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Adaptive Current Protection Technology for Distribution Network with Distributed Power Sources Based on Local Information

引用

Mobile Information systems 2021年 2021卷

作者： Cui, Shijie Zeng, Peng Wang, Zhongfeng Zuo, Yue State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China State Grid Huludao Power Supply Company Huludao125000 China

Because the distributed power supply is connected to the distribution network, its structure has also changed the original traditional method. The original single power supply method was originally used. The network provided is a radial network and it is connected to the distributed power supply. Later, it became a structure with small- and medium-sized power supplies inside, and its network power supply became dual or multiple power supplies. Such a structural change affected the coordination of power distribution protection devices, which would impose current on the distribution network. Protection has a negative impact. This paper aims to study the adaptive current protection technology of distribution network with distributed power based on local information. On the basis of analyzing the characteristics of distributed power, the classification of distributed power, and the operation mode of distributed power, according to the access of IIDG, as well as different influences of relay protection of distribution network, an improved protection scheme with adaptive current quick-break protection as the main protection is proposed, so that different fault characteristics of the distribution network have different setting values, and then simulation experiments are carried out on this scheme. The experimental results show that the setting value of three-phase short-circuit fault proposed in this paper can well protect the protection range, which is larger than the traditional protection setting and self-adaptive setting. © 2021 Shijie Cui et al.

关键词： Electric power system protection

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Practical fractional-order variable-gain super-twisting control with application to wafer stages of photolithography systems

arXiv

引用

arXiv 2021年

作者： Kuang, Zhian Sun, Liting Gao, Huijun Tomizuka, Masayoshi Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150001 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Mechanical Control System Lab Mechanical Engineering Department University of California BerkeleyCA94720 United States

In this paper, a practical fractional-order variable-gain super-twisting algorithm (PFVSTA) is proposed to improve the tracking performance of wafer stages for semiconductor manufacturing. Based on the sliding mode control (SMC), the proposed PFVSTA enhances the tracking performance from three aspects: 1) alleviating the chattering phenomenon via super-twisting algorithm and a novel fractional-order sliding surface (FSS) design, 2) improving the dynamics of states on the sliding surface with fast response and small overshoots via the designed novel FSS and 3) compensating for disturbances via variable-gain control law. Based on practical conditions, this paper analyzes the stability of the controller and illustrates the theoretical principle to compensate for the uncertainties caused by accelerations. Moreover, numerical simulations prove the effectiveness of the proposed sliding surface and control scheme, and they are in agreement with the theoretical analysis. Finally, practice-based comparative experiments are conducted. The results show that the proposed PFVSTA can achieve much better tracking performance than the conventional methods from various perspectives. Copyright © 2021, The Authors. All rights reserved.

关键词： Sliding mode control

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IVR-SSM: Industrial Vehicular Robot Safe & Smart Move Using Wheel-Encoder and Inertial-RGB-Depth Measurements

IVR-SSM: Industrial Vehicular Robot Safe & Smart Move Using ...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Yuanhao Liu Wei Liang Chu Wang Xin Zhang Huanbing Gao Yinlong Zhang State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences School of Information and Electrical Engineering Shandong Jianzhu University Shandong Key Laboratory of Intelligent Buildings Technology Jinan China

ISBN: (数字)9798350391916

ISBN: (纸本)9798350391923

Safe & smart move (SSM) aims to help industrial vehicular robot (IVR), such as warehousing robots, running safely and smartly by detecting the obstacles in front and maintaining a safe distance & attitude. However, the traditional SSM methods suffer the drawbacks of limited ranges, inaccurate regression of safety distance & orientation between the robot and the forward unexpected obstacles, and the inappropriate IVR control strategies. To solve these issues, this paper designs an innovative real-time safety-aware framework using the complementary Wheel-Encoder and Inertial-RGB-Depth measurements to ensure the IVR running safely, reasonably and reliably. To estimate the robot running states, we take advantages of the complementary wheel encoder, monocular RGB images and inertial measurements to obtain the robot positions, orientations, angular and linear velocities in a tightly-coupled manner. To improve the safety relative distance & attitude estimation accuracy, we exploit the RGB and depth measurements in a task-oriented fashion. The forward obstacles with the specific contours are detected using the Mask-RCNN model, followed by the Gaussian Mixture Model to obtain the forward obstacle depth. Eventually, an IVR control strategy is designed to maintain the robot safety distance and orientation, and to keep the minimum damage to the robot mechanical system. The presented method has been evaluated on the developed industrial vehicular robot safety perception platform. The experimental results prove the competitiveness against the state-of-the-art methods.

关键词： Service robots Warehousing Robot vision systems Wheels Reliability engineering Safety Mobile robots Mechanical systems Velocity measurement Gaussian mixture model

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A moving target detection and localization strategy based on optical flow and pin-hole imaging methods using monocular vision

A moving target detection and localization strategy based on...

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2021 IEEE International Conference on Real-Time Computing and robotics, RCAR 2021

作者： Wang, Shun Guo, Qingqiang Xu, Sheng Su, Dan School of Control Science and Engineering Shandong University Shandong Jinan250061 China Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institute of Advanced Technology Shenzhen518055 China Shandong Institute of Advanced Technology Chinese Academy of Sciences Shandong Jinan250102 China Orbbec Inc. Shenzhen518057 China

ISBN: (纸本)9781665436786

This paper proposes a new strategy for moving target detection and localization based on monocular vision. Firstly, to detect a moving target with large displacement and high speed accurately, two consecutive video images captured by a monocular camera are preprocessed using the enhancement and denoising methods. Then, the optical flow representing motion information is calculated iteratively by the modified Lucas-Kanade optical flow method. Secondly, a new interest region extraction method is developed to overcome the negative impacts caused by the noises in the background. Specifically, this proposed method combines a two-level image segmentation strategy from coarse to fine, including median filtering, two-direction dynamic threshold segmentation, the Otsu method, and morphological processing. Thirdly, a low computational cost target localization algorithm is proposed based on pin-hole imaging theory. Besides, it only uses two-dimensional image and camera parameters to obtain the moving target's position in the three-dimensional space. Finally, experimental results show that the proposed strategy can effectively eliminate noise interferences and realize moving target detection, extraction, and localization. © 2021 IEEE.

关键词： Image segmentation

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Joint Routing and Charging Problem of Electric Vehicles with Incentive-Aware Customers Considering Spatio-Temporal Charging Prices

SSRN

引用

SSRN 2022年

作者： Yao, Canqi Chen, Shibo Salazar, Mauro Yang, Zaiyue School of Mechatronics Engineering Harbin Institute of Technology Harbin150000 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering The Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China Control Systems Technology Group Department of Mechanical Engineering Eindhoven University of Technology EindhovenMB 5600 Netherlands

This paper investigates the scheduling problem of a fleet of electric vehicles, providing mobility as a service to a set of time-specified customers, where the operator needs to solve the routing and charging problem jointly for each EV. Hereby we consider incentive-aware customers and propose that the operator offers monetary incentives to customers in exchange for time flexibility. In this way, the fleet operator can achieve a routing and charging schedule with lower costs, whilst the customers receive monetary compensation for their flexibility. Specifically, we first propose a bi-level optimization model whereby the fleet operator optimizes the routing and charging schedule accounting for the spatio-temporal varying charging price, jointly with a monetary incentive to reimburse the delivery time flexibility experienced by the customers. Concurrently the customers choose their own time flexibility by minimizing their own cost. Second, we cope with the computational burden coming from this nonlinear bi-level optimization model with an accurate reformulation approach consisting of the KKT optimality conditions, a Big-M-based linearization method, and the zero duality gap of convex optimization problems. This way, we convert the proposed problem into a single-level optimization problem, which can be solved by a strengthened generalized Benders decomposition method holding a faster convergence rate than the generalized Benders decomposition method. To evaluate the effectiveness of the proposed mathematical model, we carry out numerous simulation experiments by using the VRP-REP data of Belgium. The numerical results showcase that the proposed mathematical model can reduce the delivery fees for the customers together with the cost of operation incurred by the fleet operator. © 2022, The Authors. All rights reserved.

关键词： Sales

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WindowMixer: Intra-Window and Inter-Window Modeling for Time Series Forecasting

arXiv

引用

arXiv 2024年

作者： Liu, Quangao Li, Ruiqi Jiang, Maowei Yang, Wei Liang, Chen Pang, LongLong Zou, Zhuozhang Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shengyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences China University of Chinese Academy of Sciences China

Time series forecasting (TSF) is widely applied in various fields such as economic forecasting, weather prediction, traffic flow analysis, and public health surveillance. The core of TSF is to capture the underlying temporal patterns in the data. However, real-world time series data exhibit complex temporal patterns and may include additional noise, outliers, missing values, etc., making accurate forecasting highly challenging. Current mainstream methods typically naively treat each time point as an isolated entity, attempting to model point-to-point relationships and uncover temporal patterns within the data, which has limitations when dealing with complex time series data. Specifically, point-by-point modeling fails to take advantage of the abundant contextual information in time series data. This results in a reduced ability to capture temporal patterns and an increased susceptibility to noise. To address these issues, we examine temporal variations from a window-based perspective and present the WindowMixer model, which is built on an all-MLP framework. WindowMixer stems from a simple observation: Time series are recorded in a continuous manner, and the information at any given time point relies on the preceding and succeeding time points for a complete representation. WindowMixer decomposes time series into trend and seasonal components via a sequence decomposition and fusion architecture, handling them individually. For the trend component, we employ a straightforward fully connected (FC) layer to make predictions. For the seasonal component, we first introduce a time window at each time point and project each time window to produce window tokens. Then, we apply the Intra-Window-Mixer and Inter-Window-Mixer to further process these tokens. The Intra-Window-Mixer models relationships within each window token, while the Inter-Window-Mixer models relationships between window tokens. These dual modules allows us to capture more intricate patterns and long-range de

关键词： Time series

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Small Photoresist Defect Samples Augmentation Based on Generative Adversarial Network

Small Photoresist Defect Samples Augmentation Based on Gener...

引用

IEEE Information Technology, Networking, Electronic and Automation control Conference

作者： Guang Yang Zhihang Li Zhijia Yang Shuping Cui State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

Photoresist coating technology is an important part of the surface treatment of semiconductor wafers. The presence of bubbles in photoresist can seriously affect the quality of wafers, however, the lack of sufficient bubble samples makes intelligent automatic detection techniques impossible. To solve such a problem, we propose B-GAN based on adversarial generative network, and design a mapping network for potential encoding mapping and a synthetic network for high-quality bubble image generation, so that defective bubble samples can be automatically generated. Experiments prove that our method achieves excellent results.

关键词： Image coding Automation Image synthesis Resists Manuals Generative adversarial networks Coatings

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The Design and Implementation of Human Motion Capture System Based on CAN Bus *

The Design and Implementation of Human Motion Capture System...

引用

International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

作者： Xian YUE Aibin ZHU Jiyuan SONG Guangzhong CAO Delin AN Zhifu GUO Institute of Robotics & Intelligent Systems Shaanxi Key Laboratory of Intelligent Robots Xi'an Jiaotong University Xi'an China Shenzhen Key Laboratory of Electromagnetic Control Shenzhen University Shenzhen China Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System Xi’an China Taiyuan Institute Co.Ltd. of China Coal Technology and Engineering Group Taiyuan China

ISBN: (数字)9781728157153

ISBN: (纸本)9781728157160

Aiming at the existing problems of exoskeletons in human motion capture and recognition, causing human can only move passively in the exoskeleton, which is difficult to efficiently rebuild the connection between human muscles and nerves. This paper describes a system for the analysis of human motion capture based on CAN bus. The system adopts a distributed system architecture, which can collect data including plantar pressure, exoskeleton joint angle, and provide data support for subsequent motion recognition algorithm. The system has a simple measurement method and low dependence on measurement environment. The accuracy of the system is verified by the contrast experiment of Vicon 3D motion capture system. The results of the experiment indicate that the designed human motion capture system has a high accuracy, and meets the requirements of human motion perception when controlling the Rehabilitation Exoskeleton.

关键词： Robot sensing systems Exoskeletons Legged locomotion Foot Pressure sensors Acceleration

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Research on Distributed intelligent Protection Strategy of distribution network based on Reinforcement Learning

Research on Distributed Intelligent Protection Strategy of d...

引用

Information Technology,Big Data and Artificial Intelligence (ICIBA), International Conference on IEEE International Conference on

作者： Shijie Cui Peng Zeng Ende Hu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China University of Chinese Academy of Sciences Beijing China State Grid Shaoxing Power Supply Company Shaoxing China

ISBN: (纸本)9781665428781

In the context of building a new power system with new energy as the main part, the operation mode of distribution network is more complex, and the traditional distribution network protection strategy can hardly meet the demand, so this paper proposes a distributed intelligent protection strategy for distribution network based on reinforcement learning. This paper analyzes the impact of new energy resources access on distribution network relay protection, and presents an intelligent protection algorithm model based on deep reinforcement learning. The structure of intelligent protection device is designed, and the distribution network distributed protection scheme based on intelligent protection device is proposed. Finally, the algorithm training process is given, and the experimental environment is built.

关键词： Training Uncertainty Power supplies Protective relaying Distribution networks Reinforcement learning Power system stability

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Joint Routing and Charging Problem of Electric Vehicles with Incentive-aware Customers Considering Spatio-temporal Charging Prices

arXiv

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arXiv 2022年

关键词： Sales

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