Optimal design of nonlinear model predictive controller based on new modified multitracker optimization algorithm

The controller design for the robotic manipulator faces different challenges such as the system's nonlinearities and the uncertainties of the parameters. Furthermore, the tracking of different linear and nonlinear trajectories represents a vital role by the manipulator. This paper suggests an optimal design for the nonlinear model predictive control (NLMPC) based on a new improved intelligent technique and it is named modified multitracker optimization algorithm (MMTOA). The proposed modification of the MTOA is carried out based on opposition-based learning (OBL) and quasi OBL approaches. This modification improves the exploration behavior of the MTOA to prevent it from becoming trapped in a local optimum. The proposed method is applied on the robotic manipulator to track different linear and nonlinear trajectories. The NLMPC parameters are tuned by the MMTOA rather than the trial and error method of the designer. The proposed NLMPC based on MMTOA is compared with the original MTOA, genetic algorithm, and cuckoo search algorithm in literature. The superiority and effectiveness of the proposed controller are confirmed to track different linear and nonlinear trajectories. Furthermore, the robustness of the proposed method is emphasized against the uncertainties of the parameters.     

A hybrid homogeneously weighted moving average control chart for process monitoring

Several modifications and enhancements to control charts in increasing the performance of small and moderate process shifts have been introduced in the quality control charting techniques. In this paper, a new hybrid control chart for monitoring process location is proposed by combining two homogeneously weighted moving average (HWMA) control charts. The hybrid homogeneously weighted moving average (HHWMA) statistic is derived using two smoothing constants λ₁ and λ₂ . The average run length (ARL) and the standard deviation of the run length (SDRL) values of the HHWMA control chart are obtained and compared with some existing control charts for monitoring small and moderate shifts in the process location. The results of study show that the HHWMA control chart outperforms the existing control charts in many situations. The application of the HHWMA chart is demonstrated using a simulated data.     

基于残差决策的自动飞行控制系统远程实时故障诊断

针对自动飞行控制系统结构复杂、关联部件众多,发生故障时诊断时间长,从而影响飞机运行效率的问题,提出一种基于飞机通信寻址报告系统(ACARS)的远程实时故障诊断方案。首先,分析自动飞行控制系统的故障特点,设计搭建检测滤波器;然后,利用ACARS数据链实时发送的自动飞行控制系统的关键信息进行相关部件的残差计算,并根据残差决策算法进行故障诊断及定位;最后,针对不同故障部件残差间的差异大、决策门限无法统一的缺点,提出基于二次差值的残差决策改进算法,减缓了检测对象的整体变化趋势,降低了随机噪声和干扰的影响,避免了将瞬态故障诊断为系统故障的情况。实验仿真结果表明,基于二次差值的改进残差决策算法避免了多决策门限的复杂性,在采样时间为0.1 s的情况下,故障检测所需时间大约为2 s,故障检测时间大幅降低,有效故障检测率大于90%。     

Mathematical modeling of growth of Salmonella spp. and spoilage microorganisms in raw oysters

The main objective of this study was to develop the primary and secondary models to describe the growth kinetics of Salmonella as well as background microorganisms in raw, shucked oysters. Samples, inoculated with a cocktail of two Salmonella serotypes, S. Typhimurium (CICC22956) and S. Enteritidis (CICC21482), were incubated at 4, 8, 12, 16, 20, 25, 30, 33, 37, 40, and 43 °C. Growth of Salmonella was observed at all temperatures, except at 4 °C. The background microorganisms grew at all temperatures. All growth curves clearly exhibited lag, exponential and stationary phases, and were analyzed using the Huang growth model. Three secondary models (Ratkowsky square-root, Huang square-root, and Cardinal parameter models) were compared for evaluating the effect of temperature on bacterial growth rates. Data analysis was performed using IPMP 2013, a free predictive microbiology software tool developed by the USDA ARS.The Cardinal parameters model underestimated the specific rates of the microorganisms at low temperatures. The Huang square-root model was more suitable than the Ratkowsky square-root model for describing the effect of temperature on growth of Salmonella, while the Ratkowsky square-root model, on the other hand, was more suitable for background microorganisms. For both Salmonella and background microorganisms, the logarithms of the lag phase were expressed as linear functions of the logarithms of specific growth rates. The results of this study can be used by the food retailers and regulatory agencies to estimate the microbial shelf-life of raw, shucked oysters.     

Evaluation of hydrodynamic behavior of the perforated gas distributor of industrial gas phase polymerization reactor using CFD-PBM coupled model

A 2D computational fluid dynamics (Eulerian–Eulerian) multiphase flow model coupled with a population balance model (CFD-PBM) was implemented to investigate the fluidization structure in terms of entrance region in an industrial-scale gas phase fluidized bed reactor. The simulation results were compared with the industrial data, and good agreement was observed. Two cases including perforated distributor and complete sparger were applied to examine the flow structure through the bed. The parametric sensitivity analysis of time step, number of node, drag coefficient, and specularity coefficient was carried out. It was found that the results were more sensitive to the drag model. The results showed that the entrance configuration has significant effect on the flow structure. While the dead zones are created in both corners of the distributors, the perforated distributor generates more startup bubbles, heterogeneous flow field, and better gas–solid interaction above the entrance region due to jet formation.     

云杉八齿小蠹Ips typographus L.虚拟模型构建方法研究

本文以云杉八齿小蠹Ips typographus Linnaeus为例,经标本选取,观察虫体整体形态,绘制整体结构草图,电子显微镜观察局部、得到局部数字图像,分别建立虫体每一部分的高精度细节。把模型每部分拼装在一起组成整体模型,构建出了云杉八齿小蠹三维虚拟昆虫数字化模型。     

硫磷混合酸溶样重铬酸钾容量法测定全铁

介绍了硫磷混合酸溶样重铬酸钾容量法测定矿石中铁含量的方法和步骤。重点讨论了一线生产中的质量控制。     

Robust predictive extended state observer for a class of nonlinear systems with time-varying input delay

ABSTRACT

This paper deals with asymptotic stabilisation of a class of nonlinear input-delayed systems via dynamic output feedback in the presence of disturbances. The proposed strategy has the structure of an observer-based control law, in which the observer estimates and predicts both the plant state and the external disturbance. A nominal delay value is assumed to be known and stability conditions in terms of linear matrix inequalities are derived for fast-varying delay uncertainties. Asymptotic stability is achieved if the disturbance or the time delay is constant. The controller design problem is also addressed and a numerical example with an unstable system is provided to illustrate the usefulness of the proposed strategy.     

Upscaled DEM-CFD model for vibrated fluidized bed based on particle-scale similarities

Simulation based on discrete element method (DEM) coupled with computational fluid dynamics (CFD), coupled DEM-CFD, is a powerful tool for investigating the details of dense particle–fluid interaction problems such as in fluidized beds and pneumatic conveyers. The addition of a mechanical vibration to a system can drastically alter the particle and fluid flows; however, their detailed mechanisms are not well understood. In this study, a DEM-CFD model based on a non-inertial frame of reference is developed to achieve a better understanding of the influence of vibration in a vibrated fluidized bed. Because the high computational cost of DEM-CFD calculations is still a major problem, an upscaled coarse-graining model is also employed. To realize similar behaviors with enlarged model particles, non-dimensional parameters at the particle scale were deduced from the governing equations. The suitability and limitations of the proposed model were examined for a density segregation problem of a binary system. To reduce the computational costs, we show that the ratio between the bed width and model particle size can be reduced to a minimum value of 100; to obtain similar segregation behaviors, the ratio between the bed height and model particle size is considered unchanged.