驶地图管理模式、允许自动驾驶地图应用试点及有序开放、适当放开企业权限及优化审核流程、建立国家级自动驾驶地图平台。

关键词：自动驾驶地图自动驾驶法规自动驾驶政策

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用航空航天影像更新地形图地物要素的栅格化方法

林宗坚

《中国工程科学》 2000年第2卷第4期页码 43-47

摘要：

文章针对当前我国1:5和1:1万地形图更新的大规模生产的迫切需求，提出在原有地形图栅格式数字化的基础上，叠加经过精密纠正配准的航空或卫星遥感影像，以栅格方式更新地物要素的全过程方法。文中特别阐述了：1）地形图栅格数字化不同于矢量数字化的扫描采样分辨率问题；2）区别于传统的“针孔式”控制点概念的图像图形阵列控制点技术；3）由于DEM（数字高程模型）数据缺乏或精度不足引起的航空航天影像与地形图图形配准误差的局部纠正方法；4）定性指导定量的影像判读方法；5）从遥感影像提取地物结构信息的半自动化方法。文章最后列出

关键词：测绘遥感地形图更新数字栅格地图

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Economic Analysis of Residential Distributed Solar Photovoltaic

Xi Luo,Jia-ping Liu

《工程管理前沿（英文）》 2015年第2卷第2期页码 125-130 doi: 10.15302/J-FEM-2015031

摘要： Under the huge challenges of global energy conservation, emission reduction and energy security, distributed solar photovoltaic industry has become the key means to achieve economic restructuring and low carbon economy. Based on System Advisor Model software, the authors choose Baoji as the sample plot. Household load, unit investment, loan interest rate and loan fraction are used as influence factors to analyze the economic benefits of distributed solar photovoltaic in China. The result demonstrates that government incentives help to increase the profitability of distributed solar photovoltaic by a large extent; other factors that influence the profitability includes household load, unit investment cost, loan interest rate and loan fraction.

关键词： distributed solar photovoltaic internal rate of return price ladder government incentives

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Optimization of process parameters for mature landfill leachate pretreatment using MAP precipitation

Wei LI, Xiaowen DING, Min LIU, Yuewen GUO, Lei LIU

《环境科学与工程前沿（英文）》 2012年第6卷第6期页码 892-900 doi: 10.1007/s11783-012-0440-9

摘要： Chemical precipitation is a useful technology as a pretreatment to treat mature landfill leachate with high concentrations of ammonium-nitrogen ( ) and refractory organic compounds. Orthogonal experiments and factorial experiments were carried out to determine the optimal conditions enhancing the magnesium ammonium phosphate (MAP) precipitation process, and the experimental results demonstrated that the removal rate of was more than 85% when MgO and NaH PO ·2H O were applied as external sources of magnesium and phosphorous under the optimal conditions that molar ratio n(Mg)∶n(N)∶n(P) = 1.4∶1∶0.8, reaction time 60 min, original pH of leachate and settling time 30 min. In the precipitation process, pH could be maintained at the optimal range of 8–9.5 because MgO could release hydroxide ions to consume hydrogen ions. Calcium ions and carbonate ions existed in the leachate could affect the precipitation process, which resulted in the decrease of removal efficiency. The residues of MAP sediments decomposed by heating under alkaline conditions can be reused as the sources of phosphorous and magnesium for the removal of high concentrations of , and up to 90% of ammonium could be released under molar ratio of n[OH]∶n[MAP] = 2.5∶1, heating temperature 90°C and heating time 2h.

关键词： magnesium ammonium phosphate precipitation mature landfill leachate optimization ammonium-nitrogen

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Management innovation of Chang’e-5 project

《工程管理前沿（英文）》 2021年第8卷第4期页码 620-626 doi: 10.1007/s42524-021-0165-1

关键词： lunar exploration sample return systems engineering project management

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Optimization of fuel supply map during starting process of electronic controlled diesel engine

LIANG Jinguang, YU Xiumin, GAO Yue, WANG Yunkai, YU Hongyang, Gong Baoli

《能源前沿（英文）》 2008年第2卷第4期页码 410-415 doi: 10.1007/s11708-008-0080-8

摘要： Tests were conducted to study influence of fuel supply map during the starting process of an electronic controlled diesel engine using an electronic controlled diesel engine which was made up of a CA498Z diesel engine, a VP37 electronic controlled distributor injection pump management system and a VS100 calibration system. The calibration process of starting fuel supply map was educed under the principle of low HC emission and rapid starting velocity. The calibration methods of starting fuel supply map were obtained.

关键词： supply management CA498Z process controlled distributor

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A road-map for energy-neutral wastewater treatment plants of the future based on compact technologies

Hallvard Ødegaard

《环境科学与工程前沿（英文）》 2016年第10卷第4期 doi: 10.1007/s11783-016-0835-0

摘要： In the paper concepts for wastewater treatment of the future are discussed by the use of a) one flow diagram based on established, compact, proven technologies (i.e. nitrification/denitrification for N-removal in the mainstream) and b) one flow diagram based on emerging, compact technologies (i.e. de-ammonification in the main stream).The latter (b) will give an energy-neutral wastewater treatment plant, while this cannot be guaranteed for the first one (a). The example flow diagrams show plant concepts that a) minimize energy consumption by using compact biological and physical/chemical processes combined in an optimal way, for instance by using moving bed biofilm reactor (MBBR) processes for biodegradation and high-rate particle separation processes, and de-ammonification processes for N-removal and b)maximize energy (biogas) production through digestion by using wastewater treatment processes that minimize biodegradation of the sludge (prior to digestion) and pretreatment of the sludge prior to digestion by thermal hydrolysis. The treatment plant of the future should produce a water quality (for instance bathing water quality) that is sufficient for reuse of some kind (toilet flushing, urban use, irrigation etc.). The paper outlines compact water reclamation processes based on ozonation in combination with coagulation as pretreatment before ceramic membrane filtration. In the paper concepts for domestic wastewater treatment plants of the future are discussed by the use of a) one flow diagram based on established, compact, proven technologies (i.e. nitrification/denitrification for N-removal in the mainstream) and b) one flow diagram based on emerging, compact technologies (i.e. de-ammonification in the main stream).The latter (b) will give an energy-neutral wastewater treatment plant, while this cannot be guaranteed for the first one (a). The example flow diagrams show plant concepts that a) minimize energy consumption by using compact biological and physical/chemical processes combined in an optimal way, for instance by using moving bed biofilm reactor (MBBR) processes for biodegradation and high-rate particle separation processes, and de-ammonification processes for N-removal and b)maximize energy (biogas) production through digestion by using wastewater treatment processes that minimize biodegradation of the sludge (prior to digestion) and pretreatment of the sludge prior to digestion by thermal hydrolysis. The treatment plant of the future should produce a water quality (for instance bathing water quality) that is sufficient for reuse of some kind (toilet flushing, urban use, irrigation etc.). The paper outlines compact water reclamation processes based on ozonation in combination with coagulation as pretreatment before ceramic membrane filtration.

关键词： China concept WWTP Energy-neutrality De-ammonification moving bed biofilm reactor (MBBR)

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一种适用于自动驾驶汽车的多层地图模型和车道级轨迹规划 Article

江昆, 杨殿阁, 柳超然, 张涛, 肖中阳

《工程（英文）》 2019年第5卷第2期页码 305-318 doi: 10.1016/j.eng.2018.11.032

摘要：

越来越多的司机依赖于汽车或手机上的电子地图导航系统来选择最佳的驾驶路线，以节省时间和提高安全性，在不久的将来，电子地图和导航系统有望在未来交通运输系统中发挥更大的作用。为了将现有的导航系统扩展到更多的应用领域，如自动驾驶，需要考虑在传统道路地图模型的基础上，建立车道级地图模型和车道级轨迹规划。本研究针对传统电子地图内容不够丰富的局限性，提出了一种全新的七层自动驾驶地图结构模型，并将它命名为清华地图模型。考虑车辆换道、转向和直行等不同行车特点，建立了车道级路段行车代价模型，建立一种分层路径轨迹搜索方法，能够在道路和车道网络中实现快速的轨迹规划，能够很好地支持自动驾驶的车道级轨迹规划。通过在虚拟道路网络和实际道路网络上的测试，充分验证了该地图模型和算法的灵活性和有效性。

关键词：车道级地图路径规划清华地图模型行车代价模型

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Building a dense surface map incrementally from semi-dense point cloud andRGBimages

Qian-shan LI,Rong XIONG,Shoudong HUANG,Yi-ming HUANG

《信息与电子工程前沿（英文）》 2015年第16卷第7期页码 594-606 doi: 10.1631/FITEE.14a0260

摘要： Building and using maps is a fundamental issue for bionic robots in field applications. A dense surface map, which offers rich visual and geometric information, is an ideal representation of the environment for indoor/outdoor localization, navigation, and recognition tasks of these robots. Since most bionic robots can use only small light-weight laser scanners and cameras to acquire semi-dense point cloud and RGB images, we propose a method to generate a consistent and dense surface map from this kind of semi-dense point cloud and RGB images. The method contains two main steps: (1) generate a dense surface for every single scan of point cloud and its corresponding image(s) and (2) incrementally fuse the dense surface of a new scan into the whole map. In step (1) edge-aware resampling is realized by segmenting the scan of a point cloud in advance and resampling each sub-cloud separately. Noise within the scan is reduced and a dense surface is generated. In step (2) the average surface is estimated probabilistically and the non-coincidence of different scans is eliminated. Experiments demonstrate that our method works well in both indoor and outdoor semi-structured environments where there are regularly shaped objects.

关键词： Bionic robot Robotic mapping Surface fusion