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IEEE Conference on control Technology and Applications (CCTA)

作者： Tamara Petrovic Stjepan Bogdan Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS)

ISBN: (纸本)9781479974108

Resource allocation systems are used for modeling and control of flexible manufacturing systems, multi-vehicle systems, traffic networks, etc. Methods for control of these systems are often based on the identification of a special structural property, simple circular wait of resources, and interrelations between simple circular waits. In this paper we study reconfigurable resource allocation systems, which require that control algorithm is modified online and, therefore, has low running time. In this paper we propose dynamical algorithms for determination of simple circular waits in reconfigurable systems, which are based on Johnson's algorithm, and aim at identifying only changes in the set of simple circular waits. Running time of the proposed algorithms is lower than running time of standard static methods. Algorithms are tested for a family of multi-vehicle systems and results confirm the advantages of using the dynamic algorithms.

关键词： Vehicles Heuristic algorithms Resource management Motion segmentation Algorithm design and analysis Complexity theory System recovery

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A distributed integrated energy trading solution

A distributed integrated energy trading solution

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2021 International Conference on Computer, Blockchain and Financial Development, CBFD 2021

作者： Dong, Jingya Song, Chunhe Zheng, Zeyu Zhang, Tao Institutes for Robotics and Intelligent Manufacturing University of Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Nationality Department of Digital Factory Shenyang China University of Chinese Academy of Sciences Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Institutes for Robotics and Intelligent Manufacturing Shenyang China

ISBN: (纸本)9781665412278

Blockchain technology can bring profound changes to the energy industry and is now becoming a new driving force for the rapid development of this sector. In order to build a secure, reliable, and stable energy service system, it is necessary to study the framework and interaction mechanism of the energy trading system. This paper introduces a distributed integrated energy trading solution, proposes a new overall architecture, and analyses the blockchain model. This paper presents an algorithm to calculate the score directly in the client. Through this algorithm, users can choose service providers, get rid of cloud control, and realize users' free choice of electricity purchase and interaction between users through the smart contract. The test results show that the system has high performance and efficiency, can meet the needs of integrated energy transactions, and provides a solution for the application of blockchain in energy trading. © 2021 IEEE.

关键词： Smart contract

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Enhanced cathodic activity by tantalum inclusion at B-site of La_(0.6)Sr_(0.4)Co_(0.4)Fe_(0.6)O_(3)based on structural property tailored via camphor-assisted solid-state reaction

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Journal of Advanced Ceramics 2022年第8期11卷 1330-1342页

作者： Dingyu XIONG Sefiu Abolaji RASAKI Yangpu LI Liangdong FAN Changyong LIU Zhangwei CHEN Additive Manufacturing Institute Shenzhen UniversityShenzhen 518060China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics Shenzhen UniversityShenzhen 518060China Department of Chemical and Petroleum Engineering University of CalgaryCalgary T2N1N4Canada College of Chemistry and Environmental Engineering Shenzhen UniversityShenzhen 518060China

Lanthanum strontium cobalt ferrite(LSCF)is an appreciable cathode material for solid oxide fuel cells(SOFCs),and it has been widely investigated,owing to its excellent thermal and chemical ***,its poor oxygen reduction reaction(ORR)activity,particularly at a temperature of≤800℃,causes setbacks in achieving a peak power density of>1.0 W·cm^(-2),limiting its application in the commercialization of *** improve the ORR of LSCF,doping strategies have been found ***,the porous tantalum-doped LSCF materials(La_(0.6)Sr_(0.4)Co_(0.4)Fe_(0.5)7Ta_(0.03)O_(3)(LSCFT-0),La_(0.6)Sr_(0.4)Co_(0.4)Fe_(0.5)4Ta0.06O_(3),and La_(0.6)Sr_(0.4)Co_(0.4)Fe_(0.5)Ta0.1O_(3))are prepared via camphor-assisted solid-state reaction(CSSR).The LSCFT-0 material exhibits promising ORR with area-specific resistance(ASR)of 1.260,_(0.5)80,0.260,0.100,and 0.06Ω·cm^(2)at 600,650,700,750,and 800℃,*** performance is about 2 times higher than that of undoped La_(0.6)Sr_(0.4)Co_(0.4)Fe_(0.6)O_(3)with the ASR of 2.515,1.191,_(0.5)96,0.320,and 0.181Ω·cm^(2)from the lowest to the highest *** material characterization,it was found that the incorporated Ta occupied the B-site of the material,leading to the enhancement of the ORR *** the use of LSCFT-0 as the cathode material for anode-supported single-cell,the power density of>1.0 W·cm^(-2)was obtained at a temperature<800℃.The results indicate that the CSSR-derived LSCFT is a promising cathode material for SOFCs.

关键词： tantalum-doped lanthanum strontium cobalt ferrite(LSCF) solid oxide fuel cell(SOFC) oxygen reduction reaction(ORR) solid-state synthesis reaction clean energy conversion

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Path assignment and resource allocation control in reconfigurable multi-vehicle system

Path assignment and resource allocation control in reconfigu...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Tamara Petrovic Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS)

ISBN: (纸本)9781479974108

In this paper we study control of reconfigurable multi-vehicle system. Our method builds upon an existing deadlock-free resource allocation control method that is based on the identification of higher-level deadlocks. We identify a smaller set of cyclic circular waits to be controlled, and provide an algorithm for determination of such cyclic circular waits. Furthermore, we propose a path assignment algorithm that aims at lowering the structural complexity of the corresponding resource allocation system, while taking into account path length. Methods are tested in a simulation environment and results show their efficiency.

关键词： System recovery Vehicles Resource management Motion segmentation control systems Heuristic algorithms Superluminescent diodes

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Matrix model based control of flexible manufacturing systems using banker's algorithm

Matrix model based control of flexible manufacturing systems...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Antonio Krnjak Tamara Petrovic Stjepan Bogdan Laboratory for Robotics and Intelligent Control Systems (LARICS) University of Zagreb Zagreb Croatia

Manufacturing systems belong to a class of discrete-event systems. Main research objectives here include development of suitable models for manufacturing systems and their analysis. Moreover, various control algorithms are being developed to maximize utilization and throughput, while trying to achieve acceptable level of time and space complexity. In general, there is always a trade off between given objectives. In this paper we propose an exact mathematical procedure to relate matrix model of manufacturing systems and control policy based on Banker's algorithm. Matrix model allows straightforward application in industrial systems as well as structural analysis. On the other side, it gives a framework for application of various versions of Banker's algorithm.

关键词： Vectors Manufacturing systems Robots Mathematical model System recovery control systems Resource management

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A Real-time Local Planner Design for Smart Wheelchairs Based on Koopman Bilinear Model Predictive control

A Real-time Local Planner Design for Smart Wheelchairs Based...

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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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Potential Function Based Multi-Agent Formation control in 3D Space

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IFAC Proceedings Volumes 2012年第22期45卷 682-689页

作者： Marko Bunic Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering LARICS–Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia

This paper presents the extension of the previously proposed method for multi-agent formation control based on potential function. The method derived for 2D space is extended to 3D. It has been shown that the control algorithm keeps all the properties of the original scheme in case of multi-agent formation moving in 3D. An adaptation mechanism that assures avoidance of unwanted stable equilibria, used in 2D, is implemented in the same form for 3D formations. The obtained simulation results demonstrate stable behavior of the system for various sets of parameters - the desired 3D formation is reached in finite time and maintained during trajectory execution.

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Additive manufacturing of high-quality tritium breeding pebbles using ceramic precursors

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Journal of the European Ceramic Society 2024年第7期44卷 4719-4730页

作者： Su, Fang Li, Yuzeng Xing, Huanhuan Liu, Yu Liu, Zhiyuan Liu, Changyong Jiang, Cho-Pei Chen, Zhangwei Additive Manufacturing Institute Shenzhen University Shenzhen518060 China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics Shenzhen University Shenzhen518060 China College of Mechanical & Electrical Engineering National Taipei University of Technology Taipei10608 Taiwan State Key Laboratory for Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an710049 China

In this study, the fabrication of advanced lithium orthosilicate (Li4SiO4) ceramic tritium breeding pebbles through photopolymerization using ceramic precursors (i.e., SiO2 and Li2CO3) is reported for the first time. The pebbles exhibit excellent mechanical and physical properties. Through optimization of manufacturing parameters and a geometrical correction model to compensate printing deviations, the printing accuracy of the pebbles was enhanced. The resulting pebbles had a diameter of approximately 1 mm, a sphericity of 1.01, a uniformly distributed pore structure, a phase purity > 95%, and a satisfying relative density reaching 91.39%. The average crush load 25.7 ± 0.3 N, surpassed that achieved by previously reported methods. Furthermore, the thermal conductivity was enhanced compared to that of solid-phase synthesized Li4SiO4 powder, facilitating the tritium release process for fusion applications. This study may serve as a guidance for designing appropriate ceramic breeders, providing a cost-effective approach applicable to produce other high-precision ceramic components with complex compositions. © 2024 Elsevier Ltd

关键词： Lithium compounds

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Decentralized Strategy for Cooperative Multi-Robot Exploration and Mapping

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IFAC-PapersOnLine 2020年第2期53卷 9682-9687页

作者： Ana Batinović Juraj Oršulić Tamara Petrović Stjepan Bogdan University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems (LARICS) 10000 Zagreb Croatia

This work presents a novel approach to autonomous decentralized multi-robot frontier exploration and mapping of an unknown area. A mobile robot team simultaneously explores the environment, discovers frontier points (points on the border between explored and unexplored space), and shares information in order to become dispersed throughout the environment. During the exploration, information exchanged between the mobile robots is limited to data containing mobile robot positions and current mobile robot target points. The main goal of the approach is to allocate the mobile robots to target frontier points in a way which minimizes the overall exploration time. Moreover, a mobile robot team at the same time creates a common map of the environment. The proposed strategy has been implemented in a simulation environment and compared with a state-of-the-art exploration strategy. Simulation results demonstrate the advantages of the proposed decentralized multi-robot strategy.

关键词： Mobile Robot Multi-Robot System Frontier Points Target Point Decentralized Strategy Exploration Mapping

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A new SPICE modeling approach of annular MOSFET in 350 nm commercial CMOS process 3

A new SPICE modeling approach of annular MOSFET in 350 nm co...

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3rd International Conference on Electronic Information Engineering and Computer, EIECT 2023

作者： Cheng, He Yang, Zhijia Zhang, Chao Zhang, Zhipeng Key Laboratory of Networked Control Systems Chinese Academy of Sciences China Shenyang Institute of Automation Chinese Academy of Sciences China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9798350357707

Annular gate MOSFETs have emerged as potential solutions for radiation-hardened electronics, demonstrating exceptional total ionizing dose tolerance. However, accurate modeling of annular MOSFETs is crucial when designing analog integrated circuits for use in radiation environments, especially when implementing commercial CMOS processes. To enable circuit simulation using tools like SPECTRE/SPICE, foundry-provided PDKs must incorporate a rigorously verified compact model of annular MOSFET behavior. TCAD simulation can then be used to numerically evaluate the current characteristics of the annular MOSFET against the refined compact model constructed from the foundry-provided PDK. In this paper, by aligning the current characteristics of a standard NMOS between TCAD and SPICE simulations, we can verify the material process conditions. Then, based on the material process parameters, the model of the annular gate MOSFET is established using the TCAD simulator. Finally, reasonable agreements are obtained between the TCAD and SPICE simulation results for the IDS-VGS and IDS-VDS characteristics. © 2023 IEEE.

关键词： Foundries

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