检索结果-内蒙古大学图书馆

作者： Cui, Shichang Wang, Yan-Wu Lin, Xiangning Xiao, Jiang-Wen School of Automation Huazhong University of Science and Technology Wuhan China Key Laboratory of Image Processing and Intelligent Control Ministry of Education Huazhong University of Science and Technology Wuhan China Hubei Provincial Collaborative Innovation Center for New Energy Microgrid China Three Gorges University Yichang China State Key Laboratory of Advanced Electromagnetic Engineering and Technology Huazhong University of Science and Technology Wuhan China

Decreasing conventional power supply is promoting the development of the distributed renewable energy sources, such as solar power and wind power. Recently rooftop photovoltaic has been widely applied, and accordingly efficient energy management is getting increasingly important for fully use of renewable energy and the peak shaving of the main grid. This paper investigates the residential energy management as a small-scale virtual power plant (VPP) connected to the main grid includes distributed energy resources, energy storages and residential loads. The self-organizing map (SOM) and the radical basis function (RBF) networks are adopted to classify the weather types and predict hourly photovoltaic output precisely. In a time-of-use electricity market, price-based demand response is applied to adjust the demand. The residential VPP has two goals: maximum profit by selling surplus power to grid and minimum power purchased from grid. The two goals are integrated as an optimization object by introducing a weight parameter. The algorithm combining receding horizon optimization and linear programming is proposed to solve the optimization problem in residential VPP. Numerical simulation tests can help to find the most suitable value of the weight parameter. Different scenarios are simulated and discussed to demonstrate the performance of the VPP and the proposed algorithm. © 2019 Chinese Automatic control Society and John Wiley & Sons Australia, Ltd

关键词： Energy management

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K-BMPC: Derivative-based Koopman Bilinear Model Predictive control for Tractor-Trailer Trajectory Tracking with Unknown Parameters

arXiv

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arXiv 2023年

作者： Wang, Zehao Zhang, Han Wang, Jingchuan Department of Automation Institute of Medical Robotics Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

Nonlinear dynamics bring difficulties to controller design for control-affine systems such as tractor-trailer vehicles, especially when the parameters in the dynamics are unknown. To address this constraint, we propose a derivative-based lifting function construction method, show that the corresponding infinite dimensional Koopman bilinear model over the lifting function is equivalent to the original control-affine system. Further, we analyze the propagation and bounds of state prediction errors caused by the truncation in derivative order. The identified finite dimensional Koopman bilinear model would serve as predictive model in the next step. Koopman Bilinear Model Predictive control (K-BMPC) is proposed to solve the trajectory tracking problem. We linearize the bilinear model around the estimation of the lifted state and control input. Then the bilinear Model Predictive control problem is approximated by a quadratic programming problem. Further, the estimation is updated at each iteration until the convergence is reached. Moreover, we implement our algorithm on a tractor-trailer system, taking into account the longitudinal and side slip effects. The open-loop simulation shows the proposed Koopman bilinear model captures the dynamics with unknown parameters and has good prediction performance. Closed-loop tracking results show the proposed K-BMPC exhibits elevated tracking precision with the commendable computational efficiency. The experimental results demonstrate the feasibility of K-BMPC. © 2023, CC BY-NC-SA.

关键词： Model predictive control

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A novel signal processing algorithm for measurement while drilling(MWD) system

A novel signal processing algorithm for measurement while dr...

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第40届中国控制会议

作者： ShiLong Cheng Yule Hu School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Faculty of Engineering China University of Geosciences

Measurement while drilling(MWD) is a widely used signal transmission technology in the drilling *** present,the domestic pulse identification method is relatively simple,using the basic threshold method to identify,only set the threshold which will leading a number of missing detection mud pulse in the complex working *** this paper,a novel data processing algorithm is proposed for measurement while drilling *** method designed in this paper identifies the start time of data frame by using correlation coefficient and synchronization head model,then,based on the principle that the amplitude of mud pulse signal is larger than that of noise pulse signal,the maximum pulse signal in the length of a group of mud pulse series is extracted as mud pulse *** simulation is executed using the data from the actual drilling process and the results show the effectiveness of the proposed method.

关键词： Measurement while drilling Pulse recognition Correlation coefficient Sliding time window

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Real-Time Visual Perception System for a Robotic Rat

Real-Time Visual Perception System for a Robotic Rat

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Guanglu Jia Qing Shi Chen Chen Yi Xu Chang Li Mengchao Ma Qiang Huang Toshio Fukuda Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China the Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education Beijing China

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

The visual sensing ability of the robotic rat will be conducive to the biomimetic interaction between the robot and rats. However, most of the existing small-sized robotic rats do not have perception system, limiting their ability to perceive their surroundings or tracing the object. To address this problem, we developed a visual perception system for the robot, which included a control and drive system, a stereo camera integrated in the robot's head, and a wireless image transmission system. We also analyzed wheel odometry model and integrate it into the robot. The whole system can achieve real-time data acquisition and processing. In the experimental scene, we extracted the number of dynamic rats feature points and analyzed the impact on environment modeling, and these feature points were easy to interfere with the robot's perception and modeling of the environment. Additionally, our system was capable of SLAM (Simultaneous Localization and Mapping) when tested by using the RTAB-Map (Real-Time Appearance-Based Mapping) algorithm. The experimental results showed that the trajectory was basically coherent and finally returns to the origin with less drift.

关键词： Robots Real-time systems Conferences

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Rail-Guided Multi-Robot System for the Cooperative Manipulation of Cross-Scale Targets

Rail-Guided Multi-Robot System for the Cooperative Manipulat...

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IEEE International Conference on Cyborg and Bionic systems (CBS)

作者： Han Tao Huaping Wang Yaozhen Hou Siyu Guo Kaijun Lin Maolin Wang Qiang Huang Toshio Fukuda Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology China Ministry of Education Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Beijing China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing China

In the field of biomedicine, contact micromanipulations are mostly based on multi-robot coordinated operations to achieve mechanical contact interactions with a single type of target in a specific task scenario, which has advantages such as high repeatability, high precision and high stability. With the rapid development of biomedical technology, the increasingly complex biological micromanipulation process has been transformed from a single task to a task sequence of several subtasks, which puts forward higher requirements for the coordination, flexibility, operation accuracy and so on. However, due to the immutable configuration of the end-effector, most microrobotic manipulation systems have a fixed operation dimension, which makes it difficult to include the whole processing of complex tasks and meet the differentiated needs of different operational tasks and objectives. Therefore, this paper proposes a formation control based multi-robot dynamical reconfiguration collaborative micromanipulation to meet the dynamic requirements of multi-process complex tasks. By combining macro multi-robot formation control with collaborative micromanipulation, the dynamical reconfiguration of the end-effector under different manipulation tasks is realized. It can execute efficient and precise manipulation on fragile micro-objects ranging from 50 $\mu \mathrm{m}$ and 1000 $\mu \mathrm{m}$, and provide a new idea for accomplishing the whole processing of complex tasks, such as biological microassembly.

关键词： Viscosity Vibrations Rails Microscopy Collaboration End effectors Formation control

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Modeling and closed-loop control of ferromagnetic nanoparticles microrobots 22

Modeling and closed-loop control of ferromagnetic nanopartic...

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22nd IEEE International Conference on E-Health Networking, Application and Services, HEALTHCOM 2020

作者： Hao, Zhiming Xu, Tiantian Huang, Chenyang Lai, Zhengyu Wu, Xinyu Guangdong Provincial Key Laboratory of Robotics and Intelligent System Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518055 China University of Chinese Academy of Sciences Beijing100049 China Faculty of Information Technology Beijing University of Technology Engineering Research Center of Digital Community Ministry of Education Beijing China Key Laboratory of Human-Machine Intelligence-Synergic Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen518055 China

ISBN: (纸本)9781728162676

Microrobots capable of performing minimally invasive surgery, targeted drug delivery, and manipulation of micro-objects have shown great potentials in multiple application areas. However, microrobots assembled by nanoparticles with stable configuration and good performance on closed-loop control are still to be further studied. In this paper, ferromagnetic nanoparticles are used as experimental materials, rather than paramagnetic nanoparticles that require complex synthesis processes, and the advantage is demonstrated, for example, high pattern stability. The locomotion velocity as a function of the magnetic field frequency is modeled, analyzed and verified by experiment. Moreover, a path following experiment based on the arbitrary planar path following algorithm is performed. The nanoparticle microrobots are of great significance for biomedical applications. In the future works, experiments in bio-fluids, multimodal locomotion, and targeted drug delivery tasks will be investigated. © 2021 IEEE.

关键词： Targeted drug delivery

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Distributed Observer Design for Achieving Asymptotical Omniscience over Time-variant Disconnected Networks ⁎

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IFAC-PapersOnLine 2020年第2期53卷 3565-3570页

作者： Haotian Xu Jingcheng Wang Hongyuan Wang Shangwei Zhao Hai Lin Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Autonomous Systems and Intelligent Control International Joint Research Center Xi’an Technological University Xi’an Shaanxi 710021 China

This paper investigates the distributed observer design for linear system under time-variant disconnected communication network. By constructing basic eigenvectors of 0-eigensubspace of disconnected Laplacian Matrix and using LMIs method, we prove the distributed observer cannot achieve omniscience asymptotically under switching topology without constraining the system matrix or alternative topologies set. To deal with this problem, this paper investigates three kinds of constraints and the system matrix only needs to satisfy any one of them. Then a group of sufficient conditions corresponding to the asymptotic omniscience of distributed observer under switching topology are proved by Lyapunov analysis. Finally, a numerical simulation shows the validity of our method.

关键词： Distributed observer Continuous time system estimation Consensus Sensor networks Switching topology

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Manual Alignment of Dual End-Effectors for Piezo-Driven Microhand

Manual Alignment of Dual End-Effectors for Piezo-Driven Micr...

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IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Jichao Pang Dan Liu Xiaoqing Tang Yan Chen Qiang Huang Tatsuo Arai Xiaoming Liu Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical EngineeringBeijing Institute of Technology Key Laboratory of Biomimetc Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing China Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350372601

ISBN: (纸本)9798350372618

In recent years, micromanipulator with dual end-effectors called microhand has been widely used in industrial and biological fields. Whether the tip positions of the two end-effectors of the microhand can be accurately aligned seriously affects the precise grasping of the microhand. However, few researchers have presented practical ways for precisely aligning the tip positions of a 6-DOF microhand’s two end- effectors. This paper proposes a novel, inexpensive, lightweight, robust, and easy-to-use microhand dual end-effectors clamping device that can precisely and quickly align the two end-effectors of a 6-DOF microhand. First, we describe the microhand dual end-effectors clamping device’s lightweight structural design. After that, we simplify the microhand dual end-effectors clamping device model and create a mathematical model to determine the relationship between the end-effectors’ tip position and the rotation angles of screw No.1, screw No.2, screw No.3 of the microhand dual end-effectors clamping device. Through experimentation, we are able to attain precise alignment of the two end-effectors tip positions of the 6-DOF microhand, so we confirm that our mathematical model is true. Finally, we use the impulse response of PZT in the microhand’s lower module to confirm the stability of the microhand dual end- effectors clamping device. We believe that the proposed the microhand dual end-effectors clamping device has great potential in industrial and biological applications as a universal tool for precise alignment of the tip positions of the two end-effectors of a 6-DOF microhand.

关键词： Costs Accuracy Fasteners End effectors 6-DOF Mathematical models Biology

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Heterogeneous and Hierarchical Cooperative Learning via Combining Decision Trees

Heterogeneous and Hierarchical Cooperative Learning via Comb...

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2006 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Masoud Asadpour Majid Nili Ahmadabadi Roland Siegwart Autonomous Systems Laboratory Ecole Polytechnique Federale de Lausanne Switzerland Control and Intelligent Processing Center of Excellence ECE Department University of Tehran Iran Autonomous Systems Laboratory Swiss Federal Institute of Technology Zurich Switzerland

Decision trees, being human readable and hierarchically structured, provide a suitable mean to derive state-space abstraction and simplify the inclusion of the available knowledge for a reinforcement learning (RL) agent. In this paper, we address two approaches to combine and purify the available knowledge in the abstraction trees, stored among different RL agents in a multi-agent system, or among the decision trees learned by the same agent using different methods. Simulation results in nondeterministic football learning task provide strong evidences for enhancement in convergence rate and policy performance

关键词： Decision trees Multiagent systems Learning systems intelligent robots Humans Process control control systems intelligent agent intelligent control intelligent structures

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An Optimal Tracking control Method with Q-learning for Discrete-time Linear Switched System

An Optimal Tracking Control Method with Q-learning for Discr...

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第三十九届中国控制会议

作者： Shangwei Zhao Jingcheng Wang Hongyuan Wang Haotian Xu Automation Department Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Autonomous Systems and Intelligent Control International Joint Research Center Xi'an Technological University

In this paper, a novel approach combining Q-learning method and two-stage optimization is proposed to solve linear quadratic tracking(LQT) problem for unknown discrete-time switched system. An augmented system consisting of switched subsystem and reference trajectory is built and Q-learning method is introduced to identify each subsystem without requiring any knowledge of augmented system state dynamics. Then, based on the optimal control laws for each subsystem obtained by Q-learning in advance, the optimal hybrid control law including switching mode and control input is obtained by the two-stage optimization framework. Furthermore, the optimality of the algorithm is proved. Finally, a simulation case is used to testify the effectiveness of the proposed algorithm.

关键词： Tracking control Linear switched system Q-learning

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