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The Novel Infrared Target Localization Algorithm for Free Floating Space Robot
Xiong Luo,Xiaolu Jie,Huaping Liu,Fuchun Sun 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
With regards to the complicated characteristic of outer space, the infrared target recognition system has been investigated for free floating space robot. A novel algorithm is proposed based on visual location method for free floating space robot. Firstly, we set an omnidirectional camera with fixed lens on the ceiling. Here, the free floating robot is moving on the platform. Especially, in order to reduce image noise, we fix an infrared filter in the lens. Then, we place a number of infrared-emitting diodes on the free floating space robot and the targets. Finally, we can get the accurate positions and angle information of the robot and the target according to the location of the infrared light. The experimental results prove that this approach presented in this paper is an effective method for target detection and static target capture for free floating space robot.
Tian Ai,Chunmei Xu,Lei Zhang,Ke Chen,Yonggui Wu,Shujuan Dai,Xiaolu Xiong,Shixin Jie,Xiaoni Jin,Zhongxu Yu 한국화학공학회 2022 Korean Journal of Chemical Engineering Vol.39 No.9
Novel efficient biochar of Goldenberry peels (GBPMW-H3PO4) was prepared through a microwave-assistedphosphoric acid activation method. It was characterized and used for removing two beta-lactamase inhibitors, sulbactam(SAM, first listed in Japan in 1986) and avibactam (AVI, first listed in the U.S. in 2015), from aqueous solution. Characterization confirmed that GBPMW-H3PO4 displayed a high surface area (720.046m2 g1), more abundant porestructure, smaller particle size, and higher thermal stability. The experimental results showed that the adsorption of thetwo antibiotics was a spontaneous, favorable, and endothermic process, highly dependent on solution pH. A contacttime of 60 min assured equilibrium, and GBPMW-H3PO4 followed pseudo-first-order kinetics (R2=0.9950-0.9977). Furthermore,the adsorption capacities of GBPMW-H3PO4 for SAM and AVI were 211.86 and 198.81mg g1, respectively,and the performance was better than that of unmodified biochar. Microscopically, the main mechanism could beexplained by - electron donor-acceptor interaction, hydrogen bonding interaction, -hydrogen bonding, hydrophobicinteraction, and electrostatic interaction. The study demonstrates that the microwave-assisted H3PO4 activationmethod could produce biochar, and GBPMW-H3PO4 was confirmed to be a low-cost and high-efficiency adsorbent forremoving beta-lactamase inhibitors from medical wastewater.
On the H∞ Deconvolution Fixed-lag Smoothing
Xiao Lu,Huanshui Zhang,Jie Yan 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.4
The paper deals with the H∞ deconvolution fixed-lag smoothing problem for a linear time-invariant discrete-time system with both known and unknown input series. The H∞ fixed-lag smoother is derived by proposing a new approach termed as re-organized innovation analysis in Krein space. Under the new approach, it is clearly shown that the central deconvolution smoother in an H∞ setting is the same as the one in an H2 setting associated with one self-constructed stochastic state-space model. This insight allows us to calculate the complicated H∞ deconvolution smoother in an intuitive and simple way. The deconvolution smoother is calculated by performing Riccati equation with the same order as the original system.