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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Cheng, Zilong Li, Yulin Chen, Kai Duan, Jianghua Ma, Jun Lee, Tong Heng National University of Singapore Department of Electrical and Computer Engineering Singapore The Hong Kong University of Science and Technology Department of Mechanical and Aerospace Engineering Hong Kong The Hong Kong University of Science and Technology Division of Emerging Interdisciplinary Areas Hong Kong Robotics and Autonomous Systems Thrust Guangzhou China Hkust Shenzhen-Hong Kong Collaborative Innovation Research Institute Shenzhen China

ISBN: (纸本)9798350325706

Iterative linear quadratic regulator (iLQR) has gained wide popularity in addressing trajectory optimization problems with nonlinear system models. However, as a model-based shooting method, it relies heavily on an accurate system model to update the optimal control actions and the trajectory determined with forward integration, thus becoming vulnerable to inevitable model inaccuracies. Recently, substantial research efforts in learning-based methods for optimal control problems have been progressing significantly in addressing unknown system models, particularly when the system has complex interactions with the environment. Yet an incremental machine learning method or a deep neural network is normally required to fit a substantial scale of sampling motion data. Existing works mainly focus on capturing the whole picture of the motion pattern from trial data (which is essentially noisy and hard to identify with any simple predefined structures) for complex robot systems. Instead, we present Neural-iLQR, a learning-aided shooting method over the unconstrained control space, in which a neural network with a simple structure is used to drive the optimization process towards optimal direction. Through comprehensive evaluations on two illustrative control tasks using three different kinds of lightweight network structures, the proposed method is shown to outperform the conventional iLQR significantly with fast and continuous cost convergence in the presence of inaccuracies in system models, which demonstrates the generalizability and robustness of the proposed learning-aided method. © 2023 IEEE.

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Development of IOT based Battery Management System for EV

Development of IOT based Battery Management System for EV

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Intelligent Systems and Advanced Applications (ICISAA), International Conference on

作者： Sachin P Jadhav Aabid C Mulla Sachin G Argade Swapnil S Jadhav Dushyant Patil Harshal Dattatray Vaidya Department of Electrical Engineering Dr.D.Y. Patil Institute of Technology Pimpri Pune India BITS Pilani Hyderabad Campus Department of Electrical Engineering JSPM’s Rajarshi Shahu college of Engineering Pune India Department of Automation& Robotics Dr.D.Y. Patil Institute of Technology Pimpri Pune India Department ofl Engineering Science Marathwada Mitramandal s IOT Lohgaon Pune

ISBN: (数字)9798331539948

ISBN: (纸本)9798331539955

Electric Vehicles in automobile sectors is one of the largest growing in World. Now peoples are facing problems in electric vehicles. Batteries generate heat during charging and discharging. Effective thermal management is crucial to prevent overheating, which can lead to reduced battery life, safety concerns, and, in extreme cases, thermal runaway. Real-time monitoring and control of temperature are essential to address thermal issues. This study underscores the significance of temperature, depth of discharge, and charging patterns concerning the prolonged deterioration of lithium-ion batteries in electric vehicles (EVs). Critical battery parameters like temperature, voltage, State of Charge (SoC), and State of Health (SoH) can be better monitored, analyzed, and controlled in real time with IOT technologies are integrated into Battery Management Systems (BMS).. By facilitating proactive measures such as real-time diagnostics and alerts, this amalgamation assists users and service providers in swiftly addressing abnormal conditions, safeguarding the battery, and extending its operational life. Additionally, the integration of IoT technology in this study facilitates efficient charging and energy management, presenting a holistic solution to enhance the durability and effectiveness of electric vehicle batteries. In this study matlab simulation with hardware implementation is carried out and results are analysed in real time using IOT.

关键词： Temperature sensors Temperature measurement Battery management systems Electric vehicles Thermal management Real-time systems Batteries State of charge Voltage control Monitoring

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Vacuum wetting of Ag/TA2 to develop a novel micron porous Ti with significant biocompatibility and antibacterial activity

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Journal of Materials Science & Technology 2022年第21期116卷 180-191页

作者： Guanpeng Liu Yulong Li Ming Yan Jicai Feng Jian Cao Min Lei Quanwen Liu Xiaowu Hu Wenqin Wang Xuewen Li Key Lab for Robot and Welding Automation of Jiangxi Province Mechanical and Electrical Engineering SchoolNanchang UniversityNanchang 330031China Jiangxi Provincial Key Laboratory of Interdisciplinary Science Nanchang UniversityNanchang 330031China Department of Materials Science and Engineering and Shenzhen Key Laboratory for Additive Manufacturing of High-Performance Materials Southern University of Science and TechnologyShenzhen 518055China State Key Lab of Advanced Welding and Joining Harbin Institute of TechnologyHarbin 150001China The National Engineering Research Center for Bioengineering Drugs and the Technologies Institute of Translational MedicineNanchang UniversityNanchang 330031China The Engineering Training Center of Nanchang University Mechanical and Electrical Engineering SchoolNanchang UniversityNanchang 330031China

Porous Ti with low modulus,excellent bio-corrosion resistance,biocompatibility,and antibacterial activity is highly pursued as advanced implant *** this work,a new approach to prepare micron porous structures on the surface layer of a grade 2 commercially-pure Ti(TA2)was proposed,which utilized a simple vacuum wetting process of pure Ag on the surface of *** microstructure,corrosion resistance,biocompatibility,mechanical properties,antibacterial ability,and formation mechanism of the asfabricated porous Ti were *** results show that the pores(with average pore sizes of 0.5-5μm)are distributed on the surface layer of the TA2 with a depth of~10μ*** particular,a large number of silver nanoparticles(Ag NPs)form which are dispersed on the porous *** formation mechanisms of the porous structures and Ag NPs were elucidated,suggesting that the volatilization/sublimation of Ag in TA2 is *** porous Ti possesses excellent bio-corrosion resistance,surface wettability,biocompatibility,antibacterial activity,and a relatively low elastic modulus of 40-55 GPa,which may have a promising future in the field of orthopedic *** work also provides a novel idea for the development of advanced porous Ti materials for orthopedic-related basic research and biomedical applications.

关键词： Porous titanium Biomaterials Vacuum wetting Porous surface Antibacterial activity

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Active Visuo-Haptic Object Shape Completion

arXiv

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arXiv 2022年

作者： Rustler, Lukas Lundell, Jens Behrens, Jan Kristof Kyrki, Ville Hoffmann, Matej The Department of Cybernetics Faculty of Electrical Engineering CTU Prague Czech Republic The Intelligent Robotics Group Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Espoo02150 Finland The Czech Institute of Informatics Robotics and Cybernetics CTU Prague Czech Republic

Recent advancements in object shape completion have enabled impressive object reconstructions using only visual input. However, due to self-occlusion, the reconstructions have high uncertainty in the occluded object parts, which negatively impacts the performance of downstream robotic tasks such as grasping. In this work, we propose an active visuo-haptic shape completion method called Act-VH that actively computes where to touch the objects based on the reconstruction uncertainty. Act-VH reconstructs objects from point clouds and calculates the reconstruction uncertainty using IGR, a recent state-of-the-art implicit surface deep neural network. We experimentally evaluate the reconstruction accuracy of Act-VH against five baselines in simulation and in the real world. We also propose a new simulation environment for this purpose. The results show that Act-VH outperforms all baselines and that an uncertainty-driven haptic exploration policy leads to higher reconstruction accuracy than a random policy and a policy driven by Gaussian Process Implicit Surfaces. As a final experiment, we evaluate Act-VH and the best reconstruction baseline on grasping 10 novel objects. The results show that Act-VH reaches a significantly higher grasp success rate than the baseline on all objects. Together, this work opens up the door for using active visuo-haptic shape completion in more complex cluttered scenes. Copyright © 2022, The Authors. All rights reserved.

关键词： Deep neural networks

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Synergy for the plasma-based CO2 conversion with the Solid Oxide Electrolysis Cell 51

Synergy for the plasma-based CO2 conversion with the Solid O...

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51st IEEE International Conference on Plasma Science, ICOPS 2024 and 4th Asia-Pacific Conference on Plasma and Terahertz Science, APCOPTS 2024

作者： Chen, X. Pikalev, A. Guerra, V. Zhang, G.-J. van de Sanden, R. Xi an Jiaotong University School of Electrical Engineering and Automation Shaanxi Xi'an China Dutch Institute for Fundamental Energy Research Plasma Solar Fuels Devices Eindhoven Netherlands Eindhoven University of Technology Department of Applied Physics Eindhoven Netherlands Instituto Superior Técnico Instituto de Plasmas e Fusão Nuclear Lisboa Portugal

ISBN: (纸本)9798350360912

The exploration of Mars needs in-situ resource utilization (ISRU) on Mars for life-maintaining, energy and food production [1]. The Martian atmosphere is primarily CO2 (95.9%), Ar (1.9%) and N2 (1.9%). The abundant CO2 from the Mars atmosphere can be converted directly into O2 and CO, which can be used for breathing and energy conversion respectively. Among all the CO2 conversion and oxygen production technologies, the most promising one is to combine the non-thermal plasmas and the solid oxide electrolyte cell (SOEC) with an oxygen separation membrane. Non-thermal plasma provides a highly-chemical-activated environment to break the stable carbon-oxygen double bonds, and the SOEC can separate the O2 from the plasma environment for breathing, which also inhibits the backward reaction of CO combing with O2 to form CO2. The plasma-SOEC synergy effects have been reported by several researchers [2,3] but no detailed investigations of the plasma-SOEC performance enhancement have been conducted. The principle behind it is still unclear. © 2024 IEEE.

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Design and Analysis of Individually Demagnetized Power Converter for Switched Reluctance Motors

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IEEE Transactions on Transportation Electrification 2025年第3期11卷 8439-8449页

作者： Liu, Hemiao Chen, Hao Wang, Xing Gorbounov, Yassen Wheeler, Patrick Anuchin, Alecksey Demidova, Galina Korovkin, Nikolay Liudmila, Sakhno Shenzhen Research Institute China University of Mining and Technology Shenzhen515100 China China University of Mining and Technology School of Electrical Engineering Xuzhou221116 China Xinjiang Institute of Engineering Ürümqi830000 China International Joint Research Center of Central and Eastern European Countries on New Energy Electric Vehicle Technology and Equipment Xuzhou221008 China International Cooperation Joint Laboratory of New Energy Power Generation and Electric Vehicles of Jiangsu Province Colleges and Universities Xuzhou221008 China Xuzhou Key Laboratory of New Energy Electric Vehicle Technology and Equipment Xuzhou221008 China Mining Production University of Mining and Geology "St. Ivan Rilski " Department of Automation Sofia1700 Bulgaria The University of Nottingham Power Electronics Machines and Control Group NottinghamNG7 2RD United Kingdom Electric Drives Department Moscow111250 Russia Saint-Petersburg National Research University of Information Technologies Mechanics and Optics Faculty of Control Systems and Robotics Engineer Saint Petersburg197101 Russia Peter the Great St. Petersburg Polytechnic University Institute of Energy Saint Petersburg195251 Russia

Switched reluctance motors (SRMs) are capable of operating at high speeds and high loads. The large back EMF results in the excitation winding current being demagnetized more slowly, which, in turn, reduces the efficiency and output of the motor system. This study proposes a novel individually demagnetization power converter (IDPC) specifically designed for SRMs to effectively use the demagnetization energy through an independent demagnetization circuit. Compared with traditional converters, the IDPC can accept direct current (dc) and high-frequency ac inputs while achieving fast demagnetization and energy recovery. The topology and working principle of the IDPC are analyzed in detail in this article using a three-phase 12/8 SRM as the research object. In addition, the influence of the winding demagnetization voltage on the negative torque during the demagnetization phase was studied, as well as the functional implementation and logic control strategy of the IDPC. Simulation and experimental results confirm the validity of the proposed topology and high-frequency ac drive characteristics, as well as their advantages in terms of efficiency, output capacity, and dynamic performance. © 2015 IEEE.

关键词： Reluctance motors

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Wearable and flexible electrochemical sensors for sweat analysis:a review

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Microsystems & Nanoengineering 2023年第1期9卷 1-21页

作者： Fupeng Gao Chunxiu Liu Lichao Zhang Tiezhu Liu Zheng Wang Zixuan Song Haoyuan Cai Zhen Fang Jiamin Chen Junbo Wang Mengdi Han Jun Wang Kai Lin Ruoyong Wang Mingxiao Li Qian Mei Xibo Ma Shuli Liang Guangyang Gou Ning Xue School of Electronic Electricaland Communication EngineeringUniversity of Chinese Academy of Sciences(UCAS)100190 BeijingChina State Key Laboratory of Transducer Technology Aerospace Information Research Institute(AIR)Chinese Academy of Sciences100190 BeijingChina Department of Biomedical Engineering College of Future TechnologyPeking University100871 BeijingChina Beijing Shuimujiheng Biotechnology Company 101102 BeijingChina PLA Air Force Characteristic Medical Center 100142 BeijingChina Institute of Microelectronics of the Chinese Academy of Sciences 100029 BeijingChina CAS Key Laboratory of Biomedical Diagnostics Suzhou Institute of Biomedical Engineering and TechnologyChinese Academy of Sciences(CAS)215163 SuzhouChina CBSR&NLPR Institute of AutomationChinese Academy of SciencesBeijingChina Functional Neurosurgery Department Beijing Children’s HospitalCapital Medical University100045 BeijingChina

Flexible wearable sweat sensors allow continuous,real-time,noninvasive detection of sweat analytes,provide insight into human physiology at the molecular level,and have received significant attention for their promising applications in personalized health *** sensors are the best choice for wearable sweat sensors due to their high performance,low cost,miniaturization,and wide *** developments in soft microfluidics,multiplexed biosensing,energy harvesting devices,and materials have advanced the compatibility of wearable electrochemical sweat-sensing *** this review,we summarize the potential of sweat for medical detection and methods for sweat stimulation and *** paper provides an overview of the components of wearable sweat sensors and recent developments in materials and power supply technologies and highlights some typical sensing platforms for different types of ***,the paper ends with a discussion of the challenges and a view of the prospective development of this exciting field.

关键词： electrochemical wear harvesting

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SparseGTN: Human Trajectory Forecasting with Sparsely Represented Scene and Incomplete Trajectories

SparseGTN: Human Trajectory Forecasting with Sparsely Repres...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Jianbang Liu Guangyang Li Xinyu Mao Fei Meng Jie Mei Max Q.-H. Meng Department of Electronic Engineering The Chinese University of Hong Kong Hong Kong Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen Key Laboratory of Robotics Perception and Intelligence and the Department of Electronic and Electrical Engineering Southern University of Science and Technology in Shenzhen China Professor Emeritus in the Department of Electronic Engineering The Chinese University of Hong Kong in Hong Kong Professor in the Department of Electrical and Computer Engineering University of Alberta in Canada

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In recent years, great progress has been made in forecasting human motion in crowded scenes. However, current methods are far from practical applications due to the unbearable high computation costs, especially for encoding scene context. In addition, neglecting the partially detected trajectories makes the predicted outcome deviate from the real trajectory distribution. To handle the aforementioned concerns, we propose to represent the scene context and partially observed trajectories with sparse graphs. Customized for this special data structure, we design a hierarchical Graph Transformer Network model SparseGTN to predict multiple possible future trajectories of the target pedestrian by digesting the sparsely represented inputs. Our approach exhibits superiority over the state-of-the-art (SOTA) methods, utilizing a mere 3.42% of the number of floating point operations (FLOPs) and 0.53% of the number of model parameters. The code will be available online ⋆ .

关键词： Pedestrians Switches Predictive models Transformers Encoding Trajectory Mobile robots Forecasting Collision avoidance Intelligent robots

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Event-Triggered Attitude Controller Design for Unmanned Aerial Vehicles under Cyber Attacks

Event-Triggered Attitude Controller Design for Unmanned Aeri...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Seungyong Han Xuyang Guo Yongsik Jin Yongseob Lim Suneel Kumar Kommuri Korea Atomic Energy Research Institute Daejeon Republic of Korea Department of Control Science and Engineering Tongji University Shanghai China Electronics and Telecommunications Research Institute Daegu Republic of Korea Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology Daegu Republic of Korea Department of Electrical and Electronic Engineering Xi’an Jiaotong-Liverpool University Suzhou China

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

This paper proposes an event-triggered attitude controller design method for unmanned aerial vehicles (UAVs) under cyber attacks. Versatile UAVs are capable of transmitting the measurement or receiving control signals through network channels. In the controller design for such UAVs, it is required to consider two distinctive features. The first one is that the strategy of updating the control signal is important for saving the limited energy consumption. The other one is that the UAVs are vulnerably exposed to threats of malicious attacks through network channels. For enhanced energy efficiency and improved stability, the event-triggered mechanism (ETM) and the attitude controller are simultaneously designed. By utilizing Lyapunov- Krasovskii functionals (LKFs), the sufficient conditions for the co-design are derived in terms of linear matrix inequalities (LMIs). For a 3-degrees of freedom (DOF) quadcopter system, the simulation results are presented to validate the proposed attitude control method.

关键词： Sufficient conditions Attitude control Simulation Autonomous aerial vehicles Stability analysis Numerical models Resource management

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Optimal of Energy Storage Power Station Considering N-1 Fault and Analysis of Constraint Sensitivity

Optimal of Energy Storage Power Station Considering N-1 Faul...

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2023 International Conference on Power Energy Systems and Applications, ICoPESA 2023

作者： Zhu, Liuzhu Zhang, Rui Zhang, Aobo Wang, Xuli Liu, Qing Kuai, Shengyu Li, Shenghu State Grid Anhui Electric Power Co. Ltd Economic & Technical Research Institute Hefei China State Grid Anhui Electric Power Co. Ltd Development and Planning Department Hefei China Hefei University of Technology School of Electrical Engineering and Automation Hefei China

ISBN: (纸本)9798350345605

In order to study the problem of energy storage station planning for a high proportion of distribution energy grid-connected power system, an optimization model of energy storage station planning considering the stability of the grid is proposed. Firstly, the N-1 fault probability of power grid was calculated based on state enumeration, and the fault risk degree was defined as the indicator to describe the fault severity. The cost related to system operation, load cutting and energy storage is used as the objective function of the optimization model. According to the Lagrange multiplier, the analytical expression of the sensitivity of the objective function to the energy storage optimization constraint variables is obtained, which can be used to quantify the control ability of the capacity constraint to the energy storage optimization model. The simulation results show that the proposed optimization model of energy storage power station can improve the reliability of energy storage grid-connected system, and the sensitivity results can be used to analyze the influence of variable constraints on the optimization results of the objective function. © 2023 IEEE.

关键词： Sensitivity analysis

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