In order to solve the problem of distribution network reconstruction with distributed generation (DG) and electric vehicle (EV), a multi-objective distribution network reconstruction model with DG and EV is establishe...
详细信息
In order to solve the problem of distribution network reconstruction with distributed generation (DG) and electric vehicle (EV), a multi-objective distribution network reconstruction model with DG and EV is established in this study. Two rules for opening the loop are proposed to reduce the probability of infeasible solutions. Some measures are proposed to improve traditional gravitational algorithm (GSA). Firstly, the particle swarm algorithm (PSO) is combined to improves the update formula of speed and position. In this way, the global search capability of the GSA is enhanced, which gives the best performance with respect to jump out of the local traps. Furthermore, the processing method for agents that cross the boundary is improved, which increases the diversity of samples while generating elite particles. Hence, this method can improve the efficiency of the algorithm. Finally, the variability of load, DG and EV is considered for dynamic reconstruction. The validity of the optimization algorithm and refactoring strategy are demonstrated by case studies in the paper.
Robots are controlling today's tech-machines scenario and world is ready to accept the new trends the for useful operations. In some industries, a part of work which signify threat and consequently, very strict se...
详细信息
ISBN:
(纸本)9781467399395
Robots are controlling today's tech-machines scenario and world is ready to accept the new trends the for useful operations. In some industries, a part of work which signify threat and consequently, very strict security rules e.g. some of the work in nuclear plant, where human can't go or its should be avoided as well as such condition such as underwater exploration even on terrain surface too where human can't go on defined destination or somehow it's difficult to reach on defined destination even in surface such as rock, mud, natural water flow, sometimes it's impossible to move for any human Here we come up with the solution for this type of problem to develop a Spider robot i.e. hexapod, so that it will overcome not only above examples but it will be a spider robot base system which will be used anywhere in the similar type of situations. Gravitational Search algorithm would be utilized for gravity search and to run the same system like insects. We would explore the parameters from gravity algorithm for stabilization of body of the Spider system We will implement artificial intelligence part into the same system as well as GSA algorithm so that spider's locomotion will be like insects and dew to AI, avoidance of obstacle is possible. The physical spider robot system controlled by arduino technology and motors with fabricated body. For development of spider robot we are in planning to use Insects as source of inspiration because the characteristics from the insects such as gaits based on traveling high speed, avoiding obstacles very fast, ability to easily navigate on uneven terrain surface.
The networked teleoperation design problem is considered. The communication delays are assumed to be both time varying and asymmetrical, which is the case for network-based teleoperation systems. Two cases are conside...
详细信息
The networked teleoperation design problem is considered. The communication delays are assumed to be both time varying and asymmetrical, which is the case for network-based teleoperation systems. Two cases are considered, i.e., that gravity functions are available and not available. To avoid the heavy collision between the slave robot and the environment, a new torque design scheme is proposed. A designed force is added to the master robot to make the human operator feel the environment before touching the object. The master velocity signal and the distance signal between the slave robot and the object are all embedded in the designed force function. By constructing Lyapunov functional, the stability of the closed-loop system is proved. For the case that the gravity function is not available, an adaptive compensator design method is proposed on both sides. The stability of the closed-loop system is also proven with the new master-slave adaptive controllers. Finally, the simulations are performed, and the results show the effectiveness of the proposed method.
暂无评论