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Hierarchy-based extended CBBA for multi-robot task assignment

Hierarchy-based extended CBBA for multi-robot task assignmen...

引用

2022 Chinese Automation Congress, CAC 2022

作者： Liu, Jiajun Xia, Weiguo Li, Fuqiang Wang, Peng China National Aeronautical Radio Electronic Research Institute National Key Laboratory of Science and Technology on Avionics System Integration China Dalian University of Technology Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering China

ISBN: (纸本)9781665465335

This paper studies the task assignment problem of a multi-robot system with complex constraints including the robot speed limit, the task execution time window constraints, the arrival time, the trip cost, and different priorities of the tasks. A new bidding function is then designed for each robot. Based on the k-means algorithm, a hierarchy-based extended consensus-based bundle algorithm (CBBA) is proposed to find the optimal solution for the task allocation problem. Finally, simulation examples are presented to show the feasibility of the proposed algorithm and comparisons with existing algorithms show that the proposed algorithm can reduce the task assignment time with guaranteed reward values. © 2022 IEEE.

关键词： Multipurpose robots

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Active Support Performance Test of Grid-connected Photovoltaic system Based on Grid-forming control 3

Active Support Performance Test of Grid-connected Photovolta...

引用

3rd International Conference on intelligent Power and systems, ICIPS 2023

作者： Xi, Xinze Hu, Yun Xing, Chao Guo, Qi Xu, Shoudong Tu, Liang He, Peng Zhu, Yihua Su, Mingzhang Luo, Chao Yunnan Electric Power Research Institute Kunming China National Energy Power Grid Technology R&D Centre Guangzhou China State Key Laboratory of HVDC Electric Power Research Institute CSG Guangzhou China Guangdong Provincial Key Laboratory of Intelligent Operation and Control for New Energy Power System Guangzhou China CSG Key Laboratory for Power System Simulation Electric Power Research Institute China Southern Power Grid Guangzhou China

ISBN: (纸本)9798350328691

With the continuous increase penetration of new energy, the integration of grid-following (GFL) converter is prone to frequency stability issue, while the utilization of grid-forming (GFM) converter with active support capability has become an inevitable trend in development. In this paper, the model of grid-connected photovoltaic system using GFL/GFM control is established. The support characteristic of GFM is compared and analyzed in different testing scenarios with GFL as the reference: (1) Small disturbance test (2) Large disturbance test (3) Island capability test. Finally, the active support performance of the system is quantitatively analyzed based on corresponding evaluation indexes. ©2023 IEEE.

关键词： Power converters

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Simulation Research on Primary Frequency Regulation Coordination control Strategy of Hybrid Wind-PV-ES Power Station Based on AGC 12

Simulation Research on Primary Frequency Regulation Coordina...

引用

12th Annual Meeting of CSEE Study Committee of HVDC and Power Electronics, HVDC 2023

作者： Li, Shengnan Hu, Yun He, Xin Zhu, Yihua He, Tingyi Luo, Chao Deng, Can Zeng, Guanming Su, Mingzhang Yunnan Electric Power Research Institute Kunming China National Energy Power Grid Technology R&D Centre Guangzhou China State Key Laboratory of HVDC Electric Power Research Institute CSG Guangzhou China Guangdong Provincial Key Laboratory of Intelligent Operation and Control for New Energy Power System Guangzhou China CSG Key Laboratory for Power System Simulation Electric Power Research Institute China Southern Power GridGuangzhou China

ISBN: (纸本)9781839539848

With the increase of wind and solar renewable energy penetration in power system, the frequency control ability of power system completely depending on traditional power supply has weakened. This actuality requires that renewable energy stations should be equipped with a certain amount of energy storage to improve the primary frequency control ability. This paper considers the fast response ability and flexible control of energy storage for both charging and discharging, as well as its unique frequency response characteristics. Firstly, the control characteristics of the primary frequency regulation of the hybrid wind-solar-storage power station(Wind-PV-ES) are analyzed. By improving the automatic generation control(AGC) strategy of the hybrid Wind-PV-ES power station, a coordinated control strategy for the primary frequency regulation of the hybrid Wind-PV-ES power station is proposed for different frequency ranges based on the improved AGC control. After the primary frequency regulation action, the energy storage output is given priority control before wind and solar. When the energy storage active margin is insufficient, use the frequency regulation capacity of wind and photovoltaic power system to improve the primary frequency regulation capacity of the hybrid Wind-PV-ES power station. The control strategy proposed in this paper can improve the primary frequency regulation capability of renewable energy station. Finally, the paper verifies the effectiveness of the proposed control strategy through simulation. © The Institution of Engineering & technology 2023.

关键词： Energy storage

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Research on Modeling of Current Transformer for Travelling Wave Fault Location Test 10th

Research on Modeling of Current Transformer for Travelling W...

引用

10th Frontier Academic Forum of Electrical Engineering, FAFEE 2022

作者： Cui, Liu Li, Shuyong Huang, Libin Guo, Qi Deng, Lijun State Key Laboratory of HVDC Electric Power Research Institute China Southern Power Grid Guangzhou510663 China National Energy Power Grid Technology R and D Centre Guangzhou510663 China Guangdong Provincial Key Laboratory of Intelligent Operation and Control for New Energy Power System Guangzhou510663 China CSG Key Laboratory for Power System Simulation Electric Power Research Institute China Southern Power Grid Guangzhou510663 China

ISBN: (纸本)9789819934034

In order to test the travelling wave fault location devices that widely used in power system, a simulation model that can reflect the transformer characteristics of travelling waves on the transmission channel should be built. In this paper, the current transformer (CT) on the transmission channel is modelled, then the CT attenuation characteristic to travelling waves is proved by adding sine wave and square wave on the CT primary side. By using PSCAD and travelling wave fault locator examiner, a half-real time simulation environment is constituted to test the travelling wave fault locator. In PSCAD, CT is modeled by measuring parameters. Finally, amplitude frequency response characteristics of the actual CT and the CT model are compared. The result shows that simulation model in this paper reflects well on the CT high-frequency attenuation characteristic. © Beijing Paike Culture Commu. Co., Ltd. 2023.

关键词： Electric instrument transformers

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Design of enhanced pipeline repair clamp 6

Design of enhanced pipeline repair clamp

引用

6th International Conference on Material Strength and Applied Mechanics, MSAM 2023

作者： Zhao, Bingjie Zhang, Shuli Hu, Jun Gao, Qijun Sun, Jingquan Lu, Linping Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin300384 China CNOOC Safety Technology Services Co. Ltd Tianjin300457 China

ISBN: (纸本)9781643684345

Based on the technical requirements for emergency repair of damaged subsea oil and gas pipelines, an enhanced pipeline repair clamp is designed. In order to facilitate the installation of subsea environment, a hydraulic cylinder auxiliary installation mechanism is designed. Based on the reinforcement requirements of damaged part of pipelines, the enhanced components are designed and the slip enhanced structure is designed. Analyzed the sealing technology of the clamp, and found that double sealing technology is adopted by the clamp, resulting in higher reliability of pipeline repair sealing. The formula for calculating the key parameters of the wall thickness of the clamp is provided. The above work can provide reference for the design and application of enhanced pipeline repair clamp. © 2023 The Authors.

关键词： Repair

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A Fault Diagnosis Method of Actuator via Single Class Probability Density Learning 18th

A Fault Diagnosis Method of Actuator via Single Class Prob...

引用

18th Chinese intelligent systems Conference, CISC 2022

作者： Wang, Na Li, Yang Peng, Kun School of Control Science and Engineering Tiangong University Tianjin300387 China Tianjin Key Laboratory of Intelligent Control of Electrical Equipment University Tianjin300387 China Key Laboratory of low light level electromechanical system technology of Ministry of education Tianjin University Tianjin300387 China

ISBN: (纸本)9789811962028

A fault diagnosis method via Single Class Probability Density Learning for the actuator is proposed in this paper. Firstly, for the normal current data of the original actuator, the Fuzzy c-Means approach is combined with the matrix transformation. Then the Single Class Learning process is realized. Thus the distribution centers of the normal current data and the Probability Density control Threshold are obtained. On this basis, the fault diagnosis model is established. Secondly, for the actuator data to be tested, the Principal Component Analysis is adopted to reduce their dimension. Then the Affinity Propagation Clustering method is improved and the new centers of clustering are acquired by the test data. Additionally, the original distribution centers of current are compared with the new centers of clustering. So the actuator fault is diagnosed quickly. Finally, by some actuator measured data simulation, the effectivity of the proposed approach is verified in construct with the traditional methods. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Failure analysis

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MDSTC: A Dynamic Approach to Multi-Robot Coverage Path Planning

MDSTC: A Dynamic Approach to Multi-Robot Coverage Path Plann...

引用

International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Weimin Mo Zhiyun Lin School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China Shenzhen Key Laboratory of Control Theory and Intelligent Systems Southern University of Science and Technology Shenzhen China Peng Cheng Laboratory Shenzhen China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

Maximizing the efficiency of multi-robot systems is one of the primary objectives in solving the multi-robot coverage path planning (mCPP) problem. During coverage tasks, unexpected imbalances in the multi-robot systems, such as changes in speed, can lead to suboptimal utilization of the system's capabilities, subsequently reducing the efficiency of task execution. In this paper, we developed a multi-robot dynamic spanning tree coverage (MDSTC) algorithm, an online area-division-based approach that adjusts region allocation among robots based on their coverage status through an exchange-based mechanism to enhance multi-robot system efficiency. To validate the effectiveness of the proposed algorithm, we conducted extensive numerical simulations. The results demonstrate that our algorithm achieves a superior solution in scenarios where robot efficiency remains balanced, closely matching the performance of state-of-the-art mCPP methods. Furthermore, when differences in efficiency arise among the robots during task execution, the proposed algorithm provides a dynamic solution that enhances overall coverage efficiency.

关键词： Automation Heuristic algorithms Numerical simulation Dynamic scheduling Path planning Multi-robot systems Resource management Robots

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On Networked Dynamical systems with Heterogeneous Constraints:Equilibrium Points and Stability 41

On Networked Dynamical Systems with Heterogeneous Constraint...

引用

第41届中国控制会议

作者： Qichao Ma Jiahu Qin Yu Kang Huijun Gao Department of Automation University of Science and Technology of China Institute of Artificial Intelligence Hefei Comprehensive National Science Center Institute of Advanced Technology University of Science and Technology of China Research Institute of Intelligent Control and Systems and the State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In this paper,we investigate multi-agent systems with heterogeneous constraints,which can represent the heuristic beliefs of the agents towards an issue or the physical constraints of the *** typical example is a group of interacting unmanned aerial vehicles in a complex environment with multiple physical *** a result of the heterogeneity of the constraints,an equilibrium point may not exist and is presumably to be a dissensus point when it *** investigate the existence of equilibrium points from the perspective of Kakutani's fixed point theory for a set-valued *** also prove the local/global stability of certain equilibrium ***,a special case that the constraints are homogeneous is taken into *** constrains are assumed to take interval forms with nonempty *** is proved that consensus can be achieved globally and asymptotically for this *** examples are designed to illustrate our theoretical findings.

关键词： Multi-agent systems heterogeneous constraints equilibrium point and its stability constrained consensus

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Estimation of smoke echo signal using single-photon lidar 13

Estimation of smoke echo signal using single-photon lidar

引用

13th International Conference on Information Optics and Photonics, CIOP 2022

作者： Zhang, Yinbo Li, Sining Sun, Jianfeng Jiang, Peng Zhou, Shuaijun Zhang, Xin Hou, Yue Zhang, Hailong National Key Laboratory of Science and Technology on Tunable Laser Institute of Opto-Electronic Harbin Institute of Technology Heilongjiang Harbin150001 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Beijing Aerospace Automatic Control Institute Beijing100854 China

ISBN: (纸本)9781510660632

The non-uniform distribution of smoke and laser spot seriously limits the imaging ability of single-photon lidar through smoke. To this end, based on the collision theory between photons and smoke particles, this paper establishes the time-domain distribution model of scattered photons (Gamma), which considers the lidar system parameters and the characteristics of smoke particles. The shape parameter and inverse scale parameter are defined as the maximum scattering number K and the average scattering number β, respectively. The indoor test effectively illustrates the estimation ability of the model for smoke. The parameter estimation results show that the average scattering number β and the maximum scattering number K increase linearly with the increase of attenuation coefficient. This study is of great significance for the suppression of smoke backscattering and is expected to improve the weather adaptability of single-photon lidar. © 2022 SPIE.

关键词： Backscattering

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Obstacle Avoidance Algorithm of Handling Robot in Cultural Complex

Obstacle Avoidance Algorithm of Handling Robot in Cultural C...

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2022 International Conference on Culture-Oriented Science and technology, CoST 2022

作者： Ren, Hui Li, Mengnan Shen, Xiaochen School of Information and Commmunication Engineering Communication University of China Beijing100024 China Key Laboratory of Acoustic Visual Technology and Intelligent Control System Beijing100024 China Beijing100024 China

ISBN: (数字)9781665462488

ISBN: (纸本)9781665462488

In order to solve the problem of rapid switching of space equipment in the cultural complex, this paper combines Moth-Flame optimization Algorithm (MFO) and Dynamic Window Approach (DWA) to realize the hybrid path planning of handling robots in dynamic environments. Compared with the mainstream algorithms, the Moth-Flame optimization algorithm has the best performance. Different paths were classified and judged, and the global path planning based on MFO was proposed. The intersection of the dynamic obstacle and the global path were detected, and the dynamic window approach was used for local path planning in the road section where the collision occurs. Finally the combination of the global path planning and the local dynamic obstacle avoidance was realized. The effect of the hybrid path planning algorithm in the complex environment of the cultural complex had been verified. © 2022 IEEE.

关键词： Optimization

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