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| 1 | Modified Two-Degrees-of-Freedom Internal Model Control for Non-Square Systems with Multiple Time Delays显示文摘A modified two-degrees-of-freedom( M-TDOF) internal model control( IMC) method is proposed for non-square systems with multiple time delays and right-half-plane( RHP) zeros. In this method,pseudo-inverse is introduced to design the internal model controller,and a desired closed-loop transfer function is designed to eliminate the unrealizable factors of the derived controller. In addition,set-point tracking and load-disturbance rejection of each process are separately controlled by two controllers. The simulation results show that in addition to high decoupling performance and robustness,the proposed control method also effectively improves loaddisturbance rejection and simultaneously optimizes the input tracking performance and disturbance rejection performance by selecting the parameters of controllers. Furthermore,the higher tolerance of model mismatch is achieved in this paper. | Jian-Chang Liu Nan Chen Xia Yu | 2014 | Journal of Harbin Institute of Technology(New Series)2014，21，2： | 25 |
| 2 | Dynamics model of underwater robot motion control in 6 degrees of freedom显示文摘In order to analyze underwater robot control system dynamics features, a system 6-DOF dynamics model was founded. Underwater robot linear and nonlinear hydrodynamics were analyzed by Taylor series, based on general motion equation. Special control system motion equation was deduced by cluster of inertial items and non-inertial items. For program convenience, motion equation matrix format was presented. Experimental principles of screw propellers, rudders and wings were discussed. Experimental data least-square curve fitting, interpolation and their corresponding traditional equation helped us to obtain the whole system dynamic response procedure. A series of simulation experiments show that the dynamics model is correct and reliable. The model can provide theory proof for analyzing underwater robot motion control system physics characters and provide a mathematic model for traditional control method. | 李晔 刘建成 沈明学 | 2005 | Journal of Harbin Institute of Technology(New Series)2005，12，4： | 17 |
| 3 | Cross-Layer Adaptive Resource Allocation Algorithm with Diverse QoS Requirements for Single-Cell OFDMA Systems显示文摘The orthogonal frequency division multiple access( OFDMA) based communication system has been considered as the main trend of next-Generation communication system. But the existing resource allocation algorithm designed for such system is always with high complexity thus hard to be realized. To solve such problem with the constraints of spectrum efficiency and buffer state,a novel cross-layer resource allocation algorithm( RAA) is proposed in this paper. The goal of our RAA is to maximize the system throughput while satisfying several practical constraints,such as fairness among services,head of line( Ho L) delay and diverse quality of service( Qo S) requirements. Due to these constraints,finding the optimal solution becomes a NPhard problem. Therefore in this paper a novel method to solve such problem with acceptable complexity is proposed within following steps: firstly,based on the link state we formulate the ideal subchannel allocation strategy as a convex optimization problem,which can be efficiently solved by our proposed lagrange multiplier technique subchannel allocation( LMTSA) algorithm; secondly,according to the obtained channel allocation matrix,a power allocation algorithm based on the water-filling power allocation( WPA) idea is deployed to get the optimal power allocation matrix combining with adaptive modulation and coding( AMC); finally,through a greedy algorithm,the ultimate subchannel and power allocation matrix can be obtained based on iterative method. The simulation results illustrate that we can achieve the higher throughput and better Qo S performance than the widely-used maximum throughput( MT) algorithm and round robin( RR) algorithm. | Li Zeng Xi Li Hong Ji Ke Wang | 2015 | Journal of Harbin Institute of Technology(New Series)2015，22，1： | 14 |
| 4 | Control of fermentation types in continuous-flow acidogenic reactors:effects of pH and redox potential显示文摘The experiments were carried out in continuous flow acidogenic reactors with molasses used as substrate to study the effects of pH and redox potential on fermentation types. The conditions for each fermentation type were investigated at different experimental stages of start up, pH regulating and redox potential regulating. The experiments confirmed that butyric acid type fermentation would occur at pH > 6, the propionic acid type fermentation at pH about 5.5 with E h> -278 mV, and the ethanol type fermentation at pH < 4.5. A higher redox potential will lead to propionic acid type fermentation because propionogens are facultative anaerobic bacteria. | 任南琪 陈小蕾 赵丹 | 2001 | Journal of Harbin Institute of Technology(New Series)2001，8，2： | 12 |
| 5 | Prevalence of diabetes among men and women in China显示文摘 | Yang W Lu J Weng J | | New England Journal of Medicine0，，： | 11 |
| 6 | Preliminary Study on Biological Control of Cyclops of Zooplankton in Drinking Water Source显示文摘An ecological project called fish biomanipulation, other than the conventional fishery culture technique, was put forward in this paper for the excess propagation control of Cyclops. The control effects on Cyclops of four species of fish were investigated experimentally at stocking density of 30 g per cubic meter of water. The experimental results showed that the food habit of the fish had significant influence on the biological control of Cyclops. The propagation of Cyclops could be controlled effectively and also the water quality was improved simultaneously by stocking the filter-feeding fishes, such as silver carp and bighead carp. Whereas, herbivorous Ctenopharyngodon idellus and omnivorous Cyprinus carpio had no obvious biological effects on controlling the growth of Cyclops and restoring water quality. The results further proved that under condition of proper poly-culture density of silver carp and bighead carp, the number of Cyclops might be controlled at very low level and the eutrophication might be abated by removing the nutrients from water body. | 刘冬梅 崔福义 林涛 张立秋 | 2004 | Journal of Harbin Institute of Technology(New Series)2004，11，2： | 10 |
| 7 | Improvement of M-U-O and K-P-W proxy signature schemes显示文摘The concept of proxy signature introduced by Mambo, Usuda, and Okamoto allows a designated person, called a proxy signer, to sign on behalf of an original signer in 1996. However, most existing proxy signature schemes does not support nonrepudiation. In this paper, we propose two secure nonrepudiable proxy signature schemes, which overcome disadvantages of M U O and K P W proxy signature schemes, respectively. The schemes proposed can withstand public key substitution attack and forge attack. In addition, our new schemes have some other advantages such as proxy signature key generation and updating using insecure channels. Our approach can also be applied to other ElGamal like proxy signature schemes. | 李继国 曹珍富 张亦辰 | 2002 | Journal of Harbin Institute of Technology(New Series)2002，9，2： | 10 |
| 8 | Factors affecting ice crystal purity during freeze concentration process for urine treatment显示文摘Freeze concentration has great potential in treating wastewaters containing soluble pollutions. It is important for freeze concentration process to produce ice crystals with large size and high purity. In this work raw urines of 4660-7914 mg/L in COD, 512.71-872.41 mg/L in NH3-N and 22600-28800 μs/cm in electric conductivity were studied. Urines were frozen by a digital refrigerated circulator bath. Ice crystals were purified by ice-water steep and vacuum filtration. The COD, NH3-N, and electric conductivity levels of the melted ices were measured to reflect ice crystal purity. Effects of coolant temperature, ice crystal shape, initial solution temperature, solution concentration, ice seeding, re-crystallization process and crystallization time on ice crystal purity were analyzed. The results show that an appropriate coolant temperature, suspended ice crystals, an initial solution temperature of about 6 ℃, introduction of seed ice, addition of re-crystallization process, and crystallization time of less than 30 min are in favor of producing ice crystals with high purity. Under such conditions, more than 99 percent of inorganic salts, COD and NH3-N sources in raw urine could be removed. | 于涛 马军 张立秋 | 2007 | Journal of Harbin Institute of Technology(New Series)2007，14，5： | 9 |
| 9 | Type Synthesis Method for the Translational Decoupled Parallel Mechanism Based on Screw Theory显示文摘Coupling is the significant characteristic of parallel mechanism,while it is just the coupling that brings about much difficulty for the configuration design,theoretical analysis and the development of the control system of the parallel mechanism. And recently,the research on the decoupled parallel mechanism becomes one of the research hot points in the mechanism fields. In this paper,a type synthesis method for the translational decoupled parallel mechanism( TDPM) is proposed based on the screw theory. To achieve the decoupling characteristics of the translational parallel mechanism,the translational decoupled criterion for type synthesis of the branches are presented in this paper. According to this criterion and the realization conditions of rotational degree of freedom of the mechanism proposed former,a large number of branches for the TDPM are obtained. Taking the three degrees of freedom( DOFs) TDPM as an example,the process of type synthesis is discussed in detail. Using this proposed type synthesis method,a serial of translational decoupled parallel mechanisms, including but not limited to all the existing typical 3-DOF TDPMs, are obtained, which identifies the correctness and effective of the method. The contents of this paper provide a reference and possess significant theoretical meanings for the synthesis and development of the novel decoupled parallel mechanisms. | Da-Xing Zeng Yu-Lei Hou Wen-Juan Lu Wei Chang Zhen Huang | 2014 | Journal of Harbin Institute of Technology(New Series)2014，21，1： | 9 |
| 10 | Robust Control Strategy for the Speed Control of Brushless DC Motor显示文摘Brushless DC motor ( BLDCM) speed servo system is multivariable,nonlinear and strong coupling. The parameter variation, the cogging torque and the load disturbance easily influence its performance. Therefore,it is difficult to achieve superior performance by using the conventional PID controller. To solve the deficiency,the paper represents the algorithm of active-disturbance rejection control ( ADRC) based on back-propagation ( BP) neural network. The ADRC is independent on accurate system and its extended-state observer can estimate the disturbance of the system accurately. However,the parameters of Nonlinear Feedback ( NF) in ADRC are difficult to obtain. So in this paper,these parameters are self-turned by the BP neural network. The simulation and experiment results indicate that the ADRC based on BP neural network can improve the performances of the servo system in rapidity,control accuracy,adaptability and robustness. | Zhi Liu Bai-Fen Liu | 2013 | Journal of Harbin Institute of Technology(New Series)2013，20，2： | 9 |
| 11 | Security evaluation of compounded microbial flocculant显示文摘A new kind of compounded microbial flocculant (CMBF) for water and wastewater treatment has been developed through biological technology. In order to discuss its biological security, four groups of experiments, rat acute toxicity test via mouth, salmonella assay in vitro, mouse micronucleus in vivo test and teratogenesis test were conducted to evaluate its general toxicity, genotoxicity and generative toxicity. The experimental results showed that this type of compounded microbial flocculant was a substantial non-toxic substance based on the fact that LD50 value was over 10 mg/kg. The results from salmonella in vivo test and mouse micronucleus in vivo test revealed that the compounded microbial flocculant is a genetically non-toxic substance. Furthermore, compounded microbial flocculant has little effect on the growth of all the rats, and any morphologic abnormal phenomenon hasn’t appeared. | 马放 王博 范春 杨基先 李百祥 刘艳滨 | 2004 | Journal of Harbin Institute of Technology(New Series)2004，11，1： | 9 |
| 12 | Real-time multi-step prediction control for BP network with delay显示文摘Real time multi step prediction of BP network based on dynamical compensation of system characteristics is suggested by introducing the first and second derivatives of the system and network outputs into the network input layer, and real time multi step prediction control is proposed for the BP network with delay on the basis of the results of real time multi step prediction, to achieve the simulation of real time fuzzy control of the delayed time system. | 张吉礼 欧进萍 于达仁 | 2000 | Journal of Harbin Institute of Technology(New Series)2000，7，2： | 8 |
| 13 | Six-step reasoning model for robot-soccer显示文摘The decision making system of robot soccer is a kind of knowledge system. A Six step Reasoning Model is established by formalizing its expert knowledge and decision making process. Furthermore, many other models can be considered as mutation and evolution of the Six step Reasoning Model. | 徐心和 | 2001 | Journal of Harbin Institute of Technology(New Series)2001，8，3： | 8 |
| 14 | Application of fuzzy optimal selection of similar slopes to the evaluation of slope stability显示文摘The numerical calculation method is widely used in the evaluation of slope stability,but it cannot take the randomness and fuzziness into account that exist in rock and soil engineering objectively.The fuzzy optimization theory is thus introduced to the evaluation of slope stability by this paper and a method of fuzzy optimal selection of similar slopes is put forward to analyze slope stability.By comparing the relative membership degrees that the evaluated object sample of slope is similar to the source samples of which the stabilities are detected clearly,the source sample with the maximal relative membership degree will be chosen as the best similar one to the object sample,and the stability of the object sample can be evaluated by that of the best similar source sample.In the process many uncertain influential factors are considered and characteristics and knowledge of the source samples are obtained.The practical calculation indicates that it can achieve good results to evaluate slope stability by using this method. | 王旭华 陈守煜 唐列宪 张厚全 | 2007 | Journal of Harbin Institute of Technology(New Series)2007，14，3： | 8 |
| 15 | An equivalent finite element method to kinetics analysis of complex mechanism显示文摘The Finite Element Method was combined with the results from considerable analysis, producing a new kinetics analysis method of EFEM for a mechanism in truss, geared system, and assembled system. The equivalent principle and the motive differential equation of the system were derived by using an equivalent element, a virtual inertia matrix, and a systematic force matrix. The element’s mass matrix expression in the two dimensional and three dimensional mechanisms of the equivalent element was determined. The equivalent mass matrixes fashion of the Jacobin matrix, generalized coordinate matrix, and equivalent forces matrix were also determined. It was validated by two examples that the new method was normal, simple and direct, and had a higher efficiency than alternative methods; this is regardless of whether traditional methods are used with differential equations and calculated by using a computer. | 车仁炜 陆念力 | 2005 | Journal of Harbin Institute of Technology(New Series)2005，12，2： | 8 |
| 16 | Study of a New Improved PSO-BP Neural Network Algorithm显示文摘In order to overcome shortcomings of traditional BP neural network,such as low study efficiency, slow convergence speed,easily trapped into local optimal solution,we proposed an improved BP neural network model based on adaptive particle swarm optimization( PSO) algorithm. This algorithm adjusted the inertia weight coefficients and learning factors adaptively and therefore could be used to optimize the weights in the BP network. After establishing the improved PSO-BP( IPSO-BP) model,it was applied to solve fault diagnosis of rolling bearing. Wavelet denoising was selected to reduce the noise of the original vibration signals,and based on these vibration signals a wide set of features were used as the inputs in the neural network models. We demonstrate the effectiveness of the proposed approach by comparing with the traditional BP,PSO-BP and linear PSO-BP( LPSO-BP) algorithms. The experimental results show that IPSO-BP network outperforms other algorithms with faster convergence speed,lower errors,higher diagnostic accuracy and learning ability. | Li Zhang Jia-Qiang Zhao Xu-Nan Zhang Sen-Lin Zhang | 2013 | Journal of Harbin Institute of Technology(New Series)2013，20，5： | 7 |
| 17 | Adaptive variable structure control based on backstepping for spacecraft with reaction wheels during attitude maneuver显示文摘An adaptive variable structure control method based on backstepping is proposed for the attitude maneuver problem of rigid spacecraft with reaction wheel dynamics in the presence of uncertain inertia matrix and external disturbances. The proposed control approach is a combination of the backstepping and the adaptive variable structure control. The cascaded structure of the attitude maneuver control system with reaction wheel dynamics gives the advantage for applying the backstepping method to construct Lyapunov functions. The robust stability to external disturbances and parametric uncertainty is guaranteed by the adaptive variable structure control. To validate the proposed control algorithm, numerical simulations using the proposed approach are performed for the attitude maneuver mission of rigid spacecraft with a configuration consisting of four reaction wheels for actuator and three magnetorquers for momentum unloading. Simulation results verify the effectiveness of the proposed control algorithm. | 宋斌 马广富 李传江 | 2009 | Journal of Harbin Institute of Technology(New Series)2009，16，1： | 7 |
| 18 | Multi-objective optimization of membrane structures based on Pareto Genetic Algorithm显示文摘A multi-objective optimization method based on Pareto Genetic Algorithm is presented for shape design of membrane structures from a structural view point.Several non-dimensional variables are defined as optimization variables,which are decision factors of shapes of membrane structures.Three objectives are proposed including maximization of stiffness,maximum uniformity of stress and minimum reaction under external loads.Pareto Multi-objective Genetic Algorithm is introduced to solve the Pareto solutions.Consequently,the dependence of the optimality upon the optimization variables is derived to provide guidelines on how to determine design parameters.Moreover,several examples illustrate the proposed methods and applications.The study shows that the multi-objective optimization method in this paper is feasible and efficient for membrane structures;the research on Pareto solutions can provide explicit and useful guidelines for shape design of membrane structures. | 伞冰冰 孙晓颖 武岳 | 2010 | Journal of Harbin Institute of Technology(New Series)2010，17，5： | 7 |
| 19 | Pilot scale treatment of low turbidity water using compound bioflocculant and polymerized aluminium ferrum chloride显示文摘To investigate the application of compound bioflocculant (CBF) in drinking water treatment at pilot plant,CBF and polymerized aluminium ferrum chloride (PAFC) coagulant were used to treat raw water taken from Longhupao Reservoir in Heilongjiang Province for the removal of turbidity,COD,UV254 and residual Al. Coagulation test shows that the coagulation enhanced by CBF and PAFC exhibits more effective performance than that enhanced by the individual of them,and the total combination dosage is lower than that of the individual. The residual Al from PAFC can be removed efficiently by CBF. The removal efficiency of turbidity reaches 76.6% by combining CBF of 2 mg/L and PAFC of 15 mg/L,COD is decreased from 3.80 mg/L to 1.62 mg/L,and the concentration of residual Al is only 0.033 mg/L in the product water. It can be speculated that adsorption-bridging and sweep-coagulation processes are predominant in the flocculation process by the combination of CBF and PAFC. | 马放 孟路 庞长泷 金超 姚杰 | 2009 | Journal of Harbin Institute of Technology(New Series)2009，16，3： | 7 |
| 20 | IFC implementation in lifecycle costing显示文摘Life Cycle Costing (LCC) is always a major concern in the Architecture, Engineering and Construction (AEC) industry. This paper presents the implementation of Building Information Modeling (BIM) technology in the development of a lifecycle cost-estimating tool. The IFC (Industry Foundation Classes) model as an interoperable building information model has been adopted as the central data repository to deliver the integrated information of building designs from CAD design systems into the lifecycle-costing database. In this paper, the conceptions and relevant factors, which could affect the LCC estimation, have been introduced. The problems of current LCC applications have been identified as the lack of LCC data and the complexity of LCC exercises. The software application of IFC models and relevant auxiliary are depicted as a solution of the problem identified. The lifecycle costing tool is a part of the nD Modeling tool and as such is based on its integrated interface prototype toolkit and is able to holistically present an IFC model into a 3D virtual reality view, a tree-view and a list of element properties. The functions and some technical points are also detailed in the paper. Through the research, it demonstrates the potential and possibility of implementing BIM methods and techniques, particularly IFCs to enhance the computer applications in the processes of building construction and facility management. | Charlie Fu Ghassan Aouad Amanda Marshall Ponting Angela Lee Song Wu | 2004 | Journal of Harbin Institute of Technology(New Series)2004，11，4： | 7 |
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