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Longbin Qi,Yunxia Hu,Qingzhi Chai,Qun Wang 한국공업화학회 2019 Journal of Industrial and Engineering Chemistry Vol.72 No.-
The anti-biofouling performance of silver nanoparticles (Ag NPs) modified polyethersulfone (PES)membrane was evaluated during the concentration of fermentation broth. The Ag NPs containingmembrane did not exhibit biofouling mitigation performance during thefirstfiltration cycle, but couldhelp to recover waterflux upon physical cleaning. After threefiltration-clean cycles, the Ag NPscontaining membranes presented higher waterflux and slowerflux decline than the control membraneswithout Ag NPs. Ag NPs on the membrane surface facilitated the effective removal of cake layer. Moreover, the Ag NPs-containing membrane had no negative effects on the activities of bacteria infermentation broth.
Neural Approximation-based Model Predictive Tracking Control of Nonholonomic Wheel-legged Robots
Jiehao Li,Junzheng Wang,Shoukun Wang,Wen Qi,Longbin Zhang,Yingbai Hu,Hang Su 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.1
This paper proposes a neural approximation based model predictive control approach for tracking controlof a nonholonomic wheel-legged robot in complex environments, which features mechanical model uncertaintyand unknown disturbances. In order to guarantee the tracking performance of wheel-legged robots in an uncertainenvironment, effective approaches for reliable tracking control should be investigated with the consideration of thedisturbances, including internal-robot friction and external physical interactions in the robot’s dynamical system. In this paper, a radial basis function neural network (RBFNN) approximation based model predictive controller(NMPC) is designed and employed to improve the tracking performance for nonholonomic wheel-legged robots. Some demonstrations using a BIT-NAZA robot are performed to illustrate the performance of the proposed hybridcontrol strategy. The results indicate that the proposed methodology can achieve promising tracking performancein terms of accuracy and stability.