基于ROS的蛇形机器人控制系统设计

蛇形机器人具有超冗余度的躯干结构和多样化的移动步态。为验证其控制算法,需要一个稳定可靠且具备强扩展性的控制系统。设计开发了一种由正交关节单元组成的蛇形机器人,并提出基于ROS(Robot Operating System)的控制系统设计方案。该方案将控制系统分为应用层、决策层和运动控制层,各层之间分工明确且耦合性低,从而提高了系统的稳定性和扩展性。采用曲线离散法规划蛇形机器人的运动步态,并进行蜿蜒运动和侧移运动测试。实验结果表明,该运动控制策略对机器人有效且设计方案具有可行性和实用性。

基于ROS的可移动装车系统设计

设计了一种有别于传统形式的新型装车系统,装车设备能够在车厢范围内自主移动。该系统能够根据车辆的停车位置及车厢内物料的状态控制装车设备移动到相应的位置进行装车作业。该系统基于ROS集成控制系统进行装车环境数据采集及处理、数据融合、装车设备运动轨迹自动规划及智能控制,实现自适应各种装车条件的智能化装车。采用仿真的方法对装车系统的控制动作进行模拟,按照工艺流程进行装车工作。

基于ROS和Pixhawk飞控自驾仪的无人清扫船研究

本研究旨在探索基于机器人操作系统(Robot Operating System,ROS)和Pixhawk飞控自驾仪的无人清扫船的应用。通过结合先进的自动化技术和海洋保护需求,设计了一种全新的无人船系统,旨在提高海洋环境清洁和生物多样性的保护效率。研究采用了遥感和机器视觉技术,实现了船只自主导航和集中式监测控制。实验结果表明,该无人清扫船系统具有良好的性能和可控性,为实现海洋保护目标提供了新的解决方案。

基于ROS的智能机器人可视化自主交互系统设计

利用机器人控制系统(ROS)的分布式处理框架与Qt跨平台图形用户界面开发框架,设计了智能机器人自主交互的可视化系统。利用图形化集成工具Rviz对ROS的功能进行图形化表示,并通过添加不同的显示面板来显示发布的话题、模型参数等信息。集成librviz库的开发、速度仪表盘显示订阅与展示图像话题,在Qt中订阅与更新ROS内容等功能模块。基于Qt按钮与槽函数间的通信实现用户界面跳转,订阅机器人数据、运动状态信息,并通过UI界面进行可视化显示,实时反馈机器人运动状态以及功能模块运行结果。系统实现SLAM建图导航、人脸识别、激光雷达控制、无线手柄控制、设置了定点返航等终端一键控制演示,避免ROS在使用过程中涉及较多的命令和Ubuntu终端命令操作,解决了当前机器人研究平台兼容性差、代码冗余率高、功能类别不完善等问题。

基于ROS和EtherCAT的机械臂控制系统

为方便机械臂的使用和后续开发,提出一种基于ROS和EtherCAT的机械臂控制系统。在上位机ROS中构建避障检测、路径规划和通信节点等模块,将机械臂的关节信息用自定义的通信协议串口发送给STM32;在STM32中移植开源的EtherCAT协议SOEM,将机械臂的信息通过工业以太网发送给伺服控制器,完成机械臂的控制,并通过实验验证了该控制系统的可行性。

在线清洗式泵出口pH测量装置的设计与应用

在有色湿法冶炼中,pH值经常被作为重要的工艺反应指标,但是在实际生产中,工艺介质浆料往往由于性状粘稠,易结垢,会对pH电极进行包裹,导致pH电极寿命缩短、测量参数不稳定,甚至失真。为了解决以上的问题,本文结合实际应用,介绍一种可在线清洗式泵出口pH测量装置,通过对pH电极的在线清洗,解决了pH测量偏差的问题。在现场应用中发挥了良好效果。

植物体内Ca^(2+),pH,ROS活体荧光探针成像研究进展

细胞内信号分子Ca2+与活性氧(ROS)以及细胞pH,是参与细胞多种生理和发育过程调节的关键因子。这些信号分子或细胞化学势之所以在如此众多方面起作用,是因为它们在生物体内从细胞到器官水平上、从数秒到数小时一直是在时空动态变化着的。恰到好处的是,荧光素感受器可以稳定地对细胞内Ca2+,pH与活性氧(ROS)活体原位实时定量。可视化的荧光细胞探针可分为两类:(a)直接染色;(b)基于绿色荧光蛋由基因编码的感受器。绿色荧光蛋白探针可在亚细胞水平上对目标蛋白准确定位,为得到细胞信号高分辨图提供可能。

Nonlinear Model Algorithmic Control of a pH Neutralization Process

Control of pH neutralization processes is challenging in the chemical process industry because of their inherent strong nonlinearity. In this paper, the model algorithmic control (MAC) strategy is extended to nonlinear processes using Hammerstein model that consists of a static nonlinear polynomial function followed in series by a linear impulse response dynamic element. A new nonlinear Hammerstein MAC algorithm (named NLH-MAC) is presented in detail. The simulation control results of a pH neutralization process show that NLH-MAC gives better control performance than linear MAC and the commonly used industrial nonlinear propotional plus integral plus derivative (PID) controller. Further simulation experiment demonstrates that NLH-MAC not only gives good control response, but also possesses good stability and robustness even with large modeling errors.

Two-stage pH Control Mode in Batch Fermentation of a Novel Bioflocculant from Corynebacterium Glutamicum

The effect of pH of the fermentation medium on cell growth and the production of a novel bioflocculant(named REA-11) by Corynebacterium glutamicum CCTCC M201005 were investigated. The maximum biomass(2.23 g/L) and flocculating activity(142.2 U/mL) were simultaneously obtained at the 14th hour when the pH value of the culture medium was maintained at 7.0 during the whole fermentation process. The production of REA-11 kept on a trend of increase till the later phase of fermentation process, which resulted in the ultimate flocculating activity of the culture broth to enhance to nearly 100 U/mL at pH 6.0. A two-stage pH control mode was adopted in REA-11 production in which the pH value of the culture medium was controlled at 7.0 during the first 14 h, then decreased to 6.0 that was maintained until the end of the fermentation process. With the two-stage pH control mode, the maximum flocculating activity reached 178.8 U/mL which was 30% higher than that obtained under the condition of pH 7.0 and the biomass enhanced about 15%. Compared with the fermentation process without pH control, REA-11 production and cell growth via the two-stage pH control mode increased 80% and 25%, respectively.

Controlled Freezing and Open-Pulled Straw (OPS) Vitrification of In vitro Produced Bovine Blastocysts FollowingAnalysis of ATP Content and Reactive Oxygen Species (ROS) Level

To our knowledge,no single study has systemically compared cryopreservation efficiencies of bovine blastocysts derived from in vitro fertilization （IVF）,intracytoplasmic sperm injection （ICSI） and somatic cell nuclear transfer （SCNT） by controlled freezing and vitrification.This experiment,therefore,was designed to compare the cryopreservation of these blastocysts with controlled freezing and OPS vitrification.Adenosine-5’-triphosphate （ATP） content and reactive oxygen species （ROS） level in blastocysts were also analyzed.Firstly,for each type of blastocyst （IVF,ICSI or SCNT）,significant differences were observed between the survival rates of the controlled freezing （（81.56±2.33）,（68.18±4.72） or （47.89±5.83）%） and OPS vitrification groups （（92.24±4.54）,（82.40±3.76） or （78.71±5.91）%;P〈0.05）.Secondly,for each type of blastocyst （IVF,ICSI or SCNT）,ATP content was significantly decreased after controlled freezing or vitrification,and the ATP content in the controlled freezing group （0.43±0.06）,（0.35±0.05） or （0.21±0.02） pmol） was significantly lower than that found in the OPS vitrification group （0.62±0.04）,（0.46±0.03） or （0.30±0.01） pmol;P〈0.05）.Thirdly,ROS level in fresh IVF （（47.33±3.56） c.p.s （counted photons per second）,ICSI （（36.51±2.58） c.p.s） or SCNT blastocysts （（26.44±1.49） c.p.s） was significantly lower than that found in the OPS vitrification group （（72.14±4.31）,（58.89±3.89） or （40.11±5.73） c.p.s;P〈0.05）,but higher than that of the controlled freezing group （34.41±3.32）,（23.13±1.26） or （15.46±2.45） c.p.s;P〈0.05）.The present study indicated that vitrification is more efficient in the cryopreservation of bovine blastocysts derived from IVF,ICSI or SCNT than controlled freezing.Furthermore,both vitrification and controlled freezing significantly altered the ATP content and ROS level in those blastocysts.

A Two-stage pH and Temperature Control with Substrate Feeding Strategy for Production of Gamma-aminobutyric Acid by Lactobacillus brevis CGMCC 1306

Methods to optimize the production of gamma-aminobutyric acid （GABA） by Lactobacillus brevis CGMCC 1306 were investigated. Results indicated that cell growth was maximal at pH 5.0, while pH 4.5 was pref-erable to GABA formation. The optimal temperature for cell growth （35 °C） was lower than that for GABA forma-tion （40 °C）. In a two-stage pH and temperature control fermentation, cultures were maintained at pH 5.0 and 35 °C for 32 h, then adjusted to pH 4.5 and 40 °C, GABA production increased remarkably and reached 474.79 mmol·L-1 at 72 h, while it was 398.63 mmol·L-1 with one stage pH and temperature control process, in which cultivation con-ditions were constantly controlled at pH 5.0 and 35 °C. In order to avoid the inhibition of cell growth at higher L-monosodium glutamate （L-MSG） concentrations, the two-stage control fermentation with substrate feeding strat-egy was applied to GABA production, with 106.87 mmol （20 g） L-MSG supplemented into the shaking-flask at 32 h and 56 h post-inoculation separately. The GABA concentration reached 526.33 mmol·L-1 at 72 h with the fer-mentation volume increased by 38%. These results will provide primary data to realize large-scale production of GABA by L. brevis CGMCC 1306.

基于ROS的养老陪护机器人设计

针对老人经常忘服药、养老院护工配药和陪护老人工作量大的问题,设计一种基于ROS的养老陪护机器人。该机器人采用Jetson Nano作为主控,结合路径规划算法与上位机控制,最终实现自主夹取老人的药盒并把药盒运送到指定地点,或可辅助护工完成日常巡视老人的工作。大大提高护工为老人送药的效率,并能有效地陪护老人。

环鄱阳湖地区地下水pH特征及其控制因素研究

pH是影响地下水组分存在形式的重要水文地球化学指标之一。环鄱阳湖地下水维持着湖泊湿地生态系统,是该地区工农业生产至关重要的水源。目前对鄱阳湖地区地下水pH的研究依然薄弱。本文基于环鄱阳湖地区枯水期与丰水期56个地下水观测点的pH和NO_(3)、Cl、HCO_(3)、SO_(4)、Ca、Mg、Na、K含量等指标,采用多元统计与空间分析方法,分析该地区地下水pH的分布特征及其控制因素。结果表明,环鄱阳湖地区地下水体普遍偏酸性,其中枯水期地下水pH为4.75~8.41,平均值6.43;丰水期地下水pH为4.76~7.43,平均值6.05。丰水期地下水pH普遍低于枯水期,不同水化学类型的地下水pH存在差异,同时pH空间分布也具有区域性特征。控制该地区地下水pH的潜在因素包括酸雨、土壤类型以及碳酸盐岩出露等。本研究成果可为鄱阳湖地区地下水资源管理及污染防治提供一定的理论依据。

Modeling and Control of pH in Pulp and Paper Wastewater Treatment Process

Pulp and paper industry is responsible for large discharge of highly polluted effluents, which often be treated by biological treatment process. For biological treatment system, pH is an important environmental factor that can influence the activity of microorganisms. In general, the optimal pH for aerobic processes is around neutral pH (7_7.8) and for the anaerobic process is between 6.8_7.2. The control of pH is a difficult link in the biological treatment system due to its nonlinearity and large time-delay. Aiming at the difficult point in the pH control of the biological wastewater treatment system, a mathematical model of pH control is estab-lished in the essay. On this basis, a traditional PID control and a cascade control are adopted to carry out simulation and comparison with MATLAB. The results show that the cascade control has better comprehen-sive effect in terms of response speed, stability and disturbance resistance.

Adaptive predictive functional control based on Takagi-Sugeno model and its application to pH process

In order to obtain accurate prediction model and compensate for the influence of model mismatch on the control performance of the system and avoid solving nonlinear programming problem,an adaptive fuzzy predictive functional control(AFPFC) scheme for multivariable nonlinear systems was proposed.Firstly,multivariable nonlinear systems were described based on Takagi-Sugeno(T-S) fuzzy models;assuming that the antecedent parameters of T-S models were kept,the consequent parameters were identified on-line by using the weighted recursive least square(WRLS) method.Secondly,the identified T-S models were linearized to be time-varying state space model at each sampling instant.Finally,by using linear predictive control technique the analysis solution of the optimal control law of AFPFC was established.The application results for pH neutralization process show that the absolute error between the identified T-S model output and the process output is smaller than 0.015;the tracking ability of the proposed AFPFC is superior to that of non-AFPFC(NAFPFC) for pH process without disturbances,the overshoot of the effluent pH value of AFPFC with disturbances is decreased by 50% compared with that of NAFPFC;when the process parameters of AFPFC vary with time the integrated absolute error(IAE) performance index still retains to be less than 200 compared with that of NAFPFC.

pH值对大豆分离蛋白功能性质的影响及其精准调控研究

大豆分离蛋白(Soybean protein isolate,SPI)对外界环境的变化极其敏感,中和工段中pH值微小的变化就会改变蛋白质的结构和功能性质。通过添加NaOH调控凝乳的pH值,利用红外光谱和内源荧光光谱分析SPI的结构及功能性质,研究发现在中性条件下SPI具有较好的起泡性,碱性条件时SPI具有较好的乳化性,当体系pH值为7时,SPI的起泡性最佳,当体系pH值为8.5时,SPI的乳化性最佳。建立了25 L大豆SPI中和工段pH值精细调控体系,利用Matlab模拟生产过程,通过动态线性与静态非线性拟合,采用模糊自适应控制结合Wiener模型调控中和罐的加碱量,当将中和罐中pH值调控为7时,调节时间为37.4 s,生产的SPI起泡性指数为57.22%,将中和罐中pH值调控为8.5时,调节时间为33.4 s,生产的SPI乳化活性指数为69.35 m^(2)/g,体系无超调量用碱。

The Effect of pH Control on Acetone-Butanol—Ethanol Fermentation by Clostridium acetobutylicum ATCC 824 with Xylose and D-Glucose and D-Xylose Mixture

D-Glucose, L-arabinose, D-mannose, D-xylose, and cellobiose are saccharification products of lignocellulose and important carbon sources for industrial fermentation. The fermentation efficiency with each of the five sugars and the mixture of the two most dominant sugars, D-glucose and D-xylose, was evaluated for acetone- butanol-ethanol （ABE） fermentation by Clostridium acetobutylicum ATCC 824. The utilization efficacy of the five reducing sugars was in the order of D-glucose, L-arabinose, D-mannose, o-xylose and cellobiose, o-Xylose, the second most abundant component in lignocellulosic hydrolysate, was used in the fermentation either as sole carbon source or mixed with glucose. The results indicated that maintaining pH at 4.8, the optimal pH value for solventogenesis, could increase D-xylose consumption when it was the sole carbon source. Different media con- taining D-glucose and D-xylose at different ratios （1：2, 1：5, 1.5：1, 2：1 ） were then attempted for the ABE fermenta- tion. When pH was at 4.8 and xylose concentration was five times that of glucose, a 256.9% increase in xylose utilization and 263.7% increase in solvent production were obtained compared to those without pH control. These results demonstrate a possible approach combining optimized pH control and D-glucose and D-xylose ratio to increase the fermentation efficiency of lignocellulosic hydrolysate.

Treatment of Phenol-Contaminated Soil by Potassium Ferrate Based on pH Control

This study aims to optimize the treatment of phenol-contaminated soil by potassium ferrate. Variations in pH value can accurately reflect the state and reaction status of the entire treatment process. Therefore, the pH value could be an important variable for optimizing the reaction conditions and achieving the automatic control of the process. About 99.89% of phenol was removed after 10 min of the pH-contxolled reaction at a rotational speed of 40-70 r/min, with the initial phenol concentration equating to 10.0 g/kg and the total water consumption reaching 2.72 L （at a soil/water ratio of 1：0.68）. The test results could provide a basis for practical application of automatic reaction control by pH value.

Chitosan nanoparticles crosslinked by glycidoxypropyltrimethoxysilane for pH triggered release of protein

pH-responsive-chitosan nanoparticles for the control release of protein drug were prepared by combining two-step crosslinking method, in which chitosan was subsequently crosslinked by sodium tripolyphosphate （TPP） and glycidoxypropyltrimethoxysilane （GPTMS）. Compared with TPP crosslinked chitosan particles, the two-step crosslinked nanoparticles were not only pH-responsive but also more stable in wide pH range. Fluorescein isothiocyanate （FITC） labeled anti-human-IgG antibody was used as a model protein drug for evaluating the control release profile of the nano-carrier. The amount of released antibody increased from 5.6% to 50% when the pH of solution shifted from 7.4 to 6.0. The results suggest the possible application of the nanoparticles as pH- responsive drug delivery materials.

Pole-placement self-tuning control of nonlinear Hammerstein system and its application to pH process control

By taking advantage of the separation characteristics of nonlinear gain and dynamic sector inside a Hammerstein model, a novel pole placement self tuning control scheme for nonlinear Hammerstein system was put forward based on the linear system pole placement self tuning control algorithm. And the nonlinear Hammerstein system pole placement self tuning control(NL-PP-STC) algorithm was presented in detail. The identi fication ability of its parameter estimation algorithm of NL-PP-STC was analyzed, which was always identi fiable in closed loop. Two particular problems including the selection of poles and the on-line estimation of model parameters, which may be met in applications of NL-PP-STC to real process control, were discussed. The control simulation of a strong nonlinear p H neutralization process was carried out and good control performance was achieved.