The paper deals with the state estimation of the widely used scaled unscented Kalman filter（UKF）. In particular, the stress is laid on the scaling parameters selection principle for the scaled UKF. Several problems ...The paper deals with the state estimation of the widely used scaled unscented Kalman filter（UKF）. In particular, the stress is laid on the scaling parameters selection principle for the scaled UKF. Several problems caused by recommended constant scaling parameters are highlighted. On the basis of the analyses, an effective scaled UKF is proposed with self-adaptive scaling parameters,which is easy to understand and implement in engineering. Two typical strong nonlinear examples are given and their simulation results show the effectiveness of the proposed principle and algorithm.展开更多
When used for separating multi-component non-stationary signals, the adaptive time-varying filter(ATF) based on multi-scale chirplet sparse signal decomposition(MCSSD) generates phase shift and signal distortion. To o...When used for separating multi-component non-stationary signals, the adaptive time-varying filter(ATF) based on multi-scale chirplet sparse signal decomposition(MCSSD) generates phase shift and signal distortion. To overcome this drawback, the zero phase filter is introduced to the mentioned filter, and a fault diagnosis method for speed-changing gearbox is proposed. Firstly, the gear meshing frequency of each gearbox is estimated by chirplet path pursuit. Then, according to the estimated gear meshing frequencies, an adaptive zero phase time-varying filter(AZPTF) is designed to filter the original signal. Finally, the basis for fault diagnosis is acquired by the envelope order analysis to the filtered signal. The signal consisting of two time-varying amplitude modulation and frequency modulation(AM-FM) signals is respectively analyzed by ATF and AZPTF based on MCSSD. The simulation results show the variances between the original signals and the filtered signals yielded by AZPTF based on MCSSD are 13.67 and 41.14, which are far less than variances (323.45 and 482.86) between the original signals and the filtered signals obtained by ATF based on MCSSD. The experiment results on the vibration signals of gearboxes indicate that the vibration signals of the two speed-changing gearboxes installed on one foundation bed can be separated by AZPTF effectively. Based on the demodulation information of the vibration signal of each gearbox, the fault diagnosis can be implemented. Both simulation and experiment examples prove that the proposed filter can extract a mono-component time-varying AM-FM signal from the multi-component time-varying AM-FM signal without distortion.展开更多
Evaluating the performance of a biotrickling filter for the treatment of wastewaters produced by a company manufacturing beer was the aim of this study.A pilot scale trickling filter filled with gravel was used as the...Evaluating the performance of a biotrickling filter for the treatment of wastewaters produced by a company manufacturing beer was the aim of this study.A pilot scale trickling filter filled with gravel was used as the experimental biofilter.Pilot scale plant experiments were made to evaluate the performance of the trickling filter aerobic and anaerobic biofilm systems for removal of chemical oxygen demand(COD) and nutrients from synthetic brewery wastewater.Performance evaluation data of the trickling filter were generated under different experimental conditions.The trickling filter had an average efficiency of(86.81±6.95)% as the hydraulic loading rate increased from 4.0 to 6.4 m3/(m2·d).Various COD concentrations were used to adjust organic loading rates from 1.5 to 4.5 kg COD/(m3·d).An average COD removal efficiency of(85.10±6.40)% was achieved in all wastewater concentrations at a hydraulic loading of 6.4 m3/(m2·d).The results lead to a design organic load of 1.5 kg COD/(m3·d) to reach an effluent COD in the range of 50–120 mg/L.As can be concluded from the results of this study,organic substances in brewery wastewater can be handled in a cost-effective and environmentally friendly manner using the gravel-filled trickling filter.展开更多
A novel and efficient method for decomposing a signal into a set of intrinsic mode functions （IMFs） and a trend is proposed. Unlike the original empirical mode decomposition （EMD）, which uses spline fits to extrac...A novel and efficient method for decomposing a signal into a set of intrinsic mode functions （IMFs） and a trend is proposed. Unlike the original empirical mode decomposition （EMD）, which uses spline fits to extract variations from the signal by separating the local mean from the fluctuations in the decomposing process, this new method being proposed takes advantage of the theory of variable finite impulse response （FIR） filtering where filter coefficients and breakpoint frequencies can be adjusted to track any peak-to-peak time scale changes. The IMFs are results of a multiple variable frequency response FIR filtering when signals pass through the filters. Numerical examples validate that in contrast with the original EMD, the proposed method can fine-tune the frequency resolution and suppress the aliasing effectively.展开更多
With the wide use of color in many areas, the interest on the color perception and processing has been growing rapidly. An important topic in color image processing is the development of efficient tools capable of fil...With the wide use of color in many areas, the interest on the color perception and processing has been growing rapidly. An important topic in color image processing is the development of efficient tools capable of filtering images without blurring them and without changing their original chromatic contents. In this paper, a new technique reducing noise of color image is developed. A class of color-scale morphological operations is introduced, which extend mathematical morphology to color image processing, representing a color image as a vector function. The correlation between color components is utilized to perform noise removal. Color-scale morphological niters with multiple structuring elements (CSMF-MSEs) are proposed. Their properties are discussed and proved. Experimental results show that CSMF-MSEs are suitable and powerful to eliminate noise and preserve edges in color image because of efficient utilization of inherent correlation between color components, and they perform better than vector展开更多
The use of a biotrickling filter was investigated for a pilot field-scale elimination of NH3 gas and other odorous gases from a composting plant in Tongzhou District, Beijing. The inlet gas flow rate was 3500 m3/h and...The use of a biotrickling filter was investigated for a pilot field-scale elimination of NH3 gas and other odorous gases from a composting plant in Tongzhou District, Beijing. The inlet gas flow rate was 3500 m3/h and NH3 concentration fluctuated between 2.76–27.84 mg/m3, while the average outlet concentration was 1.06 mg/m3 with an average of 94.9% removal. Critical volumetric loading (removal efficiency=100%) was 11.22 g-N/(m3·h). The odor concentration removal was 86.7%. NH3 removal efficiency decreased as the free ammonia (FA) in the trickling liquid increased. The pressure drop was maintained at about 50 Pa/m and was never more than 55 Pa/m. During the experiment, there was neither backflushing required nor any indication of clogging. Overall, the biotrickling filter was highly efficient and cost-effective for the simultaneous biodegradation of NH3 and other odorous gases from composting, suggesting the possibility of treating odorous gases at the industrial level.展开更多
Sequential Quadratic Programming(SQP) is the most efficient algorithm for nonlinear optimization.But a penalty function is usually used for linear search,causing some problems.Filter-SQP developed by Roger Fletcher an...Sequential Quadratic Programming(SQP) is the most efficient algorithm for nonlinear optimization.But a penalty function is usually used for linear search,causing some problems.Filter-SQP developed by Roger Fletcher and Sven Leyffer avoids using penalty function.In the view of filter-SQP,NLP problem has two objectives,one is minimizing objective function,the other is satisfying the constraints.The concept of filter is proposed on the basis of these two objectives.In this paper flowsheet optimization using filter-SQP in modular simulator environment was studied.Infeasible path strategy was used and the constraint function was composed of tear stream equation,specific design and unsatisfied inequality constraint.When filter could not find a step as the starting point of the next iteration,in order to avoid algorithm failure three strategies were used.They were restarting strategy,converging recycle strategy and feasible path strategy.A successive scaling strategy was proposed for filter-SQP to improve the efficiency of optimization.A case study of process optimization with filter-SQP was very encouraging.展开更多
A filtering / extracting scheme for various timescale processes in short range climate model out-put is established by using the scale scattering method. And the climatological meanings as well as the impor-tance of t...A filtering / extracting scheme for various timescale processes in short range climate model out-put is established by using the scale scattering method. And the climatological meanings as well as the impor-tance of the filtered series are discussed. In the latter part of work, the effectiveness of the filtering method and the performance of the prediction model are analyzed through a real case.展开更多
This Inertial Navigation System (INS), Global Positioning System (GPS) and fluxgate magnetometer technologies have been widely used in a variety of positioning and navigation applications. In this paper, a low cost so...This Inertial Navigation System (INS), Global Positioning System (GPS) and fluxgate magnetometer technologies have been widely used in a variety of positioning and navigation applications. In this paper, a low cost solid state INS/GPS/Magnetometer integrated navigation system has been developed that incorporates measurements from an Inertial Navigation System (INS), Global Positioning System (GPS) and fluxgate magnetometer (Mag.) to provide a reliable complete navigation solution at a high output rate. The body attitude estimates, especially the heading angle, are fundamental challenges in a navigation system. Therefore targeting accurate attitude estimation is considered a significant contribution to the overall navigation error. A better estimation of the body attitude estimates leads to more accurate position and velocity estimation. For that end, the aim of this research is to exploit the magnetometer and accelerometer data in the attitude estimation technique. In this paper, a Scaled Unscented Kalman Filter (SUKF) based on the quaternion concept is designed for the INS/GPS/Mag integrated navigation system under large attitude error conditions. Simulation and experimental results indicate a satisfactory performance of the newly developed model.展开更多
The study was conducted to characterize and perform laboratory-scale treatment of municipal drainage wastewater of Khulna, Bangladesh. Wastewater samples were collected from three different points of existing urban dr...The study was conducted to characterize and perform laboratory-scale treatment of municipal drainage wastewater of Khulna, Bangladesh. Wastewater samples were collected from three different points of existing urban drain outlets into the Mayur River around Khulna. Laboratory testing shows the BOD5 and COD concentration of wastewater samples varied from 57 - 226 mg/l and 320 - 435 mg/l, respectively, and the total dissolved solids ranged from 1800 - 2525 mg/l. Therefore, a laboratory-scale treatment technology was developed to treat this wastewater. Treatment technologies adopted were primary sedimentation, followed by aeration, chemical precipitation and filtration. In treated wastewater, BOD5, COD and TDS were found to be in the range of 40 - 115 mg/l, 160 - 256 mg/l and 1356 - 1500 mg/l, respectively. These test results suggest that the performance of laboratory-scale treatment plant was not adequate to fulfil the acceptable limit (ECR’97) for safe disposal into surface water bodies. Due to poor quality of effluents, modification of laboratory-scale treatment plant was made by an activated sludge process followed by granular media filtration. The final BOD5, COD TDS and TSS concentration of effluents was found to be 1.38 - 9.8 mg/l, 32 - 192 mg/l, 590 - 1667 mg/l, and 35 - 95 mg/l respectively, which satisfy ECR’97 standard limits for safe disposal into inland water bodies.展开更多
By using the rainfall data in the regional automatic station,FY-2E satellite data,NCEP reanalysis data,the evolution features and the structure characteristics of a meso-scale convective system(MCS) which happened on ...By using the rainfall data in the regional automatic station,FY-2E satellite data,NCEP reanalysis data,the evolution features and the structure characteristics of a meso-scale convective system(MCS) which happened on May 6 in 2010 in Loudi City of Hunan Province were analyzed.The results showed that MCS was the important influence system for the generation and development of strong precipitation.The equivalent blackbody brightness temperature(TBB) field of satellite inversion could directly reflect the convective activity of cumulus,the precipitation distribution and the intensity characteristics in the rainstorm process.TBB low value belt had the good corresponding relationship with the rainstorm falling zone.The disturbance flow field and the height field which passed Barnes band-pass wave filtering represented that there existed the obvious high-layer anticyclonic circulation and the low-layer cyclonic circulation near the rainstorm zone.The divergence in the high layer and the convergence in the low layer enhanced the occurrence and development of MCS.In addition,the disturbance temperature field revealed the main source of energy which the occurrence and development of strong convective weather needed.展开更多
基金supported by the National Natural Science Foundation of China(61703228)
文摘The paper deals with the state estimation of the widely used scaled unscented Kalman filter（UKF）. In particular, the stress is laid on the scaling parameters selection principle for the scaled UKF. Several problems caused by recommended constant scaling parameters are highlighted. On the basis of the analyses, an effective scaled UKF is proposed with self-adaptive scaling parameters,which is easy to understand and implement in engineering. Two typical strong nonlinear examples are given and their simulation results show the effectiveness of the proposed principle and algorithm.
基金supported by National Natural Science Foundation of China (Grant No. 71271078)National Hi-tech Research and Development Program of China (863 Program, Grant No. 2009AA04Z414)Integration of Industry, Education and Research of Guangdong Province, and Ministry of Education of China (Grant No. 2009B090300312)
文摘When used for separating multi-component non-stationary signals, the adaptive time-varying filter(ATF) based on multi-scale chirplet sparse signal decomposition(MCSSD) generates phase shift and signal distortion. To overcome this drawback, the zero phase filter is introduced to the mentioned filter, and a fault diagnosis method for speed-changing gearbox is proposed. Firstly, the gear meshing frequency of each gearbox is estimated by chirplet path pursuit. Then, according to the estimated gear meshing frequencies, an adaptive zero phase time-varying filter(AZPTF) is designed to filter the original signal. Finally, the basis for fault diagnosis is acquired by the envelope order analysis to the filtered signal. The signal consisting of two time-varying amplitude modulation and frequency modulation(AM-FM) signals is respectively analyzed by ATF and AZPTF based on MCSSD. The simulation results show the variances between the original signals and the filtered signals yielded by AZPTF based on MCSSD are 13.67 and 41.14, which are far less than variances (323.45 and 482.86) between the original signals and the filtered signals obtained by ATF based on MCSSD. The experiment results on the vibration signals of gearboxes indicate that the vibration signals of the two speed-changing gearboxes installed on one foundation bed can be separated by AZPTF effectively. Based on the demodulation information of the vibration signal of each gearbox, the fault diagnosis can be implemented. Both simulation and experiment examples prove that the proposed filter can extract a mono-component time-varying AM-FM signal from the multi-component time-varying AM-FM signal without distortion.
基金Project(No.7117130553459)supported by the Landeszentralkasse M-V Stipendium,Germany
文摘Evaluating the performance of a biotrickling filter for the treatment of wastewaters produced by a company manufacturing beer was the aim of this study.A pilot scale trickling filter filled with gravel was used as the experimental biofilter.Pilot scale plant experiments were made to evaluate the performance of the trickling filter aerobic and anaerobic biofilm systems for removal of chemical oxygen demand(COD) and nutrients from synthetic brewery wastewater.Performance evaluation data of the trickling filter were generated under different experimental conditions.The trickling filter had an average efficiency of(86.81±6.95)% as the hydraulic loading rate increased from 4.0 to 6.4 m3/(m2·d).Various COD concentrations were used to adjust organic loading rates from 1.5 to 4.5 kg COD/(m3·d).An average COD removal efficiency of(85.10±6.40)% was achieved in all wastewater concentrations at a hydraulic loading of 6.4 m3/(m2·d).The results lead to a design organic load of 1.5 kg COD/(m3·d) to reach an effluent COD in the range of 50–120 mg/L.As can be concluded from the results of this study,organic substances in brewery wastewater can be handled in a cost-effective and environmentally friendly manner using the gravel-filled trickling filter.
基金supported by the National Natural Science Foundation of China (60472021).
文摘A novel and efficient method for decomposing a signal into a set of intrinsic mode functions （IMFs） and a trend is proposed. Unlike the original empirical mode decomposition （EMD）, which uses spline fits to extract variations from the signal by separating the local mean from the fluctuations in the decomposing process, this new method being proposed takes advantage of the theory of variable finite impulse response （FIR） filtering where filter coefficients and breakpoint frequencies can be adjusted to track any peak-to-peak time scale changes. The IMFs are results of a multiple variable frequency response FIR filtering when signals pass through the filters. Numerical examples validate that in contrast with the original EMD, the proposed method can fine-tune the frequency resolution and suppress the aliasing effectively.
基金Supported by the Natural Science Foundation of China,No.69775004
文摘With the wide use of color in many areas, the interest on the color perception and processing has been growing rapidly. An important topic in color image processing is the development of efficient tools capable of filtering images without blurring them and without changing their original chromatic contents. In this paper, a new technique reducing noise of color image is developed. A class of color-scale morphological operations is introduced, which extend mathematical morphology to color image processing, representing a color image as a vector function. The correlation between color components is utilized to perform noise removal. Color-scale morphological niters with multiple structuring elements (CSMF-MSEs) are proposed. Their properties are discussed and proved. Experimental results show that CSMF-MSEs are suitable and powerful to eliminate noise and preserve edges in color image because of efficient utilization of inherent correlation between color components, and they perform better than vector
基金Project supported by the National Natural Science and Technology Pillar Program in the Eleventh Five-year Plan Period (No. 2006BAJ04A06)the Special Item of System Reformation of the Beijing Municipal Science and Technology Commission, China
文摘The use of a biotrickling filter was investigated for a pilot field-scale elimination of NH3 gas and other odorous gases from a composting plant in Tongzhou District, Beijing. The inlet gas flow rate was 3500 m3/h and NH3 concentration fluctuated between 2.76–27.84 mg/m3, while the average outlet concentration was 1.06 mg/m3 with an average of 94.9% removal. Critical volumetric loading (removal efficiency=100%) was 11.22 g-N/(m3·h). The odor concentration removal was 86.7%. NH3 removal efficiency decreased as the free ammonia (FA) in the trickling liquid increased. The pressure drop was maintained at about 50 Pa/m and was never more than 55 Pa/m. During the experiment, there was neither backflushing required nor any indication of clogging. Overall, the biotrickling filter was highly efficient and cost-effective for the simultaneous biodegradation of NH3 and other odorous gases from composting, suggesting the possibility of treating odorous gases at the industrial level.
文摘Sequential Quadratic Programming(SQP) is the most efficient algorithm for nonlinear optimization.But a penalty function is usually used for linear search,causing some problems.Filter-SQP developed by Roger Fletcher and Sven Leyffer avoids using penalty function.In the view of filter-SQP,NLP problem has two objectives,one is minimizing objective function,the other is satisfying the constraints.The concept of filter is proposed on the basis of these two objectives.In this paper flowsheet optimization using filter-SQP in modular simulator environment was studied.Infeasible path strategy was used and the constraint function was composed of tear stream equation,specific design and unsatisfied inequality constraint.When filter could not find a step as the starting point of the next iteration,in order to avoid algorithm failure three strategies were used.They were restarting strategy,converging recycle strategy and feasible path strategy.A successive scaling strategy was proposed for filter-SQP to improve the efficiency of optimization.A case study of process optimization with filter-SQP was very encouraging.
基金Supported by National Natural Science Foundation of China（61105089） State Key Laboratory of Robotics and System（SKLRS-2013-ZD-03） Open Foundation of the State Key Laboratory of Fluid Power Transmission and Control（GZKF-201212）
文摘A filtering / extracting scheme for various timescale processes in short range climate model out-put is established by using the scale scattering method. And the climatological meanings as well as the impor-tance of the filtered series are discussed. In the latter part of work, the effectiveness of the filtering method and the performance of the prediction model are analyzed through a real case.
文摘This Inertial Navigation System (INS), Global Positioning System (GPS) and fluxgate magnetometer technologies have been widely used in a variety of positioning and navigation applications. In this paper, a low cost solid state INS/GPS/Magnetometer integrated navigation system has been developed that incorporates measurements from an Inertial Navigation System (INS), Global Positioning System (GPS) and fluxgate magnetometer (Mag.) to provide a reliable complete navigation solution at a high output rate. The body attitude estimates, especially the heading angle, are fundamental challenges in a navigation system. Therefore targeting accurate attitude estimation is considered a significant contribution to the overall navigation error. A better estimation of the body attitude estimates leads to more accurate position and velocity estimation. For that end, the aim of this research is to exploit the magnetometer and accelerometer data in the attitude estimation technique. In this paper, a Scaled Unscented Kalman Filter (SUKF) based on the quaternion concept is designed for the INS/GPS/Mag integrated navigation system under large attitude error conditions. Simulation and experimental results indicate a satisfactory performance of the newly developed model.
文摘The study was conducted to characterize and perform laboratory-scale treatment of municipal drainage wastewater of Khulna, Bangladesh. Wastewater samples were collected from three different points of existing urban drain outlets into the Mayur River around Khulna. Laboratory testing shows the BOD5 and COD concentration of wastewater samples varied from 57 - 226 mg/l and 320 - 435 mg/l, respectively, and the total dissolved solids ranged from 1800 - 2525 mg/l. Therefore, a laboratory-scale treatment technology was developed to treat this wastewater. Treatment technologies adopted were primary sedimentation, followed by aeration, chemical precipitation and filtration. In treated wastewater, BOD5, COD and TDS were found to be in the range of 40 - 115 mg/l, 160 - 256 mg/l and 1356 - 1500 mg/l, respectively. These test results suggest that the performance of laboratory-scale treatment plant was not adequate to fulfil the acceptable limit (ECR’97) for safe disposal into surface water bodies. Due to poor quality of effluents, modification of laboratory-scale treatment plant was made by an activated sludge process followed by granular media filtration. The final BOD5, COD TDS and TSS concentration of effluents was found to be 1.38 - 9.8 mg/l, 32 - 192 mg/l, 590 - 1667 mg/l, and 35 - 95 mg/l respectively, which satisfy ECR’97 standard limits for safe disposal into inland water bodies.
文摘By using the rainfall data in the regional automatic station,FY-2E satellite data,NCEP reanalysis data,the evolution features and the structure characteristics of a meso-scale convective system(MCS) which happened on May 6 in 2010 in Loudi City of Hunan Province were analyzed.The results showed that MCS was the important influence system for the generation and development of strong precipitation.The equivalent blackbody brightness temperature(TBB) field of satellite inversion could directly reflect the convective activity of cumulus,the precipitation distribution and the intensity characteristics in the rainstorm process.TBB low value belt had the good corresponding relationship with the rainstorm falling zone.The disturbance flow field and the height field which passed Barnes band-pass wave filtering represented that there existed the obvious high-layer anticyclonic circulation and the low-layer cyclonic circulation near the rainstorm zone.The divergence in the high layer and the convergence in the low layer enhanced the occurrence and development of MCS.In addition,the disturbance temperature field revealed the main source of energy which the occurrence and development of strong convective weather needed.
