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SICE Annual Conference

作者： Yusuke Igarashi Masaki Yamakita Department of Control and Systems Engineering Tokyo Institute of Technology Tokyo Japan Department of System and Control Engineering Tokyo Institute of Technology Tokyo Japan

In this paper, we consider a bike robot model using a balancer with a flywheel which performs a wheelie movement and quick turn. By rotating a flywheel balancer back and forth, it is possible to stabilize the bike robot. Also, by swinging the balancer forward, the wheelie motion can be generated, and by performing the wheelie action, the constraint between the front wheel and the ground disappears, and a sudden turning operation is possible with the rear wheel as a joint. We construct a control system using nonlinear model predictive control, C / GMRES method, in which discontinuities of the state variables are considered. The feasibility of direction change using the wheelie motion is verified by a numerical simulation.

关键词： Bike robot Nonlinear model predictive control C / GMRES method

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Cooperative Lane Change Motion Planning of Connected and Automated Vehicles: A Stepwise Computational Framework

Cooperative Lane Change Motion Planning of Connected and Aut...

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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Zhang, Youmin Li, Bai Zhang, Yue Jia, Ning Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'An University of Technology Xi'an710048 China Division of Systems Engineering Center for Information and Systems Engineering Boston University Boston United States Department of Mechanical Industrial and Aerospace Engineering Concordia Institute of Aerospace Design and Innovation Concordia University Montreal Canada Institute of Systems Engineering Tianjin University Tianjin China

ISBN: (纸本)9781538644522

This paper focuses on the scheme of cooperative lane change motion planning of multiple connected and automated vehicles, so as to minimize the time for lane change while penalizing large steering angles subject to hard collision avoidance constraints. Nominally this scheme should be formulated in a centralized way with the constraints of all the vehicles considered simultaneously. In order to facilitate the numerical solving process of this centralized optimization problem, we propose a stepwise computation framework. Starting with a sub-problem with all of the collision avoidance constraints removed, a sequence of sub-problems are defined by adding back the removed collision avoidance constraints gradually until the original problem takes shape in the end. The optimum of one sub-problem is always used as the initial guess when solving the next sub-problem. This iterative process continues until the optimum of the original problem is obtained. In this way, the difficulties in the original centralized problem are divided into multiple parts, and every progress made to address the partial difficulties is 'solidified' by the initial guess. © 2018 IEEE.

关键词： Collision avoidance

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Automatic Cell Assembly by Two-fingered Microhand

Automatic Cell Assembly by Two-fingered Microhand

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2019 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Junnan Chen Xiaoming Liu Shengnan Dong Pengyun Li Xiaoqing Tang Dan Liu Masaru Kojima Qiang Huang Tatsuo Arai Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing CHINA Department of Systems Innovation Graduate school of Engineering Science Osaka University Toyonaka Osaka Japan Global Alliance Lab The University of Electro-Communications Tokyo Japan

We have successfully achieved manipulation and assembly of microbeads having the size of 100μm diameter by hemispherical end-effectors with high stability and accuracy. The motivation of achieving assembly of actual cells lies in the great significance of it in tissue regeneration and cell analysis. Firstly, the most difficult problem we need to solve is the releasing problem caused by adhesion force. The viscosity on cell surface is much larger than the microbeads which makes cell releasing challenging. Secondly, the cell can generate its deformation, then contact area with end-effector will change during grasping process. This may influence the adhesion force and also bring problem to releasing. Thirdly, cell is much smaller, around 15μm in diameter, so we need to fabricate smaller end-effector to achieve successful manipulation and ensure the stability in the meantime. In this paper, we realize the manipulation by decreasing the adhesion forces and apply vibration to release a cell stably. We found the appropriate scale size for the end-effector is around 10μm diameter. It can not only grasp a 15μm cell but also bring little interference to the environment. As a demonstration of the proposed manipulation method, the repeated experiments were conducted to explore the dependence of adhesion force on the grasping distance, which can be helpful in the improvement of successful rate. Finally, we achieved automatic cell assembly using Hela cells.

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ANALYSIS OF FATIGUE LIFE LOSS OF DRIVETRAIN OF DOUBLY-FED WIND TURBINES UNDER SHORT-CIRCUIT FAULT OF POWER GRID

ANALYSIS OF FATIGUE LIFE LOSS OF DRIVETRAIN OF DOUBLY-FED WI...

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International Conference on Renewable Power Generation

作者： Qiu Shilong Li Hui Gong Lijiao Wang Bin Chai Zhaoseng Wu You Department of Mechanical and Electrical Engineering Shihezi University Shihezi China State Key Laboratory of Power Drivetrain Equipment and System Security Chongqing University Chongqing China State Key Lab of Control and Simulation of Power Systems and Generation Equipments (Department of Electrical Engineering) Tsinghua University Haidian District Beijing China State Key Laboratory of Power Drivetrain Equipment and System Security Chongqing University Chongqing China

ISBN: (数字)9781839531248

ISBN: (纸本)9781839531255

The shafting drivetrain of the doubly fed wind turbine is the part with the highest failure rate. The electromagnetic torque fluctuation caused by the grid fault easily results in the torsional vibration fatigue loss of the shaft. Accordingly, the influences of drivetrain fatigue life loss under different grid faults require investigation. Firstly, the four-mass model of the drivetrain is constructed on the basis of MATLAB/Simulink. Secondly, the electromagnetic torque response under short-circuit fault of the grid is obtained via model simulation. Finally, the effects of different types of grid faults on the fatigue life of the drivetrain are analysed through Mlife. Results show that the electromagnetic torque fluctuation load generated by grid fault has no apparent influence on the fatigue life of the drivetrain in the short term, but the cumulative effect of short-term damage will aggravate the fatigue life loss of the drivetrain and increase the failure risk of the component. The electromagnetic torque generated by the three-phase symmetrical short-circuit is the most violent and has the maximum effect on the fatigue life of the drivetrain.

关键词： WIND TURBINE SHORT-CIRCUIT FAULT TORSIONAL VIBRATION FATIGUE LIFE DRIVETRAIN

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control of Nonlinear Constrained Ultra-Supercritical Boiler–Turbine Units Using Offset-Free Output-Feedback Stable MPC

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IFAC-PapersOnLine 2018年第28期51卷 155-160页

作者： Chen, Chen Pan, Lei Shen, Jiong Lee, Kwang Y. Zhang, Fan Sun, Li Wu, Xiao Zhang, Junli Xue, Wenchao Key Laboratory of Energy Thermal Conversion and Control of Ministry of Education Southeast University Nanjing210096 China Department of Electrical and Computer Engineering Baylor University One Bear Place #97356 WacoTX76798-7356 United States State Key Lab of Power System Department of Energy and Power Engineering Tsinghua University Beijing100084 China Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing China

It is extremely challenging to control ultra-supercritical boiler–turbine unit on account of its nonlinearity, coupling among multi-variables, hard input constraints, and unknown disturbances. An offset-free output-feedback stable model predictive control (MPC) (OFOF-SMPC) for nonlinear constrained ultra-supercritical boiler-turbine units is investigated. It is shown that the OFOF-SMPC is composed of a disturbance and state observer, a steady-state target calculator as well as a stable MPC, which can remove unknown disturbances from output channels and ensure the stability of the closed-loop system with input constraints. Simulation results demonstrate the effectiveness of the proposed algorithm. © 2018

关键词： Feedback

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Test and analysis of dynamic characteristics of some aviation turbine cooler's rotor system

Test and analysis of dynamic characteristics of some aviatio...

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CSAA/IET International Conference on Aircraft Utility systems (AUS 2018)

作者： Lu Yuliang Department of Aviation environmental control system Nanjing Engineering Institute of Aircraft Systems AVIC NanJing China

ISBN: (纸本)9781510872745

This paper takes a type of aviation turbine cooler as the research object, and An aviation turbine cooler running state monitoring system covering all the operating conditions is established. The test system provides the product's vibration magnitude under different operating conditions by means of an acceleration sensor sticking to the product, then it can determine the health status of the product in operation by monitoring the spectral acceleration value. The critical speed of the rotor system of the aviation turbine cooler can be obtained accurately through the test system. According to the test results, the finite element mode of turbine cooler's rotor will be modified, to ensure that the FEM-calculated values are in good agreement with the test-measured values.

关键词： Rotator unbalance Critical speed Gyroscopic effect Bearing stiffness

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The relationship between rising temperatures and malaria incidence in Hainan, China, from 1984 to 2010: a longitudinal cohort study

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The Lancet Planetary Health 2022年第4期6卷 e350-e358页

作者： Wang, Zengmiao Liu, Yonghong Li, Yapin Wang, Guangze Lourenço, José Kraemer, Moritz He, Qixin Cazelles, Bernard Li, Yidan Wang, Ruixue Gao, Dongqi Li, Yuchun Song, Wenjing Sun, Dingwei Dong, Lu Pybus, Oliver G Stenseth, Nils Chr Tian, Huaiyu State Key Laboratory of Remote Sensing Science Center for Global Change and Public Health College of Global Change and Earth System Science Beijing Normal University Beijing China Ministry of Education Key Laboratory for Biodiversity and Ecological Engineering College of Life Sciences Beijing Normal University Beijing China School of National Security and Emergency Management Beijing Normal University Beijing China Central Theater Center for Disease Control and Prevention of PLA Beijing China Hainan Center for Disease Control and Prevention Haikou China Department of Zoology University of Oxford UK Oxford United Kingdom Harvard Medical School Harvard University Boston MA United States Boston Children's Hospital Boston MA United States Department of Ecology and Evolution University of Chicago Chicago IL United States Institut de Biologie de l’École Normale Supérieure Unité Mixte de Recherche 8197 Centre National de la Recherche Scientifique et École Normale Supérieure Paris France Unité Mixte Internationnale 209 Mathematical and Computational Modeling of Complex Systems Institut de Recherche pour le Développement et Sorbonne Université Bondy France Centre for Ecological and Evolutionary Synthesis Department of Biosciences University of Oslo Oslo Norway Biosystems and Integrative Sciences Institute University of Lisbon Lisbon Portugal Department of Pathobiology and Population Science The Royal Veterinary College UK London United Kingdom

Background: The influence of rising global temperatures on malaria dynamics and distribution remains controversial, especially in central highland regions. We aimed to address this subject by studying the spatiotemporal heterogeneity of malaria and the effect of climate change on malaria transmission over 27 years in Hainan, an island province in China. Methods: For this longitudinal cohort study, we used a decades-long dataset of malaria incidence reports from Hainan, China, to investigate the pattern of malaria transmission in Hainan relative to temperature and the incidence at increasing altitudes. Climatic data were obtained from the local meteorological stations in Hainan during 1984–2010 and the WorldClim dataset. A temperature-dependent R₀ model and negative binomial generalised linear model were used to decipher the relationship between climate factors and malaria incidence in the tropical region. Findings: Over the past few decades, the annual peak incidence has appeared earlier in the central highland regions but later in low-altitude regions in Hainan, China. Results from the temperature-dependent model showed that these long-term changes of incidence peak timing are linked to rising temperatures (of about 1·5°C). Further, a 1°C increase corresponds to a change in cases of malaria from –5·6% (95% CI –4·5 to –6·6) to –9·2% (95% CI –7·6 to –10·9) from the northern plain regions to the central highland regions during the rainy season. In the dry season, the change in cases would be 4·6% (95% CI 3·7 to 5·5) to 11·9% (95% CI 9·8 to 14·2) from low-altitude areas to high-altitude areas. Interpretation: Our study empirically supports the idea that increasing temperatures can generate opposing effects on malaria dynamics for lowland and highland regions. This should be further investigated and incorporated into future modelling, disease burden calculations, and malaria control, with attention for central highland regions under climate change. Funding: S

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Increased terrestrial ecosystem carbon storage associated with global utility-scale photovoltaic installation

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Nature Geoscience 2025年 1-8页

作者： Qingrui Wang Lintao Shao Xinyi Tang Qing Yang Kai Wang Shuchang Tang Ondřej Mašek Gesa Meyer Jan Kleissl Liwei Zhang Mudan Wang Weisheng Wang Stephen Sitch State Key Laboratory of Coal Combustion Huazhong University of Science and Technology Wuhan China Department of New Energy Science and Engineering School of Energy and Power Engineering Huazhong University of Science and Technology Wuhan China China-EU Institute for Clean and Renewable Energy Huazhong University of Science and Technology Wuhan China John A. Paulson School of Engineering and Applied Sciences Harvard University Cambridge MA USA Institute of Carbon Neutrality Sino-French Institute for Earth System Science College of Urban and Environmental Sciences Peking University Beijing China UK Biochar Research Centre School of GeoSciences University of Edinburgh Edinburgh UK Climate Research Division Environment and Climate Change Canada Victoria British Columbia Canada Department of Mechanical and Aerospace Engineering and Center for Energy Research University of California San Diego CA USA State Key Laboratory of Estuarine and Coastal Research East China Normal University Shanghai China Research Institute for Eco-civilization Chinese Academy of Social Sciences Beijing China State Key Laboratory of the Operation and Control of Renewable Energy and Storage Systems China Electric Power Research Institute Beijing China Faculty of Environment Science and Economy University of Exeter Exeter UK

Utility-scale photovoltaic (USPV) stands out as one of the foremost renewable energy technologies crucial for achieving global climate targets, owing to its low carbon footprint. While individual case studies exist, a comprehensive global analysis of the impacts of USPV deployment on land-cover changes and subsequent carbon pool dynamics across diverse ecosystems remains lacking. Here we show that worldwide deployment of USPV plants between 2000 and 2018 would increase the carbon pool of the hosting ecosystem by a total of 2.1 TgC over their lifespans, as revealed by the ensemble mean of multiple datasets. Although the carbon pool changes associated with global USPV deployment currently contribute approximately\({15.9}_{-5.8}^{+1.0}\%\)(\({{{\mathrm{ensemble}}\; {\mathrm{mean}}}}_{-{{\mathrm{difference}}\; {\mathrm{to}}\; {\mathrm{percentile}}}\,25}^{+{{\mathrm{difference}}\; {\mathrm{to}}\; {\mathrm{percentile}}}\,75}\)) (or an average absolute carbon footprint of approximately\({10.5}_{-3.8}^{+0.5}\,{\mathrm{g}}\)CO2-equivalent per kilowatt-hour) of the carbon footprint of USPV plants, this share is projected to increase by around 7-fold by 2050, driven primarily by decreasing photovoltaic manufacturing emissions. Notably, optimizing land management strategies can potentially enhance carbon density in the hosting ecosystem of existing USPV plants by approximately\({3.0}_{-0.4}^{+3.7}\,{\mathrm{kgC}}\,{\mathrm{m}}^{-2}\), thereby facilitating an average reduction of\({4.3}_{-0.2}^{+9.3}\%\)in the carbon footprint of these USPV plants.

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Near-Optimal Online Motion Planning of Connected and Automated Vehicles at a Signal-Free and Lane-Free Intersection

Near-Optimal Online Motion Planning of Connected and Automat...

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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Li, Bai Zhang, Youmin Zhang, Yue Jia, Ning Ge, Yuming Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'An University of Technology Xi'an710048 China College of Control Science and Engineering Zhejiang University Hangzhou310027 China Department of Mechanical Industrial and Aerospace Engineering Concordia Institute of Aerospace Design and Innovation Concordia University Montreal Canada Division of Systems Engineering Center for Information and Systems Engineering Boston University BostonMA02215 United States Institute of Systems Engineering Tianjin University Tianjin300072 China China Academy of Information and Communications Technology Beijing100191 China

ISBN: (纸本)9781538644522

In this paper, we propose a cooperative motion planning method for a group of connected and automated vehicles (CAVs) crossing a lane-free intersection without using explicit traffic signaling. This multi-vehicle motion planning task is formulated as a centralized optimal control problem. However, the solution to this optimal control problem is numerically intractable due to the high dimensionality of the collision-avoidance constraints and the nonlinearity of the vehicle kinematics. A two-stage strategy is proposed for generating online solutions: at Stage 1, the CAVs are requested to reach a standard formation before entering the intersection;at Stage 2, the vehicles cross the intersection. As the motion planning sub-problem at Stage 2 begins with a standard configuration, the optimal solution to this standard sub-problem can be computed offline in advance and applied online directly. On the other hand, the formation reconfiguration sub-problem at Stage 1 is easy to solve online. Through dividing the entire dynamic process into two periods, the difficulties in the original optimal control problem are significantly reduced so that the real-time performance is achieved. © 2018 IEEE.

关键词： Motion planning

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Modeling of Decentralized Combined control system for 2-DOF Manipulator with Input Constraints

Modeling of Decentralized Combined Control System for 2-DOF ...

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International Conference on Industrial engineering, Applications and Manufacturing (ICIEAM)

作者： Eugenie L. Eremin Evgeniy A. Shelenok Information and Control Systems Department Amur State University Blagoveshchensk Russia Automation and System Engineering Department Pacific National University Khabarovsk Russia

ISBN: (纸本)9781538643082

The article deals with the problem of research of the different operating modes of the decentralized control system for two degrees of a freedom robotic manipulator which have input saturations. With the help of numerical experiments, a sufficiently high quality of the control system operation under various periodic modes of the manipulator operation is illustrated.

关键词： control systems Manipulator dynamics Numerical models Industrial engineering Manufacturing

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