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Semi-Autonomous Navigation Based on Local Semantic Map for Mobile Robot

Journal of Shanghai Jiaotong university(Science) 2025年第1期30卷 27-33页

作者： ZHAO Yanfei XIAO Peng WANG Jingchuan GUO Rui Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai200240China State Key Laboratory of System Control and Information Processing Ministry of Education of ChinaShanghai200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240China State Grid Intelligence Technology Co. Ltd.Jinan250013China

Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.

关键词： semi-autonomous navigation mobile robot semantic map voice interaction

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Thickness Measurement of Single-Mode Fiber Coating Layer Based on Forward Brillouin Scattering

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IEEE Sensors Journal 2025年

作者： Zhang, Yongqi Wang, Tao Liu, Yijia Liu, Li Zhang, Mingjiang Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education College of Physics and Optoelectronic Engineering Taiyuan030024 China Taiyuan University of Technology Shanxi Key Laboratory of Precision Measurement Physics College of Physics and Optoelectronic Engineering Taiyuan030024 China

The coating layer is essential for protecting and applying optical fibers. Nowadays, the thickness measurement of the coating layer relies on point measurement schemes such as the side-looking light distribution method and mechanical method. However, there are some problems with the above methods, such as the trade-off between resolution and field of view, the cutting of the measurement position and the long measurement time. To overcome these problems, we propose a new method based on forward Brillouin scattering, which measures the coating layer thickness of single-mode fibers. The physical properties of the transverse acoustic field involved in forward Brillouin scattering make it possible to measure the thickness of the fiber coating. The corresponding relationship between the transverse acoustic mode frequency and the diameter of the coating layer can be calculated. The coating layer thickness can be measured with high precision by measuring the frequency spectrum of forward Brillouin scattering corresponding to multiple transverse acoustic modes at a given temperature. In the verification experiment, three types of single-mode fibers coated with polyimide are used as the sensing fiber to measure the thickness of the coating layer at multiple temperatures. The experimental results show that the error in the coating layer thickness obtained is less than 0.05 μm. To the best of our knowledge, this is the first demonstration of non-destructive, high-precision monitoring of fiber coating thickness. © 2001-2012 IEEE.

关键词： Acoustic field measurement

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Optimal Scheduling Considering Multiple Reserves Based on Active Power Curtailment Operation of Wind Power

Optimal Scheduling Considering Multiple Reserves Based on Ac...

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Advances in Electrical, Electronics and Computing Technology (EECT), International Conference on

作者： Zihan Wang Mingqiang Wang Chang Xu Jialiang Wang Yizhe Zhang Caishuai Liang Key Laboratory of Power System Intelligent Dispatch and Control Ministry of Education Shandong University Jinan China

ISBN: (数字)9798331541545

ISBN: (纸本)9798331541552

Under the current general trend of the power industry's transformation towards clean energy, wind power generation, as an important form of renewable energy utilization, is steadily increasing its proportion in the power system. However, the inherent volatility and uncertainty of wind power bring numerous challenges to the stable operation of the power system. Firstly, based on the traditional unit commitment model, this paper comprehensively considers the capacity reserve and ramping reserve of the power system, and constructs a unit commitment model that considers the supply and demand constraints of both types of reserves simultaneously. Then, on the basis of this model, an in-depth and comprehensive discussion is carried out, focusing on the key operation strategy of the active power curtailment operation of wind power. This not only helps to improve the power system's ability to accommodate wind power, but also enables a better response to the challenges of volatility and uncertainty brought by wind power to the power system, thus ensuring the safe, stable and economic operation of the power system. Finally, the model is transformed into a mixed-integer linear programming model that can be directly called by the commercial solver CPLEX, and the effectiveness of the model is verified by a modified IEEE 26-node distribution network.

关键词： Uncertainty Fluctuations Costs Supply and demand Power supplies Wind power generation Power system stability Stability analysis Power system reliability Wind turbines

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Integrated Dispatching Model for Power system Incorporating Multiple Modules 5

Integrated Dispatching Model for Power System Incorporating ...

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5th International Conference on Advances in Electrical, Electronics and Computing Technology, EECT 2025

作者： Xu, Chang Wang, Mingqiang Wang, Zihan Zhang, Yizhe Wang, Jialiang Sun, Fengbin Key Laboratory of Power System Intelligent Dispatch and Control Ministry of Education Shandong University Jinan China

ISBN: (纸本)9798331541545

The widespread integration of renewable energy presents significant challenges for power system scheduling. Traditional power system scheduling is mainly based on the concept of "coordinating on a multi-time-level and gradually refining at each level," using a sequential scheduling framework. However, with the growing integration of renewable energy, the uncertainty in power systems has significantly increased, leading to severe issues such as conflicts in the coordination between different modules. This paper first introduces the scheduling framework of the traditional sequential scheduling model. Then, addressing the problems of module coordination and insufficient flexibility, an integrated multi-time-scale scheduling model is proposed. This model combines day-ahead and intraday scheduling models, optimizing decision variables including unit start/shut states, operation points, and reserves simultaneously to maximize the collaborative potential between different scheduling modules. After linearization, the proposed model is converted into a mixed-integer linear programming (MILP) model, which can be solved directly using commercial optimization solvers. Finally, case analyses demonstrate the effectiveness and superiority of the proposed integrated model compared to the traditional sequential scheduling model. © 2025 IEEE.

关键词： Integer programming

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Integrated Dispatching Model for Power system Incorporating Multiple Modules

Integrated Dispatching Model for Power System Incorporating ...

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Advances in Electrical, Electronics and Computing Technology (EECT), International Conference on

作者： Chang Xu Mingqiang Wang Zihan Wang Yizhe Zhang Jialiang Wang Fengbin Sun Key Laboratory of Power System Intelligent Dispatch and Control Ministry of Education Shandong University Jinan China

ISBN: (数字)9798331541545

ISBN: (纸本)9798331541552

The widespread integration of renewable energy presents significant challenges for power system scheduling. Traditional power system scheduling is mainly based on the concept of “coordinating on a multi-time-level and gradually refining at each level,” using a sequential scheduling framework. However, with the growing integration of renewable energy, the uncertainty in power systems has significantly increased, leading to severe issues such as conflicts in the coordination between different modules. This paper first introduces the scheduling framework of the traditional sequential scheduling model. Then, addressing the problems of module coordination and insufficient flexibility, an integrated multi-time-scale scheduling model is proposed. This model combines day-ahead and intraday scheduling models, optimizing decision variables including unit start/shut states, operation points, and reserves simultaneously to maximize the collaborative potential between different scheduling modules. After linearization, the proposed model is converted into a mixed-integer linear programming (MILP) model, which can be solved directly using commercial optimization solvers. Finally, case analyses demonstrate the effectiveness and superiority of the proposed integrated model compared to the traditional sequential scheduling model.

关键词： Renewable energy sources Analytical models Uncertainty Fluctuations Processor scheduling Refining Regulation Power systems Power system reliability Load modeling

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Optimal Scheduling Considering Multiple Reserves Based on Active Power Curtailment Operation of Wind Power 5

Optimal Scheduling Considering Multiple Reserves Based on Ac...

引用

5th International Conference on Advances in Electrical, Electronics and Computing Technology, EECT 2025

作者： Wang, Zihan Wang, Mingqiang Xu, Chang Wang, Jialiang Zhang, Yizhe Liang, Caishuai Key Laboratory of Power System Intelligent Dispatch and Control Ministry of Education Shandong University Jinan China

ISBN: (纸本)9798331541545

关键词： Integer programming

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High-spatial-resolution phase-chaos Brillouin optical correlation domain sensor: theoretical analysis and experimental demonstration

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Journal of Lightwave Technology 2025年

作者： Niu, Lintao Wang, Yahui Tian, Yixiu Ma, Jinglian Zhang, Mingjiang Taiyuan University of Technology Key Laboratory of Advanced Transducers and Intelligent Control System Ministry of Education Taiyuan030024 China Taiyuan University of Technology College of Physics and Optoelectronic Engineering Taiyuan030024 China Shanxi-Zheda Institute of Advanced Materials and Chemical Engineering Taiyuan030032 China

The predicaments of micro-scale gain motivation and its high signal-to-noise ratio (SNR) extraction primarily restrict the practical measurement of a superior spatial resolution (SR) for stimulated Brillouin scattering sensors. A high-SNR phase-chaos laser Brillouin optical correlation domain analysis (PCL-BOCDA) is introduced to breakthrough the physical bottlenecks. The fundamental principle of gain excitation scale based on PCL linewidth is proposed, and a novel SR evolvement model is constructed. The significant impact of edge effects on SR measurement is thoroughly analyzed, and this approach is theoretically capable of achieving higher SR benefiting from the narrower gain range and feebler accumulation noise. Experiments with different linewidth PCLs are conducted and the results are confirmed to the simulated ones. Ultimately, an SR of 4.8 mm with a relative error of 4.3% is achieved over a 1.14 km sensing distance, representing a tenfold improvement over previous results. This advancement provides a competent approach for high-SR sensors and their application. © 1983-2012 IEEE.

关键词： Stimulated Brillouin scattering

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Model and Simulation of Multipath Error in DLL for GPS Receiver

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Chinese Journal of Electronics 2025年第3期23卷 508-515页

作者： Lan Cheng Jie Chen Gang Xie Taiyuan University of Technology Taiyuan China Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

Although different multipath error models of Delay lock loop (DLL) used in GPS receiver are established, they have never been put together for comparison. Furthermore, no universal simulation method is developed to get a fair comparison among these models. A new model with implicate expression is hence proposed for the coherent DLL and the noncoherent Dot-product (DOT) power mode DLL. Meanwhile, a new simulation method based on the anonymous function in Matlab, which is especially suitable for models with implicit expression, is also proposed to compare the new model with the existing ones. The theoretical analysis and simulation results show that the existing models are the special case of the proposed one. The new simulation method can be used for the comparison of different multipath error models and the multipath error analysis of other DLLs for which only the implicit model is available.

关键词： Analytical models Tracking loops Codes Error analysis Simulation Receivers US Department of Transportation Mathematical models MATLAB Global Positioning system

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3D bioprinting of a dermal scaffold for full-thickness skin tissue regeneration

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Bio-Design and Manufacturing 2025年第1期8卷 68-84,I0039-I0041页

作者： Lu Han Zixian Liu Meng Li Zhizhong Shen Jianming Wang Shengbo Sang Shanxi Key Laboratory of Micro Nano Sensors&Artificial Intelligence Perception College of Electronic Information and Optical EngineeringTaiyuan University of TechnologyTaiyuan 030024China Key Laboratory of Advanced Transducers and Intelligent Control System of the Ministry of Education Taiyuan University of TechnologyTaiyuan 030024China Shanxi-Zheda Institute of Advanced Materials and Chemical Engineering Taiyuan 030024China Shanxi Research Institute of 6D Artificial Intelligence Biomedical Science Taiyuan 030031China General Hospital of TISCO Taiyuan 030809China

Dermal substitutes have provided a template for the regeneration and reconstruction of the ***,the healed skin tissue often exhibits abnormal morphology and functionality,including scarring and *** this study,a composite bioink composed of methacrylated gelatin(GelMA)and chitosan oligosaccharide(COS)was proposed for printing a dermal scaffold using digital light processing(DLP)*** GelMA/COS bioink exhibited suitable porosity,swelling,degradation rate,and mechanical *** inclusion of COS demonstrated antibacterial effects against both Gram positive and Gram-negative bacteria,while simultaneously fostering the proliferation of human dermal fibroblasts(HDFs).Additionally,the application of COS could effectively reduce the expression levels of fibrosis-related genes,such as collagen I,collagen III,and fibronectin *** three-dimensionally printed cell-laden dermal scaffold exhibited excellent shape fidelity and high cellular viability,facilitating the extension of HDFs along the scaffold and the simultaneous secretion of extracellular matrix ***,the HDF-laden dermal scaffold transplanted into full-thickness skin defect sites in nude mice was shown to accelerate wound closure,reduce inflammation,and improve wound ***,the DLP-printed dermal scaffold provides an appealing approach for effectively treating full-thickness skin defects in clinical settings.

关键词： 3D printing Dermal scaffold Photo-cross-linking Skin tissue regeneration

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Polar-segmented vector optical field and its anomalous focal properties

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Optics Express 2025年第10期33卷 21030-21039页

作者： Gao, Xu-Zhen Song, Xin-Yu Chen, Jing-Rui Wang, Dan Xu, Shi-Tong Niu, Mingsheng Cao, Hongzhong Ma, Rende Pan, Yue School of Physics and Physical Engineering Qufu Normal University Qufu 273165 China Shandong Provincial Key Laboratory of Laser Polarization and Information Technology Qufu Normal University Qufu 273165 China Key Lab of Advanced Transducers and Intelligent Control System Ministry of Education College of Physics and Optoelectronics Taiyuan University of Technology Shanxi Taiyuan 030024 China

In recent years, study of spatially structured light has become an attractive and promising area, providing more ways to explore unusual and anomalous effects in optics. Here, we propose a kind of polar-segmented vector optical field (VOF), and demonstrate anomalous focal properties. Due to the appearance of the longitudinal component in tight focusing processes, the transverse energy flow and transverse spin angular momentum (SAM) are achieved, which can be applied in areas such as manipulating particles, as the transverse energy can transport the particles and the SAM can spin the particles in more degrees. Overall, the proposed polar-segmented VOF and the corresponding anomalous focal properties are crucial for advancing theories and technologies in optics, underscoring its importance in both fundamental research and practical applications. © 2025 Optica Publishing Group under the terms of the Optica Open Access Publishing Agreement.

关键词： Circular polarization Optical fields Optical properties Optical vortex beams Spiral phase Structured light

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