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arXiv 2022年

作者： Wang, Guangming Hu, Yunzhe Liu, Zhe Zhou, Yiyang Tomizuka, Masayoshi Zhan, Wei Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong University China MoE Key Lab of Artificial Intelligence Shanghai Jiao Tong University China Mechanical Systems Control Laboratory University of California Berkeley United States

3D scene flow estimation from point clouds is a low-level 3D motion perception task in computer vision. Flow embedding is a commonly used technique in scene flow estimation, and it encodes the point motion between two consecutive frames. Thus, it is critical for the flow embeddings to capture the correct overall direction of the motion. However, previous works only search locally to determine a soft correspondence, ignoring the distant points that turn out to be the actual matching ones. In addition, the estimated correspondence is usually from the forward direction of the adjacent point clouds, and may not be consistent with the estimated correspondence acquired from the backward direction. To tackle these problems, we propose a novel all-to-all flow embedding layer with backward reliability validation during the initial scene flow estimation. Besides, we investigate and compare several design choices in key components of the 3D scene flow network, including the point similarity calculation, input elements of predictor, and predictor & refinement level design. After carefully choosing the most effective designs, we are able to present a model that achieves the state-of-the-art performance on FlyingThings3D and KITTI Scene Flow datasets. Our proposed model surpasses all existing methods by at least 38.2% on FlyingThings3D dataset and 24.7% on KITTI Scene Flow dataset for EPE3D metric. We release our codes at https://***/IRMVlab/3DFlow. Copyright © 2022, The Authors. All rights reserved.

关键词： Embeddings

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A Fair and Effective Approach to Managing Distributed Energy Resources Through Peer-to-Peer Energy Trading with Load Prioritization Among Smart Homes

SSRN

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SSRN 2023年

作者： Ahmed, Syed Adrees Huang, Qi Amin, Waqas Afzal, Muhammad Hussain, Fazal Haider, Muhammad Husnain 1Sichuan Provincial Key Lab of Power System Wide-Area Measurement and Control School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Sichuan China Chengdu University of Technology China National University of Sciences and Technology Pakistan Superior University Pakistan School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Sichuan China

This paper proposes a novel approach to managing distributed energy resources (DERs) through peer-to-peer (P2P) energy trading among smart homes, incentivizing peers to trade surplus energy to maximize social welfare. The proposed day-ahead demand-side management (DSM) technique considers load prioritization based on users' needs. It utilizes an energy allocation method that incentivizes peers to buy energy at a reduced price and sell energy at a higher price. This method maximizes the time of energy traded to higher-priority loads, followed by lower-priority loads while considering user choice. The proposed method results in an average reduction in energy costs from 14.8% to 2.82% for all consumers and an average increase in revenues from 17.35% to 9.07% for all prosumers compared to the grid and previously proposed studies. The simulation results show significant economic benefits for all market participants, improved community self-sufficiency, and reduced dependence on the main grid. The proposed methodology provides an effective and fair solution for managing DERs through P2P energy trading by prioritizing the load in smart homes, which describes its potential to create a sustainable and efficient energy ecosystem. © 2023, The Authors. All rights reserved.

关键词： Automation

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

arXiv

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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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Design of magnetic shielding structures for non-contact measurement of current in triangularly arranged cables

Design of magnetic shielding structures for non-contact meas...

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Electrical Engineering (CIYCEE), IEEE China International Youth Conference on

作者： Xingyu Zhou Dongsheng Cai Zhengyuan Zhang Peng Wang Arsalan Habib Khawaja Qi Huang College of Nuclear Technology and Automation Engineering Chengdu University of Technology China Sichuan Provincial Key Lab of Power System Wide-Area Measurement and Control School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China Chengdu China School of Information Engineering Southwest University of Science and Technology Mianyang China

The triangular arrangement of cables has the advantages of good magnetic field balance and compact structure, making it a commonly used arrangement in tunnel power cable lines. Accurate measurement of its current helps to make accurate judgment of the line operation status. However, the tunnel transmission method involves a complex line arrangement in a small space. Therefore, non-contact wide-range current measurement based on magnetic sensors is a better solution. In the face of uncertain magnetic interference in transmission tunnels, the use of magnetic shielding can suppress its effect on magnetic sensors. In this paper, an M-shaped magnetic shield structure is proposed for current measurement in a triangular arrangement with strong magnetic interference at random locations. Then, the thickness, position, axial length, gap width and location of the sensing areas of the structure were investigated. The effectiveness of the structure was verified by finite element analysis methods for measured currents of 200 to 2000 A. The structure was also validated by the finite element analysis method. The mean shielding uncertainty (MSU) of the shielding structure is verified to be 0.19% under the uncertainty of strong magnetic interference for a measured current of 2000 A. The M-shaped shielding structure is more resistant to interference than the C-shaped shielding structure and fits better into the triangular arrangement of the cable geometry.

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Hierarchical control Scheme for VSC-MTDC system with multiple Renewable Energy Sites Based on Optimal Power Flow and Droop Scheme

Hierarchical Control Scheme for VSC-MTDC System with multipl...

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IEEE Conference on Energy Internet and Energy system Integration (EI2)

作者： Asif Raza Qi Huang Jian Li Olusola Bamisile Cai Dongsheng Ghalib Raza Sichuan Provincial Key Lab of Power System Wide –Area Measurement and Control School of Mechanical and Electrical Engineering University of Electronic Science & Technology of China College of Nuclear and Automation Engineering Chengdu University of Technology Sichuan Provincial Key Lab of Power System Wide–Area Measurement and Control School of Mechanical and Electrical Engineering University of Electronic Science & Technology of China University of Electronic Science & Technology of China College of Nuclear and Automation Engineering Chengdu University of Technology Sichuan P.R. China Benazir Bhutto Shaheed University of Technology & Skill Development Khairpur Pakistan

This paper designs a hierarchical control system to improve control performance in a multi-terminal high voltage direct current based on the voltage source converter (VSC-MTDC) transmission system. In this control scheme, the primary control layer employs droop control, while the secondary control layer has developed optimal power flow control (OPF) for maintaining the variation of DC voltage and regulating the active power, and simultaneously minimizing power loss. In the event of a power disturbance or a change in power generation or consumption in the DC system, based on OPF results a new stable droop operating mode is established to stabilize DC voltage variation and regulate active power in the network. A ±400 kV four-terminal VSC-MTDC test network has been developed by using PSCAD and MATlab simulation tools to assess the proposed control scheme. The primary controller is designed in PSCAD, and the secondary optimum control technique is applied in MATlab. The results of steady-state and transient operating modes demonstrate that the planned control technique can achieve DC voltage regulation and keep active power, and minimize the power losses in the MTDC system.

关键词： Renewable energy sources system integration control systems Steady-state Power conversion Voltage control PSCAD

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Vibration Characteristics Analysis Of A Double-Suction Centrifugal Pump Identified By Intelligent Algorithms 12

Vibration Characteristics Analysis Of A Double-Suction Centr...

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12th IEEE Global Reliability and Prognostics and Health Management, PHM-Nanjing 2021

作者： Gu, Zhenyue Zhang, Mian Li, Decai Kang, Tianbo Tang, Xiuyang Wang, Zhiyuan Pei, Zhenlong Wang, Yiqiao Tianjin Key Laboratory For Advanced Mechatronic System Design And Intelligent Control School Of Mechanical Engineering Tianjin University Of Technology Tianjin300384 China China Tianjin Todelon Scicnce &TECHOLOGY CO. Ltd Tianjin China State Key Lab Of Water Resources And Hydropower Engineering Science Wuhan University Wuhan China

ISBN: (纸本)9781665401302

Due to the merits of high flow rate and high lift, double-suction centrifugal pumps are widely used for agricultural irrigation along the Yellow River in northern China. The operational conditions of the pump are highly related to the silt concentration and flow rates. Therefore, it is crucial to identify the vibration characteristics corresponding to different silt concentrations and flow rates to provide a prior guideline for pump condition monitoring. To this end, this paper explores the identification capabilities of typical intelligent models, including convolutional neural network (CNN), deep neural network (DNN), and support vector machine (SVM), to intelligently establish the connection between vibration characteristics and different flow rates and silt concentrations. Experimental studies on a double-section pump covering a range of flow rates and different silt concentrations are conducted. The results show that CNN features higher identification accuracy than DNN and SVM. © 2021 IEEE.

关键词： Vibration analysis

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An approach on a balance for a small humanoid robot by using movable mass 6th

An approach on a balance for a small humanoid robot by using...

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6th International Conference on Advanced Engineering Theory and Applications, AETA 2019

作者： Nguyen, Xuan Tien Nguyen, Huy Hung Nguyen, Trong Hai Nguyen, Tan Tien Nguyen, Thanh Phuong Faculty of Electric and Electronic Communication Engineering Sai Gon University Ho Chi Minh City Viet Nam Key Lab of Digital Control and System Engineering University of Technology VNU-HCM Ho Chi Minh City Viet Nam Faculty of Mechanical and Electrical Electronic HUTECH Ho Chi Minh City Viet Nam

ISBN: (纸本)9783030530204

In this paper, an approach on a balance for a small humanoid robot by using movable mass. A standard humanoid robot can stand stably when its center of mass (CoM) is in a zero moment point (ZMP) zone. However, CoM’s robot can go out the ZMP zone when the robot moves. To overcome this issues, a movable mass is added in the robot at the abdomen to balance. By controlling position of the movable mass, CoM’s robot can be kept in the ZMP zone when it moves. Simulation results show effectiveness of the proposed method. © Springer Nature Switzerland AG 2021.

关键词： Anthropomorphic robots

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Spectral asymmetry effect in terahertz generation by two-color ionizing femtosecond pulses

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Physical Review A 2025年第2期111卷 023508-023508页

作者： Zhiwen Zhang Vasily A. Kostin Alexander A. Silaev Zefu Liu Shixiang Wang Chenhui Lu Zhengquan Fan Yi Liu Shanghai Key Lab of Modern Optical System University of Shanghai for Science and Technology Shanghai 200093 China Gaponov-Grekhov Institute of Applied Physics of the Russian Academy of Sciences Nizhny Novgorod 603950 Russia Department of Control Theory Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod 603022 Russia Department of Electrodynamics Lobachevsky State University of Nizhny Novgorod Nizhny Novgorod 603022 Russia School of Mechanical and Automotive Engineering Shanghai University of Engineering Science Shanghai 201620 China CAS Center for Excellence in Ultra-Intense Laser Science Shanghai 201800 China

Ultrabroadband intense terahertz (THz) radiation generated by two-color femtosecond pulses is a promising tool for applications in many areas involving linear and nonlinear terahertz spectroscopy and light-matter interactions. The essential challenge is to understand and control the THz spectrum in order to optimize it for specific applications. Here we study the frequency-dependent modulation of the THz spectrum with the relative phase between the second-harmonic and fundamental-field components of the linearly polarized femtosecond pulse. Analytical consideration reveals the physical reason for the suppression of the spectral modulation, which is local (induced by the local ionization dynamics and electron motion and not related to propagation effects such as phase slippage) and coherent (associated only with the phase-dependent coherent THz waveforms). The spectral modulation is sensitive to the frequency detuning, both its absolute value and the sign. Having this asymmetric dependence on the detuning, the suppressed modulation can be observed even in commensurate two-color pulses with the effect enhanced additionally by the ionization blueshift. The theoretical findings are confirmed by the experiment, where we employed chirped two-color pulses with a variable time delay between their components, effectively enabling a scan over the detuning. The obtained results show that not only the THz yield but also the spectral shape can be effectively controlled by the relative phase and may be very sensitive to a small frequency detuning arising naturally during two-color pulse propagation.

关键词： Terahertz spectroscopy

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Liquid Metal Manifold Microchannel Heat Sink for Ultra-High Heat Flux Cooling

SSRN

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SSRN 2024年

作者： Zhang, Mingkuan Gao, Qi Zhao, Zhiyuan Guo, Luna Li, Xuan Zhang, Chao Zhang, Xudong Rao, Wei 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 China School of mechanical engineering Tianjin University of Commerce Tianjin300134 China Institute of Refrigeration and Cryogenics Shanghai Jiao Tong University Shanghai200240 China Key Laboratory for Thermal Science and Power Engineering of Ministry of Education Department of Engineering Mechanics Tsinghua University Beijing Beijing100084 China CAS Key Laboratory of Cryogenics Technical Institute of Physics and Chemistry Chinese Academy of Sciences China Beijing Key Lab of CryoBiomedical Engineering and Key Lab of Cryogenics Beijing100190 China

The reduction in transistor dimensions and advancements in chip integration have led to a dramatic increase in the heat flux of chip. Advanced heat dissipation technology has become the pivotal in ensuring the normal operation of chips and fully utilizing chip performance. Room temperature liquid metal convection cooling technology has demonstrated its efficacy as a viable approach for addressing high heat flux heat dissipation. However, the smaller specific heat capacity of liquid metal leads to a large temperature rise, imposing a constraint on the progression of liquid metal cooling technology. To overcome this drawback, this paper proposed a liquid metal manifold channel structure designed to convert the continuous long-range flow into a segmented short-range flow. The good matching between liquid metal and manifold structures is adequately demonstrated through a comparison with alternative coolant and channel structure. The simulation results demonstrate the effectiveness of liquid metal manifold channel cooling in dealing with a heat flux of 1000 W/cm², ensuring that the maximum temperature of the chip remains below 351.7 K. Moreover, the convective heat transfer coefficient even reaches 106 W/(m2·K), which is ten times larger than that of water conventional microchannel heat sink. The orthogonal experiments were conducted to analyze how the structural parameters affect the dissipation performance, including the height of the microchannel, ratio of manifold length to fin length, length of fin in manifold, width of channel, and ratio of fin with to channel width. It concluded that the height of the microchannel has been identified as the most critical factor. This manifold structure mitigates the inherent limitation of the lower specific heat capacity of liquid metal, paving the way for effective thermal management of electronic devices subjected to ultra-high heat flux. © 2024, The Authors. All rights reserved.

关键词： Heat flux

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Optimal Robot Motion Planning in Constrained Workspaces Using Reinforcement Learning

Optimal Robot Motion Planning in Constrained Workspaces Usin...

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2020 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Panagiotis Rousseas Charalampos P. Bechlioulis Kostas J. Kyriakopoulos Control System Lab School of Mechanical Engineering National Technical University of Athens Greece

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

In this work, a novel solution to the optimal motion planning problem is proposed, through a continuous, deterministic and provably correct approach, with guaranteed safety and which is based on a parametrized Artificial Potential Field (APF). In particular, Reinforcement Learning (RL) is applied to adjust appropriately the parameters of the underlying potential field towards minimizing the Hamilton-Jacobi-Bellman (HJB) error. The proposed method, outperforms consistently a Rapidly-exploring Random Trees (RRT*) method and consists a fertile advancement in the optimal motion planning problem.

关键词： Robot motion Reinforcement learning Planning Safety Intelligent robots

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