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2024 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2024

作者： Yu, Guanfeng Zhang, Han Wang, Zehao Wang, Jingchuan Shanghai Jiao Tong University Institute of Medical Robotics Department of Automation China Ministry of Education of China Key Laboratory of System Control and Information Processing China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350372601

The paper introduces a Koopman bilinear model predictive control (KBMPC) as a local planner for smart wheelchair systems. This approach leverages the Koopman Operator to streamline the nonlinear terms in MPC, aiming to achieve superior real-time performance. In particular, we employ the Extended Dynamic Mode Decomposition (EDMD) method to approximate the infinite dimensional Koopman operator. To tackle the challenge of designing lifting functions, we systematically utilize the derivatives of known nonlinear structures to methodically derive lifting functions. This systematic approach facilitates the identification of a precise bilinear model. Next, we formulate the corresponding Koopman bilinear MPC problem. Finally, an iterative algorithm is employed to efficiently solve the KBMPC problem. This method linearizes the bilinear model around estimations and iteratively solves the resulting quadratic programming problem to refine estimations. This allows KBMPC to function as a real-time local planner for smart wheelchairs. The prediction of nonlinear terms shows that the identified Koopman bilinear model increases the prediction accuracy. Furthermore, experiments demonstrate the advantages of the designed KBMPC local planner, highlighting its superior real-time performance and predictive capabilities. © 2024 IEEE.

关键词： Iterative methods

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Preventive control Methods for Power systems Based on Improved Deep Reinforcement Learning 6

Preventive Control Methods for Power Systems Based on Improv...

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6th International Conference on Power and Energy Technology, ICPET 2024

作者： Zhang, Jie Zhu, Yihua Liang, Zhuohang Zhang, Qingqing Ma, Qinfeng Liu, Mingshun An, Su Dai, Jiang State Key Laboratory of HVDC Electric Power Research Institute China Southern Power Grid 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 Power Dispatching and Control Center of Guizhou Power Grid Co. Ltd Guiyang China

ISBN: (纸本)9798350375855

Convergence speed, accuracy, generalization and decision transparency are very important indices for transient stability preventive control generation methods based on AI. This paper proposes a transient stability preventive control generation method based on graph deep reinforcement learning and its interpretation method using mutual information optimization. Firstly, a transient stability preventive control generation model is built based on the framework of deep reinforcement learning algorithm. The grid domain buses are mapped to the graph domain nodes and the grid graph data samples are generated. The graph convolutional neural network via initial residual and identity mapping (GCNII) is used to build the action network and the evaluation network. Secondly, based on the GCNII network, a transient stability assessment model is built and pre-trained, and graph data samples containing varies of topological structures and power flow states are applied to train the model. Then the interpretation method based on mutual information optimization is used to analyze the decision-making basis of the transient stability assessment model. The dominant factor affecting the transient instability of power system is extracted and its contribution degree is quantified, and the abduction analysis of transient stability is realized. Finally, the pre-trained transient stability assessment model is embedded in the deep reinforcement learning framework as a guide, and the power flow adjustment method is used to preferentially correct the weak factors and their influencing factors so that the transient stability prevention control strategies are obtained. The feasibility and effectiveness of the proposed method are verified in the IEEE-39 node test system. © 2024 IEEE.

关键词： Transient stability

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Kinematics analysis of lower limb rehabilitation robot based on D-H method 41

Kinematics analysis of lower limb rehabilitation robot based...

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第41届中国控制会议

作者： Kui Jie Wangyong He Renjie Gui School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems System Integration and Industrial Robotics Laboratory

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

At present,rehabilitation robots usually work together with patients and train them to achieve therapeutic effects by assisting them to complete movement within a certain *** this paper,it analyzes the average length and proportion of Chinese human lower limbs,as well as the range of extreme motion and comfortable motion of each joint of human lower *** on the error transfer matrix of rigid body connecting rod,the three-DOF lower limb rehabilitation robot human lower limb static pose error model and human/machine integration model are *** D-H method was used to solve the kinematic function between the angle of each joint and the position of the end of human lower *** analysis of the kinematics of human lower limbs is to calculate its inverse kinematics *** the motion control of rehabilitation robots,the inverse kinematics is more important than the forward kinematics,which is the basis for rehabilitation robot to realize trajectory planning under the training mode of passive trajectory traction,as well as the basis for compliant ***,a simulation model is established with Matlab software,and the simulation results show the feasibility and safety of the rehabilitation training process.

关键词： Lower limb rehabilitation robot Range of motion Human kinematics

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Optimal dispatch for Cross-Regional Integrated Energy system with Renewable Energy Uncertainties: A Unified Spatial-Temporal Cooperative Framework

SSRN

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SSRN 2023年

作者： Zhang, Zhenwei Wang, Chengfu Wu, Qiuwei Dong, Xiaoming Key Laboratory of Power System Intelligent Dispatch and Control Shandong University Shandong Province Jinan250061 China Technical University of Denmark Denmark

Cross-regional energy sharing is a promising way to alleviate the imbalance in energy distribution. However, there is a risk that uncertain fluctuations of intermittent renewable energy sources (RES) could be transmitted across regional transmissions, resulting in large-scale system economic inefficiency and security concerns. To this end, a unified spatial-temporal cooperative framework for integrated energy system, which considers the coordination between intra-regional multi-energy coupling and cross-regional multi-agent-system energy sharing, is proposed in this paper. First, in temporal dimension, a multi-time-scale stochastic decision-making model is established based on stochastic model predictive control (SMPC). Thus, slow-response units are arranged to gain economic goals in day-ahead stage and the closed-loop rolling adjustment is implemented on fast-response units to achieve accuracy supply-demand balance in real-time stage. Second, in spatial dimension, a fully distributed dispatch approach is adopted to address information sharing barriers, which only requires neighbouring information and considers consistency of boundary control variables on border lines. Finally, to improve the computational efficiency, the established complex time sequential model is decomposed into a set of time-discrete parallel sub-problems, using the optimal condition decomposition (OCD) technique. Simulation results on a cross-regional test system demonstrate the superiority of the proposed framework in operational economy and RES utilization. © 2023, The Authors. All rights reserved.

关键词： Computational efficiency

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Optimization Strategy for Virtual Energy Storage of Electric Vehicles to Participate in Multiple Ancillary Services 5

Optimization Strategy for Virtual Energy Storage of Electric...

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5th International Conference on Clean Energy and Electric Power Engineering, ICCEPE 2024

作者： Guo, Qi Gu, Haohan Zhao, Yifei Tu, Liang Chen, Qifang Cai, Haiqing Chen, Wei Chen, Zhihao 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 School of Electrical Engineering Beijing Jiaotong University Beijing100044 China

ISBN: (纸本)9798350390315

When EVs participate in multiple ancillary services of the power grid, due to the lack of a unified management scheduling plan, various ancillary service demands compete for limited energy storage resources. This would lead to conflicts when the virtual energy storage of EV participates in the regulation of multiple ancillary services. In order to solve the above problems, a reasonable and feasible optimization strategy for virtual energy storage of EVs is formulated to alleviate the conflict problems of ancillary services. The validity of the proposed method is verified by simulation cases. © 2024 IEEE.

关键词： control strategies electric vehicles multiple auxiliary services

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Research on optimization of two-stage scheduling for aluminum extrusion machine manufacturing line

Research on optimization of two-stage scheduling for aluminu...

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2024 China Automation Congress, CAC 2024

作者： Zhou, Aoran Qiu, Lipeng Wu, Yali Department of Information and Control Engineering Xi'an University of Technology Shaan'xi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an710048 China State Key Laboratory of Metal Extrusion and Forging Equipment Technology China National Heavy Machinery Research Institute Co Ltd Xi'an710016 China

ISBN: (纸本)9798350368604

In view of the problems of high energy consumption, long inventory time and low production efficiency in the production process of traditional aluminum extrusion machine, this paper establishes an efficient two-stage parallel scheduling optimization model based on the integration of flexible job shop scheduling and assembly sequence planning (IFJSS-ASP). On this basis, an evolutionary algorithm combining strong dominance relationship and simple grouping method (SDREA-SGM) is proposed. The algorithm utilizes a two-stage hybrid chromosome encoding and decoding method to establish a rational mapping from the decision space to the solution space. Furthermore, in order to prevent the model from easily falling into local optima, an adaptive intra-class and inter-class pairing selection strategy has been adopted by the algorithm. This enhances global search and improves local search ***, the feasibility and effectiveness of the algorithm are verified by solving problems of different scales. © 2024 IEEE.

关键词： Job shop scheduling

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LI-DPS: A Long Sequence Dual Prediction Scheme Based on Informer for Efficient High-Frequency Data Transmission 50

LI-DPS: A Long Sequence Dual Prediction Scheme Based on Info...

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50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024

作者： Wu, Yu Yang, Bo Zhu, Dafeng Chen, Cailian Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China China Shanghai Engineering Research Center of Industrial Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9781665464543

High-frequency time-series data such as vibration signals will consume a lot of communication resources and require very high network bandwidth. Reducing the amount of data transmission while ensuring its availability is particularly important and challenging in high-frequency scenarios. Dual prediction scheme (DPS) can significantly reduce the amount of data transmission while ensuring data accuracy. However, traditional DPS cannot be applied to high-frequency scenarios due to the limitation of the mechanism design and model inference speed. We propose a novel long sequence DPS to efficiently reduce the volume of high-frequency data transmission in real time. To overcome the accuracy degradation due to gradient vanishing in long sequence prediction, we also propose an attention-based prediction model. Furthermore, we propose Informer to reduce the model’s computational complexity and enable fast inference and deployment on resource-constrained edge gateways. Experiments based on the real-world dataset show that the proposed scheme can efficiently cope with high-frequency data, reduce its transmission volume, and ensure data accuracy. © 2024 IEEE.

关键词： Prediction models

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Deep Multimodal Learning and Fusion Based intelligent Fault Diagnosis Approach

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Journal of Beijing Institute of Technology 2021年第2期30卷 172-185页

作者： Huifang Li Jianghang Huang Jingwei Huang Senchun Chai Leilei Zhao Yuanqing Xia Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of TechnologyBeijing 100081China

Industrial Internet of Things(IoT)connecting society and industrial systems represents a tremendous and promising paradigm *** IoT,multimodal and heterogeneous data from industrial devices can be easily collected,and further analyzed to discover device maintenance and health related potential knowledge *** data-based fault diagnosis for industrial devices is very helpful to the sustainability and applicability of an IoT *** how to efficiently use and fuse this multimodal heterogeneous data to realize intelligent fault diagnosis is still a *** this paper,a novel Deep Multimodal Learning and Fusion(DMLF)based fault diagnosis method is proposed for addressing heterogeneous data from IoT environments where industrial devices ***,a DMLF model is designed by combining a Convolution Neural Network(CNN)and Stacked Denoising Autoencoder(SDAE)together to capture more comprehensive fault knowledge and extract features from different modal ***,these multimodal features are seamlessly integrated at a fusion layer and the resulting fused features are further used to train a classifier for recognizing potential ***,a two-stage training algorithm is proposed by combining supervised pre-training and fine-tuning to simplify the training process for deep structure models.A series of experiments are conducted over multimodal heterogeneous data from a gear device to verify our proposed fault diagnosis *** experimental results show that our method outperforms the benchmarking ones in fault diagnosis accuracy.

关键词： fault diagnosis deep learning multimodal heterogeneous data multimodal fused features

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Color liquid crystal grating based color holographic 3D display system with large viewing angle

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Light(Science & Applications) 2024年第1期13卷 103-112页

作者： Di Wang Yi-Long Li Fan Chu Nan-Nan Li Zhao-Song Li Sin-Doo Lee Zhong-Quan Nie Chao Liu Qiong-Hua Wang School of Instrumentation and Optoelectronic Engineering Beihang UniversityBeijing 100191China State Key Laboratory of Virtual Reality Technology and Systems Beihang UniversityBeijing 100191China Display Technology Research Center Seoul National UniversityGwanak-ro 1Gwanak-guSeoul 08826Republic of Korea Key Lab of Advanced Transducers and Intelligent Control System Ministry of EducationTaiyuan University of TechnologyTaiyuan 030024China

Holographic 3D display is highly desirable for numerous applications ranging from medical treatments to military ***,it is challenging to simultaneously achieve large viewing angle and high-fidelity color reconstruction due to the intractable constraints of existing ***,we conceptually propose and experimentally demonstrate a simple and feasible pathway of using a well-designed color liquid crystal grating to overcome the inevitable chromatic aberration and enlarge the holographic viewing angle,thus enabling large-viewing-angle and color holographic 3D *** use of color liquid crystal grating allows performing secondary diffraction modulation on red,green and blue reproduced images simultaneously and extending the viewing angle in the holographic 3D display *** principle,a chromatic aberration-free hologram generation mechanism in combination with the color liquid crystal grating is proposed to pave the way for on such a superior holographic 3D *** proposed system shows a color viewing angle of~50.12°,which is about 7 times that of the traditional system with a single spatial light *** work presents a paradigm for achieving desirable holographic 3D display,and is expected to provide a new way for the wide application of holographic display.

关键词： holographic angle crystal

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Effects of ultrasonic vibration parameters on the cutting force, chip morphology, and bone cracking in bovine cortical bone milling

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International Journal of Abrasive Technology 2024年第4期12卷 293-312页

作者： Hu, Yahui Zhong, Jie He, Lingrui Lin, Yize Zhang, Zhaoxiong Zhang, Chunqiu Fu, Weihua Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China Department of General Surgery Tianjin Medical University General Hospital Tianjin300052 China

Ultrasonic vibration-assisted technology is employed in orthopaedic surgery to minimise invasive effects in bone milling. This study explored the motion characteristics of ultrasonic vibration-assisted milling (UVAM), its intermittent cutting phenomenon, and tool-bone contact and separation times, via the developed experimental platform. The UVAM and conventional milling (CM) tests were carried out on bovine cortical bones with measurement of respective cutting forces and scanning electron microscope (SEM) observation of crack initiation and propagation in the milled bones. The UVAM application improved the chip-breaking ability of the milling tool and reduced the bone-milling force by 15.90%–25.06% compared to CM. Properly adjusting ultrasonic frequency and amplitude made it possible to reduce the bone cracking effect and enhance the milled bone surface quality. Copyright © 2024 Inderscience Enterprises Ltd.

关键词： Mammals

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