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4th International Conference on Robotics and Automation Sciences, ICRAS 2020

作者： Abrar, Usama Shi, Liu Jaffri, Nasif Raza Short, Michael Hasham, Khawar North China Electric Power University School of Control and Computer Engineering Beijing102206 China Teesside University School of Computing Engineering and Digital Technologies Middlesbrough ClevelandTS1 3BA United Kingdom Interactive Group Islamabad Pakistan

ISBN: (纸本)9781728198576

Gas-Solid flow finds its application in various industries such as chemical and food processes, pharmaceuticals, automobile and power generation. The precise measurement and real-time monitoring of the flow process have garnered a lot of attraction in the modern industrial era. The effective utilization, with high efficiency, of the resources have compelled the researchers to investigate Gas-Solid flow monitoring and measurement process for the last two decades. Efforts are extended to design instruments for flow pattern visualization and quantification of mass flow rate. Generally, volumetric flow concentration and velocity profile of the solid particles are required to find the mass flow rate (MRF) in the case of non-invasive measurement techniques. This paper proposes a novel non-invasive mass flow rate measurement system for solid particles where electrical and mechanical sensors are simultaneously used to compensate each other's associated drawbacks. The solid particles are allowed to slide along an insulated inclined channel under the effect of gravity. The velocity profile and volumetric flow concentration are calculated using electrical sensors. Furthermore, load cell serves as a second sensor to calculate the mass flow rate. The experimental results from both the sensors are compared to investigate the accuracy and relative errors of both the sensors under different conditions. © 2020 IEEE.

关键词： Capacitive sensors

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Iterative learning control of the redundant upper limb for rehabilitation

Iterative learning control of the redundant upper limb for r...

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作者： Freeman, C.T. Lewin, P.L. Rogers, E. Owens, D.H. School of Electronics and Computer Science University of Southampton SO17 1BJ United Kingdom Department of Automatic Control and Systems Engineering University of Sheffield S1 3JD United Kingdom

ISBN: (纸本)9781424474264

A non-linear iterative learning control approach is developed for application to stroke rehabilitation. The subject is seated in a robotic workstation and electrical stimulation is applied to their triceps muscle to assist the tracking of trajectories in a horizontal plane. In addition to rotation about vertical axes through the shoulder and elbow joints, the forearm is also permitted to elevate in order to provide full arm extension. A dynamic model of the human arm is first developed, and then constraints are introduced to overcome kinematic redundancy. The expressions necessary to implement the control law are derived, and experimental results confirm its ability to achieve a high level of performance in practice. © 2010 AACC.

关键词： Learning algorithms

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PI-funnel and inverse hysteresis compensation cascade control of smart soft dielectric elastomer actuator

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control Theory and Technology 2024年第4期22卷 552-567页

作者： Peng Huang Yawu Wang Yue Zhang Jundong Wu Chun-Yi Su School of Automation China University of GeosciencesWuhan430074HubeiChina Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074HubeiChina Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan430074HubeiChina Gina Cody School of Engineering and Computer Science Concordia UniversityMontrealQCH3G 1M8Canada

Smart soft dielectric elastomer actuators(SSDEAs)possess wide applications in soft robotics due to their properties similar to natural muscles,including large deformation ratio,high energy density,and fast response ***,the complicated asymmetric and rate-dependent hysteresis property,creep property and quadratic input property of the SSDEA pose enormous challenges to its dynamic modeling and motion *** this paper,first,we construct the dynamic model of the SSDEA by connecting a square module,a one-sided Prandtl–Ishlinskii(OSPI)model and a linear system in series to describe the above *** key and innovative aspect of the dynamic modeling lies in cascading the square module in series with the OSPI model to construct the asymmetric hysteresis ***,a PI-funnel and inverse hysteresis compensation(PIFIHC)cascade control method of the SSDEA is proposed to actualize its tracking control *** performing the inversion operation on the asymmetric hysteresis model,the inverse hysteresis compensation controller(IHCC)is designed to compensate the asymmetric hysteresis property and quadratic input property of the *** addition,a PI-funnel controller is designed to cascade with the IHCC to construct the PIFIHC cascade controller to obtain a good tracking ***,the stability analysis of the PIFIHC cascade control system of the SSDEA is performed to theoretically prove that the tracking error can be controlled within the performance funnel and the steady-state error converges to ***,several practical tracking control experiments of the SSDEA are conducted,and RRMSEs are less than 2.30%for all *** experimental results indicate the effectiveness and feasibility of the proposed PIFIHC cascade control method of the SSDEA.

关键词： Smart soft dielectric elastomer actuator Dynamic modeling Inverse hysteresis compensation controller PI-funnel controller Cascade controller

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A Strengthened Primal-Dual Decomposition Algorithm for Solving Electricity Market Pricing With Revenue-Adequacy and FFR Constraints

IEEE Transactions on Energy Markets, Policy and Regulation

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IEEE Transactions on Energy Markets, Policy and Regulation 2024年第3期2卷 379-391页

作者： Goudarzi, Hamed Hesamzadeh, Mohammad Reza Bunn, Derek Fotuhi-Firuzabad, Mahmud Shahidehpour, Mohammad Sharif University of Technology Center of Excellence in Power System Management and Control Tehran11365-11155 Iran Kth Royal Institute of Technology School of Electrical Engineering and Computer Science Stockholm10044 Sweden London Business School Department of Management Science and Operations LondonNW1 4SA United Kingdom Illinois Institute of Technology Electrical and Computer Engineering Department ChicagoIL60616 United States

This paper develops a new decomposition algorithm for solving Electricity Market Pricing (EMP) problem, taking into account both revenue-adequacy and Fast Frequency Reserve (FFR) constraints. Due to revenue-adequacy constraint, a bilevel model of the EMP problem is introduced (BL-EMP). The upper level of the BL-EMP model represents the non-convex unit commitment (UC) decisions as well as the revenue-adequacy constraints of the market participants (generators, loads, and battery-storage owner). The lower level is a convex economic dispatch model with FFR constraint. To tackle the computational complexity of the considered BL-EMP model, this paper develops, tests, and proposes a Strengthened Primal-Dual Decomposition (SPDD) algorithm, which takes benefits from both Benders-like and Lagrange Dual-like algorithms. The new SPDD algorithm has a series of interesting computational properties, which are theoretically discussed in the paper. The SPDD algorithm has better computational performance than standard Benders decomposition algorithm and it also does not need tuning of the Big-M (or disjunctive) parameters for solving the proposed BL-EMP problem. Results from the modified IEEE 24-bus, the IEEE 118-bus, and the IEEE 300-bus system show the superiority of proposed SPDD algorithm over the classic Benders algorithm. © 2023 IEEE.

关键词： Power markets

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Feasibility implementation of voltage-current waveform telemetry system in power delivery system

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IEEJ Transactions on Fundamentals and Materials 2011年第4期131卷 288-294+10页

作者： Furukawa, Tatsuya Akagi, Keita Fukumoto, Hisao Itoh, Hideaki Wakuya, Hiroshi Hirata, Kenji Ohchi, Masashi Graduate School of Science and Engineering Saga University 1 Honjo-machi Saga 840-8502 Japan Department of Electric Control System NITTETSU ELEX CO. LTD. 1320-4 Maeda Outsuka Yahata-Higashi-ku Kitakyushu 805-8555 Japan Department of Electrical Electronics and Computer Engineering Faculty of Engineering Chiba Institute of Technology 2-17-1 Tsudanuma Narashino 275-0016 Japan

The electric power is indispensable for modern life. However, there is a problem of harmonic disturbance when the harmonic power runs into electronic devices. To overcome the problem and realize a stable supply of the electric power is an important issue. In this study, we have developed a voltage-current waveform telemetry system for the remote measurement of the harmonics in the power delivery lines. The system consists of sensors, preamplifiers, a single board computer, and power collectors. Improvements are made on all of these components except the sensors. The power collector is a coil that can be placed around the same power line that we measure. We have designed the power collector by a finite element method(FEM) so that it can provide enough electricity for the computer to work properly. Thus, no other power source such as a battery except the secondary rechargeable battery for the recovery is necessary at the measurement place. The preamplifier in the new system is a single-supply differential amplifier circuit, and the single board computer has an inexpensive SH-3 CPU. Through experiments, we have confirmed that the power collector can provide sufficient electricity and that the new system can successfully measure the waveforms and the harmonics in power delivery systems. © 2011 The Institute of Electrical Engineers of Japan.

关键词： Embedded systems

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WEC condition monitoring based on SCADA data analysis

WEC condition monitoring based on SCADA data analysis

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作者： Guo, Peng School of Control and Computer Engineering North China Electric Power University Beijing 102206 China Institute for Energy and Environment University of Strathclyde Glasgow G1 1XW United Kingdom

ISBN: (纸本)9789881725592

Condition Monitoring (CM) can greatly reduce the maintenance cost for a Wind Energy Converter (WEC). In this paper, history data of Supervisory control and Data Acquisition (SCADA) system is analyzed to detect the incipient failure of WEC generator bearing. A new condition monitoring method based on the Nonlinear State Estimate Technique (NSET) is proposed. NSET is used to construct the normal behavior model of the generator bearing temperature. When the generator bearing has an incipient failure, the residuals between NSET model estimates and the measured generator bearing temperature will become significant. When the residual exceeds the predefined thresholds, an incipient failure is flagged. Analysis of a manual drift added on the historical SCADA data for a WEC generator bearing demonstrates the effectiveness of this new condition monitoring method. © 2011 Chinese Assoc of Automati.

关键词： Condition monitoring

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Modelling of needle insertion forces for surgical simulation

Modelling of needle insertion forces for surgical simulation

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IEEE International Conference on Mechatronics and Automation, ICMA 2005

作者： Yang, Hua Liu, Peter X. Zhang, Jiadong Dept. of Systems and Computer Engineering Carleton University Ottawa Ont. K1S 5B6 Canada School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing 100044 China

ISBN: (纸本)0780390458

A novel force model for needle insertion into soft tissues has been developed for virtual reality and haptics based simulation of percutaneous therapies. The forces are divided into two parts, stiffness force and friction force, for which a blood vessel model is used in order to improve the realism. The validity of the developed model is confirmed by a comparison between the results from the developed model and those derived from real data. © 2005 IEEE.

关键词： computer simulation

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A Sphere Detection Based Adaptive MIMO Detection Algorithm for LTE-A System

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Communications and Network 2013年第2期5卷 25-29页

作者： Xuanli Wu Lukuan Sun Mingxin Luo 1School of Electronics and Information Engineering Harbin Institute of Technology Harbin China 2Department of Electrical and Computer Engineering McGill University Montreal Canada School of Electronics and Information Engineering Harbin Institute of Technology Harbin China

An adaptive MIMO detection algorithm for LTE-A system which is based on sphere detection is proposed in this paper. The proposed algorithm uses M-algorithm for reference to remove unreliable constellation candidates before search, and the number of constellation reservation is adaptively adjusted according to SNR. Simulations of LTE-A downlink show that the BER performance of the proposed detection algorithm is nearly the same as maximum likelihood (ML) detection algorithm. However, the complexity is reduced by about 30% compared with full constellation sphere detection.

关键词： Adaptive MIMO Detection Sphere Detection M-algorithm LTE-A System

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Impulse analysis and its applications to dynamic environment

Impulse analysis and its applications to dynamic environment

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作者： So, Byung Rok Yi, Byung-Ju Kim, Whee Kuk School of Electrical Engineering and Computer Science Hanyang University 1271 sa-1 dong Ansan Gyeonggi-do 425-791 Korea Republic of Department of Control and Instrumentation Engineering Korea University Korea Republic of

ISBN: (纸本)0791836215

Impact is inevitable when an object contacts with environment. In robot control problem dealing with impact, research focus is on minimizing the ill performance due to impact. On the other hand, in some applications interacting with dynamic environment the amount of impact has to be controlled in a desired fashion. This is the case specially when playing with a ball. At the instant of impact, both the external impulse exerted on the ball and the internal impulse experienced at the joints of the human body must be important properties. A modeling procedure of impulses, impulse geometry, and impulse measure will be briefly introduced and a new impulse measure for analysis of internal impulse is proposed. Based on these analytical tools, we initially analyze the external and internal impulses through a simple 3-linked planar robot, and extend to applications interacting with dynamic environment such as in landing on the ground, volleyball, and tennis. It is shown through simulation that the trend of the impulses calculated by the analytical model is coincident to the human experiences. Copyright © 2002 by ASME.

关键词： Tennis

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A modified estimation of distribution algorithm for numeric optimization

A modified estimation of distribution algorithm for numeric ...

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6th International Conference on Bio-Inspired Computing: Theories and Applications, BIC-TA 2011

作者： Li, Yuquan Zhang, Gexiang Zeng, Xiangxiang Cheng, Jixiang Gheorghe, Marian Elias, Susan School of Electrical Engineering Southwest Jiaotong University Chengdu 610031 China Department of Control Science and Engineering Huazhong University of Science and Technology China Department of Computer Science University of Sheffield Sheffield S1 4DP United Kingdom Department of Computer Science and Engineering SVCE Chennai 602105 India

ISBN: (纸本)9780769545141

Estimation of distribution algorithms (EDAs) is a class of probabilistic model-building evolutionary algorithms, which is characterized by learning and sampling the probability distribution of the selected individuals. This paper proposes a modified estimation of distribution algorithm (mEDA) for numeric optimization. mEDA uses a novel sampling method, called centro-individual sampling, and a fuzzy c-means clustering technique to improve its performance. Extensive experiments conducted on a set of benchmark functions show that mEDA outperforms HPBILc, CEGDA, CEGNABGe and NichingEDA, reported in the literature, in terms of the quality of solutions. © 2011 IEEE.

关键词： Evolutionary algorithms

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