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WRC Symposium on Advanced Robotics and Automation (WRC SARA)

作者： Zhengzheng Li Lelai Zhou Xiaomeng Dai Zhen Shen Wenhe Zhang Yibin Li Center for Robotics School of Control Science and Engineering Shandong University Jinan China Ministry of Education Engineering Research Center of Intelligernt Unmanned System Jinan China China Railway Construction Corporation Bridge Engineering Bureau Group Construction Assemble Technology Corporation Tianjin China China Railway Construction Bridge Engineering Bureau Group Tianjin China National Innovation Center of High-Speed Rail Technology(Qingdao) Qingdao China

ISBN: (数字)9798331506100

ISBN: (纸本)9798331506117

This paper presents a path planning method using multiple random trees algorithm based on adaptive step adjustment(ASM-RRT). The method introduces a strategy for generating random trees, enabling the placement of root nodes at optimal locations within the environment. An adaptive step adjustment approach is employed to accelerate the exploration process. Additionally, a local search strategy for adjacent points is proposed, defining the search range around the center of each newly generated node to identify more optimal paths. The effectiveness of the method is validated through simulation experiments in two-dimensional and manipulator path planning environments. In comparison to the RRT and RRT-Connect algorithms, the proposed method exhibites superior performance. The manipulator experiment is carried out in physical scenarios to assess the feasibility of the presented method.

关键词： Costs Manipulators Search problems Path planning Planning Robotics and automation

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Virtual Variable Stiffness control Method for Quadruped Robot Leg based on Contact Event

Virtual Variable Stiffness Control Method for Quadruped Robo...

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WRC Symposium on Advanced Robotics and Automation (WRC SARA)

作者： Jingyu Sun Lelai Zhou Yi Zhang Guowei Li Shenglin Fan Mingjun Sui Xiaomeng Dai Yibin Li Center for Robotics School of Control Science and Engineering Shandong University Jinan China Ministry of Education Engineering Research Center of Intelligent Unmanned System Jinan China National Innovation Center of High-Speed Rail Technology (Qingdao) Qingdao China China Railway Construction Corporation Bridge Engineering Bureau Group Construction Assemble Technology Corporation Tianjin China China Railway Construction Bridge Engineering Bureau Group Tianjin China

ISBN: (数字)9798331506100

ISBN: (纸本)9798331506117

Aiming at the variation of different task focuses of the quadruped robot in response to different contact events, this paper proposes a virtual stiffness adaptive compensation strategy that introduces the perception of proprioceptive disturbance dynamics. The method first relies on floating base dynamics and generalized momentum to establish the estimation method of the disturbance force of the quadruped robot. Then the method of recognizing different contact events in the base and legs of the quadruped robot is established by building band pass filter and isolation filter for estimating the force and by classifying the contact events into hard and soft contacts. Then by combining the method with the virtual model control method of the quadruped robot and swing leg, the recognized contact events can help the robot to change the virtual coefficients, and realized more accurate leg trajectory tracking.

关键词： Legged locomotion Band-pass filters Adaptation models Accuracy Trajectory tracking Force Dynamics

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Data-driven feedback linearisation using model predictive control

arXiv

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arXiv 2022年

作者： Floren, Merijn Classens, Koen Oomen, Tom Noël, Jean-Philippe nic System Dynamics Division Celestijnenlaan 300 Leuven3001 Belgium Eindhoven University of Technology Department of Mechanical Engineering Control Systems Technology Group PO Box 513 MB Eindhoven5600 Netherlands

Linearising the dynamics of nonlinear mechanical systems is an important and open research area. In this paper, we adopt a data-driven and feedback control approach to tackle this problem. A model predictive control architecture is developed that builds upon data-driven dynamic models obtained using nonlinear system identification. The overall methodology shows a high degree of performance combined with significant robustness against imperfect modelling and extrapolation. These findings are demonstrated using large set of synthetic experiments conducted on a asymmetric Duffing oscillator and using an experimental prototype of a high-precision motion system. © 2022, CC BY.

关键词： Model predictive control

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Neural Network and Collaborative Computing for Image-based Train Location Data Acquisition 5th

Neural Network and Collaborative Computing for Image-based...

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5th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2021

作者： Wu, Xiaoqing Song, Haifeng Wang, Peng Cheng, Jianfeng Zhou, Datian Dong, Hairong Beijing Jiaotong University School of Electronic and Information Engineering Beijing100044 China Beihang University School of Electronic and Information Engineering Beijing100191 China China Academy of Railway Sciences Group Co. Ltd. Beijing100044 China Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Beijing China State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing100044 China

ISBN: (纸本)9789811939976

How to improve the performance and safety of the train has long been a question of great interest. The object of this study is to achieve the recognition of train speed and mileage that are provided by the train Driver Machine Interface (DMI) and reduce the time consumed by model training. For recognition part, a Convolutional Neural Network (CNN) and a Connectionist Temporal Classification (CTC) layer have been combined together to achieve an end-to-end recognition. For the part of time-consuming reduction, a collaborative computing was being utilized to offload the training tasks to each edge device. In addition, the process of offloading was modeled with Stochastic Petri Net (SPN). Overall, the recognition accuracy was significantly improved, compared to the traditional Optical Character Recognition (OCR) and CNNs, what is more, the time consumed on model training was also brought down as expect. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Petri nets

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Enabling Eco-Approach Where Signal Timing is Unknown

Enabling Eco-Approach Where Signal Timing is Unknown

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International Conference on Intelligent Transportation

作者： Shuoyuan Li Guan Wang Xiao Xiao Zhenghao Xu Jia Hu Haoran Wang Key Laboratory of Road and Traffic Engineering of the Ministry of Education Tongji University Shanghai China Shanghai motor vehicle inspection technology research center Shanghai China Air system Dept Intelligent Driving Business Group Baidu Control Department of Intelligence Driving Center Shanghai Utopilot Technology Shanghai China

This research proposed an optimal control based eco-approach controller with the consideration of the uncertainty of the actuated traffic signal timing. Simulation demonstrates that the proposed controller could reduce 4.55% fuel-consumptions, reduce 8.74 % travel time and predict the actuated signal switching time with only 2.3 seconds of average prediction error.

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Research on Differential Protection of Low-frequency Transmission Lines Based on Sampling Value Differential

Research on Differential Protection of Low-frequency Transmi...

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Energy Engineering and Power systems (EEPS), International Conference on

作者： Zhengxu Qian Wenbin Cao Feng Hong Zhipan Sun Chengyu Lu State Grid Zhejiang Electric Power Co. Ltd. Research Institute Hangzhou Chian NARI Group Corporation Nanjing China Nanjing Control System Co. Ltd. NARI Technology Co. Ltd. Nanjing China

In case of a failure within the area of flexible low-frequency transmission lines, the power electronic devices (M3C) at both ends of the line limit the fault current, which causes the reduction of sensitivity of the traditional phasor-based line differential protection or even failure to operate. Based on the structure of a flexible low-frequency transmission system, the electrical characteristics of the line failures were analyzed, and a differential protection technology suitable for flexible low-frequency transmission lines was proposed based on the differential principle of sampling values. The low-frequency transmission line model was built in RTDS, and the method was verified to meet the protection requirements of flexible low-frequency transmission lines.

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Comprehensive situation assessment method of the regional distribution network considering massive renewable energy access 3

Comprehensive situation assessment method of the regional di...

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3rd International Conference on Electrical Engineering and control Technologies, CEECT 2021

作者： Liu, Jie Dai, Yujian Fan, Longwen Zhao, Qingsheng Liang, Dingkang North China Power Engineering Co. Ltd. China Power Engineering Consulting Group Power Grid Engineering Department Peking China Taiyuan University of Technology Shanxi Key Lalobratory of Power System Operation and Control Shanxi China

ISBN: (纸本)9781665440417

To effectively perceive the comprehensive situation of the regional distribution network with massive renewable resources, an evaluation approach based on trapezoidal fuzzy numbers and measurement of alternatives and ranking according to compromise solution (MARCOS) is proposed. First, the comprehensive situation evaluation index system of the regional distribution network is constructed, which involves four aspects: security situation, economic situation, low-carbon situation, and regulation situation. Then, the trapezoidal fuzzy number is used to express and analyze the semantic evaluation information of qualitative indicators, and the evaluation information is fused based on fuzzy theory to reduce the impact of uncertainties on the comprehensive situation evaluation results of the distribution network. Further, the trapezoidal fuzzy MARCOS method is used to process the decision-making information, thereby obtaining the final evaluation result. Finally, taking Taiyuan City as an example, the proposed method is used to evaluate and analyze the comprehensive situation of the regional distribution networks within the jurisdiction of the city, and the feasibility and effectiveness of the proposed method are verified by combining with the realities. © 2021 IEEE.

关键词： Uncertainty analysis

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Research on key technologies of park carbon emission monitoring and accounting based on blockchain 24

Research on key technologies of park carbon emission monitor...

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Proceedings of the 2024 5th International Conference on Big Data Economy and Information Management

作者： Shijie Ji Jiahan Hao Zhuyu Shi Wanli Hu Ning Yang Beijing Power Exchange Center Co. Ltd. Beijing China Blockchain Application Technology Laboratory of State Grid Corporation of China Beijing China Beijing Kedong Electric Power Control System Co. Ltd. Beijing China NARI Group Corporation (State Grid Electric Power Research Institute) Beijing China

ISBN: (纸本)9798400711862

Aiming at the problems of low digitization of carbon emission monitoring, various links, diverse sources and insufficient collection of carbon accounting data, as well as poor reliability and transparency of carbon data and weak trust transmission among subjects, this paper first studies the trusted management and control technology of ' collection-circulation-accounting ' full-chain electric carbon data, and then puts forward multi-dimensional carbon emission digital characterization technology and carbon accounting credit enhancement contract integrated deployment technology. Finally, a carbon emission monitoring and management system based on blockchain is established and pilot verification is carried out to realize effective monitoring and management of carbon emissions in the park and improve the accurate accounting ability of carbon emission data of enterprises in the park.

关键词： Blockchain

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Analysis of the Application and control of the Distributed Energy Storage system in Microgrid

Analysis of the Application and Control of the Distributed E...

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International Conference on Frontiers of Electrical Power and Energy systems 2021, EPES 2021

作者： Zhang, Shishuai Xia, Binqiang Zhang, Dongchen Zhang, Chengbing Liu, Yuhang Zhou, Mingzhen Wan, Peng Lu, Liping Nari Group Co. Ltd. Nanjing211000 China State Grid Xinyuan Co. Ltd. Beijing100761 China Beijing Kedong Electric Power Control System Co. Ltd. Beijing100152 China Beijing Zhongke Chuangshi Technology Development Co. Ltd. Beijing100152 China Guodian NARI Technology Co. Ltd. Nanjing211000 China

Because of the intermittence and randomness of renewable energy and the continuous variability of load. By configuring a certain capacity of energy storage in microgrid, the active and reactive power throughput can be flexibly and quickly adjusted to smooth load fluctuations and reliability of power supply improvement. It can improve the power quality and keep the system stable. Therefore, the application potential of distributed energy storage system in microgrid and distribution system is huge. In terms of give full play to the performance advantages of energy storage through distribution system, it is necessary to study the core technologies of modular integration, topology, capacity design and control of energy storage through distribution system. The feasibility and value of energy storage through distribution system in power system engineering are demonstrated. Based on the analysis of relevant requirements, a energy storage through distribution system based on micro energy storage unit is proposed in this paper. This structure is very suitable for energy storage components to be connected to the micro-grid to achieve plug and play, high efficiency, high reliability and high flexibility of energy storage system applications. © 2022 Institute of Physics Publishing. All rights reserved.

关键词： Energy storage

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Simulation Modeling and Simulation Verification of Dual-Excited Synchronous Generator

Simulation Modeling and Simulation Verification of Dual-Exci...

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New Energy and Energy Storage system control Summit Forum (NEESSC)

作者： Liheng Chen Qipin Xu Yuantao Shi Ling Yang Jiancheng Zhang Hongchao Zhu NARI Group Corporation (State Grid Electric Power Research Institute) NARI Nanjing Control System Co. Ltd. NARI Technology Co. Ltd. Nanjing China Electric Power Research Institute State Grid Zhejiang Electric Power Co. Ltd. Hangzhou China

ISBN: (数字)9798350389012

ISBN: (纸本)9798350389029

The dual-excited synchronous generator has two sets of independently adjustable excitation windings. This unique rotor structure makes it have better stability than the single-excited synchronous generator. However, as the most widely used simulation software, the MATLAB/Simulink platform does not have a corresponding dual-excited synchronous generator simulation model. In order to carry out relevant research work in the MATLAB/Simulink platform, it is necessary to establish a simulation model of the dual-excited synchronous generator and directly verify the correctness of this simulation model from the simulation model level. Based on the establishment of the dual-excited synchronous generator simulation model, this paper compares the simulation results of the no-load test and short-circuit test of the single-excited synchronous generator and the dual-excited synchronous generator, and illustrates the correctness of the dual-excited synchronous generator simulation model from the simulation level. The research results can increase the credibility of the dual-excited synchronous generator simulation model in the MATLAB/Simulink platform and lay the foundation for its in-depth research.

关键词： Analytical models Solid modeling Simulation Windings Solids Synchronous generators Mathematical models Stability analysis Integrated circuit modeling MATLAB

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