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      • KCI등재

        Collision-Free Adaptive Control for UAV Formation with Input Saturation and Communication Delays

        Jianhui Lu,Fan Luo,Zhong Zheng,Mingxin Hou,Lin Wang 한국항공우주학회 2022 International Journal of Aeronautical and Space Sc Vol.23 No.3

        This paper addresses the collision-free adaptive formation control problem for multiple unmanned aerial vehicles subject to input saturation and communication delays. First, a novel collision-free adaptive saturated control scheme is proposed using potential function and anti-windup compensator approaches. It shows that the velocity consensus and collision avoidance are realized when the directed communication topology is strongly connected. Second, the collision-free adaptive saturated control algorithm is proposed considering communication delays and collision avoidance, and it enables the asymptotic stability of the closed-loop system when the time-varying communication delays are decreasing to zero eventually. Finally, numerical simulations demonstrate that the proposed control approaches are effective, while the objectives of collision avoidance and velocity consensus are fulfilled.

      • KCI등재

        Bioactivity kinetics of organic matter biodegradation and nitrification

        Jianhui Wang,Lu Wang,Enyan Cui,Hai Lu 한국화학공학회 2018 Korean Journal of Chemical Engineering Vol.35 No.6

        Biodegradation of organic matter and nitrification of ammonia nitrogen was studied by measuring the electron transport system (ETS) activity in activated sludge. The feasibility of characterizing the bioactivity of activated sludge based on the ETS was discussed. Then, bioactivity kinetics for the biodegradation and nitrification of organic matter was analyzed using the Michaelis–Menten equation. The results indicated that the ETS activity of activated sludge reflects the progression of organic matter biodegradation and nitrification of ammonia nitrogen; moreover, ETS activity is sensitive to the loading of organic matter and ammonia nitrogen and also to changes in alkalinity during the reaction. Therefore, it is feasible to characterize the bioactivity of an activated sludge system with ETS activity. The Michaelis constant for organic matter biodegradation was KTs=368.9mg/L; UTm=90.9mgTF/(gTss·h); KIs=88.42mg/L; and UIm=277.8mgINTF/(gTss·h); for the nitrification of ammonia nitrogen, the Michaelis constant was KTs=16.89 mg/L; UTm=34.6mgTF/(gTss·h); KIs=6.0mg/L; and UIm=196.08mgINTF/(gTss·h). Additional analyses of bioactivity kinetics confirmed that the organic matter oxidation rate of heterotrophic bacteria was higher than that of autotrophic nitrifying bacteria.

      • KCI등재

        Kinetics of pentachlorophenol co-metabolism removal by micro-aeration sequencing batch reactor process

        Jianhui Wang,Guolong Xie,Xin Qi,Ruifeng Ming,Bin Zhang,Hai Lu 한국화학공학회 2022 Korean Journal of Chemical Engineering Vol.39 No.6

        Four carbon sources (including trehalose, glucose, acetic acid, and yeast extract) were used as the co-metabolicmatrix of pentachlorophenol (PCP). The effect of the carbon sources on the process of acclimatization and degradationof PCP was investigated. The acclimatization rate of carbon sources with different substrates, the activities ofmicrobial enzymes in the co-metabolism process, and the control of co-metabolism reaction conditions were evaluated. The kinetic model of co-metabolic degradation of PCP in micro aerated sequencing batch reactor (SBR) wasestablished based on the Monod equation. The model was applied to fit the operating conditions of the micro aeratedSBR process in this study. The experimental results showed that the type and concentration of metabolic matrix greatlyinfluenced the degradation rate of PCP, and its trehalose, glucose, and acetic acid enhanced the degradation of PCP. Inparticular, the strengthening effect of trehalose was pronounced. When trehalose was used as a co-metabolic carbonsource, the time required for PCP degradation to a predetermined degree was shortened to one-fifth of the original,PCP removal rate exceeded 95%. At the same time, yeast extract inhibited the biodegradation of PCP when it was usedas an additional matrix carbon source. After the co-metabolism carbon source was added to the system, the proliferationrate of the microorganism was increased, and the key enzymes of PCP degradation were induced in the system. When the co-metabolic carbon source concentration was high, it accelerated active enzymes’ induction and maintainedhigh activity; 2,3,5-triphenyltetrazolium chloride-electron transport system (TTC-ETS) activity reached about 7.6mgTF/(gTSS·H), and 2-(p-iodophenyl)-3-(p-nitrophenyl)-5-phenyl Tetrazolium chloride-electron transport system(INT-ETS) activity reached 63.5mgINTF/(gTSS·H). When the concentration of co-metabolism carbon source wasextremely high, the co-degradation of toxic organic compounds was inhibited, leading to a decrease in the co-degradationrate. The kinetic model optimized the co-metabolism substrate. The degradation rate of PCP was increased by54.9% by micro-aeration-co-metabolism. The kinetic model was used to fit the microaerobic reaction process of microaeration SBR. The relevant result was in agreement with the experimental result by 97.6%.

      • KCI등재

        Loss of Torque on Magnetic Fluid Seals with Rotating-shafts

        Jianhui Hu,Meng Zhao,Lu Wang,Jibin Zou,Yong Li 한국자기학회 2017 Journal of Magnetics Vol.22 No.2

        The effects of loss of torque on magnetic fluid seals with rotating-shafts and the general difficulty of studying magnetic fluid seals are the focus of this work. The mechanism underlying loss of torque on such seals is analyzed using theoretical methods that show that loss of torque can be affected by several factors, including the velocity of the rotating-shaft, the structure of the sealing device, the characteristics of the magnetic field, and the characteristics of the magnetic fluid. In this paper, a model of the loss of torque is established, and the results of finite element analysis and testing and simulations are analyzed. It is concluded that (ⅰ) the viscosity of the magnetic fluid increased with the intensity of the magnetic field within a certain range; (ⅱ) when the magnetic fluid was saturated, the increase in loss of torque tended to gradually slow down; and (ⅲ) although the axial active length of the magnetic fluid may decrease with increasing speed of the rotating-shaft, the loss of torque increased because of increasing friction.

      • A Framework for Load Service Restoration Using Dynamic Change in Boundaries of Advanced Microgrids With Synchronous-Machine DGs

        Kim, Young-Jin,Wang, Jianhui,Lu, Xiaonan IEEE 2018 IEEE transactions on smart grid Vol.9 No.4

        <P>In this paper, a new strategy for service restoration of de-energized loads is proposed using advanced technologies of microgrids (MGs) that accommodate distributed energy resources (DERs). In particular, backup distributed generators (DGs), initially used for critical loads within a building, have recently been operated under normal grid conditions while exporting excess power to other loads on the same or different feeders. In addition, smart switches (SSWs) have been installed in a distribution grid to reduce the frequency and duration of power outages. Using flexible communication links, the sensors of the SSWs exchange control and measurement signals with grid management systems, namely, an advanced distribution management system, an MG energy management system, and a DER management system. This paper focuses on developing a methodological framework to determine the operating modes of synchronous-machine DGs and the on–off operation of SSWs, so as to change dynamically the boundaries of MGs that are formed in a distribution grid for fault isolation and load restoration. Simulation case studies demonstrate that the proposed strategy is effective in mitigating the influence of a network fault and restoring de-energized loads while successfully maintaining frequency and voltage levels in MGs.</P>

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