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2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： He, Yuesheng Zhang, Wei Yang, Ming The 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 Shenzhen Deeproute.ai Co. Ltd China

ISBN: (纸本)9781665481090

Estimating the pose information on moving vehi-cles is one of the most fundamental functions of autonomous driving for detecting and tracking moving objects. The current methods are often based on the prior information of the point cloud distribution, however, the distribution in the actual scene changes dynamically, and is easy not to meet a priori. This paper proposes a 3D pose estimation method based on heuristic rules. In a single frame point cloud, the edge length and edge visibility are used to heuristically screen the candidate orientations established by the convex hull sampling method. On consecutive frame point clouds, tracking heuristics are employed to obtain smoother orientation estimation results. The experimental results on the KITTI dataset and the data from the actual scene of vehicles show that the proposed method reduces the average object-orientation error and improves the accuracy of estimation effectively. © 2022 IEEE.

关键词： Autonomous vehicles

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Obstacle Avoidance Algorithm for Quadrotor UAV Formation with Input Constraints

Obstacle Avoidance Algorithm for Quadrotor UAV Formation wit...

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Aerospace Engineering and systems (ISAES), International Symposium on

作者： Ao Gao Zhuang Li Yiqing Huang School of Electrical Engineering Anhui Polytechnic University Wuhu China Anhui Key Laboratory of Electric Drive and Control Anhui Polytechnic University Wuhu China Key Laboratory of Advanced Perception and Intelligent Control of High-End Equipment Ministry of Education Wuhu China

Aiming at the problems of actuator saturation, trajectory tracking, formation and obstacle avoidance planning in multi-UAVs formation obstacle avoidance control, an anti-saturation UAV formation obstacle avoidance control strategy is proposed. First, for the trajectory tracking problem of a single UAV, a backstepping control strategy is used to reduce the second-order nonlinear system to two first-order subsystems to reduce the system complexity. At the same time, a saturation function is designed to eliminate the impact of actuator saturation on the system; On this basis, the formation consistency protocol is designed to ensure the effectiveness of formation control and the corresponding obstacle avoidance function is designed to enable UAV formation to effectively avoid obstacles and ensure flight safety; Finally, the feasibility of the control strategy is verified in the Simulink simulation environment.

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Learning Knowledge Evolution with Time Duration from Finer-Time-Granularity Temporal Knowledge Graph

Learning Knowledge Evolution with Time Duration from Finer-T...

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Chinese Automation Congress (CAC)

作者： Shaochong Du Kang Chen Shijie Yang Hong Huo Tao Fang Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China Shanghai Engineering Research Centre of Intelligent Control and Management Shanghai China

How to represent the temporal information corresponding to each fact in temporal knowledge graphs (TKGs) effectively is always challenging. Most existing representation learning methods usually map the timelines of knowledges into multiple points and ignore the underlying continuous time property and periodic characteristics behind those dense timestamps in finer-time granularity temporal knowledge graphs. A novel Knowledge Evolution with Time Duration (KETD) model is proposed for knowledge representation of temporal knowledge graphs with finer-time granularities. It represents the entity embedding as a time-varying nonlinear function to find the specific continuous time property from dense timestamps. To the best of our knowledge, it is the first attempt to learn embeddings of time durations and combines them into embeddings of entities and relations to predict potential periodic facts. It also uses the temporal point process to capture the impact of historical facts on the current fact. The experiments on self-built finer-time granularity TKG of Satellite-to-Earth Communication (STEC) and two public datasets have demonstrated the superiority of KETD compared to some baseline approaches.

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Mesenchymal stem cells loaded on 3D-printed gradient poly(e-caprolactone)/methacrylated alginate composite scaffolds for cartilage tissue engineering

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Regenerative Biomaterials 2021年第3期8卷 70-83页

作者： Yanyan Cao Peng Cheng Shengbo Sang Chuan Xiang Yang An Xiaochun Wei Zhizhong Shen Yixia Zhang Pengcui Li Key Lab of Advanced Transducers and Intelligent Control System of the Ministry of Education MicroNano System Research CenterCollege of Information and ComputerTaiyuan University of TechnologyTaiyuan 030024China College of Information Science and Engineering Hebei North UniversityZhangjiakou 075000China Shanxi Key Laboratory of Bone and Soft Tissue Injury Repair Department of OrthopedicsThe Second Hospital of Shanxi Medical UniversityTaiyuan 030001China Department of Plastic Surgery Peking University Third HospitalBeijing 100191China Department of Biomedical Engineering College of Biomedical EngineeringTaiyuan University of TechnologyTaiyuan 030024China

Cartilage has limited self-repair ability due to its avascular,alymphatic and aneural *** combination of three-dimensional(3D)printing and tissue engineering provides an up-and-coming approach to address this ***,we designed and fabricated a tri-layered(superficial layer(SL),middle layer(ML)and deep layer(DL))stratified scaffold,inspired by the architecture of collagen fibers in native cartilage *** scaffold was composed of 3D printed depth-dependent gradient poly(e-caprolactone)(PCL)impregnated with methacrylated alginate(ALMA),and its morphological analysis and mechanical properties were *** prove the feasibility of the composite scaffolds for cartilage regeneration,the viability,proliferation,collagen deposition and chondrogenic differentiation of embedded rat bone marrow mesenchymal stem cells(BMSCs)in the scaffolds were assessed by Live/dead assay,CCK-8,DNA content,cell morphology,immunofluorescence and real-time reverse transcription polymerase chain ***-loaded gradient PCL/ALMA scaffolds showed excellent cell survival,cell proliferation,cell morphology,collagen II deposition and hopeful chondrogenic differentiation compared with three individual-layer ***,our study demonstrates the potential use of the gradient PCL/ALMA construct for enhanced cartilage tissue engineering.

关键词： three-dimensional printing cartilage tissue engineering PCL methacrylated alginate bone marrow mesenchymal stem cells

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An Aeromagnetic Compensation Algorithm Based on Broad Learning system

An Aeromagnetic Compensation Algorithm Based on Broad Learni...

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Robotics, Artificial Intelligence and intelligent control (RAIIC), International Conference on

作者： Qilong Wang Junlei Song Chao Zuo Kaifeng Dong Fang Jin School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo- Exploration Ministry of Education Wuhan China Wuhan Second Ship Design and Research Institute Wuhan China

ISBN: (数字)9798350352627

ISBN: (纸本)9798350352634

Aeromagnetic surveys, renowned for their operational flexibility and high efficiency, serve as a crucial technique for measuring the geomagnetic field. However, aeromagnetic surveys are easily affected by magnetic interference from navigation platforms, making the compensation of aeromagnetic interference a crucial step in the measurement process. To address the inadequate consideration of nonlinear magnetic field interference in traditional compensation algorithms, this paper introduces an aeromagnetic compensation approach based on broad learning system. The broad learning system employs an incremental learning mechanism aimed at enhancing the precision of the network alongside the increase in nodes. With each expansion of the network node, computation is streamlined to calculating the pseudo-inverse of the expansion node, eliminating the necessity for retraining the entire network structure. Leveraging the nonlinear fitting characteristics of the broad learning system, this paper improves the accuracy of aeromagnetic interference compensation. Through UAV flight experiments, the broad learning system is compared with methodologies using particle swarm optimization (PSO) and BP neural network. Compared with PSO, training time was reduced by $21.3 \%$ and magnetic interference by $33.6 \%$. Compared with BP neural networks, training time was reduced by $34.9 \%$ and magnetic interference by $28.6 \%$. This paper provides references and ideas for the selection of aeromagnetic interference compensation algorithms.

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Wind and PV Power Ramp Events Prediction Based on Long Short-Term Memory Network

Wind and PV Power Ramp Events Prediction Based on Long Short...

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Sustainable Power and Energy Conference (iSPEC)

作者： Zengwei Wang Zhendong Li Yutian Liu Huan Ma Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Shandong University Jinan China. State Grid Shandong Electric Power Research Institute Jinan China.

With the increasing penetration rate of renewable generation, the challenges arising from its randomness and intermittent nature are becoming more pronounced. In particular, wind and photovoltaic power ramp events pose a serious threat to the secure and stable operation of power systems, and even lead to frequency instability and load shedding. Based on the long short-term memory neural networks (LSTM), this paper proposes a novel renewable power ramp events (RPREs) forecasting approach. First, filter the key tie-lines. Second, the LSTM network was driven by the known time series of wind, PV, load, and tie-line power to forecast the tie-line power for the next hour, thereby determining the adjustable capacity of the tie-line. Finally, the regulatory capability of the grid is considered to judge the occurrence of a power ramping event. Case study demonstrates that the proposed method can effectively predict power ramping events and meets the requirements of online assessment.

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Energy Storage Sizing for IES Considering Carbon Trading and Demand Response

Energy Storage Sizing for IES Considering Carbon Trading and...

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IEEE International Conference on Power and Energy Applications (ICPEA)

作者： Lipeng Zhang Kuan Cao Yuwen Li Jie Gao Key Laboratory of Power System Intelligent Dispatch and Control Ministry of Education Shandong University Jinan China Development Planning Department State Grid Weihai Power Supply Company Weihai China

An optimal energy storage sizing method for integrated energy system (IES) considering carbon trading and demand response is presented in this paper. Firstly, to effectively limit carbon emissions, a reward-penalty laddered carbon trading model is designed to convert carbon emissions into system costs or revenues. Secondly, the integrated demand response (IDR) model for electrical-cold-heat loads is established based on time-of-use price to enhance the operational flexibility and economy. Then, based on these two sub-models, an optimal energy storage sizing model is built to minimize the total life cycle cost including investment, operation and carbon trading cost. Finally, the simulation results indicate that a successful balance between low-carbon and economy can be achieved by the proposed method.

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Energy Storage Configuration Method for Distribution Network Resilience Enhancement Using Two-Stage Game Optimization

Energy Storage Configuration Method for Distribution Network...

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IEEE International Conference on Power and Power and Renewable Energy (ICPRE)

作者： Shuai Liu Yuwen Li Heng Zhou Kuan Cao Yutian Liu Development Planning Department State Grid Weihai Power Supply Company Weihai China Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Shandong University Jinan China

In order to cope with the impact of extreme weather on distribution network, a two-stage multi-objective game optimization-based method of energy storage configuration for distribution network resilience enhancement is proposed in this paper. First, typical scenarios are generated based on N-k contingency as well as distributed photovoltaic (DPV) output characteristics, and evaluation indexes of resilience and economy are established. Then a two-stage multi-objective optimal configuration model is proposed, considering the operating state and resilience demand of distribution network before and after the power supply transfer. Finally, the model is solved by multi-objective particle swarm (MOPSO) and Nash game. Simulation results on the modified IEEE33-node model demonstrate that the proposed method can achieve good equilibrium solution between resilience and economy.

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A Distributionally Robust Optimal Allocation Method of Energy Storage for Resilience Enhancement of Distribution Network

A Distributionally Robust Optimal Allocation Method of Energ...

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Energy Technologies for Future Grids (ETFG), IEEE International Conference on

作者： Kuan Cao Yutian Liu Chunyi Wang Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Shandong University Jinan China Development Planning Department State Grid Shandong Electric Power Company Jinan China

To solve the problem of active power imbalance in distribution network with high penetrations of photovoltaic (PV) under extreme weather, the paper proposes a distributionally robust optimal allocation method of energy storage considering extreme scenarios. Firstly, considering that the effect of energy storage on enhancing the resilience of distribution network is strongly related to its location, resilience indexes based on node evaluation are established to select the installation sites of energy storage. Secondly, in view of the correlation and randomness of PV output and load, the typical scenarios with the empirical probability distribution are generated based on Frank Copula joint probability distribution function. Then, Kullback-Leibler divergence is utilized to characterize the probability distribution ambiguity set of the typical scenarios. Based on the ambiguity set, a two-stage distributionally robust optimization model for energy storage capacity is established to minimize the cost of energy storage investment and distribution network operation. For further improving the resilience, an operational resilience index as a chance constraint considering extreme scenarios is embedded into the model. Finally, the case study shows that the proposed method can effectively improve PV accommodation capacity of distribution network and reduce load loss in extreme scenarios.

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Disturbance Rejection for Pedaling Rehabilitation Robot Based on Integration of Equivalent-Input-Disturbance and Repetitive control Methods 32

Disturbance Rejection for Pedaling Rehabilitation Robot Base...

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32nd IEEE International Symposium on Industrial Electronics, ISIE 2023

作者： Zhou, Yujian She, Jinhua Wang, Feng Iwasaki, Makoto School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Tokyo University of Technology School of Engineering Tokyo Hachioji192-0982 Japan Nagoya Institute of Technology Department of Electrical and Mechanical Engineering Nagoya466-8555 Japan

ISBN: (纸本)9798350399714

This study integrated an improved equivalent-input-disturbance (EID) and a repetitive control methods to ensure reference tracking and enhance disturbance-rejection performance for a pedaling rehabilitation robot. A repetitive controller ensures steady-state tracking of a periodic reference input. An EID estimator with a state observer estimates and compensates for the effect of disturbances generated by patients with lower-limb impairment. The stability condition of the closed-loop system is analyzed based on the Lyapunov stability theory. Simulation results show the effectiveness of this method. © 2023 IEEE.

关键词： Disturbance rejection

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