A survey on tracking control of unmanned underwater vehicles: Experiments-based approach

This paper aims to provide a review of the conceptual design and theoretical framework of the main control schemes proposed in the literature for unmanned underwater vehicles (UUVs). Additionally, the objective of the paper is not only to present an overview of the recent control architectures validated on UUVs but also to give detailed experimental-based comparative studies of the proposed control schemes. To this end, the main control schemes, including proportional–integral–derivative (PID) based, sliding mode control (SMC) based, adaptive based, observation-based, model predictive control (MPC) based, combined control techniques, are revisited in order to consolidate the principal efforts made in the last two decades by the automatic control community in the field. Besides implementing some key tracking control schemes from the classification mentioned above on Leonard UUV, several real-time experimental scenarios are tested, under different operating conditions, to evaluate and compare the efficiency of the selected tracking control schemes. Furthermore, we point out potential investigation gaps and future research trends at the end of this survey.     

Experimental and numerical investigations on the heat production and thermal storage characteristics of rapid preparation amorphous powder activated coke

The heat production and thermal storage characteristics of rapid-preparation amorphous powder activated coke (RAC) were investigated. RAC was prepared by using a drop-tube reactor system. The natural oxidation characteristics of RAC were studied through combined TG–FTIR analysis and temperature-programmed experiment. Experimental results showed that CO and CO₂ were the main oxidation products of RAC in air, and that the oxidation reaction was in accordance with the Arrhenius equation and law of mass action. Thermal storage characteristics were studied through computational fluid dynamics simulation. The maximum excess temperature θ_max increases linearly with the increase of the initial temperature. The concentration fields of the products show that CO₂ is mainly concentrated in the upper part of the coke bin, and the CO generated by CO₂ at high temperature is mainly concentrated in the central part of the coke bin.     

山苍子精油与食品添加剂对水产品腐败菌的联合抑制作用研究

目的研究山苍子精油与食品添加剂对水产品腐败菌的联合抑制作用。方法采用气相色谱-质谱联用法对山苍子精油的化学组分进行分析;然后以腐败希瓦氏菌SM-R2、莓实假单胞菌SM-R1、摩拉维亚假单胞菌SM-T1为研究对象,采用微量肉汤稀释法研究5种食品添加剂的抑菌活性;通过棋盘稀释法研究山苍子精油与聚赖氨酸及柠檬酸的联合抑菌效应。结果从山苍子精油中检测出16种单体化合物,且主要成分为柠檬醛,相对含量为62.7%;天然防腐剂聚赖氨酸和柠檬酸对3株受试腐败菌株具有显著抑制作用,最小抑菌浓度分别为0.25、2 mg/mL;山苍子精油与聚赖氨酸联合抑菌时具有相加效应。结论将山苍子精油与聚赖氨酸联合使用具有相加效应,能有效扩大精油抑菌范围并减少其使用量,有望应用于冷藏水产品的绿色保鲜。     

石煤型钒矿预富集技术研究现状

当前石煤提钒一般采用湿法浸出工艺，由于矿石钒品位低，造成浸出过程酸（碱）消耗量大。在浸出前对石煤钒矿预富集，能大幅降低生产成本。总结了我国石煤钒矿预富集技术的发展成果，重点介绍了擦洗工艺、重选工艺、浮选工艺和联合选矿工艺。对于采用常规的重选、磁选、浮选工艺难以有效富集的细粒黏土型石煤钒矿，利用其矿物硬度上或形状上的差异应用擦洗工艺能有效地富集。重选工艺处理量大、设备结构简单、成本低廉。浮选工艺应用范围广、适应性强、分选效率高，可以分选赋存状态复杂、嵌布粒度细的石煤钒矿，浮选富集的产品品质一般较高。组分复杂的石煤钒矿，采用单一选矿工艺难以高效地将含钒矿物和脉石矿物分离，可根据矿石特性进行联合工艺富集回收，以发挥各种工艺的优势，提高预富集效果。石煤钒矿预富集大幅减少了后续浸出的矿石处理量，钒浸出率显著提升，降低了生产成本。关于石煤型钒矿浮选药剂研究较少，今后可结合当前先进的分子模拟技术进行分子动力学机理研究浮选药剂与矿物表面的作用，开发更为新型高效的浮选药剂；研制适用于石煤钒矿重选的选别设备；在生产中逐渐淡化传统的选矿和冶金的界线，选冶联合发展，改进工艺流程，提高石煤资源的综合利用率。     

低阶煤颗粒-气/油泡间的诱导时间研究

为表征低阶煤颗粒-气/油泡间矿化过程的差异,通过Sutherland理论下固体颗粒进入泡沫产品的总概率(E)和浮选速率常数(k)之间关系,并结合低阶煤颗粒-气/油泡的浮选速率试验,求得了低阶煤颗粒-气/油泡间的诱导时间。浮选实验研究表明,在相同的捕收剂消耗量下低阶煤-油泡浮选产率均高于低阶煤-气泡浮选产率。诱导时间测试表明,低阶煤颗粒-油泡间的诱导时间(35 ms)要明显低于低阶煤颗粒-气泡间的诱导时间(93 ms)。上述实验结果表明,油泡表面的疏水性要强于传统浮选气泡表面的疏水性。然而,进一步利用Sutherland理论中固体颗粒进入泡沫产品的总概率和浮选速率常数之间的数学关系,并结合低阶煤颗粒-气/油泡的浮选速率试验求得的低阶煤颗粒-气/油泡间的诱导时间分别为9.67和8.46 ms,其与诱导时间测试仪分别测量的诱导时间差异很大。这主要是由于在实际浮选过程中气/油泡的上升速度分别为23.26和22.68 cm/s,其远高于2015EZ型诱导时间仪测试过程中气/油泡碰撞速度(2.0 cm/s)。因此,诱导时间理论计算表明气泡-颗粒间的碰撞速度对颗粒-气泡间的诱导时间影响很大。上述研究结果表明油泡浮选效果优于传统浮选的内在原因在于低阶煤颗粒-油泡间的诱导时间小于低阶煤颗粒-气泡间的诱导时间。     

KJS-Y系列矿用水动力降尘器的改进设计

针对当前KJS-Y系列降尘器效率低的问题,通过调整叶轮轴向间隙与径向间隙参数,分别对不同安装参数的降尘器进行数值模拟,通过数值模拟分析特定截面压力分布情况,确定了叶轮最佳安装参数,大大提高了降尘器的工作效率,同时降低了设计成本。     

Flotation performance and adsorption mechanism of novel 1-(2-hydroxyphenyl)hex-2-en-1-one oxime flotation collector to malachite

A novel collector 1-(2-hydroxyphenyl)hex-2-en-1-one oxime (HPHO) was synthesized from 2-hydroxy acetophenone and butyraldehyde. Its flotation performance and adsorption mechanism to malachite were investigated by flotation test, zeta potential, Fourier transform infrared (FTIR) and X-ray photoelectron spectroscopy (XPS) analysis techniques. Compared with benzohydroxamic acid (BA), 1-(2-hydroxyphenyl)ethan-1-one oxime (HPEO) and sodium isobutyl xanthate (SIBX), HPHO exhibited excellent collecting power to malachite without additional reagents, such as Na₂S regulator and methyl isobutyl carbinol (MIBC) frother. Results of zeta potential indicated that HPHO was coated on malachite surfaces through a chemisorption process. FTIR and XPS data gave clear evidence for the formation of Cu–oxime complex on malachite surfaces after HPHO adsorption through the linkage between C=C, –OH, N–OH group and Cu species.     

煤粉锅炉脱硫系统中除尘器压差过高原因及解决方案

高倍率灰钙循环烟气脱硫技术在神东矿区的煤粉锅炉环保改造项目中已投入建设并成功运行,脱硫率可达95%以上。在NGD系统的运行调试期,布袋除尘器压差的数值及其上升速度均较改造前有大幅提高,影响了锅炉系统的正常运行并降低了布袋除尘器的运行效率。为了解决此问题,先分析滤料透气性降低而导致布袋除尘器压差上升的根本原因,再结合现场调研情况对NGD系统工况下的烟气含湿量、烟气温度、烟气灰浓度、除尘器本体的问题以及上游锅炉系统问题逐一进行对比和分析,并找出问题产生的各主要因素。NGD系统中布袋除尘器差压升高的原因包括多方面,为了使NGD系统的运行更加稳定,需要使除尘器适应NGD系统的工况并对系统中部分设备进行改造。在未来NGD系统的设计中,布袋除尘器需按高浓度烟气设计,且针对煤粉工业锅炉的运行、维护特性应加入对烟气中含水量的监测及对布袋除尘器的相应保护措施。     

Multi-objective optimization for efficient modeling and improvement of the high temperature PEM fuel cell based Micro-CHP system

Fuel cells due to different useful features such as high efficiency, low pollution, noiselessness, lack of moving parts, variety of fuels used and wide range of capacity of these sources can be the main reasons for their tendency to use them in different applications. In this study, the application of a high temperature proton exchange membrane fuel cell (HT-PEMFC) in a combined heat and power (CHP) plant has been analyzed. This study presents a multi-objective optimization method to provide an optimal design parameters for the HT-PEMFC based micro-CHP during a 14,000 h lifetime by considering the effect of degradation. The purpose is to optimize the net electrical efficiency and the electrical power generation. For the optimization process, different design parameters including auxiliary to process fuel ratio, anodic stoichiometric ratio, steam to carbon ratio, and fuel partialization level have been employed. For optimization, A new technique based on Tent mapping and Lévy flight mechanism, called improved collective animal behavior (ICAB) algorithm has been employed to solve the algorithm premature convergence shortcoming. Experimental results of the proposed method has been applied to the data of a practical plant (Sidera30) for analyzing the efficiency of the proposed ICAB based system, it is compared with normal condition and another genetic algorithm based method for this purpose. Final results showed that the difference between the maximum electrical power production under normal condition and ICAB based condition changes from 2.5 kW when it starts and reaches to its maximum value, 3.0 kW, after 14,000 h lifetime. It is also concluded that the cumulative average for the normal and the ICAB based algorithm are 24.01 kW and 27.04 kW, respectively which showed about 3.03 kW cumulative differences.