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Power System and Green Energy Conference (PSGEC)

作者： Junhao Gu Longyan Li Chao Ning Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (数字)9798350365573

ISBN: (纸本)9798350365580

The off-grid ammonia-hydrogen-based microgrid is recognized as a promising paradigm for industrial decarbonization. In this paper, we propose a novel planning model for off-grid ammonia-hydrogen-based microgrids, where the hydrogen is produced in a distributed manner and the ammonia is synthesized in a large-scale energy-intensive plant. In specific, the proposed planning model considers hybrid types of electrolyzer modules and systematically investigates the operational constraints of distribution networks and hydrogen storage equipment, enabling distributed flexible hydrogen production. To seamlessly bridge distributed hydrogen sources and centralized ammonia production site, the delivery of hydrogen through the transportation network is structured as a vehicle routing problem. Eventually, the effectiveness of the proposed model is validated through case studies. Simulation results show that the proposed model lowers the total system cost by 11.8% compared with the simplified scenario which uses one single type of electrolyzer.

关键词： Ammonia Costs Hydrogen Vehicle routing Production Microgrids Distribution networks Planning Numerical models Optimization

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Robust Stability and Stabilization Conditions for Fractional-order Systems with Distributed Delays and Polytopic Uncertainties

Robust Stability and Stabilization Conditions for Fractional...

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Chinese control and Decision Conference, CCDC

作者： Yi-Nan Chen Jun-Guo Lu Zhen Zhu Jia-Rui Zhang Qing-Hao Zhang Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (数字)9798350387780

ISBN: (纸本)9798350387797

This paper investigates the robust stability and stabilization conditions for fractional-order systems with distributed delays (FOSDDs) with polytopic uncertainties. To begin with, two robust stability conditions for FOSDDs with polytopic uncertainties are formulated. Subsequently, the state feedback controllers are put forward to robustly stabilize the FOSDDs with polytopic uncertainties. The obtained results are illustrated utilizing linear matrix inequalities (LMIs). Finally, two numerical instances are provided to showcase the effectiveness of the derived conditions.

关键词： State feedback Uncertainty Robust stability Delays Linear matrix inequalities Numerical stability

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Online-Learning-Based Distributionally Robust Motion control with Collision Avoidance for Mobile Robots

Online-Learning-Based Distributionally Robust Motion Control...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Han Wang Chao Ning Longyan Li Weidong Zhang Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Collision-free navigation is a critical issue in robotic systems as the environment is often dynamic and uncertain. This paper investigates a data-stream-driven motion control problem for mobile robots to avoid randomly moving obstacles when the probability distribution of the obstacle’s movement is partially observable through data and can be even time-varying. A data-stream-driven ambiguity set is firstly constructed from movement data by leveraging a Dirichlet process mixture model and is updated online using real-time data. Then we propose an Online-Learning-based Distributionally Robust Nonlinear Model Predictive control (OL-DR-NMPC) approach for limiting the risk of collision through considering the worst-case distribution within the ambiguity set. To facilitate solving the OL-DR-NMPC problem, we reformulate it as a finite-dimensional nonlinear optimization problem. To cope with the bilinear matrix inequality constraints in the nonlinear problem, we develop a parabolic relaxation and a sequential algorithm, by which the problem is further transformed into polynomial-time solvable surrogates. The simulations using a quadrotor model are employed to demonstrate the effectiveness and advantages of the proposed method.

关键词： Navigation Simulation Real-time systems Probability distribution Safety Mobile robots Collision avoidance

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Accelerated Simulation of Master Equation for Open Quantum Systems

Accelerated Simulation of Master Equation for Open Quantum S...

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第42届中国控制会议

作者： Bo Yue Yanfang Wang Shibei Xue Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China

Simulation of open quantum systems is undoubtedly critical to design of quantum devices and applications of quantum technologies since dynamics of open quantum systems cannot be solved analytically in general. However, the dimension of open quantum systems grows exponentially as the number of their subsystems increases or as involving complicated environments,which reduces the computational efficiency of the simulation. In this paper, we boost numerical simulation of master equations of open quantum systems from several aspects with which the total time and the occupied memory in the simulation are significantly reduced without losing precision. Our method can be applied to the simulation of non-Markovian quantum systems described by an augmented system model as well. We conduct numerical experiments on simulation of a non-Markovian spin *** with the algorithm in a well-known toolbox, QuTiP, our method can take 26.3% time and less memory under fair conditions.

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Explicit Predictive control of Forward DC-DC Converter Based on an Input-Mapping Method

Explicit Predictive Control of Forward DC-DC Converter Based...

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第43届中国控制会议

作者： Xiang Gu Dewei Li Aoyun Ma Yaru Yu Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In the practical application of model predictive control in power electronics, both online computational burden and model accuracy are crucial. This paper presents an explicit model predictive control method based on input-mapping *** address the issue of parameter drift in the forward DC-DC converter system, the input-mapping method is introduced to compensate for model deviations using historical data. Firstly, the average model of the forward DC-DC converter system is introduced. For the control objective of voltage tracking, an explicit predictive control using the incremental model is ***, input-mapping method is integrated with explicit predictive control. During offline computation, analytical forms of the input-mapping combination coefficients and the optimal solution function of explicit model predictive control are *** computation of combination coefficients is conducted to obtain the optimal solution rapidly. The effectiveness of the proposed method is verified through simulations in MATLAB.

关键词： Forward DC-DC converter explicit model predictive control input-mapping method

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Spatial-Temporal-Rule-based Traffic Movement Status Interpretation at Intersections *

Spatial-Temporal-Rule-based Traffic Movement Status Interpre...

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2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023

作者： Zhuang, Hanyang Gao, Liyang Qian, Yeqiang Wang, Chunxiang Yang, Ming University of Michigan Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350327182

Traffic light is the most significant component of road transportation. Traffic lights control the traffic movement at intersections by allowing the movement of some lanes and forbidding that of the others to ensure safety and efficiency. It is important for intelligent vehicles to understand the meaning of traffic lights. Conventional research works on traffic light detection and tracking consider each light independently, so the occlusion of some lights may mislead the decision of the vehicle. Since all traffic lights at an intersection work together, it is more essential to understand the traffic movement status controlled by the traffic lights rather than the perception of a single light. Therefore, this paper proposes a spatial-temporal-rule-based framework to interpret the current traffic movement status and predict the next status. The spatial information, including position and class, is obtained by traffic light detection. The temporal information is perceived by the proposed topologic-feature-based tracking method. The rule information is recognized by combination of spatial and temporal information. A dual-view camera system consisting of a telephoto camera and a wide-angle camera is adopted to ensure long perception distance and wide coverage simultaneously. The successful tracking of traffic lights from 200 m to 10 m away provides enough data to recognize the phase-change rule, which leads to correct interpretation and prediction. A customized dataset was collected, and experiments were conducted to illustrate the capability of the proposed method. © 2023 IEEE.

关键词： Cameras

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A Simplified Economic Model Predictive control Algorithm for Soft Constrained System with Changing Economic Criteria

A Simplified Economic Model Predictive Control Algorithm for...

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第34届中国过程控制会议

作者： Xiaowen Qi Shaoyuan Li Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China

To improve the economic performance of soft-constrained systems,this paper proposes a new soft-constrained Economic Model Predictive control(EMPC) approach to cope with changes in economic criteria caused by variations in raw material prices,product prices,market fluctuations,disturbances,*** the one hand,terminal states are permitted to be any admissible equilibrium *** the other hand,slack variables for soft constraints are considered in the cost stage to enhance dynamic operation *** ensure the asymptotic stability,the Lyapunov-like stability constraint is ***,the effectiveness of the proposed method is demonstrated by an isothermal stirred-tank reactor process.

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Towards Autonomous Indoor Parking: A Globally Consistent Semantic SLAM System and A Semantic Localization Subsystem

arXiv

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arXiv 2024年

作者： Sha, Yichen Zhu, Siting Guo, Hekui Wang, Zhong Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Shanghai Jiao Tong University China Dimensional Robot Shanghai China

We propose a globally consistent semantic SLAM system (GCSLAM) and a semantic-fusion localization subsystem (SF-Loc), which achieves accurate semantic mapping and robust localization in complex parking lots. Visual cameras (front-view and surround-view), IMU, and wheel encoder form the input sensor configuration of our system. The first part of our work is GCSLAM. GCSLAM introduces a novel factor graph for the optimization of poses and semantic map, which incorporates innovative error terms based on multi-sensor data and BEV (bird’s-eye view) semantic information. Additionally, GCSLAM integrates a Global Slot Management module that stores and manages parking slot observations. SF-Loc is the second part of our work, which leverages the semantic map built by GCSLAM to conduct map-based localization. SF-Loc integrates registration results and odometry poses with a novel factor graph. Our system demonstrates superior performance over existing SLAM on two real-world datasets, showing excellent capabilities in robust global localization and precise semantic mapping. Copyright © 2024, The Authors. All rights reserved.

关键词： Mapping

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PS-Loc: Robust LiDAR Localization with Prior Structural Reference

PS-Loc: Robust LiDAR Localization with Prior Structural Refe...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Rui Li Wentao Zhao Tianchen Deng Yanbo Wang Jingchuan Wang Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Ministry of Education Key Laboratory of System Control and Information Processing Shanghai China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Prior structural reference like floor plan is readily accessible in indoor scene, which exhibits the potential of improving localization quality without the requirements of a previously-built high-precision map. This paper introduces a novel optimal transport-based framework for prior structural reference-based localization, aiming to improve the robustness for the robot localization. Leveraging the spacial relations of structures, a matching method based on optimal transport theory is proposed and it improves the robustness of matching results in dynamic scene and rapid rotation conditions. Additionally, this paper handles metric inaccuracies in the known structural reference by implementing an prior guided plane adjustment-based updating strategy. This strategy combines prior and observational information to jointly optimize the structural information within a sliding window. The performance of the framework is validated through real-world experiments, demonstrating superior accuracy and robustness to disturbances from dynamic occlusion and rapid rotation compared to common state-of-the-art SLAM and localization methods.

关键词： Location awareness Measurement Laser radar Simultaneous localization and mapping Accuracy Robustness Robot localization Intelligent robots Floors

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Maternal obesity exacerbates the responsiveness of offspring BALB/c mice to cow's milk protein-induced food allergy

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Food Science and Human Wellness 2023年第3期12卷 920-928页

作者： Jingxin Gao Tiange Li Dong Liang Han Gong Liang Zhao Xueying Mao Key Laboratory of Functional Dairy Ministry of EducationCollege of Food Science and Nutritional EngineeringChina Agricultural UniversityBeijing 100083China Henan Engineering Technology Research Center of Food Processing and Circulation Safety Control College of Food Science and TechnologyHenan Agricultural UniversityZhengzhou 450002China Applied Nutrition I China National Center for Food Safety Risk AssessmentBeijing 100022China

Food allergy has become a significant public health problem affecting a large number of people *** obesity causes inflammation and alters the immune system of offspring,which may exacerbate their food *** aim of this study was to determine whether offspring mice born to obese mothers would have more serve reactions to cow's milk protein-induced food allergy,and further investigate the underlying *** offspring BALB/c mice of mothers with normal and high-fat diets were sensitized withβ-lactoglobulin(BLG),*** obesity increased the serum immunoglobulin E and mouse mast cell protease levels,though did not have significant influence on anaphylactic symptom score,core temperature and diarrhea rate of offspring mice after BLG ***,maternal obesity led to a lower level of occludin mRNA expression in BLG-sensitized *** mice born to obese mothers exhibited increased mRNA expression levels of GATA-3,interleukin(IL)-4 and IL-10 in jejunum after BLG sensitization,indicating maternal obesity intensified Th2-type biased immune *** conclusion,maternal obesity exerted exacerbating effects on the responsiveness of their offspring to cow's milk protein sensitization.

关键词： Cow's milk allergy Maternal obesity Offspring Intestinal barrier Immune response

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