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Set-based Scheduling for Highway Entry of Autonomous Vehicles ⁎

IFAC-PapersOnLine 2020年第2期53卷 15396-15403页

作者： Jan Eilbrecht Olaf Stursberg Institute of Control and System Theory Department of Electrical Engineering and Computer Science University of Kassel Germany

This paper proposes a framework for generation of collision-free reference trajectories in a cooperative multi-agent setting. The approach is hierarchical: a high-level controller schedules groups of cooperating agents, for which trajectories are then determined by a lower-level trajectory planner. Admissible behaviors of a cooperative group are encoded by so-called maneuvers, which are modeled by hybrid automata. This allows to plan trajectories by solving hybrid optimal control problems. controllable sets characterize the solution sets of these problems and are used for quick assessment of feasibility prior to planning. This enables the high-level controller to quickly assess the feasibility of different maneuver options and cooperative groups. Special emphasis is put on safety and feasibility of the framework. The efficacy of the approach is demonstrated by simulation of a highway entry scenario for autonomous vehicles.

关键词： Coordinating control Autonomous systems Autonomous Driving Scheduling Hybrid systems Integrated Traffic Management

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The DRTS-Net Framework: Enhanced Probabilistic Health Perception for Wind Turbine Bearings Under Complex Operating Conditions With Improved Interpretability

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IEEE Transactions on Instrumentation and Measurement 2025年 74卷

作者： Yang, Tongguang Li, Guanchen Huo, Jinzhao Li, Xiaoyong Zhou, Xianwen Han, Qingkai Northeastern University School of Mechanical Engineering and Automation Shenyang110819 China Johns Hopkins University Department of Mechanical Engineering BaltimoreMD21218 United States Foshan University School of Mechatronic Engineering and Automation Foshan528225 China SCNU Environmental Research Institute Guangdong Provincial Key Laboratory of Chemical Pollution and Environmental Safety MOE Key Laboratory of Theoretical Chemistry of Environment South China Normal University School of Environment Guangzhou510006 China SCNU Qingyuan Institute of Science and Technology Innovation Company Ltd. Qingyuan511517 China Northeastern University Key Laboratory of Vibration and Control of Aero-Propulsion System Ministry of Education Shenyang110819 China

Health perception in mechanical systems is a crucial aspect of prognostics and health management (PHM). Deep learning models have been successfully applied to health perception in wind turbine bearings. However, due to the time-varying, redundant, and noisy characteristics of time-series data representing bearing wear, existing models face significant challenges, particularly in terms of generalization and interpretability. Moreover, although most current models have provided health perceptions, they overlook the strong stochastic nature of bearing degradation data, and thus fail to deliver reliable predictions of uncertainty information. To address these technical challenges, this study introduces a novel Deep residual temporal-spatial framework (DRTS-Net) for probabilistic health perception of wind turbine bearing wear states. This article creatively designs spatiotemporal information fusion module for extracting features from bearing degradation data. Inspired by improvements in residual network structures, the DRTS-Net integrates an attention mechanism and a soft thresholding mechanism from the deep residual shrinkage network to optimize the feature extraction process. This integration aims to mitigate the interference from minor redundant features in the degradation data. The framework incorporates Gaussian process regression in the output layer to yield the probability distribution of single-health perception values for bearing features. A comparative study was conducted using the same bearing health state dataset against current mainstream deep learning methods for bearing health assessment. Results demonstrate that the proposed DRTS-Net achieves superior performance in high-precision health perception, high-reliability probabilistic health perception. © 1963-2012 IEEE.

关键词： Stochastic systems

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Research on the release management technology of the mobile application for electricity dispatching 3

Research on the release management technology of the mobile ...

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2021 3rd International Conference on Electronic engineering and Informatics, EEI 2021

作者： Dai, Jinxia Li, Donghai Gao, Baoshan Zhou, Ling Chen, Wenjing Electronic Information Engineering Nanjing University of Information Science and Technology Jiangsu Nanjing211106 China Nanjing Institute of Technology Electrical Engineering and Its Automation Jiangsu Nanjing211106 China School of Control and Computer Engineering North China Electric Power University Beijing Bejing102206 China Geographic Information System Hohai University Jiangsu Nanjing211106 China Computer Science and Technology Hohai University Jiangsu Nanjing211106 China

With the continuous development of the power system and the rapid growth of the scale of the power grid, the information that needs to be monitored, inquired, and maintained in the power grid dispatching system is increasing. The traditional way of understanding the realtime operation status of the power grid through dispatching workstations is increasingly unable to meet the requirements of modern power grids for monitoring, operation and maintenance in real-time, timeliness, and anywhere. In the face of such a huge business demand market, how to develop mobile applications that meet customer needs with minimal investment in resources and efficient development efficiency has become our research direction. This paper discusses a release management technology of the mobile application for electricity dispatching that meets the above requirements. This technology adopts the design mode of "shared application + personalized page", without too much intervention by developers, Users can edit and compress their own personalized pages, then upload to the version server and update the main page on the mobile devices themselves;this technology improves the efficiency of opening graphics file and the response time of operation through caching the graphic files and only refreshing the operation area mechanisms;through the publish/subscribe message bus mechanism, the hot update effect of the main page is realized;the service is restored through one-click, which provides users with more operating space. © Published under licence by IOP Publishing Ltd.

关键词： Efficiency

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Multi-Branch Mutual-Distillation Transformer for EEG-Based Seizure Subtype Classification

arXiv

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arXiv 2024年

作者： Peng, Ruimin Du, Zhenbang Zhao, Changming Luo, Jingwei Liu, Wenzhong Chen, Xinxing Wu, Dongrui Belt and Road Joint Laboratory on Measurement and Control Technology Huazhong University of Science and Technology Wuhan430074 China AI Platform Software Engineering Research Center Dongfeng Corporation Research & Development Institute Wuhan430072 China China Electronic System Technology Co. Ltd. Beijing100089 China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China

Cross-subject electroencephalogram (EEG) based seizure subtype classification is very important in precise epilepsy diagnostics. Deep learning is a promising solution, due to its ability to automatically extract latent patterns. However, it usually requires a large amount of training data, which may not always be available in clinical practice. This paper proposes Multi-Branch Mutual-Distillation (MBMD) Transformer for cross-subject EEG-based seizure subtype classification, which can be effectively trained from small labeled data. MBMD Transformer replaces all even-numbered encoder blocks of the vanilla Vision Transformer by our designed multi-branch encoder blocks. A mutual-distillation strategy is proposed to transfer knowledge between the raw EEG data and its wavelets of different frequency bands. Experiments on two public EEG datasets demonstrated that our proposed MBMD Transformer outperformed several traditional machine learning and state-of-the-art deep learning approaches. To our knowledge, this is the first work on knowledge distillation for EEG-based seizure subtype classification. © 2024, CC BY.

关键词： Electroencephalography

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A Pricing Rule for Third-Party Platoon Coordination Service Provider

A Pricing Rule for Third-Party Platoon Coordination Service ...

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Asian control Conference

作者： Ting Bai Alexander Johansson Shaoyuan Li Karl Henrik Johansson Jonas Må rtensson Integrated Transport Research Lab Digital Futures and Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University Shanghai China

We model a platooning system including trucks and a third-party service provider that performs platoon coordination, distributes the platooning profit within platoons, and charges the trucks in exchange for its services. This paper studies one class of pricing rules, where the third-party service provider keeps part of the platooning profit each time a platoon is formed. Furthermore, we propose a platoon coordination solution based on distributed model predictive control in which the pricing rule is integrated. To evaluate the effect of the pricing on the platooning system, we perform a simulation over the Swedish road network. The simulation shows that the platooning rate and profit highly depend on the pricing. This suggests that pricing needs to be set carefully to obtain a satisfactory platooning system in the future.

关键词： Roads Pricing Predictive control

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Wide-Area Damping control Enhanced by Non-Invasive Data Verification Against False Data Injection Attacks

SSRN

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SSRN 2024年

作者： Sun, Zhenglong Long, Hao Li, Zewei Gao, Bo Wei, Xiaoqiang Belikov, Juri Levron, Yoash Department of Electrical Engineering Key Laboratory of Modern Power System Simulation and Control & Renewable Energy State Grid Jiashan County Power Supply Company Jiaxing China State Grid Heilongjiang Electric Power Company Limited Heilongjiang China The Andrew and Erna Viterbi Faculty of Electrical Engineering Technion Israel Institute of Technology Haifa Israel Department of Software Science Tallinn University of Technology Tallinn Estonia Northeast Electric Power University China

The increasing interconnectivity of power systems and the integration of renewable energy sources into the grid have exacerbated the low-frequency oscillation problem, which directly impacts the stability of the power grid. The performance of wide-area damping control (WADC), which is an effective oscillation suppression technique , is susceptible to false data injection attacks (FDIA). This study proposes a non-intrusive data verification method using an adaptive variational autoencoder (AVAE) combined with a deep convolutional neural network (DCNN) to enhance WADC’s resistance to FDIA. The method integrates data dimensionality reduction of AVAE and reconstruction capabilities with DCNN’s feature extraction advantages. Itemploys adaptive thresholds to dynamically track grid data fluctuations, accurately distinguishing between normal and abnormal measurements and improving attack detection and performance discrimination. In addition, the study proposes an intelligent repair process based on latent representations for anomalous data in the repair module, using hierarchical clustering and Gaussian mixture models post-Bayesian inference to repair data. AVAE then reconstructs the repaired data, mitigating attack impacts. Simulations on IEEE 39-Bus, 68-Bus, and 118-bus systems demonstrate that this method effectively detects network attacks and restores manipulated signals with minimal reconstruction errors, thus ensuring grid stability and reliability. © 2024, The Authors. All rights reserved.

关键词： Convolutional neural networks

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Research on Optimal Fuel Consumption control Strategy for Variable Speed Generation of Diesel Generator Set Rail Transit Traction system

Research on Optimal Fuel Consumption Control Strategy for Va...

引用

International Conference on Electrical Machines and systems (ICEMS)

作者： Yang Liu Zhenhuan Yin Kan Dong Ma Chi Dongdong Cui Lu Zhao State Key Laboratory for Traction and Control System of EMU and Locomotive China Academy of Railway Science Corporation Limited Beijing China Chinese Academy of Sciences Key Laboratory of Power Electronics and Electric Drive Institute of Electrical Engineering Beijing China

ISBN: (数字)9781665493024

ISBN: (纸本)9781665493031

The speed of variable speed diesel generator set changes with the load, and its operating speed and operating conditions are different from those of propulsion unit or constant speed generator set. In order to give full play to the fuel saving advantages of variable speed diesel generator set, this paper takes the variable speed diesel generator set and the back-to-back three-level neutral-point-clamped (NPC) converter as the research object, and carries out the research on speed control strategy and performance optimization of variable speed diesel generator set, so as to achieve the best fuel consumption control.

关键词： Rails Simulation Velocity control Propulsion Synchronous motors Generators Real-time systems

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Radiative thermal switch via metamaterials made of vanadium dioxide-coated nanoparticles

arXiv

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arXiv 2023年

作者： He, Ming-Jian Guo, Xue Qi, Hong Lu, Lu Tan, He-Ping School of Energy Science and Engineering Harbin Institute of Technology Harbin150001 China Key Laboratory of Aerospace Thermophysics Ministry of Industry and Information Technology Harbin150001 China Hubei Key Laboratory for High-efficiency Utilization of Solar Energy and Operation Control of Energy Storage System Hubei University of Technology Wuhan430068 China

In this work, a thermal switch is proposed based on the phase-change material vanadium dioxide (VO2) within the framework of near-field radiative heat transfer (NFRHT). The radiative thermal switch consists of two metamaterials filled with core-shell nanoparticles, with the shell made of VO2. Compared to traditional VO2 slabs, the proposed switch exhibits a more than 2-times increase in the switching ratio, reaching as high as 90.29% with a 100 nm vacuum gap. The improved switching effect is attributed to the capability of the VO2 shell to couple with the core, greatly enhancing heat transfer with the insulating VO2, while blocking the motivation of the core in the metallic state of VO2. As a result, this efficiently enlarges the difference in photonic characteristics between the insulating and metallic states of the structure, thereby improving the ability to rectify the NFRHT. The proposed switch opens pathways for active control of NFRHT and holds practical significance for developing thermal photon-based logic circuits. © 2023, CC BY.

关键词： Vanadium dioxide

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Automated Assembly by Two-Fingered Microhand for Fabrication of Soft Magnetic Microrobots

Automated Assembly by Two-Fingered Microhand for Fabrication...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Yue Zhao Xiaoming Liu Ruixi Wang Dan Liu Masaru Kojima Qiang Huang Tatsuo Arai Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing China School of Mechatronical Engineering Beijing Institute of Technology Beijing China Department of Intelligent Manufacturing Shenzhen International Graduate School Tsinghua University Shenzhen China Department of Materials Engineering Science Osaka University Osaka Japan Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Micro-assembly is an emerging method to fabricate microrobots with multiple modules or particles. However, there is always a lack of a flexible and efficient method to freely create the desired magnetic soft microrobots. In this paper, an automated assembly system based on a two-fingered microhand is presented for fabricating magnetic soft microrobots. Our proposed system can automatically pick and place components to assemble microrobots with a two-fingered micromanipulator, and orient these components through an external magnetic field. The automated assembly has the advantages of high accuracy, high speed, and high success rate. It can endow magnetic microrobots with flexible material selection, arbitrary geometry design, and programable magnetization profile. We can make full use of this system to fabricate multiple magnetic soft microrobots. The experiment results demonstrate that this system can efficiently fabricate microrobots with excellent mechanical properties, which have application potential in robotics, biomedical engineering, and environmental governance.

关键词： Three-dimensional displays Shape Micromanipulators Magnetization Manuals Three-dimensional printing Soft magnetic materials

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Line-of-sight based three-dimensional path following control for an underactuated robotic dolphin

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science China(Information sciences) 2021年第1期64卷 215-226页

作者： Jincun LIU Zhenna LIU Junzhi YU State Key Laboratory for Turbulence and Complex System Department of Mechanics and Engineering ScienceBIC-ESATCollege of EngineeringPeking University Department of Electrical and Automation Shandong Labor Vocational and Technical College State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

This paper investigates the three-dimensional(3-D) path following control problem for an underactuated robotic dolphin. With a comprehensive consideration of the mechanical constraint and swimming principle of the robotic dolphin, a decoupling motion strategy is proposed to produce yaw and pitch maneuvers simultaneously. Then, kinematics and dynamics models for 3-D dolphin-like swimming are established,followed by simulations of the path following control. Furthermore, a novel lookahead based 3-D line-ofsight(LOS) guidance law is developed and implemented to obtain desired attitude angles with its simplicity,intuitiveness, and small computational footprint. Finally, simulation results illustrate the feasibility and effectiveness of the proposed path following control methods.

关键词： robotic dolphin path following 3-D LOS guidance law decoupling motion

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