Xiao-Ning Shi

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This paper investigates the trajectory tracking problem for quadrotor with finite-time convergence via geometric approach. Based on a global geometric dynamic description on SE(3), we decompose the finite-time trajectory tracking control into two cascaded tracking loops: the position finite-time tracking control loop and the attitude finite-time tracking(More)
Under the well-controlled experimental conditions, the biological treatability of real municipal landfill leachate with high strength nitrogen and high chemical oxygen demand (COD) concentration using anoxic/anaerobic upflow anaerobic sludge bed (UASB) -sequencing batch reactor (SBR) combined process was conducted in laboratory. The results indicated:(More)
Nitrite accumulation during the denitration process with SBR treating pre-treated by anoxic/anaerobic up-flow anaerobic sludge bed (UASB) was observed at low temperatures. The effects of types of carbon sources on nitrite accumulation were investigated for comprehensive understanding the mechanism of nitrite accumulation. Experimental results clearly showed(More)
Novel fast-swelling porous guar gum-g-poly(sodium acrylate-co-styrene)/attapulgite (GG-g-P(NaA-co-St)/APT) superabsorbent hydrogels were prepared by simultaneous free-radical graft copolymerization reaction of guar gum (GG), partially neutralized AA (NaA), styrene (St) and attapulgite (APT) using N,N'-methylenebisacrylamide (MBA) as a crosslinker and(More)
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