In this paper, a neural-dynamic optimization-based nonlinear model predictive control (NMPC) is developed for the multiple nonholonomic mobile robots formation. First, a model-based monocular vision method is developed to obtain the location information of the leader. Then, a separation-bearing-orientation scheme (SBOS) control strategy is proposed. During the formation motion, the leader robot is controlled to track the desired trajectory and the desired leader-follower relationship can be maintained through the SBOS method. Finally, the model predictive control (MPC) is utilized to maintain the desired leader-follower relationship. To solve the MPC generated constrained quadratic programming problem, the neural-dynamic optimization approach is used to search for the global optimal solution. Compared to other existing formation control approaches, the proposed solution is that the NMPC scheme exploit prime-dual neural network for online optimization. Finally, by using several actual mobile robots, the effectiveness of the proposed approach has been verified through the experimental studies.
For industrial wastewater with high chemical oxygen demand (COD) and nitrogen, traditional wastewater treatment processes fail to achieve stable removal of typical pollutants under the conditions of variable raw water quality and low energy consumption. In this study, a novel pre-and post-physicochemical synergistic oxic−hydrolytic and denitrification−hydrolytic and denitrification−oxic (P2PC-O/H/H/O) process with in situ sludge separation in respective bioreactors was developed, in which signature pollutants and TN were completely removed through an optimized allocation of energy and carbon source. The 180-day full-scale operation showed that optimal removal of COD and TN (with removal rates of 97.5 and 94.5%, respectively) can be obtained at influent loading rates of 1.5−1.7 kg COD (m 3 days) −1 and 0.11−0.13 kg TN (m 3 days) −1 . In this process, O1 reactor ensured organic matter removal and pre-nitrification. Double H (H1 and H2) reactors allowed deep removal of TN through combined and coupled denitrification pathways. O2 reactor consolidated the overall treatment performance through decarbonization and nitrification. By P2PC, the refractory and easily biodegradable total organic carbon (TOC) was separated, achieving a qualitative and fractional utilization of electron donors. Analysis of the microbial community in the whole process indicated that Nitrosomonas (0.7−2.4%) and Nitrospira (0.3−1.7%) played a major role in nitrification. Ottowia (15.4−19.6%) and Limnobacter (1.8−7.4%) dominated in eliminating organic matter. The P2PC-O/H/H/O process with a four-sludge regime enabled a spatial allocation of functional microorganisms. The operation cost of the full-scale process was approximately 1.335 USD m −3 . In short, this P2PC-O/H/H/O process, with high efficiency and stability in signature pollutant removal, will be a promising wastewater treatment technology to revolutionize the existing anaerobic− anoxic−oxic (A/A/O) process, adding a new dimension to industrial wastewater management.
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