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Advanced Electrical and Energy Systems (AEES), International Conference on

作者： Na Wang Yueyang Dong Xiaofei Zhen Ruonan Jiao Haoran Fu Yuying Chen School of Mechatronic Engineering Lanzhou Jiaotong University Lanzhou China School of New Energy and Power Engineering Lanzhou Jiaotong University Lanzhou China Faculty of Engineering Computer and Mathematical Sciences The University of Adelaide Adelaide Australia Academy of Electrical and Automation Engineering Shandong University of Science and Technology Qingdao China

ISBN: (数字)9798331517724

ISBN: (纸本)9798331517731

Pilot-operated solenoid valves have the advantage of fast response times and can meet high pressure and large diameter requirements through their structural characteristics, making them widely used in various fields. The pilot-operated solenoid valve discussed in this article is applied in a new energy system a sewage treatment system based on solar photovoltaic and solar thermal technology. The pilot-operated solenoid valve designed in this paper controls the flow rate and velocity of the sewage. This article uses Fluent to calculate the flow coefficient of pilot-type solenoid valves at various openings, exploring the flow characteristics of these valves. Based on computational fluid dynamics, simulations of the cavitation flow field were performed for pilot-type solenoid valve models at different openings, resulting in pressure contour plots and liquid velocity vector diagrams within the pilot valve. The study investigated the effects of the valve opening and the pressure difference at the inlet and outlet on the cavitation conditions within the valve. This provides a foundation for subsequent analysis of the vibration characteristics and structural optimization of solenoid pilot valves. The results indicate that negative pressure occurs within the solenoid pilot valve at all openings, leading to cavitation phenomena. When the opening is greater than or equal to 0.5, significant negative pressure appears near the valve port of the valve sleeve, with more pronounced cavitation phenomena, which can easily lead to cavitation bubbles and deformation.

关键词： Vibrations Analytical models Deformation Computational modeling Valves Vectors Time factors Solenoids Wastewater treatment Optimization

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Energy-based Swing-up Control with Parameter Optimization for a Rings Gymnastic Robot

Energy-based Swing-up Control with Parameter Optimization fo...

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Chinese automation Congress (CAC)

作者： Jiangyong Hu Xin Xin Yuhang Yan Zhiyu Peng Yannian Liu School of Automation Southeast University Nanjing China Faculty of Computer Science and Systems Engineering Okayama Prefectural University Okayama Japan

In this paper, we study a ring gymnastic robot, which is a planar robot with three links moving in the vertical plane with only the last joint activated. First, we use the energy-based strategy to study the swing-up control task of the rings gymnastic robot, and obtain the sufficient and necessary condition for non-existence of singularities in the energy-based controller. Second, we derive the invariant set approached by the closed-loop system. Third, we propose an optimization algorithm to obtain the parameters of the energy-based controller to swing up the rings gymnastic robot into a close neighbourhood of a desired equilibrium point. Fourth, we check on the feasibility of the devised controller and parameter optimization algorithm through simulation.

关键词： automation Numerical models Closed loop systems Task analysis Robots Optimization

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Swing-Down Control of a Rings Gymnastic Robot

Swing-Down Control of a Rings Gymnastic Robot

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Chinese automation Congress (CAC)

作者： Zhijie Jin Xin Xin Zhiyu Peng Yannian Liu School of Automation Southeast University Nanjing China Faculty of Computer Science and Systems Engineering Okayama Prefectural University Okayama Japan

In this paper, we study the swing-down control of a rings gymnastic robot, which is a 3-link planar robot moving in a vertical plane with only the last joint being actuated. The control objective is to swing the rings gymnastic robot from the DUU (Down–Up–Up) equilibrium point to the DDD (Down–Down– Down) equilibrium point and stabilize it around the latter. We present an SD (sinusoidal-derivative) controller, which is linear feedback of sinusoidal function of the angle of the actuated joint and linear feedback of its angular velocity. We analyze globally the motion of the rings gymnastic robot under the proposed controller, and provide a sufficient condition for achieving the control goal. We study how to find control gains to achieve an exerllent control performance, and verify the effectiveness of the proposed control via simulation.

关键词： Sufficient conditions automation Stability analysis Angular velocity Robots

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Balance Control for a Class of Underactuated Systems via Compensation Signals

Balance Control for a Class of Underactuated Systems via Com...

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Chinese automation Congress (CAC)

作者： Yue Li Xin Xin Yuhang Yan School of Automation Southeast University Nanjing China Faculty of Computer Science and Systems Engineering Okayama Prefectural University Okayama Japan

As a typical underactuated experimental platform for robotics and control theory, the rotary inverted pendulum (RIP) system is nonlinear, multi-variable, and strongly coupled. We study the swing-up and balance control for the RIP system with system uncertainty. The classical energy-based swing-up control without compensation for the uncertainty and the signal compensation-based balance control are adopted. In the balance control, from the linearized state-space model near the upright equilibrium point (UEP) and the estimated discrete-time model, a signal compensation-based balance control is constructed to eliminate and suppress the system uncertainty. Simulation results verify the effectiveness of the controllers.

关键词： Uncertainty automation Simulation Control systems State-space methods Control theory Robots

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Trajectory Planning and Tracking Control for the Pendubot

Trajectory Planning and Tracking Control for the Pendubot

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Chinese automation Congress (CAC)

作者： Bin Xu Xin Xin Yuhang Yan Yannian Liu School of Automation Southeast University Nanjing China Faculty of Computer Science and Systems Engineering Okayama Prefectural University Okayama Japan

In this paper, we study the trajectory planning and tracking control for the Pendubot, which is a two-link robot has a single actuator at the base joint of the first link. We realize a fast swing-down control under the sinusoidal-derivative (SD) controller which introduces a damper and spring, and obtain a desired trajectory of the state and the control input by using the swing-down controller and the time-reversal method. To track such a trajectory, we derive the linearized time-varying model of the Pendubot around the trajectory, and design a linear state feedback control along with a feedforward term determined by the trajectory of the control input. We study several obtained trajectories and focus on two issues: 1) the linear controllability of the corresponding linearized time-varying model for each trajectory; 2) the sufficient condition in the literature for checking the stability of the tracking control of the linearized time-varying model. Through our numerical investigation, we find that we have to choose appropriate control gains of the SD controller to guarantee the linear controllability, and that the sufficient condition is difficult to be satisfied.

关键词： Sufficient conditions State feedback Trajectory planning Trajectory tracking Controllability Stability analysis Trajectory

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Strong stabilization of two-link underactuated planar robots

Strong stabilization of two-link underactuated planar robots

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Chinese automation Congress (CAC)

作者： Ziyu Wang Xin Xin Yannian Liu School of Automation Southeast University Nanjing China Faculty of Computer Science and Systems Engineering Okayama Prefectural University Okayama Janpan

Strong stabilization refers to designing stable feedback controllers that stabilize a given plant. The second-order stable stabilizing controller design of two-link underactuated planar robots around their UEP (Upright Equilibrium Point) is concerned in this paper. The proposed method can obtain explicit transfer function of the controller by solving a set of inequalities, which is relatively more concise and the final set of stable controllers is larger than the existing results. Simulation results of both the Acrobot and the Pendubot are presented to verify the effectiveness and robustness of proposed stabilizing controllers.

关键词： automation Simulation Transfer functions Robustness Adaptive control Robots

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Integrating FACTS technologies into renewable energy systems: potential and challenges

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International Journal of Ambient Energy 2024年第1期45卷

作者： Nazir, Muhammad Shahzad Ullah, Hayat Larik, Nauman Ali Chu, Zhang Tian, Peng Sohail, Hafiz M. Raute, Reiko Faculty of Automation Huaiyin Institute of Technology Huai’an China Gina Cody School of Engineering and Computer Science Concordia University Montreal Canada Concordia University Montreal Canada School of Electrical Power South China University of Technology Guangzhou China School of Economics and Management South China Normal University Guangzhou China Department of Electrical Engineering Faculty of Engineering University of Malta Msida Malta

The proliferation of renewable energy systems into smart grids is becoming increasingly vital as the globe continues to shift toward sustainable energy sources. However, renewable energy’s intermittent nature can cause power quality complications such as voltage swings and frequency irregularities. Interestingly, FACTS technologies can provide improved control facilities for power flow and voltage regulation. The global FACTS market worthed $1.18 billion in 2020 and is predicted to be $1.91 billion by 2026, expanding at 7.5%. This study entertains FACTS technologies and their integration into renewable energy systems. This study deliberates the function of several FACTS devices, including Static Var Compensators, Static Synchronous Compensators, and Unified Power Flow Controllers, in enhancing power quality. The study also expanded to the problems and opportunities that come with integrating FACTS technologies into renewable energy systems. This study offers the current state of FACTS technologies and their prospective applications for improving power quality integrated renewable energy systems issues. The review will be an interesting useful source for industry and academia researchers in power systems and renewable energy. © 2024 Informa UK Limited, trading as Taylor & Francis Group.

关键词： FACTS technologies power quality green energy utilisation clean energy smart grid renewable energy sources

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A Soft Micro-Robotic Catheter for Aneurysm Treatment: A Novel Design and Enhanced Euler-Bernoulli Model with Cross-Section Optimization

A Soft Micro-Robotic Catheter for Aneurysm Treatment: A Nove...

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IEEE International Conference on Robotics and automation (ICRA)

作者： Emanuele Nicotra Chi Cong Nguyen James Davies Phuoc Thien Phan Trung Thien Hoang Bibhu Sharma Adrienne Ji Kefan Zhu Trung Dung Ngo Van Anh Ho Hung Manh La Nigel H. Lovell Thanh Nho Do Graduate School of Biomedical Engineering Faculty of Engineering UNSW Sydney Kensington Campus Australia More-Than-One Robotics Laboratory Faculty of Sustainable Design Engineering University of Prince Edward Island Charlottetown Canada Soft Haptics Laboratory School of Materials Science Japan Advanced Institute of Science and Technology Kawaguchi Saitama Japan Department of Computer Science and Engineering Advanced Robotics and Automation (ARA) Lab University of Nevada Reno NV USA

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Aneurysms, balloon-like bulges in blood vessels, present a significant health risk due to their potential to rupture, leading to life-threatening internal bleeding. Current treatments often involve delivering embolic materials or metal coils to fill these bulges, occluding them from the pressure of blood flow. However, clinical micro-catheters that deploy embolic materials used today face limitations, primarily their rigidity and the lack of active control over the bending tip of the catheter. This paper introduces a new soft micro-robotics catheter, with diameter of only 0.8 mm, equipped with a hollow channel. With this new design, the new device can induce bending motions at its tip for active steerability to reach desired aneurysm targets and then perform the delivery of embolic materials and tools. To enhance the control and precise navigation during procedures, a robust mathematical model and image processing techniques are also introduced and validated. Experiments are also performed to characterise and validate the model’s accuracy and the steerability and navigation capabilities of the new micro-catheter.

关键词： Performance evaluation Navigation Metals Aneurysm Bending Mathematical models Rigidity

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Choosing a Suitable Requirement Prioritization Method: A Survey

SSRN

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SSRN 2023年

作者： Mahmoud Alhenawi, Esra'a Awawdeh, Shatha Khurma, Ruba Abu Castillo, Pedro A. Department of Computer Science King Abdullah II School of Information Technology The University of Jordan Amman Jordan Applied Science Private University Jordan Faculty of Information Technology Computer Science department Al-Ahliyya Amman University Amman Jordan Department of Computer Engineering Automation and Robotics University of Granada Granada Spain

Software requirements prioritization plays a crucial role in software development. It can be viewed as the process of ordering requirements by determining which requirements must be done first and which can be done later. Powerful requirements prioritization techniques are of paramount importance to finish the implementation on time and budget. Many factors affect requirement prioritization such as stakeholder expectations, complexity, dependency, scalability, risk and cost. Therefore, finding the proper order of requirements is a challenging process. Hence, different types of requirements prioritization techniques have been developed to support this task. In this survey we propose a novel classification that can classify the prioritization techniques under two major classes: relative and exact prioritization techniques class where each class is divided into two subclasses. We also provide an overview about fifteen different requirements prioritization techniques that are classified under our proposed classification. Moreover, we make a comparison between methods that are related to the same subclass to analyze their strengths and weakness. Based on the comparison results, the properties for each proposed subclass of techniques are identified. Depending on these properties, we present some recommendations to help project managers in the process of selection the most suitable technique to prioritize requirements based on their projects characteristics. © 2023, The Authors. All rights reserved.

关键词： Requirements engineering

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Implementation of Full Adder Cells for Ultra Low Power Energy Efficient Computing Applications

Implementation of Full Adder Cells for Ultra Low Power Energ...

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Sustainable Computing and Smart Systems (ICSCSS), International Conference on

作者： Mohammed Mahaboob Basha Vadde Seetharama Rao Lachi Reddy Poreddy V. Madhurima Srinivasulu Gundala Ovidiu Petru Stan Department of ECE Sreenidhi Institute of Science and Technology India Department of ECE Lakireddy Bali Reddy College of Engineering India Department of ECE S V College of Engineering (Autonomous) Tirupati Andhra Pradesh India Faculty of Automation and Computer Science Technical University of Cluj Napoca Cluj-Napoca Romania

ISBN: (数字)9798350379990

ISBN: (纸本)9798350391558

Energy Efficiency is of critical significance when designing integrated circuits. In the world of advanced integrated circuits that operate in near-threshold voltage is gaining much awareness because of its potential for high-performance and energy-efficient designs. Today's VLSI design places a great deal of importance on static or leaky power usage as technology advances into the nanoscale realm. In this brief, a one-bit full adder cell with reduced transistor count is suggested for lower power application by employing CMOS, Pass Transistor Logic and Transmission Gate schemes with XOR, XNOR and multiplexer logics at different supply voltages for achieving full swing sum and carry output. Post-layout simulation results reveal that, the proposed one-bit full adder design has achieved remarkable improvements compared to other published designs, boasting over 23 % energy savings and over 32% reductions in Energy Delay Product by employing just 10 transistors. The outcomes demonstrate how efficient the full adder cells can serve as an arithmetic circuit for conventional signal processing computing applications in integrated circuits.

关键词： Power demand Simulation Logic gates Very large scale integration Signal processing Threshold voltage Silicon

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