A Symbiotic relationship between robots is theoretically developed. It is characterised by sharing sensory information and tightly coordinating operational logic by taking care of each other's needs during mission...
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A Symbiotic relationship between robots is theoretically developed. It is characterised by sharing sensory information and tightly coordinating operational logic by taking care of each other's needs during missions. The system is characterised by an intertwined reasoning system while having separate conditioning and execution of plans to achieve subgoals to support each other. The results are illustrated on strong operational inter-dependence of a rover and a drone through shared logical inference. The drone uses the rover as a landing pad and the rover uses the drone to complements its sensor system by information gathering. There is a GitHub library provided in association with the demonstration for generic use of adding cameras and cooperation logic to a AR. Drone 2.0 and a KUKA youBot system. The benefits of symbiotic relationship are quantitatively evaluated on the demonstration example.
为了应对严峻的环境压力以及化石能源的枯竭危机,能源行业正在世界范围内共同推进能源互联网这一新型能源系统,目标以智能电网为骨架,综合电、气、热等多种能源形式,大幅提升能源系统对可再生能源的消纳能力。能源的需求侧是能源互联网的发展重点,也是新能源消纳灵活性的全新来源,具有巨大的技术发展潜力与市场空间。然而现有的能源信息技术并不能完全适应能源需求侧的运行特点,难以被高效经济地应用于能源互联网的需求侧管控之中,已成为当前能源需求侧技术发展的瓶颈。为了突破这一技术难点,本文提出利用通信领域近年来高速发展的广域低功耗网络(low power wide area network,LPWAN)技术,构造全新的能源物联网,从而为能源互联网需求侧的发展带来了全新的技术突破。LPWAN是一类具有远距离、低功耗、海量接入、低运维成本的通信技术的总称,与Wi-Fi、蓝牙、紫蜂(ZigBee)等局域物联网技术相比真正实现了大区域的低成本覆盖。本文介绍以窄带物联网(narrow band internet of things,NB-IoT)和运程(long range,LoRa)为代表的LPWAN技术,提出基于该技术实现的能源物联网体系架构。最后,本文展望了能源物联网技术驱动下,能源互联网需求侧的典型应用场景。
The problem of state estimation for heat non-homogeneous equations under distributed in space measurements is considered. An interval observer is designed, described by Partial Differential Equations (PDEs), for uncer...
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This paper provides a link between time-domain and frequency-domain stability results in the literature. Specifically, we focus on the comparison between stability results for a feedback interconnection of two nonline...
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The demand on distribution network reconfiguration abilities is increasing. This paper proposes a Finite State Automaton model of a distribution network that deals with topologically safe reconfiguration. Autonomous o...
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The demand on distribution network reconfiguration abilities is increasing. This paper proposes a Finite State Automaton model of a distribution network that deals with topologically safe reconfiguration. Autonomous operation of distribution networks can be designed, analysed and implemented in day-to-day operation with the aid of these automata: through supervisory control. Two approaches to supervisor design are proposed. One for the normal operating mode and the other for the contingency mode. Simple and comprehensive examples illustrate the approaches.
In this paper, we propose an approach for reconstructing Petri net structures from asynchronous observations of token change sequences. In particular, we develop an algorithm that can deal with observations that have ...
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This paper deals with transient stability in interconnected micro-grids. The main contribution involves i) robust classification of transient dynamics for different intervals of the micro-grid parameters (synchronizat...
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Two typical load shaping stabilization methods, stabilization via amplitude compensation (SAC) and stabilization via phase compensation (SPC), are firstly analysed and compared in this paper. It is shown that, though ...
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ISBN:
(纸本)9781467386180
Two typical load shaping stabilization methods, stabilization via amplitude compensation (SAC) and stabilization via phase compensation (SPC), are firstly analysed and compared in this paper. It is shown that, though both SAC and SPC can stabilize the cascaded system, the system utilizing the SAC is unconditionally stable but conditionally stable when utilizing the SPC. Therefore, the cascaded system with SAC is more stable than that with SPC. In addition, considering the SAC can be realized by both the parallel-virtual-impedance (PVI) and series-virtual-impedance (SVI) control strategies, the PVI / SVI control strategies are also compared in this paper. The results shows that, the PVI control strategy has inevitable limitation when realizing the SAC during the whole load and input voltage range of the load converter, however the SVI control strategy does not have limitation. Therefore, compared to the PVI control strategy, the SVI control strategy is more suitable for the SAC. Moreover, in order to stably connect the load converter to different source converters without changing its internal structure, an adaptive SVI control strategy has been further proposed in this paper. Finally, the adaptive SVI strategy has been experimentally verified on an actual 100 W cascaded system.
In this paper, a cascaded control scheme for single-phase inverters connected to a load is proposed to improve the power quality and shape the output impedance. The proposed strategy consists of a proportional control...
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ISBN:
(纸本)9781467386180
In this paper, a cascaded control scheme for single-phase inverters connected to a load is proposed to improve the power quality and shape the output impedance. The proposed strategy consists of a proportional controller in the inner loop and the Uncertainty and Disturbance Estimator (UDE) in the outer loop. An advanced modulation method is adopted to minimize the control implementation delay and both the current and the voltage control loops are analytically investigated. Simulation and experimental results are presented to validate the theory.
Due to problems caused by variable switching frequency a modulated model based predictive control was proposed for different topologies and their applications. However, for cascade H-bridge multilevel converters, ther...
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ISBN:
(纸本)9781509053278
Due to problems caused by variable switching frequency a modulated model based predictive control was proposed for different topologies and their applications. However, for cascade H-bridge multilevel converters, there is another problem, the imbalance in the dc-link voltages. This paper proposes extend the modulated model based predictive control to a cascade H-bridge 7-level STATCOM, further including a switcher of redundant states to solve the imbalance voltage issue. Simulation results show improvements in terms of mean squared error, total harmonic distortion and balance voltages in the dc-links.
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