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arXiv 2023年

作者： Li, Zhi Xin, Jinghao Li, Ning Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

Deep reinforcement learning (DRL) has been widely applied in autonomous exploration and mapping tasks, but often struggles with the challenges of sampling efficiency, poor adaptability to unknown map sizes, and slow simulation speed. To speed up convergence, we combine curriculum learning (CL) with DRL, and first propose a Cumulative Curriculum Reinforcement Learning (CCRL) training framework to alleviate the issue of catastrophic forgetting faced by general CL. Besides, we present a novel state representation, which considers a local egocentric map and a global exploration map resized to the fixed dimension, so as to flexibly adapt to environments with various sizes and shapes. Additionally, for facilitating the fast training of DRL models, we develop a lightweight grid-based simulator, which can substantially accelerate simulation compared to popular robot simulation platforms such as Gazebo. Based on the customized simulator, comprehensive experiments have been conducted, and the results show that the CCRL framework not only mitigates the catastrophic forgetting problem, but also improves the sample efficiency and generalization of DRL models, compared to general CL as well as without a curriculum. Our code is available at https://***/BeamanLi/CCRL_Exploration. Copyright © 2023, The Authors. All rights reserved.

关键词： Reinforcement learning

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Resource Scheduling Base on Bayesian Cramer-Rao Lower Bound for Multi-Target Tracking in Netted Colocated MIMO Radar systems

Resource Scheduling Base on Bayesian Cramer-Rao Lower Bound ...

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第40届中国控制会议

作者： Sijian Liao Zhihong Peng Junqi Cai School of Automation Beijing Institute of Technology China State Key Laboratory of Intelligent Control and Decision of Complex System

In this paper, an effective joint beam selection and power allocation（JBSPA） method is proposed to solve the online resource scheduling problem for multi-target tracking in distributed MIMO radar system. Overall target tracking performance can be improved by optimizing radar system beam selection and power allocation, since each MIMO radar can generate a timevarying beam, and adjust the quality of the observed signal by controlling the transmit power of each beam. In our method the feedback information of the target tracking period is used to complete the optimal radar-targets assignment and power allocation,the objective function is formulated based on the Bayesian Cramér-Rao lower bound, as the formulated JBSPA problem is nonconvex, a three steps solution method based on reward matrix is proposed to solve it effectively. Numerical results show that the proposed JBSPA method can deliver better performance than the competitors in overall MTT performance.

关键词： Resource Scheduling BCRLB Target Tracking Power Allocation MIMO Radar systems

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Probablistic Stability Analysis of Power system with Random Delay Based on Series Theory

Probablistic Stability Analysis of Power System with Random ...

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2020 IEEE Sustainable Power and Energy Conference, iSPEC 2020

作者： Shuqun, Gao Key Laboratory of Power System Intelligent Dispatch and Control Shandong University Ministry of Education Jinan China

ISBN: (纸本)9781728191645

Time delay is inevitably introduced into the power system in wide-area measurement, which is random and undeterminable in nature. This paper proposes a novel method of probabilistic stability analysis of power system with random time delay, aiming at the eigenvalue analysis of power system with random time delay. Firstly, the model of power system with time delay is established and the original eigenvalue calculation method is improved. Secondly, the Gram-Charlier series theory and Cornish-Fisher series theory are introduced, and the two random eigenvalue analysis methods based on series theories are respectively proposed, and the probability of small signal stability of random time-delay power system is obtained. The results of the 16-machine 68-node test system prove the effectiveness of proposed methods. © 2020 IEEE.

关键词： Geodesy

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Disturbance Waveform Detection Technology Based on Probability Density of Remaining Data 5

Disturbance Waveform Detection Technology Based on Probabili...

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5th International Conference on Power and Renewable Energy, ICPRE 2020

作者： Jiang, Shan Liang, Jiabi Zhu, Ke Shandong University Key Laboratory of Power System Intelligent Dispatch and Control Ministry of Education Jinan China

ISBN: (纸本)9781728190266

With the increasing application of disturbance waveform data, a general disturbance detection technology faced with various transient waveforms has practical significance for simplifying the detection process of specific disturbances and improving the accuracy of the specific disturbance detection. To this end, a detection algorithm for transient disturbance waveforms based on the probability density of remaining data is proposed in this paper. Firstly, the method of obtaining the remaining waveform data and its probability density is presented. Then, the probability distribution law of noise in power waveform data is studied based on the field measured data. Finally, according to the probability density difference of the remaining waveform data in adjacent periods, a transient waveform detection algorithm based on Wasserstein distance between probability densities is established. The threshold is determined by the box plot. A large amount of field measured data verifies the effectiveness of the proposed disturbance detection algorithm. © 2020 IEEE.

关键词： Probability density function

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Event-driven fast frequency response for large active power disturbances 4

Event-driven fast frequency response for large active power ...

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4th IEEE Conference on Energy Internet and Energy system Integration, EI2 2020

作者： Cao, Yongji Zhang, Hengxu Li, Changgang Sun, Leshu Guo, Qi Zhu, Yihua Shandong University Key Laboratory of Power System Intelligent Dispatch and Control of the Ministry of Education Jinan China

ISBN: (纸本)9781728196060

With the rapid development of renewable energy sources, the equivalent inertia of power systems is decreasing, which leads to more drastic dynamic frequency response. This paper proposes an event-driven fast frequency response (EFFR) approach to counter frequency decline after large power disturbances. Based on the data from the wide area measurement systems, a centralized control framework is established to perform the EFFR. Then, the reference power for EFFR can be determined promptly via monitoring active power deficits. Considering the control costs and power reserves, a utility index is created to quantify the priority of each unit to participate in EFFR, on which the reference power is distributed. Furthermore, a recovery strategy is designed to restore the normal operation states of units when the power system enters the quasi-steady state. According to a droop slope, units exit the EFFR mode in sequence, of which the distributed reference power decreases gradually. A case study is presented to validate the feasibility and effectiveness of the proposed approach. © 2020 IEEE.

关键词： Frequency response

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Research on Harmonic Overvoltage Suppression Technology of Single-core Cable Shielding Layer

Research on Harmonic Overvoltage Suppression Technology of S...

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2020 IEEE/IAS Industrial and Commercial Power system Asia, I and CPS Asia 2020

作者： Chen, Tao Wu, Shouyuan Zhu, Ke Key Laboratory of Power System Intelligent Dispatch Control of Ministry of Education Shandong University Jinan China

ISBN: (数字)9781728143033

ISBN: (纸本)9781728143033

Traditional shielding layer protector of single-core cable can only suppress lightning and fault overvoltage, and can not solve the induced overvoltage and harmonic overvoltage caused by harmonics. When a discharge damping technology for shielding layer of single-core cable is proposed. Firstly, establish the coupling model of shielding layer by analyzing the mechanism of shielding layer induced voltage;then, study the induced overvoltage and resonance overvoltage caused by harmonics based on the model;furthermore, a technical scheme of reducing the overvoltage caused by harmonics by grounding the cable shielding layer through discharge capacitance and damping resistance in series is proposed;finally, give the method of choosing parameters of discharge capacitance and damping resistance. Theoretical results and simulated analysis confirm effectiveness of this method. © 2020 IEEE.

关键词： Cables

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Efficient Multi-Robot Coverage of an Unknown Environment

Efficient Multi-Robot Coverage of an Unknown Environment

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第40届中国控制会议

作者： Zihao Chen Zhihong Peng Lei Jiao Yuanyuan Gui School of Automation Beijing Institute of Technology China State Key Laboratory of Intelligent Control and Decision of Complex System

This paper discusses the complete area coverage of multi-robots in unknown environments. Finding the optimal solution for the problem of area coverage with multiple robots has been proven to be NP-hard. This paper proposes the Multiagent Node Backtracking Area Coverage（MANBAC） algorithm, which uses improved BCD local area coverage method, and the node backtracking method that is based on the A* algorithm to achieve complete coverage of the entire unknown *** with the area coverage of a single robot, use multi robots can greatly improve the efficiency of area *** with the existing coverage algorithms in known area, this study can be applied to a wider range of area scenarios which are not known.

关键词： Area coverage Unknow environment Multirobot

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Topology Estimation of Power Distribution Grids Using Graphical Model

Topology Estimation of Power Distribution Grids Using Graphi...

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2020 IEEE/IAS Industrial and Commercial Power system Asia, I and CPS Asia 2020

作者： Deng, Chonghong Chu, Xiaodong Shandong University Key Laboratory of Power System Intelligent Dispatch and Control of the Ministry of Education Jinan China

ISBN: (纸本)9781728143033

Distribution networks represent the final tier in electric networks consisting of medium and low voltages lines that connect the distribution substations to the loads. Traditionally, distribution networks have been operated in a radial topology, with access to a lot of distributed renewable energy, the topology of distribution networks changes very frequently. Power distribution networks suffer from a lack of real-time observability, estimation of the topology is a critical problem for its observability and control. In this paper, a new method based on graphical is proposed, which uses the voltage measurements collected from the grid to estimate the topology of radical networks. The learning method is based on Euclidean distance and minimum spanning tree Kruskal algorithm. The performance of the method is verified by simulation of a distributed test case. © 2020 IEEE.

关键词： Graphic methods

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Aggregated Power Flexibility of Active Distribution Network Considering Reliability and Uncertainty

Aggregated Power Flexibility of Active Distribution Network ...

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2020 IEEE/IAS Industrial and Commercial Power system Asia, I and CPS Asia 2020

作者： Song, Yichen Wang, Mingqiang Wang, Mengxia Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Shandong University Jinan China

ISBN: (纸本)9781728143033

With the emergence of more and more distributed energy sources (DERs) in distribution network, the traditional distribution network is changing from passive to active, and it is expected to be capable of providing flexibility for transmission system. To effectively quantify the aggregated power flexibility of active distribution network (ADN) provided to upstream gird, the situation inside ADN must be respected. This paper proposes two aggregated power flexibility quantification models considering the uncertainties of DERs and load, and the reliability in ADN. The uncertainties are modelled by distributions and the system reliability is guaranteed by the expected energy not supplied (EENS) constraint. The optimization is solved by mixed integer linear programming (MILP). The performance of the proposed method is tested on the modified IEEE 33-bus distribution system. © 2020 IEEE.

关键词： Integer programming

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Security Assessment of Interdependent Electricity-Gas Networks

Security Assessment of Interdependent Electricity-Gas Networ...

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2020 IEEE Sustainable Power and Energy Conference, iSPEC 2020

作者： Wei, Tongxin Chu, Xiaodong Liu, Yutian Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Shandong University Jinan China

ISBN: (纸本)9781728191645

Integrated energy networks are superb energy system configurations. There emerges many types of integrated energy networks, in which interdependent electricity-gas networks are commonly implemented ones. Security assessment the integrated energy network is a vital research topic, which is studied in this paper. First, the models of interdependent electricity-gas networks are shown with the coupling mechanism analyzed. Second, security assessment of the interdependent networks is implemented, in which the loss of load is selected as the indicator weighing security. Third, security assessment on the test electricity-gas networks is conducted. Simulation results demonstrate the effectiveness of the proposed security assessment strategy. © 2020 IEEE.

关键词： Network security

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