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arXiv 2025年

作者： Zhang, Yunsong Zhou, Xinyu Zhang, Feitian Department of Advanced Manufacturing and Robotics College of Engineering State Key Laboratory of Turbulence and Complex Systems Peking University Beijing100871 China Department of Electrical and Computer Engineering Michigan State University East LansingMI48824 United States

Robotic wrists play a pivotal role in the functionality of industrial manipulators and humanoid robots, facilitating manipulation and grasping tasks. In recent years, there has been a growing interest in integrating artificial muscle-driven actuators for robotic wrists, driven by advancements in technology offering high energy density, lightweight construction, and compact designs. However, in the study of robotic wrists driven by artificial muscles, dynamic model-based controllers are often overlooked, despite their critical importance for motion analysis and dynamic control of robots. This paper presents a novel design of a two-degree-of-freedom (2-DOF) robotic wrist driven by twisted and coiled actuators (TCA) utilizing a parallel mechanism with a 3RRRR configuration. The proposed robotic wrist is expected to feature lightweight structures and superior motion performance while mitigating friction issues. The Lagrangian dynamic model of the wrist is established, along with a nonlinear model predictive controller (NMPC) designed for trajectory tracking tasks. A prototype of the robotic wrist is developed, and extensive experiments are conducted to validate its superior motion performance and the proposed dynamic model. Subsequently, extensive comparative experiments between NMPC and PID controller were conducted under various operating conditions. The experimental results demonstrate the effectiveness and robustness of the dynamic model-based controller in the motion control of TCA-driven robotic wrists. Copyright © 2025, The Authors. All rights reserved.

关键词： Industrial manipulators

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Model Predictive Thrust Control for Linear Induction Machine: A Fuzzy Optimization Approach

Model Predictive Thrust Control for Linear Induction Machine...

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作者： Tang, Lei Xu, Wei Tang, Yirong Ge, Jian Yang, Kai Islam, Md. Rabiul Li, Weiye Su, Shihu Xi'an Jiaotong University School of Management School of Electrical Engineering Xi'an710049 China Huazhong University of Science and Technology State Key Laboratory of Advanced Electromagnetic Engineering and Technology School of Electrical and Electronic Engineering Hubei Wuhan430074 China University of Wollongong School of Electrical Computer and Telecommunications Engineering WollongongNSW2522 Australia Xiangyang CRRC Motor Technology Co. Ltd. Xiangyang441000 China CRRC Zhuzhou Institute Co. Ltd. Zhuzhou412001 China CRRC Zhuzhou Motor Co. Ltd. Zhuzhou412001 China

Model predictive thrust control (MPTC) is one of the most effective approaches for linear induction machine (LIM) drive system. It can achieve the optimization of multiple objectives with suitable weighting factors, such as low ripples and fast dynamic performance. Due to the longitudinal end effect, the selection of weighting factor becomes particularly important in LIM. However, the process of tuning the weighting factors in the objective function is very long and tedious. In this article, a dynamic fuzzy MPTC approach is proposed to solve the multi-objective problem for minimizing the flux and thrust ripples. Based on the fuzzy optimization technique, the tuning process of weighting factors can be transformed into a discrete membership function. A 'max-min' objective function of voltage vectors is employed to select a more balanced switch combination on the Pareto optimal-frontier for LIM. Furthermore, this approach can adapt to different operating conditions by adjusting objective priority of membership function. At last, comprehensive simulation and experimental results are conducted to demonstrate the effectiveness and feasibility of the proposed method. © 2022 IEEE.

关键词： Membership functions

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Multi-microgrid Energy Management Systems: Architecture, Communication, and Scheduling Strategies

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Journal of Modern Power Systems and Clean Energy 2021年第3期9卷 463-476页

作者： Bin Zhou Jianting Zou Chi Yung Chung Huaizhi Wang Nian Liu Nikolai Voropai Daosen Xu the College of Electrical and Information Engineering Hunan UniversityChangsha 410082China the Department of Electrical and Computer Engineering University of SaskatchewanSaskatoonSK S7N5A9Canada the College of Mechatronics and Control Engineering Shenzhen UniversityShenzhen 518060China the State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power UniversityBeijing 102206China the Melentiev Energy Systems Institute of Siberian Branch of the Russian Academy of Sciences Irkutsk 664033Russia

The increasing penetration of various distributed and renewable energy resources at the consumption premises,along with the advanced metering,control and communication technologies,promotes a transition on the structure of traditional distribution systems towards cyber-physical multi-microgrids(MMGs).The networked MMG system is an interconnected cluster of distributed generators,energy storage as well as controllable loads in a distribution *** its operation complexity can be decomposed to decrease the burdens of communi-cation and control with a decentralized ***,the multi-microgrid energy management system(MIVIGEIV1S)plays a significant role in improving energy efficiency,power quality and reliability of distribution systems,especially in enhancing system resiliency during contingencies.A comprehensive overview on typical functionalities and architectures of MMGEMS is ***,the emerging communication technologies for information monitoring and interaction among MMG clusters are ***,various energy scheduling and control strategies of MMGs for interactive energy trading,multi-energy management,and resilient operations are thoroughly analyzed and ***,some challenges with great importance in the future research are presented.

关键词： Energy management system(EMS) microgrid communication renewable energy multi-energy system

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Mid-infrared tunable interband cascade laser employing double-trench waveguide structure with a tuning range of 118 nm

Mid-infrared tunable interband cascade laser employing doubl...

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International Conference on Optical Communications and Networks (ICOCN)

作者： Zhanyi Wang Jingli Gong Rui Q. Yang Jian-Jun He State Key Laboratory of Modern Optical Instrumentation College of Optical Science and Engineering Zhejiang University Hangzhou China School of Electrical and Computer Engineering The University of Oklahoma Norman OK USA

We present a widely tunable single-mode interband cascade laser (ICL) emitting at 3.3 μm based on the V-coupled cavity employing a double-trench structure, with aside-mode suppression ratio of up to 36 dB.

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FAS-RIS Communication: Model, Analysis, and Optimization

arXiv

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arXiv 2024年

作者： Yao, Junteng Zheng, Jianchao Wu, Tuo Jin, Ming Yuen, Chau Wong, Kai-Kit Adachi, Fumiyuki The Faculty of Electrical Engineering and Computer Science Ningbo University Ningbo315211 China The School of Computer Science and Engineering Huizhou University Huizhou516000 China The School of Electrical and Electronic Engineering Nanyang Technological University 639798 Singapore The Department of Electronic and Electrical Engineering University College London LondonWC1E 6BT United Kingdom The Yonsei Frontier Laboratory The School of Integrated Technology Yonsei University Seoul03722 Korea Republic of Tohoku University Sendai Japan

This correspondence investigates the novel fluid antenna system (FAS) technology, combining with reconfigurable intelligent surface (RIS) for wireless communications, where a base station (BS) communicates with a FAS-enabled user with the assistance of a RIS. To analyze this technology, we derive the outage probability based on the block-diagonal matrix approximation (BDMA) model. With this, we obtain the upper bound, lower bound, and asymptotic approximation of the outage probability to gain more insights. Moreover, we design the phase shift matrix of the RIS in order to minimize the system outage probability. Simulation results confirm the accuracy of our approximations and that the proposed schemes outperform benchmarks significantly. © 2024, CC BY.

关键词： Benchmarking

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Non-Invasive Monitoring System of Vital Signs using IR-UWB Radar: A Short Review and Feasibility Study

Non-Invasive Monitoring System of Vital Signs using IR-UWB R...

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International Conference on Telecommunication Systems, Services, and Applications (TSSA)

作者： Muhammad Salman Raheel Faisel Tubbal James Coyte Saeid Iranmanesh Philip Ogunbon Nidhal Odeh Raad Raad Panagiotis Ioannis Theoharis School of Electrical Computer and Telecommunications Engineering University of Wollongong Wollongong Australia Electronics & Development Engineer at Jericho Smart Sensing Laboratory The University of Sydney Sydney Australia

Monitoring vital signs regularly helps the early recognition of abnormal physiological parameters in deteriorating patients. Impulse radio ultra-wideband (IR-UWB) technology is a suitable non-invasive approach to monitor the vital signs such as heart and breathing rates. In this technique, the IR-UWB radar antenna propagates signal towards the patient and the reflected spectrum can determine the status of the vital signs. This function is ideal where patient touching should be avoided such as a potentially infected COVID-19 patients. This paper designs an algorithm to identify the chest displacement and to separate the heart and breathing signals. In addition, we propose an adaptive filter and a smoothing filter used in the function to reduce the measurement noise from the surrounding vibrations. We have implemented the device and validated the performance over different sets of real experiments. The results show that the proposed technology can effectively estimate the breathing and heart rates with up to 98% accuracy as compared to the values obtained using an electrocardiograph (ECG).

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Optimization of Microwave Resonant Cavity Flowmeter Design for High Temperature Fluid Sensing Applications

Optimization of Microwave Resonant Cavity Flowmeter Design f...

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IEEE International Conference on Electro-Information Technology

作者： Tianyang Fang Jafar Saniie Sasan Bakhtiari Alexander Heifetz Department of Electrical and Computer Engineering ECASP Research Laboratory Illinois Institute of Technology Chicago IL U.S.A. Nuclear Science and Engineering Division Argonne National Laboratory Lemont IL U.S.A.

This paper investigates optimization of parameters to enhance performance of a microwave resonant cavity transducer for high temperature fluid flow sensing in advanced reactors. The cylindrical microwave cavity flowmeter is a novel sensor that measures fluid flow velocity through deflection of the cavity wall due to dynamic fluid pressure. This sensor is designed to operate in harsh environments of a nuclear reactor because sensor material is resilient to high temperatures, ionizing radiation, and corrosion. Parameters that determine performance characteristics of the transducer include dimensions of the microwave cavity, cavity electromagnetic excitation method, and cavity material. We investigate transducer design through computer simulations, with the objective of maximizing cavity Q-factor.

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A Scalable Transmission and Distribution Co-simulation Platform for IBR-heavy Power Systems

A Scalable Transmission and Distribution Co-simulation Platf...

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IEEE Electronic Power Grid (eGrid)

作者： Yousu Chen Yuan Liu Xiaoyuan Fan Wei Du Dexin Wang James Ogle Johan Enslin Energy and Environment Directorate Pacific Northwest National Laboratory Richland WA USA Department of Electrical and Computer Engineering Clemson University North Charleston SC USA

The integration of Inverter-Based Resources (IBRs) into power systems, including both transmission and distribution networks, poses challenges for studying grid dynamic behaviours under various operating conditions and system events. This paper addresses the urgent need to investigate the influence of IBRs on grid dynamics, and their potential to enhance power system reliability and resilience. We propose a flexible, scalable transmission and distribution co-simulation platform, using opensource tools only for assessing the impact of grid-following (GFL) and grid-forming (GFM) IBRs on dynamic stability at various renewable penetration levels (up to 100%). This platform enables researchers to explore different contingencies at transmission, distribution, or both, providing a comprehensive evaluation of grid status. A series of case studies, including both small and large T&D systems with varying GFL/GFM configurations and contingencies, have been conducted. The results not only robustly validate our co-simulation framework, but also provide invaluable insights for effective IBR management in the power grid.

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Controllable Quantum Computing Privacy via Inherent Noises and Quantum Error Mitigation 23

Controllable Quantum Computing Privacy via Inherent Noises a...

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23rd IEEE International Conference on Trust, Security and Privacy in Computing and Communications, TrustCom 2024

作者： Ju, Keyi Zhong, Hui Zhang, Xinyue Qin, Xiaoqi Pan, Miao Beijing University of Posts and Telecommunications State Key Laboratory of Networking and Switching Technology Beijing100876 China University of Houston Department of Electrical and Computer Engineering HoustonTX77204 United States Kennesaw State University Department of Computer Science MariettaGA30060 United States

Quantum computing has revolutionized the approach to solving complex problems and handling vast datasets. However, data leakage in quantum computing may present privacy risks. While differential privacy (DP) has been a classical solution to protect privacy by injecting artificial noises, the implementation of DP within the quantum domain remains an under-explored area. We observe that there is a potential to leverage the inherent noises generated by Noisy Intermediate-Scale Quantum (NISQ) devices during quantum operations for achieving DP in quantum computing. Given that these inherent noises are uncontrollable, we take the lead to utilize quantum error mitigation (QEM) techniques to manage quantum differential privacy (QDP) protection levels. In our approach, we offer a tangible description of the "closeness"between neighboring quantum datasets and introduce a novel QDP definition based on observables of interest. Our simulations reveal that factors like the distance between neighboring quantum states and the number of circuit executions influence the privacy budget. Notably, by controlling the QEM samples while keeping the number of circuit executions fixed, QEM allows for substantial noise control to meet a desired privacy budget. Furthermore, we extend analysis from single-qubit to multiple qubits and discuss the impact of observables of interest on the privacy budget. © 2024 IEEE.

关键词： Qubits

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A Virtual Spring-Damper Approach for UAV Swarm Formation and Decentralised Collision Avoidance

A Virtual Spring-Damper Approach for UAV Swarm Formation and...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Luis Mejias Pedro Arias-Perez Javier Melero-Deza Pascual Campoy The School of Electrical Engineering and Robotics Queens-land University of Technology (QUT) Brisbane QLD Australia The Computer Vision and Aerial Robotics Group Centre for Automation and Robotics (C.A.R.) Universidad Politecnica de Madrid (UPM-CSIC) Madrid Spain

ISBN: (数字)9798350357882

ISBN: (纸本)9798350357899

This paper introduces a method for controlling UAV swarm formations and avoiding collisions using the Virtual Spring-Damper (VSD) approach. This approach draws upon classical mechanical spring-damper systems, employing displacement and velocities to generate attractive and repulsive forces. These forces help sustain swarm formation and prevent collisions in a decentralized manner. Extensive simulations provided a systematic approach to obtain the parameters involved in the spring-damper system. Flight tests were carried out to verify the proposed method. The experimental outcomes align with our simulations, demonstrating effectiveness in collision avoidance while preserving a specified flight formation.

关键词： Systematics Autonomous aerial vehicles Trajectory Collision avoidance Aircraft Drones Testing

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