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Reinforcement Learning Timing Optimization for Safe Robot Navigation in Dynamic Environments 13

Reinforcement Learning Timing Optimization for Safe Robot Na...

引用

13th international conference on control, Automation and Information sciences, ICCAIS 2024

作者： Zhou, Xu Xu, Benlian Lu, Mingli Li, Jun School of Mechanical Engineering Changshu Institute of Technology Suzhou China School of Automation Nanjing University of Science and Technology Nanjing China School of Electronic and Information Engineering Suzhou University of Science and Technology Suzhou China School of Electrical and Automatic Engineering Changshu Institute of Technology Suzhou China

ISBN: (纸本)9798331542047

Reinforcement learning theoretically needs to keep re-learning new optimal policies for autonomous robot navigation when the environment is dynamic. Given no reinforcement learning is failure-free, however, the practical deployment of reinforcement learning raises a new but fundamental question: when to re-learn and when not to be safer in the long-term robot navigation? An early re-learning could encounter more failures due to unnecessary and unsafe explorations in the learning process while a late re-learning cannot avoid failures caused by the deteriorating policy. To determine the optimal timing of learning with minimal failures, we propose a Value of Learning approach that maximizes the difference between the learning gain and the learning cost. The learning gain estimates the performance improvement with respect to time and the learning cost evaluates the learning-induced failure risk, which is assumed to relate to environment changes and exploration strategies. A dynamic maze experiment validates that our approach can find an optimal re-learning timing with significantly fewer failures if compared with 'always learning' and 'no learning', which are two representative cases of the early and late learning. © 2024 IEEE.

关键词： Adversarial machine learning

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HACC: Hierarchical automatic Selection of Congestion control Algorithms 15th

HACC: Hierarchical Automatic Selection of Congestion Control...

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15th international conference on Computer science and its Applications, CSA 2023 and 17th KIPS international conference on Ubiquitous Information Technologies and Applications, CUTE 2023

作者： Peng, Yujie Wang, Jin Wang, Youyang Wang, Jing Hu, Jinbin Changsha University of Science and Technology Changsha410114 China

ISBN: (纸本)9789819724468

Most congestion control mechanisms work well in certain network environments, and no one can adapt well to consistently deliver good performance in all scenarios. The recently proposed frameworks based on reinforcement learning can flexibility select congestion control algorithms to be resilient to the dynamic changes for network status. However, frequent alterations to the congestion control mechanisms during the relatively stable period of the network actually lead to network instability and unnecessary computational overhead. In this paper, we present a hierarchical adaptive congestion control algorithm (HACC) to solve this problem. HACC dynamically selects the appropriate congestion control mechanism only when the current congestion control algorithm is not suitable for the current network state, rather than changing congestion control scheme every training cycle to ensure network stability. The simulation results show that HACC reduces flow completion time (FCT) and increases throughput significantly in stable network status. For example, ACC achieves throughput rates that are 47%, 35%, 23% and 8% over Cubic, Reno, BBR and Antelope. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Congestion control (communication)

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Avoidance of no-fly zone for Hypersonic Vehicle based on Adaptice Radau Pseudospectral Method 7

Avoidance of no-fly zone for Hypersonic Vehicle based on Ada...

引用

7th international conference on Intelligent computing and Signal Processing, ICSP 2022

作者： Tian, Ruocen Zhang, Qingzhen Cui, Langfu Yu, Yue Beihang University School of Automation Science and Electrical Engineering Beijing China Beijing Aerospace Automatic Control Institute Beijing China

ISBN: (纸本)9781665478571

Aiming at the reentry trajectory planning of hypersonic vehicle, considering the constraints of no fly zone in the process, the reentry guidance scheme is designed based on the adaptive Radau pseudospectrum method;Firstly, the kinematic equations and various constraint models of the reentry section are established. Taking the minimum heat flow and trajectory oscillation in the reentry process as the optimization objective, the control and state variables are discretized by radau pseudo spectrum method, and the reentry trajectory planning problem is transformed into a nonlinear programming problem. Numerical simulation is carried out to verify the effectiveness of the method. The simulation results show that the method can plan the reentry trajectory that meets the constraints of process and no fly zone, and can provide useful support for reentry guidance of hypersonic vehicles. © 2022 IEEE.

关键词： Nonlinear programming

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Impact Analysis of Lithium-Ion Battery Storage System on Sustainable Energy-Generating Pad Applications 3

Impact Analysis of Lithium-Ion Battery Storage System on Sus...

引用

3rd international conference on Power, control and computing Technologies, ICPC2T 2024

作者： Kabir, Kazi Meharajul Binzaid, Shuza Prairie View AM University Electrical and Computer Engineering Department TX United States

ISBN: (纸本)9798350349207

The generation of electricity from Renewable Energy (RE) sources is the best alternative worldwide because of the current geopolitical and environmental situations. An efficient energy storage system is vital to making a sustainable RE system. The standard electrical energy storage devices are Nickel, Lead-acid batteries, Supercapacitors, and Lithium-ion Batteries. However, energy storage in lithium-ion batteries is the best choice today because of their long lifetime, high energy density, and low energy loss at shelf-discharging. In this research, A Sustainable Energy Generating Pad (SEGP) for bike lane applications has been developed and prototyped in the SMART Center at PV AMU. Impact energy from running bikes on SEGP was stored by a lab developed novel Dual-Stage Charging System (DSCS) using 18650 lithium-ion batteries. In the lab experiments, from a 3-foot-long SEGP, energy stored in a lithium-ion battery in the first stage of the DSCS was around 11 mWh/cell. The maximum Voltage reached around 4.2 V. Finally, the results tested were compared and verified. The results were similar by approximately 97%, corresponding to two case studies by well-known companies such as Toshiba and Samsung. © 2024 IEEE.

关键词： Lithium-ion batteries

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The Simulation of the Closed-Loop Frequency Tracking control Based on the Diamond Nitrogen-Vacancy Center 3

The Simulation of the Closed-Loop Frequency Tracking Control...

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3rd international conference on computing, Communication, Perception and Quantum Technology, CCPQT 2024

作者： Li, Xiaofei Wang, Han Lei, Yaowu Xu, Penghao Hu, Haoliang China Electric Power Research Institute Wuhan China School of Electrical and Electronic Engineering Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9798331528386

Due to its inherent magnetic sensitivity, the nitrogen-vacancy (NV) center in diamonds enables magnetic field measurements. Compared with traditional methods, the NV center offers significant advantages in sensitivity, stability, and operating temperature range. Currently, NV-based magnetic field measurement techniques are mainly divided into frequency-sweeping and fixed-frequency methods. The frequency-sweeping method provides higher measurement accuracy but requires a longer measurement period, making it unsuitable for fast measurements. The fixed-frequency method, which maintains a constant microwave frequency to rapidly reflect magnetic field changes, may suffer from harmonic distortions, and its dynamic range is constrained by the linewidth of the optically detected magnetic resonance (ODMR) spectrum. To address these issues, this paper adopts a closed-loop frequency tracking control approach, dynamically adjusting the microwave source’s frequency to track the resonance frequency in real time under an external magnetic field. Using this method, we developed a simulation model of the closed-loop system in MATLAB, comparing the tracking performance of the linear slope control and the PID control. The simulation results demonstrate that the closed-loop frequency tracking approach based on the PID control exhibits superior tracking performance for magnetic field measurements. These findings contribute to improving the sensing performance of the NV center as a sensitive element in measurement systems. © 2024 IEEE.

关键词： Magnetic field measurement

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Applications Research of Artificial Intelligence Technology in Electric Automation control 22

Applications Research of Artificial Intelligence Technology ...

引用

2nd international conference on control and Intelligent Robotics, ICCIR 2022

作者： Dong, Hai Tarim Oil and Gas Transportation Branch Company of West Pipeline Co. Ltd China Oil and Gas Pipeline Network Corporation Xinjiang Korla841000 China

ISBN: (纸本)9781450397179

With the rapid development of computer science and technology, artificial intelligence technology has been widely used in various fields of society. Because of its high level of intelligence, the control effect can meet the needs of general electrical automatic control. The control effect and control mode in electrical automatic control engineering have better effects than traditional electrical control. Therefore, the extensive use of intelligent technology in electrical automatic control engineering can greatly improve the production efficiency and control efficiency. In order to prove the effectiveness of the methods proposed in this paper, digital simulations are carried out. From the simulation results, it can be seen that they have a good effect on the generator resynchronization and can meet the requirements of actual operation. © 2022 ACM.

关键词： Production efficiency

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Research on Self-Tuning control System of PMSLM Based on Improved Genetic Algorithm 3

Research on Self-Tuning Control System of PMSLM Based on Imp...

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3rd international conference on electrical engineering and control science, IC2ECS 2023

作者： Chen, Junwen Yin, Ling Zhang, Chao Wu, Peng Lin, Weicheng Li, Yunlong Yu, Pengfei Dongguan University of Technology Department of Mechanical Engineering Guangdong Dongguan523808 China Guangdong Provincial Key Laboratory of Intelligent Disaster Prevention and Emergency Technologies for Urban Lifeline Engineering China

ISBN: (纸本)9798350382426

For the control system of the permanent magnet synchronous linear motor (PMSLM), the PID parameter tuning process is reliant on manual experience, cumbersome, and prone to local optimization issues. The Genetic Algorithm (GA) is employed for automatic PID parameter tuning. To mitigate motion overshoot resulting from the GA algorithm's random parameter assignment, a PD parameter tuning rate is introduced to enhance system dynamic performance during tuning. The proposed improvement is then compared with a commonly used control scheme on the PMSLM experimental platform. Experimental results demonstrate the superior dynamic performance of the proposed calibration scheme in terms of system overshoot, response speed, and tracking error. Additionally, it proves applicable under various loading conditions, enhancing its practicality. © 2023 IEEE.

关键词： Dynamic Performance Genetic Algorithm PD Parameter Tuning Rate PMSLM

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Investigation of control Loop bandwidths in the automatic Tuning Scheme for Grid Forming Inverter 25

Investigation of Control Loop bandwidths in the Automatic Tu...

引用

25th international Middle East Power System conference, MEPCON 2024

作者： Ebinyu, Emmanuel Abdel-Rahim, Omar Abdelkader, Sobhy M. Kinga, Sammy Etemesi, Ambuli B. R. Mansour, Diaa-Eldin A. Electrical Power Engineering Department Alexandria21934 Egypt

ISBN: (纸本)9798350379648

While the grid-forming control is being adopted across converter electronics in grid-connected renewable sources, the tuning of the state-of-the-art cascaded controllers may pose a challenge, especially while using the proportional-integral controllers. The design of the filter at the converter interface and the subsequent controller to navigate the electrical interactions with the connected grid and loads cannot be overemphasized. In this article, the description of the model inversion principle used to create the inner current and voltage controllers in voltage source converters is presented systematically in conjunction with LCL filter dynamics, highlighting the respective current and voltage loops, which are the benchmark of cascaded controllers. Subsequently, the tuning of parameters of the current and voltage loops is investigated for stable operation modes, which are narrowed down to the current loop time constant and voltage loop time constant. Their variation over a range of values as used in literature is investigated using eigenvalue analysis to graphically reveal stable and unstable instances. Stability analysis and simulation results are provided to verify the model in MATLAB Simulink. © 2024 IEEE.

关键词： Eigenvalues and eigenfunctions

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Utilization of Road Infrastructure with a Hybrid of Solar PV and SEGP Energy for Drinking Water and eBike Charging Station 3

Utilization of Road Infrastructure with a Hybrid of Solar PV...

引用

3rd international conference on Power, control and computing Technologies, ICPC2T 2024

作者： Binzaid, Shuza Kabir, Kazi Meharajul Electrical and Computer Engineering Prairie View A&M University Texas United States

ISBN: (纸本)9798350349207

Freshwater scarcity and the increasing energy crisis are major issues worldwide. Clean water, essential to human civilization, is in growing demand, requiring sustainable management that requires energy. Simultaneously, the energy crisis escalates due to depleting fossil fuel reserves and increasing carbon footprint-related climatic issues, thus necessitating a shift to sustainable energy sources. The transportation sector is also transitioning from fuel-based to electric vehicles, increasing the demand for electrical energy. This research proposes a pioneering hybrid solution. In response to these formidable challenges, an innovative hybrid energy and freshwater generation system is developed using solar PV and Sustainable Energy Generating Pad (SEGP) technology integrated into road infrastructure. Thus, a combined station is established and embedded within the road pavement. This multifunctional station serves as a charging hub for electric bikes and mobile devices while simultaneously generating freshwater, contributing to alleviating water and energy scarcity. This integrated hybrid energy solution holds the potential to be a game-changer, addressing the pressing concerns of water and energy scarcity while actively contributing to global sustainability endeavors. Its innovative approach and multifaceted utility offer a promising pathway toward a greener and more sustainable world. © 2024 IEEE.

关键词： Potable water

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Methodology to Maximize the Output Voltage Harvested from Thermoelectric Generator by Using Luo Converter 4

Methodology to Maximize the Output Voltage Harvested from Th...

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4th international conference on Power, Energy, control and Transmission Systems, ICPECTS 2024

作者： Sivagami, P. Harikrishnan, R. Srideviponmalar, P. Deshpande, Shripad V. Sathyabama Institute of Science & Technology Department of Electrical and Electronics Engineering Chennai India Symbiosis Institute of Technology Symbiosis International Deemed University Pune Campus Pune India School of Computing Srm Institute of Science and Technology Department of Computational Intelligence Chennai India

ISBN: (纸本)9798331508845

In this technical epoch we are dealing with sensible issues such as global warming, pollution, depletion of available resources, increase in power cost etc. Researchers are focusing to reduce the effects due to sensible issues in present time by looking out for neoteric energy harvesters, that is power generators. A physical phenomenon that converts heat energy into electrical energy is thermoelectric effect. Thermal energy is transformed into electrical energy by thermoelectric generators (TEGs) using the Seebeck effect. Energy harvested from TEG have no moving parts, can be integrated on other devices, produces no noise, can be positioned anywhere that is position independent. The operating life time is also high and has no maintenance. TEG can harness energy for 1-2K thermal discrepancy in the environment. Using any wearable application in the body thermo electric generator can forge power in microwatts and voltage in mv. TEG has low conversion efficiency that it produces voltage in millivolt. To mold this trifling amount of voltage to some electrical appliances mv is boosted using LUO converter. Luo-converters boosts the voltage in geometric progression fed from the thermoelectric generator. Thermoelectric generator fed Luo converter is controlled by PID controller to proliferate output volt-age at the LUO converter side. Thus, TEG has raised as emerging green technology to power devices. This paper discusses about TEG application for charging devices. © 2024 IEEE.

关键词： Energy harvesting

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