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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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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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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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research on Lyapunov Energy Function Based Virtual Impedance Parameter Tuning Method for Grid-Forming Energy Storage Under Single Loop Voltage Magnitude Control

Research on Lyapunov Energy Function Based Virtual Impedance...

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China International electrical and Energy Conference (CIEEC)

作者： Mengru Tian Ying Yang Liangli Xiong Li You Gang Han Chen Xu Department of Electrical Engineering School of Mechatronic Engineering and Automation Shanghai University Shanghai China State Grid Hubei Electric Power Co. Ltd Electric Power Research Institute Wuhan China

ISBN: (数字)9798350359558

ISBN: (纸本)9798350359565

In the background of high-proportion new energy source applications, the centralized grid-forming energy storage power station has the ability to actively provide inertia and damping characteristics, thus can realize the active support of the system frequency and voltage. Compared with the traditional voltage and current dual-loop control, the single loop voltage magnitude control has stronger transient support ability, but it has more serious overcurrent problem. In this paper, the control is optimized by superimposing the virtual impedance control on the initial single loop voltage magnitude control, and the virtual impedance parameters are tuned using Lyapunov energy function method. The simulation results verify the effectiveness of the single loop voltage magnitude control with the virtual impedance method, and the correctness of the virtual impedance parameter setting method.

关键词： Voltage fluctuations Simulation Stability analysis Regulation Impedance Voltage control Transient analysis

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Biodegradable Gliding Paper Flyers Fabricated Through Inkjet Printing

Biodegradable Gliding Paper Flyers Fabricated Through Inkjet...

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

作者： Luca Girardi Rui Wu Yuki Fukatsu Hiroki Shigemune Stefano Mintchev Department of Environmental Systems Science Environmental Robotics Laboratory ETH Zurich Zurich Switzerland Swiss Federal Institute for Forest Snow and Landscape Research (WSL) Birmensdorf Switzerland Department of Electrical Engineering Shibaura Institute of Technology Tokyo Japan

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Seed-inspired minimalist microflyers are showing potential as dispersal platforms for sensor networks and seeds. Their function relies on the sheer number of low-cost flyers, inevitably raising concerns about the post-operation environmental impact. We propose a biodegradable paper glider platform fabricated through origami inkjet printing. This method can fold origami along printing patterns on different paper varieties. We created a printing pattern that allows 2D paper sheets to self-fold into a 3D flying wing glider with designable wing geometry and center of gravity (CG). The design allows stable and repeatable gliding behavior, proven in our gliding tests. It successfully achieves the dispersal of multiple gliders from a hovering drone, covering an average horizontal distance larger than the release height. We also tested the biodegradation of different paper types compatible with the printing method, showing near-complete degradation after 15 weeks in moist soil. Our study presents a novel, potentially scalable approach for fabricating environmentally friendly microflyers, offering new avenues for remote environmental sensing and automated forest restoration programs.

关键词： Geometry Atmospheric modeling Forestry Aerodynamics Three-dimensional printing Stability analysis Ink jet printing Seeds (agriculture) Thermal stability Paints

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An Innovative Approach for Natural Gas Liquefaction Using a Mixed-Multi-Component-Refrigerant 8

An Innovative Approach for Natural Gas Liquefaction Using a ...

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8th International Conference on Applications and Design in Mechanical engineering, ICADME 2023

作者： Ismail, N.H. Omar, M.N. Ishak, M.S.A. Yahaya, N.Z. Khalid, K.A.A. Ab Halim, M.F.M. Department of Automotive Institut Kemahiran MARA Beseri Kaki Bukit Perlis02400 Malaysia Perlis Arau02600 Malaysia Research Center for Applied Electromagnetics Institute of Integrated Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Malaysia Centre for Robotics and Industrial Automation Fakulti Kejuruteraan Elektrik Universiti Teknikal Malaysia Melaka Melaka Malaysia

The natural gas liquefaction is the most expensive and energy-intensive phase in the natural gas-to-liquefied natural gas-to-natural gas chain. In addition, this region has the biggest development potential. As a result, numerous LNG production methods have been developed and are deployed at export facilities around the world. The goal of this study is to describe and assess an innovative approach for mixed-refrigerant (MR) LNG method. The authors have dubbed this technique the MR-X approach. The MR-X process was developed based on the globally proven liquefaction technology C3MR and its large-scale successor AP-XTM (which offers many benefits and flexibility), but with a novel precooling phase construct. In pre-cooling and liquefaction phases, the refrigerant is a combination of methane, nitrogen, propane, ethane, butane, and isobutane. The paper investigates the creation of the MR-X technology, as well as its modelling, energy, and exergy investigations. © 2023 institute of Physics Publishing. All rights reserved.

关键词： Liquefied natural gas

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A three-dimensional force estimation method for the cable-driven soft robot based on monocular images

arXiv

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arXiv 2024年

作者： Zhu, Xiaohan Bu, Ran Li, Zhen Xu, Fan Wang, Hesheng School of Electronic Information and Electrical Engineering The Department of Automation Shanghai Jiao Tong University China Artificial Intelligence Research Institute School of Information and Control Engineering China University of Mining and Technology China

Soft manipulators are known for their superiority in coping with high-safety-demanding interaction tasks, e.g., robot-assisted surgeries, elderly caring, etc. Yet the challenges residing in real-time contact feedback have hindered further applications in precise manipulation. This paper proposes an end-to-end network to estimate the 3D contact force of the soft robot, with the aim of enhancing its capabilities in interactive tasks. The presented method features directly utilizing monocular images fused with multidimensional actuation information as the network inputs. This approach simplifies the preprocessing of raw data compared to related studies that utilize 3D shape information for network inputs, consequently reducing configuration reconstruction errors. The unified feature representation module is devised to elevate low-dimensional features from the system’s actuation signals to the same level as image features, facilitating smoother integration of multimodal information. The proposed method has been experimentally validated in the soft robot testbed, achieving satisfying accuracy in 3D force estimation (with a mean relative error of 0.84% compared to the best-reported result of 2.2% in the related works). Copyright © 2024, The Authors. All rights reserved.

关键词： Robotic surgery

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Dual-Objective Mixed Integer Linear Program and Memetic Algorithm for an Industrial Group Scheduling Problem

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IEEE/CAA Journal of Automatica Sinica 2021年第6期8卷 1199-1209页

作者： Ziyan Zhao Shixin Liu MengChu Zhou Abdullah Abusorrah State Key Laboratory of Synthetical Automation for Process Industries and the College of Information Science and Engineering Northeastern UniversityShenyang 110819China Department of Electrical and Computer Engineering New Jersey Institute of TechnologyNewark NJ 07102 USA Center of Research Excellence in Renewable Energy and Power Systems King Abdulaziz UniversityJeddah 21481Saudi Arabia Department of Electrical and Computer Engineering Faculty of Engineeringand Center of Research Excellence in Renewable Energy and Power SystemsKing Abdulaziz UniversityJeddah 21481Saudi Arabia

Group scheduling problems have attracted much attention owing to their many practical *** work proposes a new bi-objective serial-batch group scheduling problem considering the constraints of sequence-dependent setup time,release time,and due *** is originated from an important industrial process,i.e.,wire rod and bar rolling process in steel production *** objective functions,i.e.,the number of late jobs and total setup time,are minimized.A mixed integer linear program is established to describe the *** obtain its Pareto solutions,we present a memetic algorithm that integrates a population-based nondominated sorting genetic algorithm II and two single-solution-based improvement methods,i.e.,an insertion-based local search and an iterated greedy *** computational results on extensive industrial data with the scale of a one-week schedule show that the proposed algorithm has great performance in solving the concerned problem and outperforms its *** high accuracy and efficiency imply its great potential to be applied to solve industrial-size group scheduling problems.

关键词： Insertion-based local search iterated greedy algorithm machine learning memetic algorithm nondominated sorting genetic algorithm II(NSGA-II) production scheduling

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Exploring Contextual Representation and Multi-modality for End-to-end Autonomous Driving

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engineering Applications of Artificial Intelligence 2024年 135卷

作者： Azam, Shoaib Munir, Farzeen Kyrki, Ville Kucner, Tomasz Piotr Jeon, Moongu Pedrycz, Witold Department of Electrical Engineering and Automation Aalto University Espoo Finland Finnish Center for Artificial Intelligence Finland School of Electrical Engineering and Computer Science Gwangju Institute of Science and Technology Gwangju61005 Korea Republic of Department of Electrical and Computer Engineering University of Alberta EdmontonABT6R 2V4 Canada Department of Electrical and Computer Engineering Faculty of Engineering King Abdulaziz University Jeddah21589 Saudi Arabia Systems Research Institute Polish Academy of Sciences Warsaw01-447 Poland

Learning contextual and spatial environmental representations enhances autonomous vehicle's hazard anticipation and decision-making in complex scenarios. Recent perception systems enhance spatial understanding with sensor fusion but often lack global environmental context. Humans, when driving, naturally employ neural maps that integrate various factors such as historical data, situational subtleties, and behavioral predictions of other road users to form a rich contextual understanding of their surroundings. This neural map-based comprehension is integral to making informed decisions on the road. In contrast, even with their significant advancements, autonomous systems have yet to fully harness this depth of human-like contextual understanding. Motivated by this, our work draws inspiration from human driving patterns and seeks to formalize the sensor fusion approach within an end-to-end autonomous driving framework. We introduce a framework that integrates three cameras (left, right, and center) to emulate the human field of view, coupled with top-down bird-eye-view semantic data to enhance contextual representation. The sensor data is fused and encoded using a self-attention mechanism, leading to an auto-regressive waypoint prediction module. We treat feature representation as a sequential problem, employing a vision transformer to distill the contextual interplay between sensor modalities. The efficacy of the proposed method is experimentally evaluated in both open and closed-loop settings. Our method achieves displacement error by 0.67m in open-loop settings, surpassing current methods by 6.9% on the nuScenes dataset. In closed-loop evaluations on CARLA's Town05 Long and Longest6 benchmarks, the proposed method enhances driving performance, route completion, and reduces infractions. © 2024 The Authors

关键词： Autonomous vehicles

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Optimizing Hydrogen Highway Planning Model Considering Hydrogen Cost and Vehicle Flow Effects

Optimizing Hydrogen Highway Planning Model Considering Hydro...

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IEEE/IAS Industrial and Commercial Power System Asia (I&CPS Asia)

作者： Yan Zhang Yong Lv Yanming Wan Yuxin Sun Xian Zhang Guibin Wang Chang Liu China Hydrogen Alliance Research Institute Beijing China School of Mechanical Electrical and Control Engineering Shenzhen University Shenzhen China Department of Electrical and Electronic Engineering University of Liverpool Liverpool U.K. School of Mechanical Engineering and Automation Harbin Institute of Technology (Shenzhen) Shenzhen China

ISBN: (数字)9798350352290

ISBN: (纸本)9798350352306

In recent years, global governments have been actively advocating for the adoption of hydrogen fuel cell vehicles (HFCVs) as a means to foster a more sustainable future in transportation. However, the widespread integration of these vehicles necessitates robust hydrogenation infrastructure support. This paper presents a novel hydrogen highway optimization planning model tailored for the strategic placement of hydrogen refueling stations (HRSs) along highways. Based on the traditional HRS site selection models, this approach innovatively integrates factors encompassing hydrogen procurement, transportation, and utilization. The model optimizes the location, scale of the HRSs and quantity of hydrogen dispensers within each HRS, utilizing the minimum unit cost of hydrogen as the objective function. To verify the effectiveness, the proposed model is applied in the Beijing-Tianjin-Hebei (BTH) and Chongqing regions, conducting HRS location planning across both demonstration and promotion stages and the specific planning results are obtained. This study offers valuable insights into hydrogen infrastructure planning along highways, serving as a reference for future endeavors in this domain.

关键词： Road transportation Procurement Costs Hydrogen Government Transportation Minimization Linear programming Planning Optimization

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