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2024 International Ural Conference on Electrical Power Engineering, UralCon 2024

作者： Karandaev, Alexandr S. Loginov, Andrey B. Nikolaev, Andrey A. Moscow Polytechnic University Department of Automation and Control Moscow Russia Power Engineering and Automated Systems Institute Nosov Magnitogorsk State Technical University Magnitogorsk Russia Magnitogorsk Iron and Steel Works Magnitogorsk Russia

ISBN: (纸本)9798350386028

This report reviews an example of acoustic positioning of partial discharges (PD) in the tank of a high-voltage oil-filled transformer. The literature review confirms the importance of PD monitoring and justifies the feasibility of positioning discharge activity centers. The precise positioning of PD sources is required to determine the location of insulation defects. The authors provide brief information on the development of PD positioning methods and note that their practical application has been insufficiently covered in publications. They present the results of electromagnetic and acoustic PD positioning in a 110 kV transformer. Some details are provided on the devices and measurement methods used, including the localization of areas with increased PD intensity using one acoustic sensor and the subsequent center localization through the installation of 4 sensors at even intervals. The authors provide PD signals and defect impulses received from each of the sensors and demonstrate the difference in the registration time of these signals. They explain the principle behind PD center positioning, which is determined considering delays in signal reception. The authors demonstrate the usage of the Inva (Portable) software for the processing and visualization of acoustic positioning results. They note that changes in the propagation rate of acoustic waves in a heterogeneous medium result in the reduced accuracy of results. The authors also outline the prospects of the research into the elimination of occurring defects. © 2024 IEEE.

关键词： Oil filled transformers

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Competitive Meta-Learning

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IEEE/CAA Journal of Automatica Sinica 2023年第9期10卷 1902-1904页

作者： Boxi Weng Jian Sun Gao Huang Fang Deng Gang Wang Jie Chen National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081 Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China School of Automation Tsinghua UniversityBeijing 100084China Department of Control Science and Engineering Tongji UniversityShanghai 201804 National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081China IEEE

Dear Editor,This letter is concerned with developing meta-learning models for fast,stable,and effective few-shot learning across tasks over a few training ***,deep and reinforcement learning(RL)is widely used in auton... 详细信息

关键词： robot autonomous concerned

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Modeling the Clustering of Wireless Sensor Networks Using the K-means Method

Modeling the Clustering of Wireless Sensor Networks Using th...

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2021 IEEE International Conference "Quality Management, Transport and Information Security, Information Technologies", T and QM and IS 2021

作者： Voronova, Lilia I. Voronov, Vyacheslav I. Mohammad, Nawar Moscow Technical University Communications and Informatics 'MTUCI' Department of Intelligent Systems in Control and Automation Moscow Russia

ISBN: (纸本)9781665433020

Currently, the development of information and communication technologies has led to the emergence of the Internet of Things. The technological basis for the implementation of the concept of the Internet of Things is wireless sensor networks. Clustering, a machine learning technique, is an effective way to extend the lifecycle and reduce power consumption of wireless sensor networks (WSNs). The article presents modeling and clustering of flying wireless sensor networks that form when a group of drones moves. The introduction of moving sensors leads to dynamic clustering of the entire system at successive times. complicating the determination of the number of individual clusters and their integration. The clustering mechanism is performed using the K-means algorithm with respect to the location of wireless stationary and flying sensors, described by coordinates x, y, and z in three-dimensional space. © 2021 IEEE.

关键词： Wireless sensor networks

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Decentralized Game-based Auction Algorithm for Scheduling Robotic Chargers to Service EVs with Uncertain Demands

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on intelligent Vehicles 2024年 1-14页

作者： Fang, Qiuyang Zhang, Jianlei Wang, Chen Xie, Guangming Zhang, Chunyan Department of Automation College of Computer and Control Engineering Nankai University Tianjin China National Engineering Research Center of Software Engineering Peking University Beijing China State Key Laboratory for Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

In this study, we introduce a novel auction-based algorithm modeled as a decentralized coalition formation game, designed for the complex requirements of large-scale multi-robot task allocation under uncertain demand. This context is particularly illustrative in scenarios where robots are tasked to charge electric vehicles. The algorithm begins by partitioning a composite task sequence into distinct subsets based on spatial similarity principles. Subsequently, we employ a coalition formation game paradigm to coordinate the assembly of robots into cooperative coalitions focused on these distinct subsets. To mitigate the impact of unpredictable task demands on allocations, our approach utilizes the conditional value-at-risk to assess the risk associated with task execution, along with computing the potential revenue of the coalition with an emphasis on risk-related outcomes. Additionally, integrating consensus auctions into the coalition formation framework allows our approach to accommodate assignments for individual robot-task pairings, thus preserving the stability of individual robotic decision autonomy within the coalition structure and assignment distribution. Simulative analyses on a prototypical parking facility layout confirm that our algorithm achieves Nash equilibrium within the coalition structure in polynomial time and demonstrates significant scalability. Compared to competing algorithms, our proposal exhibits superior performance in resilience, task execution efficiency, and reduced overall task completion times. The results demonstrate that our approach is an effective strategy for solving the scheduling challenges encountered by multi-robot systems operating in complex environments. IEEE

关键词： Polynomial approximation

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A Robust Path Planning of Messenger UAV for Air-Ground Coordination Under Road Network Constraints

A Robust Path Planning of Messenger UAV for Air-Ground Coord...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Wang, Yuyang Xin, Bin Ding, Yulong Yin, Zhen He, Bin School of Automation Beijing Institute of Technology Beijing100081 China Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China National Key Lab of Autonomous Intelligent Unmanned Systems Beijing100081 China Tongji University Department of Control Science and Engineering Shanghai China

ISBN: (纸本)9781665481090

This paper addresses the path planning problem for unmanned aerial vehicle (UAV), where a UAV serves as a messenger to periodically traverse over road-constrained ground vehicles (GVs) to relay information. The GVs may not move on the road network with the velocities agreed with the UAV due to their movement uncertainties. The UAV path planning problem can be formulated as the Dynamic Dubins Traveling Salesman Problem with Uncertain Neighborhood (DDTSPUN). To address the uncertainty in GVs motion, we define robust neighborhoods and corridors and prove that the UAV visiting these areas can revisit GVs reliably, thus transforming DDTSPUN into a Revisit-time-constrained Dubins Traveling Salesman Problem with Neighborhood (RDTSPN). To address the RDTSPN, we propose an online heuristic path planning algorithm. This algorithm incorporates a gradient-based method for visiting robust neighborhoods and a sampling-based search strategy along robust corridors to obtain the Dubins paths of UAV that achieve the robust visit for each GV. Finally, computational experiments demonstrate its advantage over other benchmark algorithms in obtaining the shortest path satisfying UAV curvature constraints, and ensuring robust access to all GVs. © 2024 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Distributed Resilient Fusion Filtering for Nonlinear systems with Random Sensor Delays:Optimized Algorithm Design and Boundedness Analysis

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Journal of systems Science & Complexity 2023年第4期36卷 1423-1442页

作者： HU Jun HU Zhibin DONG Hongli LIU Hongjian School of Automation Harbin University of Science and TechnologyHarbin 150080China Department of Mathematics Harbin University of Science and TechnologyHarbin 150080China Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and TechnologyHarbin 150080China Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum UniversityDaqing 163318China School of Mathematics-Physics and Finance Anhui Polytechnic UniversityWuhu 241000China

This paper is concerned with the distributed resilient fusion filtering(DRFF)problem for a class of time-varying multi-sensor nonlinear stochastic systems(MNSSs)with random sensor delays(RSDs).The phenomenon of the RSDs is modeled by a set of random variables with certain statistical *** addition,the nonlinear function is handled via Taylor expansion in order to deal with the nonlinear fusion filtering *** aim of the addressed issue is to propose a DRFF scheme for MNSSs such that,for both RSDs and estimator gain perturbations,certain upper bounds of estimation error covariance(EEC)are given and locally minimized at every sample *** the light of the obtained local filters,a new DRFF algorithm is developed via the matrix-weighted fusion ***,a sufficient condition is presented,which can guarantee that the local upper bound of the EEC is ***,a numerical example is provided,which can show the usefulness of the developed DRFF approach.

关键词： Distributed resilient fusion filtering matrix-weighted fusion nonlinear time-varying systems random sensor delays

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Performance Comparison of Lightweight CNN Models for Drone Collision Avoidance Dataset 20

Performance Comparison of Lightweight CNN Models for Drone C...

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20th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2023

作者： Zufar, Rifqi Nabila Banjerdpongchai, David Chulalongkorn University Center of Excellence in Intelligent Control Automation of Process Systems Department of Electrical Engineering Faculty of Engineering 254 Phayathai Road Bangkok Pathumwan10330 Thailand

ISBN: (纸本)9798350310467

Collision Avoidance System (CAS) is important for drone safety. CAS consists of three steps e.g., obstacle sensing, collision prediction, and collision avoidance. Collision prediction enables drones to gain information, process information, and estimate whether the object has a risk of collision. Convolution Neural Network (CNN) is one of the methods that can be employed for collision prediction. However, CNN is a method that needs a large data in the training. Dario Pedro et al. provided a dataset called the CoLANet dataset that consists of VDOs of collision drones. Subsequently, they proposed a new algorithm called Neural Network Pipeline which has a Convolution Neural Network (CNN) part to extract the feature from a couple of images. CNN extracts images by using MobileNetV2 as a pre-trained model. They chose MobileNetV2 due to training performance from another dataset. This paper aims to assess the performance of lightweight CNN models using the CoLANet dataset. The models will be trained on the Keras library with parameters of fewer than ten million. The models will be validated by Confusion Matrix and Receiver Operating Characteristics. In conclusion, we examine which pre-trained CNN model has the best performance and suggest ongoing work. © 2023 IEEE.

关键词： Drones

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Unscented Kalman Filter for State of Charge Estimation of Lithium Titanate Battery 20

Unscented Kalman Filter for State of Charge Estimation of Li...

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20th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2023

作者： Dardchuntuk, Joshua Chun-Ken Banjerdpongchai, David Faculty of Engineering Chulalongkorn University Center of Excellence in Intelligent Control Automation of Process Systems Department of Electrical Engineering Pathumwan 254 Phayathai Road Bangkok10330 Thailand

ISBN: (纸本)9798350310467

An accurate estimation of the state of charge (SoC) of lithium titanate (LTO) batteries is required for their effective operation and management. In this study, we propose an unscented Kalman filter (UKF) approach for estimating the SoC of LTO batteries, which are challenging to assess due to the nonlinear voltage-SoC relationship and aging impact. Our approach uses a state and measurement model based on LTO's electrochemical characteristics and employs sigma points and weights to address nonlinearities. According to the findings of our research, the UKF-based methodology has high accuracy, rapid convergence, and resilience to discharge rate, outperforming or matching the capabilities of existing state-of-the-art approaches. This work provides a novel and effective solution for LTO battery SoC estimation, useful for applications in electric vehicles, energy storage, and smart grid energy systems. © 2023 IEEE.

关键词： Battery management systems

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Selection of the Composition of the Included Generating Equipment Considering the Reliability Factor 6

Selection of the Composition of the Included Generating Equi...

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6th International Scientific Conference on Information, control, and Communication Technologies, ICCT 2022

作者： Andryushin, Alexander V. Neklyudov, Alexey V. Arakelyan, Edik K. Yagupova, Julia Y. Pashchenko, Fedor F. Dolbikova, Nina S. National Research University 'Moscow Power Engineering Institute' Department of Automated Control Systems for Thermal Processes Moscow Russia Laboratory of Intelligent Control and Simulation Systems V.A. Trapeznikov Institute of Control Sciences of Ras Moscow Russia

ISBN: (数字)9781665493673

ISBN: (纸本)9781665493673

At present, ensuring reliability is an integral part of maintaining the high efficiency of operation of electric power equipment. The reliability factor can be considered and considered at different stages of solving the problem of optimizing the operation of equipment for thermal power plants, this article will consider the stage of applying for choosing the composition of the main generating equipment, considering reliability. The method for choosing the composition of the main generating equipment, considering the reliability criterion, is described. A technique for calculating the reliability characteristics of equipment and taking them into account when a power plant enters the market is presented. The optimal distribution of the load and the choice of the composition of the equipment, considering the criterion of reliability, are analyzed using the example of different loads of power units. © 2022 IEEE.

关键词： Reliability

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On the leader-following exponential consensus of discrete-time linear multi-agent systems over jointly connected switching networks

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control Theory and Technology 2023年第3期21卷 469-477页

作者： Tao Liu Jie Huang Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and TechnologyShenzhen 518055GuangdongChina Shenzhen Research Institute The Chinese University of Hong KongShenzhen 518057GuangdongChina Department of Mechanical and Automation Engineering The Chinese University of Hong KongHong KongChina

The leader-following asymptotic consensus problem for general discrete-time linear multi-agent systems over jointly con-nected switching networks was solved about a decade ***,the leader-following exponential consensus was further established using the so-called Krasovskii-LaSalle theorem for a class of discrete-time linear switched *** this method involves some advanced concepts such as the weak zero-state detectability of some limiting *** this paper,we offer a simpler solution to the leader-following exponential consensus problem for general discrete-time linear multi-agent systems over jointly connected switching *** converting the solvability of the problem to the establishment of the exponential stability for a class of discrete-time linear switched systems,we first show that this class of linear switched systems is uniformly completely ***,we further conclude that the uniform complete observability for this class of linear switched systems implies the exponential stability for the same class of linear switched systems,thus leading to the solution of the leader-following exponential consensus ***,our approach also gives rise to an explicit characterization of the exponential convergence rate of the leader-following consensus problem.

关键词： Leader-following consensus Exponential stabilization-Linear switched systems Discrete-time systems

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