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CIRED 2022 Shanghai Workshop

作者： Cao, Yongji Zhang, Hengxu Zhang, Xiaoning Li, Changgang Qin, Hao Gao, Zhimin Centre for Electric Power and Energy Department of Electrical Engineering Technical University of Denmark Kgs. Lyngby Denmark Key Laboratory of Power System Intelligent Dispatch and Control of the Ministry of Education Shandong University Jinan China School of Control and Computer Engineering North China Electric Power University Beijing China

ISBN: (纸本)9781839538391

With the rapid development of distributed renewable energies, the number and severity of the active power disturbances that affect frequency stability have increased. The distributed energy storage system (DESS) characterized by high flexibility and dispatchability can provide distribution network with frequency regulation services after disturbances. This paper proposes a robust optimal scheduling approach for DESSs considering uncertain frequency changes. The concept of the probabilistic transient frequency deviation security margin (PTFDSM) is presented to quantify the power deficit that the system can tolerate. And an extended system frequency response model is employed to obtain the PTFDSM. Then, a robust optimization model is established to minimize the network loss and maintain the operating point of DESSs within the PTFDSM for frequency stability. The AC power flow constraints are introduced into the optimization model. And the second-order cone relaxation method is used to deal with the nonlinear constraints through relaxation variables. Based on the column-and-constraint generation method, the relaxed second-order cone optimization model is solved, and scheduled DESS power is attained. A case study is carried out to verify the effectiveness of the proposed approach. © 2022 IET Conference Proceedings. All rights reserved.

关键词： Energy storage

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Graph-based Selection-Activation Reinforcement Learning for Heterogenous Multi-agent Collaboration 43

Graph-based Selection-Activation Reinforcement Learning for ...

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43rd Chinese control Conference, CCC 2024

作者： Chen, Hao-Xiang Zhang, Xi-Wen Shen, Jun-Nan Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing100081 China Beijing Institute of Technology Chongqing Innovation Center Chongqing401135 China

ISBN: (纸本)9789887581581

In practical applications of multi-agent systems, agents are often heterogeneous, and each type of them typically has different task objectives. For heterogeneous multi-agent reinforcement learning (HMARL), the diversity of agent types and the unbalanced agent number of each type can lead to the curse of dimensionality and non-stationary. Moreover, the increase in the number of heterogeneous agents may result in slow convergence during training. This paper proposes a graph-based selection-activation reinforcement learning (GSARL) method for training heterogenous multi-agent collaboration strategies. It first constructs agents based on their types, then extracts the global adjacency matrices and the ally adjacency matrices from the agents' observations, and calculates the global feature matrices. Afterwards, GSARL utilizes hierarchical graph convolutional network to sequentially convolve the global information and ally information, obtaining action logits based on agent types. By using the neural topology graph and the selection-activation method, the optimal multi-agent collaboration configuration is obtained through combinatorial optimization. Experiments are conducted in an adversarial combat simulation environment involving collaborative Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs). Simulation results show that the proposed method can accelerate convergence while allowing that each type of heterogeneous agents can leverage its unique advantages. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Unmanned aerial vehicles (UAV)

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Iteration framework for solving mixed lubrication computation problems

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Frontiers of Mechanical Engineering 2021年第3期16卷 635-648页

作者： Shi CHEN Nian YIN Zhinan ZHANG Xiaojiang CAI State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Shanghai Aerospace Control Technology Institute Shanghai 201109China Shanghai Key Laboratory of Aerospace Intelligent Control Technology Shanghai 201109China

The general discrete scheme of time-varying Reynolds equation loses the information of the previous step,which makes it unreasonable.A discretization formula of the Reynolds equation,which is based on the Crank-Nicolson method,is proposed considering the physical message of the previous ***-Seidel relaxation and distribution relaxation are adopted for the linear operators of pressure during the numerical solution *** addition to the convergent criteria of pressure distribution and load,an estimation framework is developed to investigate the relative error of the most important term in the Reynolds *** surface with frill contacts and mixed elastohydrodynamic lubrication is tested for *** asperity contact and sinusoidal wavy surface are examined by the proposed discrete *** show the precipitous decline in the boundary of the contact *** relative error suggests that the pressure distribution is reliable and reflects the accuracy and effectiveness of the developed method.

关键词： mixed lubrication discretization formula relative error Reynolds equation asperity

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Review of Research on New Energy Ramp Events

Review of Research on New Energy Ramp Events

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IEEE/IAS Industrial and Commercial Power system Asia (I&CPS Asia)

作者： Chao Wang Hong Lin Ming Yang Xiaoling Fu School of Electrical Engineering Xinjiang University Urumqi China School of Energy and Control Engineering Changji University Changji China Key Laboratory of Power System Intelligent Dispatch and Control Shandong University Jinan China

With the massive access of new energy represented by wind power and photovoltaic to the power system, the new energy ramp events on the secure and stable operation of the power grid have brought huge challenges. The ramp events are reviewed from four aspects: the causes, definitions, prediction methods and evaluation indicators of ramp events. Firstly, the causes of wind power ramp events(WPRE) and solar power ramp events(SPRE) are analyzed, and the common definitions, advantages and disadvantages of ramp events are compared. Then, according to the form of prediction results, the methods of deterministic ramping prediction and uncertain ramp prediction are summarized. On this basis, the commonly used ramp evaluation indexes are summarized. Finally, the prediction of new energy ramp events is prospected.

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Flow Field Simulation and Nozzle Parameter Optimization of Rust Removal Robot Based on High-Pressure Water Jet Technology 1

Flow Field Simulation and Nozzle Parameter Optimization of R...

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1st International Conference on Applied Physics and Mathematics, ICAPM 2023

作者： Peng, Wei Ma, Yue Li, Bin Wang, Xinjie Peng, Pai Wang, Jinyuan Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

To enhance the safety and longevity of large ships, employing high-pressure water jet technology for rust removal is crucial in this article, the qualitative relationship among the key parameters of high-pressure water jet rust removal is analyzed theoretically. Secondly, the flow field simulation is carried out using Computational Fluid Dynamics (CFD) software to verify the relationship among the key parameters. Finally, the influence of different nozzle length-diameter ratios on jet characteristics is analyzed. The simulation results show that the nozzle end length is 0 mm and the nozzle diameter is 1mm for the straight-cone convergent nozzle with a shrinking angle of 30° when the diameter of the length-diameter ratio remains unchanged and the length of the nozzle end is changed. Simultaneously, the highest values are observed for the nozzle exit velocity and the impact force on the target surface. The impact range of target shear force takes the maximum value when the length-diameter ratio is 1. Further, by changing the length of the nozzle-end and the nozzle diameter in the length-diameter ratio, the influence on the jet characteristics can be concluded that the nozzle diameter has a greater influence on the nozzle exit velocity than the nozzle-end length. On this basis, the optimized nozzle parameters can be obtained i.e., the nozzle-end length is 1 mm and the nozzle diameter is 1 mm, such that the effective striking area of the jet is the largest and the striking effect is the best. © 2024 Institute of Physics Publishing. All rights reserved.

关键词： Computational fluid dynamics

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Design of the Slave Hand Structure and Interference Detection for the Master-Slave Craniotomy Surgical Robot 2

Design of the Slave Hand Structure and Interference Detectio...

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2nd International Conference on intelligent Equipment and Special Robots, ICIESR 2023

作者： Zhao, Lei Zhang, Guobin Li, Zehua Liu, Zhenzhong Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin China

ISBN: (纸本)9781643685144

Existing neurosurgical robots are prone to interfering with each other in a narrow operating space due to the overlapping of several arms, which poses a great safety risk during surgery. In this paper, a 7-DOF dual-arm robot is designed to cooperate with the surgeon to complete craniotomy by manipulating the master hand mechanism. Aiming at the pain point that two real-time dynamic slave hands are prone to interference, this paper establishes a simplified model of the robot envelope, and transforms the interference detection problem between the robots into the interference checking of geometric primitives. If the interference between the two arms is detected by the algorithm, the surgical path of the current robotic arm is immediately terminated to ensure the safety of the surgery. Finally, the algorithm is simulated and verified with the robot designed in this paper. The results show that the algorithm is feasible and has high computational efficiency. © 2024 The Authors.

关键词： Structural design

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Research on Hybrid Path Planning Algorithm Based on Anti-Collision

Research on Hybrid Path Planning Algorithm Based on Anti-Col...

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2023 International Conference on Culture-Oriented Science and Technology, CoST 2023

作者： Ren, Penghao Li, Mengnan Su, Zhibin Beijing Radio & Television Station Beijing100022 China Communication University of China Key Laboratory of Acoustic Visual Technology and Intelligent Control System Ministry of Culture and Tourism China Communication University of China Beijing Key Laboratory of Modern Entertainment Technology Beijing100024 China

ISBN: (纸本)9798350357998

In order to solve the problem of fast switching of special equipment in the cultural complex, the improved Moth-Flame Optimization algorithm (MFO) is combined with the improved Dynamic Window Approach (DWA) to realize the hybrid path planning of handling robots in different scenarios of cultural complexes in this paper. Specifically, the traditional Moth-Flame Optimization algorithm is improved and applied to the global path planning problem. On the basis of the planned global path, the intersection of dynamic obstacles with the global path is detected, and the improved Dynamic Window Approach is used for local obstacle avoidance in the section with collision risk, finally, the hybrid path planning in the complex environment of the cultural complex is realized. The simulation experimental results prove the effectiveness of the proposed algorithm. © 2023 IEEE.

关键词： Motion planning

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Multi-Agent Reinforcement Learning with Region Division and Leader-Follower Communication

Multi-Agent Reinforcement Learning with Region Division and ...

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Chinese Automation Congress (CAC)

作者： Chao Wang Xiang Xu Shenzhen Key Laboratory of Control Theory Intelligent Systems School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

The integration of multi-agent reinforcement learning (MARL) into complex systems has paved new ways for collaborative problem-solving. However, traditional approaches to MARL frequently encounter the challenge of achieving ef-ficient communication among agents, essential for coordinated action. This paper introduces a region division and leader-follower(RDLF) communication algrithm with the MARL frame-work. RDLF divides the environment into several regions, each managed by a leader agent that coordinates the actions of fol-lower agents and handling inter-region communication. This hier-archical structure reduces unnecessary communication, enhancing learning efficiency. Experimental results in multi-particle en-vironments demonstrate RDLF's superiority over existing MARL algorithms, especially with increasing agent numbers. RDLF effectively addresses scalability and communication challenges in large-scale multi-agent systems, providing a robust foundation for its application in complex and dynamic environment.

关键词： Automation Scalability Heuristic algorithms Collaboration Reinforcement learning Problem-solving Complex systems Multi-agent systems

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Comprehensive study of the ultrafast photoexcited carrier dynamics in Sb_(2)Te_(3)–GeTe superlattices

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Chinese Physics B 2024年第7期33卷 381-387页

作者：叶之江金钻明蒋叶昕卢琦贾梦辉钱冬黄夏敏李舟彭滟朱亦鸣 Terahertz Technology Innovation Research Institute Terahertz Spectrum and Imaging Technology Cooperative Innovation CenterShanghai Key Laboratory of Modern Optical SystemUniversity of Shanghai for Science and TechnologyShanghai 200093China Shanghai Institute of Intelligent Science and Technology Tongji UniversityShanghai 200092China Key Laboratory of Artificial Structures and Quantum Control(Ministry of Education) Shenyang National Laboratory for Materials ScienceSchool of Physics and AstronomyShanghai Jiao Tong UniversityShanghai 200240China Tsung-Dao Lee Institute Shanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Precision Spectroscopy East China Normal UniversityShanghai 200062China GBA Branch of Aerospace Information Research Institute Chinese Academy of SciencesGuangzhou 510700China Guangdong Provincial Key Laboratory of Terahertz Quantum Electromagnetics Guangzhou 510700China University of Chinese Academy of Sciences Beijing 100039China

Chalcogenide superlattices Sb_(2)Te_(3)-GeTe is a candidate for interfacial phase-change memory(iPCM) data storage *** employing terahertz emission spectroscopy and the transient reflectance spectroscopy together,we investigate the ultrafast photoexcited carrier dynamics and current transients in Sb_(2)Te_(3)-GeTe *** orientation and excitation polarization dependences of the THz emission confirm that ultrafast thermo-electric,shift and injection currents contribute to the THz generation in Sb_(2)Te_(3)-GeTe *** decreasing the thickness and increasing the number of GeTe and Sb_(2)Te_(3) layer,the interlayer coupling can be enhanced,which significantly reduces the contribution from circular photo-galvanic effect(CPGE).A photo-induced bleaching in the transient reflectance spectroscopy probed in the range of~1100 nm to~1400 nm further demonstrates a gapped state resulting from the interlayer *** demonstrates play an important role in the development of iPCM-based high-speed optoelectronic devices.

关键词： Sb_(2)Te_(3)/GeTe superlattices ultrafast carrier dynamics interfacial phase change memory THz emission spectroscopy transient reflectance spectroscopy

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Forming Circle Formations of Multi-agent systems Under Actuator Faults 5th

Forming Circle Formations of Multi-agent Systems Under Actu...

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5th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2021

作者： Liu, Jiajun Ru, Xinfeng Xia, Weiguo Wang, Chen China National Aeronautical Radio Electronic Research Institute and National Key Laboratory of Science and Technology on Avionics System Integration Shanghai China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and School of Control Science and Engineering Dalian University of Technology Dalian China National Engineering Research Center of Software Engineering and the State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

ISBN: (纸本)9789811939976

A distributed fault-tolerant formation control law is designed in this paper for multi-agent systems under external disturbances and actuator faults including time-varying loss of effectiveness faults. The initial position of each agent is already on a circle and the control purpose is to form a desired formation on this circle. Based on this local information, a distributed adaptive formation control law is designed by employing the congelation of variables method to deal with time-varying actuator faults. Finally, a simulation example is given to verify the effectiveness of the adaptive fault-tolerant control design method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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