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Tytuł:
Research of nanobubbles enhanced reverse anionic flotation of a midlow grade phosphate ore
Autorzy:
Zhang, Tiebin
Zhang, Qin
Powiązania:
https://bibliotekanauki.pl/articles/2146853.pdf
Data publikacji:
2022
Wydawca:
Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Tematy:
nanobubbles
reverse anionic flotation
phosphate ore
dolomite
particle aggregation
Opis:
The reverse anionic flotation is commonly used to upgrade the mid-low grade phosphate ore in China. The mineral characterization of raw ore shows that carbonate and phosphate minerals combined with fine intergrowth, difficulty in upgrading. Flotation using nanobubbles (NBs) can significantly enhance the flotation efficiency of fine particles of minerals. To research the effect of NBs on the flotation process of this phosphate ore, two flotation tests with and without NBs were compared. The results show that the MgO removal had an increment of 10% in the case of NBs flotation versus conventional flotation in the approximate grade and recovery of P2O5. The foam product of NBs flotation had smaller dimensions than the conventional flotation. NBs enhanced the contact angle on dolomite surface from 45.8 ° to 64.5 °, and increases the d50 of dolomite from 20.49 µm to 30.43 µm.
Źródło:
Physicochemical Problems of Mineral Processing; 2022, 58, 1; 113--125
1643-1049
2084-4735
Pojawia się w:
Physicochemical Problems of Mineral Processing
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Flotation separation of dolomite and apatite using polyaspartic acid as inhibitor
Autorzy:
Kang, Yuntao
Zhang, Qin
Powiązania:
https://bibliotekanauki.pl/articles/2146868.pdf
Data publikacji:
2021
Wydawca:
Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Tematy:
dolomite
apatite
polyaspartic acid
flotation
inhibitory mechanizm
Opis:
In this paper, polyaspartic acid (PASP) was exploited as a novel dolomite depressant for flotation separation of apatite and dolomite. A series of tests with Zeta potential, FTIR and XPS were used to reveal the inhibitory mechanism of PASP on dolomite. The microflotation test illustrated that PASP has a strong inhibitory impact on dolomite, and little effect on the floatability of apatite in the pH range of 9-11. When using 2.7 Mg/L PASP as the depressant under sodium oleate (NaOl) system, the flotation recovery of dolomite dropped dramatically to 9.95%, and the recovery of apatite remained at about 88.27% at pH 10. Both dolomite and apatite have calcium ion on the surface. The calcium ion on the surface of apatite were strongly inhibited and repelled by the localized anions, while the important role on the surface of dolomite was positively charged magnesium ion and localized calcium species. PASP could ionize carboxylate ion under alkaline conditions, which could chemically chelate with the exposed metal ion and be adsorbed on the surface of dolomite. And then prevent the further adsorption of NaOl onto dolomite, which greatly weaken the floatability of dolomite and enhanced the flotation separation of the two minerals.
Źródło:
Physicochemical Problems of Mineral Processing; 2021, 57, 6; 113--126
1643-1049
2084-4735
Pojawia się w:
Physicochemical Problems of Mineral Processing
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Influence of measuring process properties on phosphate rock slurry rheology based on Brookfield method
Autorzy:
Chen, Aoao
Zhang, Qin
Powiązania:
https://bibliotekanauki.pl/articles/2175436.pdf
Data publikacji:
2022
Wydawca:
Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Tematy:
phosphate rock
grinding
concentration
rheological properties
apparent viscosity
Opis:
This research aims to explore how the flotation process conditions influence the rheological properties of phosphate rock slurry. The apparent viscosity of phosphate rock slurry was measured by Brookfield DVNext rheometer. Different mineral types, grinding time, slurry mass concentration and reagent systems were adopted to study the viscosity behavior of phosphate rock slurry. The results showed that under the same conditions, the apparent viscosity of apatite and dolomite slurry was basically the same, and the apparent viscosity of the slurry after mixing the two minerals was basically the same as that of single mineral. For the same slurry concentration, the mineral particle size had a significant effect on the rheological behavior of the slurry, and its apparent viscosity increased exponentially with the decrease of particle size. In addition, phosphate rock slurry showed shear thickening fluids characteristics when the slurry concentration is 20%-40%, but changed to pseudoplastic fluid at high concentration (60%). Sulfuric acid as pH regulator and inhibitor had little effect on the rheology of slurry; when GJBW and NaOL were added as collectors, the rheology of slurry changed, and the effect of GJBW was more obvious.
Źródło:
Physicochemical Problems of Mineral Processing; 2022, 58, 6; art. no. 156202
1643-1049
2084-4735
Pojawia się w:
Physicochemical Problems of Mineral Processing
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Effect of surface relaxation of rhodochrosite (104) and substitution of Mn by Ca on the electronic structure of rhodochrosite
Autorzy:
Zhang, Jingqi
Zhang, Qin
Zhang, Tiebin
Powiązania:
https://bibliotekanauki.pl/articles/2146903.pdf
Data publikacji:
2022
Wydawca:
Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Tematy:
density functional theory
rhodochrosite
surface relaxation
surface electrical property
Opis:
To explore the difference between the surface and crystal structure of rhodochrosite, relaxation and reconstruction of the rhodochrosite (104) surface are studied by using Density Functional Theory. The calculation results indicated that the C and O atoms with lower reactivity tend to be enriched on the surface, while the Mn atoms with the highest reactivity moved away from the surface. The band gap width decreased from 1.814 eV to 1.614 eV after the formation of the rhodochrosite (104) surface. The electrons on the rhodochrosite (104) surface are more active than crystal. Ca substitution makes the atomic activity on the (104) surface of rhodochrosite more stable. Ca substitution reduces the ability of the surface of rhodochrosite to absorb external electrons, and the surface electrical properties decrease.
Źródło:
Physicochemical Problems of Mineral Processing; 2022, 58, 3; art. no. 145991
1643-1049
2084-4735
Pojawia się w:
Physicochemical Problems of Mineral Processing
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
DFT study of coadsorption of fatty acid and kerosene on fluorapatite (001) surface
Autorzy:
Du, Weifan
Li, Xianbo
Zhang, Qin
Powiązania:
https://bibliotekanauki.pl/articles/2200343.pdf
Data publikacji:
2023
Wydawca:
Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Tematy:
fluorapatite surface
fatty acid
kerosene
coadsorption
DFT
Opis:
The adsorption of fatty acid, kerosene and fatty acid-kerosene on fluorapatite (001) surface were investigated by density functional theory (DFT) calculations. The results showed that the single fatty acid could form stable chemisorption on fluorapatite (001) surface by the O of fatty acids bonding with Ca1 site. The single kerosene could not be stably adsorbed on fluorapatite (001) surface because the H of kerosene did not form hydrogen bond with the O of PO43- on (001) surface (Osurf). For the coadsorption conformation, the chemisorption of fatty acid-kerosene on fluorapatite (001) surface was contributed by the interaction between O of fatty acids and Ca1, the H of kerosene did not bond with the Osurf, but the carbon chain length of kerosene has a large influence on the coadsorption. Compared with the coadsorption of fatty acid-decane, the adsorption of butyric acid-tetradecane and octanoic acid-tetradecane on fluorapatite (001) surface have greater adsorption energies and overlapping region of DOS between O 2p and Ca 4d, indicating that there is a synergistic effect between fatty acid and tetradecane. Meanwhile, the collaborative effects exist between the molecules of fatty acids. The interpenetrating adsorption of fatty acid and kerosene on the fluorapatite surface could improve the adsorption strength and density. The flotation test further confirmed that the single kerosene could not collect fluorapatite, but it could be collected by the single fatty acid. Besides, the synergistic effect between fatty acid and kerosene could increase the flotation recovery of fluorapatite.
Źródło:
Physicochemical Problems of Mineral Processing; 2023, 59, 1; art. no. 161890
1643-1049
2084-4735
Pojawia się w:
Physicochemical Problems of Mineral Processing
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Occupational daily walking steps have inverse relationship with papillary thyroid cancer risk and progression: a retrospective analysis
Autorzy:
Zhang, Chunling
Zhang, Li
Su, Yan
Xiang, Lei
Zhang, Qin
Zhang, Chunhong
Huan, Qin
Powiązania:
https://bibliotekanauki.pl/articles/28761990.pdf
Data publikacji:
2024-03-05
Wydawca:
Instytut Medycyny Pracy im. prof. dra Jerzego Nofera w Łodzi
Tematy:
biochemical markers
office workers
construction workers
papillary thyroid cancer
daily step counts
PTC stages
Opis:
Objectives Investigate the impact of daily occupational walking steps on the progression of papillary thyroid cancer (PTC), a topic hitherto underresearched. Material and Methods The authors analyzed the data from 800 individuals with PTC across stages 0–IV. Participants were evenly divided into 2 distinct occupational groups: office workers and construction workers (N = 400 each). Data included comprehensive records of daily walking steps, demographic information, and clinical indicators. Pearson’s correlation coefficients or analysis of variance (ANOVA) were employed to assess the linkage between daily walking steps and PTC risk and stage, as well as associated biochemical markers. Results The analysis revealed a significant inverse relationship between daily walking steps and PTC risk. A higher frequency of daily steps was associated with reduced chances of PTC onset and a lower diagnostic stage of the disease. This protective effect of physical activity was particularly pronounced in the construction worker cohort. Subsequent evaluations showed that construction workers who consistently logged higher daily steps had markedly lower levels of thyroid-stimulating hormone (TSH), free triiodothyronine, free thyroxine, thyroid peroxidase antibody, thyroglobulin antibody, and thyroglobulin (Tg). Notably, daily walking steps exhibited a strong inverse correlation with body mass index (BMI), age, PTC volumes, and levels of TSH and Tg across both occupational groups (ρ < –0.37). The increase in daily steps was associated with the reduction in PTC stages (p < 0.001). Conclusions The research underscores the potential benefits of increased daily walking steps, suggesting that they may play a protective role in reducing PTC risk and moderating its progression.
Źródło:
International Journal of Occupational Medicine and Environmental Health; 2024, 37, 1; 58-71
1232-1087
1896-494X
Pojawia się w:
International Journal of Occupational Medicine and Environmental Health
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Fuzzy method and neural network model parallel implementation of multi-layer neural network based on cloud computing for real time data transmission in large offshore platform
Autorzy:
Zhang, H..
Qin, W.
Powiązania:
https://bibliotekanauki.pl/articles/259083.pdf
Data publikacji:
2017
Wydawca:
Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:
parallel implementation
multi-layer neural network
cloud computing
Opis:
With the rapid development of electronic technology, network technology and cloud computing technology, the current data is increasing in the way of mass, has entered the era of big data. Based on cloud computing clusters, this paper proposes a novel method of parallel implementation of multilayered neural networks based on Map-Reduce. Namely in order to meet the requirements of big data processing, this paper presents an efficient mapping scheme for a fully connected multi-layered neural network, which is trained by using error back propagation (BP) algorithm based on Map-Reduce on cloud computing clusters (MRBP). The batch-training (or epoch-training) regimes are used by effective segmentation of samples on the clusters, and are adopted in the separated training method, weight summary to achieve convergence by iterating. For a parallel BP algorithm on the clusters and a serial BP algorithm on uniprocessor, the required time for implementing the algorithms is derived. The performance parameters, such as speed-up, optimal number and minimum of data nodes are evaluated for the parallel BP algorithm on the clusters. Experiment results demonstrate that the proposed parallel BP algorithm in this paper has better speed-up, faster convergence rate, less iterations than that of the existed algorithms.
Źródło:
Polish Maritime Research; 2017, S 2; 39-44
1233-2585
Pojawia się w:
Polish Maritime Research
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Experimental study on mechanical properties of nano-modified cement paste
Autorzy:
Wang, Zhi
Qin, Wenjing
Zhang, Lijuan
Powiązania:
https://bibliotekanauki.pl/articles/230266.pdf
Data publikacji:
2020
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
nanomodyfikacja
właściwości mechaniczne
nano ditlenek tytanu
nanokrzemionka
zaczyn cementowy
nanomodification
mechanical properties
nano titanium dioxide
nanosilica
cement paste
Opis:
The mechanical properties of cement paste modified by nano-TiO2 (nT) and nano-SiO2 (nS) were experimentally studied. The compressive strength increased first and then decreased with the increase of nanoparticle content. When nanoparticles were added into the cement paste as a filler to improve the microstructure, the two kinds of particles both could form a tighter mesh structure, which would enhance the density and strength of the structure. The elastic modulus increased rapidly with the increase of the nT content and reached a peak when the nanoparticle content is about 3%, which was about twice the elastic modulus of ordinary cement paste. The Scanning electron microscopy (SEM) observation results showed that the microstructure of cement was network connection and fiber tube. The hydration progress of ordinary cement slurry was insufficient, and many unreacted cement particles remained. With the addition of nanoparticles, the internal structure of the cement became denser, with fewer pore cracks, smaller pore diameters, more complex fiber tube arrangements, and significant anisotropy, thereby improving strength and mechanical properties.
Źródło:
Archives of Civil Engineering; 2020, 66, 3; 253-263
1230-2945
Pojawia się w:
Archives of Civil Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Flotation separation of enargite from complex copper concentrates by selective surface oxidation
Autorzy:
Li, Tangfei
Zhang, Yansheng
Zhang, Bo
Jiao, Fen
Qin, Wenqing
Powiązania:
https://bibliotekanauki.pl/articles/110698.pdf
Data publikacji:
2019
Wydawca:
Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Tematy:
mineralogy
enargite
selective surface oxidation
froth flotation
EDTA extraction
Opis:
In previous study, the promising results of separating enargite from non-arsenic copper sulfides were obtained using selective surface oxidation in pure mineral systems. However, this technology was not well understood in real ores or concentrates. In this study, the flotation separation of enargite from complex copper concentrates by selective surface oxidation was investigated. The effects of regrinding, pulp pH, NaClO concentration, conditioning time and flotation time on separation of enargite from NECu minerals were studied. The mineralogical characteristics of the flotation feed and products were showed as an instructive tool to understand the separation results. According to the results of EDTA extraction, the possible mechanism for separation of enargite from NECu minerals is that enargite is more resistant to oxidized compared to NECu minerals. The following order for the oxidation of NECu minerals and enargite is obtained: chalcopyrite (chalcocite, digenite)> enargite (covellite).
Źródło:
Physicochemical Problems of Mineral Processing; 2019, 55, 4; 852-864
1643-1049
2084-4735
Pojawia się w:
Physicochemical Problems of Mineral Processing
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Impairment of pulmonary function and changes in the right cardiac structure of pneumoconiotic coal workers in China
Autorzy:
Bian, Lu-Qin
Zhang, Yue
Jiang, Rong
Mao, Ling
Powiązania:
https://bibliotekanauki.pl/articles/2177031.pdf
Data publikacji:
2015-02-24
Wydawca:
Instytut Medycyny Pracy im. prof. dra Jerzego Nofera w Łodzi
Tematy:
coal worker’s pneumoconiosis
pulmonary artery systolic pressure
pulmonary function
right cardiac structure
Opis:
Introduction: Information on the changes of pulmonary function and the right cardiac structure in patients with coal worker’s pneumoconiosis in China is very scarce. This study was performed to clarify the changes of pulmonary function and right cardiac structure in patients with coal worker’s pneumoconiosis in China. Material and methods: Pulmonary function, pulmonary artery systolic pressure, and the right cardiac structure were evaluated by spirometry and color Doppler echocardiography. Results: The pulmonary artery systolic pressure of patients with coal worker’s pneumoconiosis was increased with disease severity. Patients with coal worker’s pneumoconiosis also exhibited an impaired pulmonary function and altered right cardiac structure compared with control subjects. A significant linear correlation of the variables of pulmonary ventilation and diffusion function with the indicators of the right cardiac structure was found in patients with coal worker’s pneumoconiosis in China. Conclusions: This study elucidated a deterioration of pulmonary function and right cardiac structure in patients with coal worker’s pneumoconiosis in China.
Źródło:
International Journal of Occupational Medicine and Environmental Health; 2015, 28, 1; 62-70
1232-1087
1896-494X
Pojawia się w:
International Journal of Occupational Medicine and Environmental Health
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Fluidization characteristics and separation performance of mild-hot gas-solid fluidized bed
Autorzy:
Lv, Bo
Luo, Zhenfu
Zhang, Bo
Zhao, Yuemin
Qin, Yunfei
Powiązania:
https://bibliotekanauki.pl/articles/109724.pdf
Data publikacji:
2019
Wydawca:
Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Tematy:
dry coal separation
mild-hot gas-solid fluidized bed
bed temperature
fluidization characteristics
Opis:
In recent years, the mild-hot gas-solid fluidized bed had a crucial influence on wet-in-feed sorting when it comes to moist feed (e.g., lignite) because of its expanding sorting range. To explain the favorable sorting effect of the mild-hot gas-solid fluidized bed, the fluidization characteristics (e.g., the pressure drop, density, etc.) was studied under different work conditions. In addition, a high-speed dynamic camera was used in this study to compare the slumping behavior of the magnetite slag at different temperatures. The optimum conditions for coal separation was also studied by Design-Expert software. It was shown that the bed temperature of the fluidized bed has a particular effect on its stability when the bed temperature was below 120 °C, which had a great influence on the separation. Finally, the probable deviation E of the mild-hot gas-solid fluidized bed under optimum operation conditions could be as low as 0.09 g/cm3 which showed the good separation ability.
Źródło:
Physicochemical Problems of Mineral Processing; 2019, 55, 1; 184-195
1643-1049
2084-4735
Pojawia się w:
Physicochemical Problems of Mineral Processing
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Fully-phase optical image encryption in diffractive-imaging scheme with QR-code-based random illumination
Autorzy:
Wang, Z.
Zhang, Y.
Gong, Q.
Li, S.
Qin, Y.
Powiązania:
https://bibliotekanauki.pl/articles/174126.pdf
Data publikacji:
2017
Wydawca:
Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Tematy:
optical encryption
diffractive imaging
fully phase
phase retrieval algorithm
Opis:
Based on a fully phase encoding and phase retrieval algorithm, a diffractive-imaging-based optical encryption scheme with random illumination is proposed. In the encryption process, a QR code image is placed in the optic path to modulate the incident light and thus generate a random illumination, which has been demonstrated to enable the proposed scheme to resist the multi-slice ptychographic phase retrieval algorithm attack. The plaintext is phase-encoded, and then encrypted by two random phase masks. The diffraction pattern in the output plane is recorded as ciphertext by a CCD camera. For decryption, an iterative phase retrieval algorithm with median filtering operation is implemented. Simulation results demonstrate the effectiveness, security, and robustness of the proposal.
Źródło:
Optica Applicata; 2017, 47, 2; 233-243
0078-5466
1899-7015
Pojawia się w:
Optica Applicata
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Population diversity maintenance in brain storm optimization algorithm
Autorzy:
Cheng, S.
Shi, Y.
Qin, Q.
Zhang, Q
Bai, R.
Powiązania:
https://bibliotekanauki.pl/articles/91571.pdf
Data publikacji:
2014
Wydawca:
Społeczna Akademia Nauk w Łodzi. Polskie Towarzystwo Sieci Neuronowych
Tematy:
brainstorm
optimization algorithm
convergence
divergence
brainstorm optimization
BSO
swarm intelligence
BSO algorithm
Opis:
The convergence and divergence are two common phenomena in swarm intelligence. To obtain good search results, the algorithm should have a balance on convergence and divergence. The premature convergence happens partially due to the solutions getting clustered together, and not diverging again. The brain storm optimization (BSO), which is a young and promising algorithm in swarm intelligence, is based on the collective behavior of human being, that is, the brainstorming process. The convergence strategy is utilized in BSO algorithm to exploit search areas may contain good solutions. The new solutions are generated by divergence strategy to explore new search areas. Premature convergence also happens in the BSO algorithm. The solutions get clustered after a few iterations, which indicate that the population diversity decreases quickly during the search. A definition of population diversity in BSO algorithm is introduced in this paper to measure the change of solutions’ distribution. The algorithm’s exploration and exploitation ability can be measured based on the change of population diversity. Different kinds of partial reinitialization strategies are utilized to improve the population diversity in BSO algorithm. The experimental results show that the performance of the BSO is improved by part of solutions re-initialization strategies.
Źródło:
Journal of Artificial Intelligence and Soft Computing Research; 2014, 4, 2; 83-97
2083-2567
2449-6499
Pojawia się w:
Journal of Artificial Intelligence and Soft Computing Research
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Application of nitrogen injection displacement for fire extinguishment
Zwalczanie pożarów endogenicznych za pomocą azotu
Autorzy:
Tang, Q.
Qin, R. X.
Chen, Q. H.
Zhang, G. S.
Powiązania:
https://bibliotekanauki.pl/articles/348639.pdf
Data publikacji:
2012
Wydawca:
Akademia Górniczo-Hutnicza im. Stanisława Staszica w Krakowie. Wydawnictwo AGH
Tematy:
technologia ochrony przeciwpożarowej w szczelnych zrobach
technologia ochrony przeciw pożarowej metodą wtrysku gazów szlachetnych
technologia zwalczania pożarów za pomocą azotu
technologia separacji
nowe rozwiązania w technologii ochrony pożarowej
fire-prevented technology in sealed gob
fire-prevented technology by infusing inert gases
infusing-permuting nitrogen technology
separation technology
new development in fire-prevented technology
Opis:
The article introduced the basic theory of nitrogen injection displacement for fire extinguish, which is presented by Professor Guoshu Zhang, applied this technology in coal mine, and then verified the results through numerical simulation, the production got from the technology's application. Presented some new views in specific implementation of nitrogen injection displacement for fire extinguish.
W niniejszym artykule opisano zastosowanie podstawowej teorii wypełniania zrobów azotem podczas gaszenia pożarów endogenicznych zaprezentowanej przez profesora Guoshu Zhang, jej zastosowanie w kopalni oraz weryfikację wyników za pomocą symulacji numerycznej i uzyskane efekty w związku z zastosowaniem tej technologii. Zaprezentowano szczegółowe zasady oraz poglądy na temat wypełniania zrobów azotem do zwalczania pożarów.
Źródło:
AGH Journal of Mining and Geoengineering; 2012, 36, 3; 345-351
1732-6702
Pojawia się w:
AGH Journal of Mining and Geoengineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Motion control and collision avoidance algorithms for unmanned surface vehicle swarm in practical maritime environment
Autorzy:
Zhuang, Jiayuan
Zhang, Lei
Qin, Zihe
Sun, Hanbing
Wang, Bo
Cao, Jian
Powiązania:
https://bibliotekanauki.pl/articles/260012.pdf
Data publikacji:
2019
Wydawca:
Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:
USV
swarm control
collision avoidance
sliding mode
artificial potential field
Opis:
The issue of controlling a swarm of autonomous unmanned surface vehicles (USVs) in a practical maritime environment is studied in this paper. A hierarchical control framework associated with control algorithms for the USV swarm is proposed. In order to implement the distributed control of the autonomous swarm, the control framework is divided into three task layers. The first layer is the tele-operated task layer, which delivers the human operator’s command to the remote USV swarm. The second layer deals with autonomous tasks (i.e. swarm dispersion, or avoidance of obstacles and/or inner-USV collisions), which are defined by specific mathematical functions. The third layer is the control allocation layer, in which the control inputs are designed by applying the sliding mode control method. The motion controller is proved asymptotically stable by using the Lyapunov method. Numerical simulation of USV swarm motion is used to verify the effectiveness of the control framework.
Źródło:
Polish Maritime Research; 2019, 1; 107-116
1233-2585
Pojawia się w:
Polish Maritime Research
Dostawca treści:
Biblioteka Nauki
Artykuł
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