《Journal of Great Lakes research》2023,49(3):608-620

Using the US EPA’s Grants Reporting and Tracking System (GRTS), we test if completion of best management practices (BMPs) through the Clean Water Act Section (4)319 National Nonpoint Source Program was associated with a decreasing trend in total suspended solids (TSS) load (metric tons/year). The study area chosen had 21 completed projects in the Cuyahoga River watershed in northeastern Ohio from 2000 to 2018. The 4319 projects ranged from dam removal, floodplain/wetland restoration to stormwater projects. There was an overall decreasing trend in TSS loads. We identified three phases of project implementation and completion, where phase 1 had ongoing projects, but none completed (2000–2004). The steepest decrease in loads, identified as phase 2 (2005–2011), was associated with completion of low-head dam modification and removal projects on the mainstem of the Cuyahoga River. A likely decreasing trend was associated with projects completed in the tributaries, such as natural channel design restoration and stormwater green infrastructure (phase 3). Pairing sediment reduction estimates from projects with the river’s flow normalized TSS loading trend, we estimated that the 4319 effort may account for a small fraction of the TSS load reduction. Other stream restoration projects (non-4319) have also been done in the Cuyahoga watershed by other organizations. However, trying to compile these other projects is challenging in larger watersheds having multiple municipalities, agencies, and nonprofits doing restoration without better coordinated record keeping and monitoring. While a decreasing trend in a pollutant load is a desirable water quality outcome, determining what contributed to that trend remains difficult.  相似文献   

High-performance control of fast tool servos with robust disturbance observer and modified H∞ control     

《Mechatronics》2022

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《Journal of Visual Communication and Image Representation》2022

The tracker based on the Siamese network regards tracking tasks as solving a similarity problem between the target template and search area. Using shallow networks and offline training, these trackers perform well in simple scenarios. However, due to the lack of semantic information, they have difficulty meeting the accuracy requirements of the task when faced with complex backgrounds and other challenging scenarios. In response to this problem, we propose a new model, which uses the improved ResNet-22 network to extract deep features with more semantic information. Multilayer feature fusion is used to obtain a high-quality score map to reduce the influence of interference factors in the complex background on the tracker. In addition, we propose a more powerful Corner Distance IoU (intersection over union) loss function so that the algorithm can better regression to the bounding box. In the experiments, the tracker was extensively evaluated on the object tracking benchmark data sets, OTB2013 and OTB2015, and the visual object tracking data sets, VOT2016 and VOT2017, and achieved competitive performance, proving the effectiveness of this method.  相似文献   

    

《Control Engineering Practice》2017

This paper proposes a new nonlinear tracking control scheme with simultaneous unknown mass identification for magnetic suspension systems. Specifically, an amplitude-saturated adaptive control law is developed to achieve stable tracking and accurately estimate the unknown suspended mass simultaneously. The stability is assured with rigorous Lyapunov-based analysis. As far as we know, this is the first continuous control method for magnetic suspension systems with unknown levitated ball mass and actuator saturation, yielding an asymptotic result to achieve simultaneous tracking control and mass identification. Through hardware experiments, we verify the performance of the proposed method and compare it with existing methods.  相似文献   

    

《ISA transactions》2017

Knee exoskeletons have been increasingly applied as assistive devices to help lower-extremity impaired people to make their knee joints move through providing external movement compensation. Tracking control of knee exoskeletons guided by human intentions often encounters time-varying (time-dependent) issues and the disturbance interaction torque, which may dramatically put an influence up on their dynamic behaviors. Inertial and viscous parameters of knee exoskeletons can be estimated to be time-varying due to unexpected mechanical vibrations and contact interactions. Moreover, the interaction torque produced from knee joint of wearers has an evident disturbance effect on regular motions of knee exoskeleton. All of these points can increase difficultly of accurate control of knee exoskeletons to follow desired joint angle trajectories. This paper proposes a novel control strategy for controlling knee exoskeleton with time-varying inertial and viscous coefficients disturbed by interaction torque. Such designed controller is able to make the tracking error of joint angle of knee exoskeletons exponentially converge to zero. Meanwhile, the proposed approach is robust to guarantee the tracking error bounded when the interaction torque exists. Illustrative simulation and experiment results are presented to show efficiency of the proposed controller. Additionally, comparisons with gradient dynamic (GD) approach and other methods are also presented to demonstrate efficiency and superiority of the proposed control strategy for tracking joint angle of knee exoskeleton.  相似文献   

    

《Journal of Visual Communication and Image Representation》2017

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Carlo Harvey  Kurt Debattista  Thomas Bashford‐Rogers  Alan Chalmers 《Computer Graphics Forum》2017,36(1):172-183

A major challenge in generating high‐fidelity virtual environments (VEs) is to be able to provide realism at interactive rates. The high‐fidelity simulation of light and sound is still unachievable in real time as such physical accuracy is very computationally demanding. Only recently has visual perception been used in high‐fidelity rendering to improve performance by a series of novel exploitations; to render parts of the scene that are not currently being attended to by the viewer at a much lower quality without the difference being perceived. This paper investigates the effect spatialized directional sound has on the visual attention of a user towards rendered images. These perceptual artefacts are utilized in selective rendering pipelines via the use of multi‐modal maps. The multi‐modal maps are tested through psychophysical experiments to examine their applicability to selective rendering algorithms, with a series of fixed cost rendering functions, and are found to perform significantly better than only using image saliency maps that are naively applied to multi‐modal VEs.  相似文献   

    

《Applied Soft Computing》2017

The Maximum Power Point Tracking controller (MPPT) is a key element in Photovoltaic systems (PV). It is used to maintain the PV operating point at its maximum under different temperatures and sunlight irradiations. The goal of a MPPT controller is to satisfy the following performances criteria: accuracy, precision, speed, robustness and handling the partial shading problem when climatic changes variations occur. To achieve this goal, several techniques have been proposed ranging from conventional methods to artificial intelligence and bio-inspired methods. Each technique has its own advantage and disadvantage. In this context, we propose in this paper, a new Bio- inspired MPPT controller based on the Ant colony Optimization algorithm with a New Pheromone Updating strategy (ACO_NPU MPPT) that saves the computation time and performs an excellent tracking capability with high accuracy, zero oscillations and high robustness. First, the different steps of the design of the proposed ACO_NPU MPPT controller are developed. Then, several tests are performed under standard conditions for the selection of the appropriate ACO_NPU parameters (number of ants, coefficients of evaporation, archive size, etc.). To evaluate the performances of the obtained ACO_NPU MPPT, in terms of its tracking speed, accuracy, stability and robustness, tests are carried out under slow and rapid variations of weather conditions (Irradiance and Temperature) and under different partial shading patterns. Moreover, to demonstrate the superiority and robustness of the proposed ACO_NPU_MPPT controller, the obtained results are analyzed and compared with others obtained from the Conventional Methods (P&O_MPPT) and the Soft Computing Methods with Artificial intelligence (ANN_MPPT, FLC_MPPT, ANFIS_MPPT, FL_GA_MPPT) and with the Bio Inspired methods (PSO) and (ACO) from the literature. The obtained results show that the proposed ACO_NPU MPPT controller gives the best performances under variables atmospheric conditions. In addition, it can easily track the global maximum power point (GMPP) under partial shading conditions.  相似文献   

    

《Control Engineering Practice》2019

This paper presents an underactuated mobile manipulator (UMM) and focuses on solving modeling, tracking, and vibration- and balance-control problems. Although the study has been directed at warehousing applications, the developed techniques are general and can be applied to other applications. The derivation of equations of motion of the UMM, disturbance analysis, and model validation are investigated to reveal the actual system dynamics. Additionally, a simple but effective strategy is also developed to solve the equilibrium point and balance problem. Based on the dynamic model, two control architectures are proposed: Model Predictive Control (MPC) and MPC+Proportional-Integral (PI) with integral actions, respectively, and they can also be applied to other robotic systems. Compared to other MPC-based control strategies, the proposed controllers require less effort to implement in practice. Finally, simulations, experiments, and robustness verification are conducted and discussed, and the results are satisfactory.  相似文献   

    

《Applied Soft Computing》2019

In this paper, a new event-triggered approach for neurodynamic programming and optimal tracking control problem of constrained-input systems is proposed, where the desired trajectory can be generated as a large class of useful command trajectories. Firstly, the complex tracking problem is converted to a stabilizing control optimization problem by reconstructing a novel augmented tracking system with discounted performance index. Secondly, instead of the conventional time-driven control, an event-triggered policy iteration (PI) algorithm is designed to drive the system dynamic to track the reference trajectory, which requires less computation and fewer transmissions during the solving. Thirdly, the novel tracking control can be bounded as desired, which overcomes the unconstrained steady-state control from the general adaptive dynamic programming based tracking solution. Moreover, only critic neural network is used in the implementation of iteration learning, which simplifies the actor-critic architecture and reduces computational load. And by the means of Lyapunov method, the ultimately boundedness of the tracking system under the event-triggered PI algorithm is proved. Finally, the developed approach is applied to track a sinusoidal waveform and a periodic rectangular step signal in the simulations, where the effectiveness is also demonstrated.  相似文献