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第34届中国控制与决策会议

作者： Yiyun Li Zhi Zhang Haohui Chen Huaizhi Wang Bin Ren Department of Electrical Engineering and Automation Dongguan University of Technology College of Mechatronics and Control Engineering Shenzhen University

The structure of islanded microgrids is complex and has many *** this problem of equalizing the fundamental active power,many articles use the traditional droop control,which cannot simulate the physical characteristics of inertia and damping in the power generation process,which are considered by the virtual synchronous generator(VSG) *** mismatch of the feeder impedance can lead to the inequality of unbalanced harmonic power for the parallel *** address this problem,a control method is proposed that injects an additional small AC signal(SACS)into the output voltage of each inverter and adds an adaptive virtual *** method is similar to the conventional active-frequency droop control,where the output frequency of the injected SACS is linearly related to the output unbalanced harmonic *** the unbalanced harmonic power rises,the output frequency of the injected signal also *** the virtual impedance on the negative sequence series is adjusted by detecting the active power generated by the injected *** the system is stable,the frequency of the injected SACS in each inverter will be the same,and the sum of the virtual inductance and the feeder inductance of each inverter will be the *** active power and the unbalanced harmonic power of the parallel distributed generator set can be equally shared without communication.

关键词： VSG SACS adaptive virtual impedance active power share unbalanced harmonic power share

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High-Precision Heading control of an Autonomous Sailboat: A Robust Nonlinear Approach

High-Precision Heading Control of an Autonomous Sailboat: A ...

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OCEANS

作者： Sean Smith Emmanuel Witrant Ya-Jun Pan GIPSA-lab Université Grenoble Alpes - CNRS Grenoble France Department of Mechanical Engineering Dalhousie University Halifax NS Canada Department of Mechanical Engineering Advanced Control and Mechatronics Laboratory Dalhousie University Halifax NS Canada

ISBN: (数字)9798331540081

ISBN: (纸本)9798331540098

This article investigates high-precision robust heading control for an autonomous sailboat. First, the mathematical model of an autonomous sailboat is highlighted and discussed, with a particular focus on the heading dynamics that must be robustly controlled under real-world conditions. Typical control difficulties such as system disturbances, modeling uncertainty, control actuation saturation, and measurement noise are considered and addressed with reference to the controller and system modeling. We propose a control method that ensures robust heading control of an autonomous sailboat in the presence of these challenges. A reference simulator in Matlab/Simulink is used as a simulation testbed to demonstrate the benefits of state-of-the-art robust control developments. A multiphase simulation is conducted to compare the advantages and disadvantages of model-based robust control with linear techniques such as proportional-integral-derivative (PID) control.

关键词： Robust control Uncertainty Sensitivity PI control Noise Sea measurements Systems modeling Mathematical models PD control Testing

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Deep Learning-Based Instance Segmentation for Feature Extraction of Branched Deformable Linear Objects for Robotic Manipulation

Deep Learning-Based Instance Segmentation for Feature Extrac...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Manuel Zürn Annika Kienzlen Lars Klingel Armin Lechler Alexander Verl Shiyi Ren Weiliang Xu Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany Department of Mechanical and Mechatronics Engineering The University of Auckland Auckland New Zealand

Branched deformable linear objects, like wire harnesses, are vastly used in the electrical industry to interconnect multiple electronic components while allowing small relative motions. Their deformable nature gives them an infinite-dimensional configuration space, which is challenging for robotic manipulation and requires sensor feedback about the actual configuration. Cameras have been used before in automation attempts as sensor feedback of branched deformable linear objects. However, image processing is sensible to occlusions and unstructured environments. This paper presents a method of using deep learning-based instance segmentation networks to extract topological features like connectors, clips, branch points and overlapping points on the branched deformable linear object. The topological features originate from features that can be used for matching a stretched representation of the branched deformable linear object to its sensor representation. Our results show that the network is capable of extracting the features for different datasets with high accuracy. Furthermore, this paper evaluates the use of preliminary results in the training process to facilitate annotation by predicting the labels. For now, this paper only uses 2D images of the branched deformable linear objects. Future work will also use depth images, such that individual deformable linear object features, such as length or radius, can be extracted from the images. We anticipate the usage of wire harness automation with robotic manipulation, augmented reality support of the worker or quality control of wire harnesses.

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Nonlinear Model Predictive control for Autonomous Sailboat with Optimization of Sail Angle

Nonlinear Model Predictive Control for Autonomous Sailboat w...

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OCEANS 2024 - Halifax, OCEANS 2024

作者： Wu, Junzhuo Pan, Ya-Jun Shen, Chao Smith, Sean Witrant, Emmanuel Dalhousie University Advanced Control and Mechatronics Lab Department of Mechanical Engineering HalifaxB3H 4R2 Canada Carleton University Department of Systems and Computer Engineering OttawaK1S-5B6 Canada Université Grenoble Alpes-CNRS GIPSA-lab GrenobleF-38000 France Dalhousie University Departement of Mechanical Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9798331540081

This paper studies trajectory tracking control problems of sailing vessels using a nonlinear model predictive control (NMPC) approach with a novel sail angle optimization approach. The proposed sail angle optimization method accounts for physical constraints during practical implementation such as operational sail angle bound and rate of change in sail angles. This technique also emphasizes the potential to use the sail to plan a safe trajectory, while a simple proportional-derivative (PD) controller is used for rudder angle regulation. The NMPC is implemented for trajectory tracking control in the simulation. Results show that the proposed controller can achieve excellent tracking performance in the presence of environmental disturbances in terms of ocean waves. © 2024 IEEE.

关键词： Water waves

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Optimisation of Nonlinear Spring and Damper Characteristics for Vehicle Ride and Handling Improvement

arXiv

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arXiv 2023年

作者： Özcan, Dinçer Sönmez, Ümit Güvenç, Levent Ersolmaz, Ş. Server Eyol, İ. Erhan Automotive Control and Mechatronics Research Center Mechanical Engineering Department İstanbul Technical University İstanbul Turkey Ford Otosan Kocaeli Turkey

In this paper, the optimum linear/nonlinear spring and linear/nonlinear damper force versus displacement and force versus velocity characteristic functions, respectively, are determined using simple lumped parameter models of a quarter car front independent suspension and a half car rear solid axle suspension of a light commercial vehicle. The complexity of a nonlinear function optimisation problem is reduced by determining the shape a priori based on typical shapes supplied by the car manufacturer and then scaling it up or down in the optimisation process. The vehicle ride and handling responses are investigated considering models of increased complexity. The linear and nonlinear optimised spring characteristics are first obtained using lower complexity lumped parameter models. The commercial vehicle dynamics software Carmaker is then used in the optimisation as the higher complexity, more realistic model. The performance of the optimised suspension units are also verified using this more realistic Carmaker model. © 2023, CC BY-NC-ND.

关键词： Commercial vehicles

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The Experiment of VLF Tanδ on Service-aged MV Underground Cable

The Experiment of VLF Tanδ on Service-aged MV Underground C...

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International Conference on Properties and Applications of Properties and Applications of Dielectric Materials

作者： Worasak Tangthanam Chanin Bunlaksananusorn Dusit Suksawat Patt Udomluksananon Siwakorn Jeenmuang Norasage Pattanadech Department of Mechatronics Engineering School of Engineering King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand Department of Control Engineering School of Engineering King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand Department of Electrical Engineering School of Engineering King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand

ISBN: (数字)9798350374605

ISBN: (纸本)9798350386165

This paper presents the service-aged MV underground cable experiment using very low frequency (VLF) testing. The underground cables in this experiment have been utilized in service for more than 10 years and subjected to TEAM stresses, particularly with moisture, throughout the service time. So, the effect of moisture leads these cables to bad condition. The cables under the experiments are both service-aged and unaged. These cables were prepared the same by peeling both end sides of the cables and were terminated with high voltage insulating tape. The VLF test combined with the tangent delta (tanδ) measurement, according to IEEE Std. 400.2-2013 was performed to assess the condition of these cables and compare them with the unaged cable. The test results revealed that according to IEEE standard 400.2-2013, the service-aged underground cables were assessed in Action Required criteria. Still, the unaged underground cable was assessed in the Further Study Required criteria. Moreover, the tanδ values from service-aged underground cables have significant differences, with service-aged underground cables having higher values than unaged cables. Besides, the variation of tanδ data samples at each test voltage level from some underground cables shows a decreasing trend at 1.0U0 and 1.5U0. Nevertheless, the test voltage at 0.5U0 shows the constant trend of tanδ samples. This analyzed result can indicate that the insulation condition has humidity inside the cable insulation.

关键词： Moisture Humidity High-voltage techniques Market research Cable insulation IEEE Standards Stress Standards Cables Testing

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A Data-Driven Distributed control Scheme: Learning Multi-Objective Agent-Based MPC for Path-Tracking

A Data-Driven Distributed Control Scheme: Learning Multi-Obj...

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International Conference on Intelligent Transportation

作者： Jiaming Zhong Reza Valiollahi Mehrizi Yash Vardhan Pant Amir Khajepour Department of Mechanical and Mechatronics Engineering Mechatronic Vehicle Systems (MVS) Lab University of Waterloo Waterloo ON Canada Department of Electrical and Computer Engineering Control Learning and Logic (CL2) group University of Waterloo Waterloo ON Canada

ISBN: (数字)9798331505929

ISBN: (纸本)9798331505936

Agent-based model predictive control (AMPC) has recently been proposed for vehicle systems with various controllers, such as differential braking and torque vectoring, where controllers are regarded as distributed agents contributing to the same objective. However, this scheme is challenging in handling multiple conflicting objectives with coupled agents. A common approach for such tasks is the integrated MPC, where all objectives and agents are stacked together in one optimization. Nevertheless, as more agents and objectives are involved, the integrated MPC will face challenges like computational burdens and maintenance difficulties in practice. To this end, this paper proposes a learning multi-objective AMPC that can improve design flexibility and computing efficiency. First, under the assumption of information exchange, a multi-objective AMPC tailored from the alternating direction method of multipliers (ADMM) is proposed to decouple the system and achieve the same performance as the integrated scheme iteratively. Second, a learning-based method for initializing iterations is proposed to accelerate convergence. In addition, a data management method is proposed for real-time efficiency, and an authentication module is designed for learning reliability. We compare the proposed scheme against the integrated scheme via a combined path-tracking simulation for autonomous vehicles with various controllers. The proposed scheme achieves the same control performance as the integrated one while reducing the computational time by 43.5 %. Furthermore, the learning-based method saves 88.6% more computational time than without learning, making it suitable for real-time implementation.

关键词： Learning systems Torque Decentralized control Reliability engineering Real-time systems Convex functions Planning Information exchange Convergence Predictive control

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Invisible Servoing: A Visual Servoing Approach with Return-Conditioned Latent Diffusion

Invisible Servoing: A Visual Servoing Approach with Return-C...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Bishoy Gerges Barbara Bazzana Nicolò Botteghi Youssef Aboudorra Antonio Franchi Robotics and Mechatronics group Faculty of Electrical Engineering Mathematics and Computer Science University of Twente Enschede The Netherlands Department of Applied Mathematics University of Twente Enschede The Netherlands Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

In this paper, we present a novel visual servoing (VS) approach based on latent Denoising Diffusion Probabilistic Models (DDPMs), that explores the application of generative models for vision-based navigation of UAVs (Uncrewed Aerial Vehicles). Opposite to classical VS methods, the proposed approach allows reaching the desired target view, even when the target is initially not visible. This is possible thanks to the learning of a latent representation that the DDPM uses for planning and a dataset of trajectories encompassing target-invisible initial views. A compact representation is learned from raw images using a Cross-Modal Variational Autoencoder. Given the current image, the DDPM generates trajectories in the latent space driving the robotic platform to the desired visual target. The approach has been validated in simulation using two generic multi-rotor UAVs (a quadrotor and a hexarotor). The results show that we can successfully reach the visual target, even if not visible in the initial view. A video summary with simulations can be found in: https://***/2Hb3nkkcszE.

关键词： Location awareness Visualization Pipelines Noise reduction Autonomous aerial vehicles Visual servoing Trajectory Planning Standards Robots

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Enhancing the performance of CaTiO3-GDC heterostructure electrolytes in LT-CFCs

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Ceramics International 2025年第15期51卷 20131-20142页

作者： Li, Dongchen Cui, Yingying Hong, Xiaofang Shah, M.A.K. Yousaf Mushtaq, Naveed Rauf, Sajid Arshad, Naila Irshad, Sultan Alodhayb, Abdullah N. Yousaf, Muhammad Lu, Yuzheng Department of Electrical and Automation Shandong Labor Vocational and Technical College Jinan250300 China Jiangsu Provincial Key Laboratory of Solar Energy Science and Technology/Energy Storage Joint Research Center School of Energy and Environment Southeast University No.2 Si Pai Lou Nanjing210096 China College of Mechatronics and Control Engineering Shenzhen University Guangdong Province 518000 China School of Physics Electronics and Intelligent Manufacturing Huaihua University Hunan Huaihua418008 China College of Electronics and Information Engineering Shenzhen University Guangdong Province 518000 China Department of Physics and Astronomy College of Science King Saud University Riyadh11451 Saudi Arabia College of Chemistry and Environmental Engineering Shenzhen University Guangdong Province Shenzhen518055 China School of Electronic Engineering Nanjing Xiaozhuang University Nanjing211171 China

Designing ceramic fuel cells (CFCs) with fast ionic conduction and superior electrochemical performance at low temperatures is critical for advancing hydrogen applications. Here, we developed a heterostructure electrolyte by combining the ionic conductor Gd0.1Ce0.9O2 (GDC) with the semiconductor material CaTiO3 (CTO) to shape into the composite heterostructure (semiconductor ionic heterostructure) CTO-GDC. The designed heterostructure with different fermi levels established the depletion zone due to the redistribution of charges at the interface, leading to enhancement of the ionic conduction;meanwhile, the established built-in electric field suppresses the electronic conduction speed of the ion's transportation at the interface of the constructed heterostructure (CTO-GDC). The formation of heterostructure introduces a number of oxygen vacancies, as confirmed via x-ray photoelectron spectroscopy (XPS) and electron paramagnetic resonance (EPR), benefiting the transportation of ions in the composite heterostructure. The prepared composite heterostructure shows the highest power output of 810 mW/cm2 at a low operational temperature of 520 °C. The CTO-GDC shows high ionic conductivity of 0.17 S cm−1 at 520 °C and low activation energy of 0.785 eV at 520-420 °C. The composite containing a 50 % molar ratio of GDC and CTO demonstrated exceptional performance by successfully inhibiting electron transit, improving ionic conductivity, and achieving outstanding power output. The enhanced ionic conductivity with low activation energy of composite heterostructure suggests that designing a heterostructure seems an efficient approach to fuel cell application. © 2025

关键词： Paramagnetic resonance

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Optimal solving of a scheduling problem using quantum annealing metaheuristics on the D-Wave quantum solver

TechRxiv

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TechRxiv 2023年

作者： Bożejko, Wojciech Klempous, Ryszard Pempera, Jaroslaw Rozenblit, Jerzy Smutnicki, Czeslaw Uchroński, Mariusz Wodecki, Mieczyslaw The Department of Control Systems and Mechatronics Wroclaw University of Science and Technology Poland University of Arizona United States Department of Computer Engineering Wroclaw University of Science and Technology Poland Department of Control Systems and Mechatronics Wroclaw University of Science and Technology Poland Department of Telecommunications and Teleinformatics Wroclaw University of Science and Technology Poland

This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible. The main disadvantage of calculations on quantum computers is their non-determinism. For optimization problems, of course, it is possible to get surprisingly good results but without a guarantee of the actual optimality of the result, i.e., an assurance that there exists no better solution which could potentially be found by the quantum machine. In this paper, we propose a novel approach that provides such a guarantee of optimality. We generate a solution that is optimal in the strict mathematical sense, without probabilistic considerations. To accomplish this, we use the D-Wave quantum machine working as a sampler implementing quantum annealing – an approach considered a hardware metaheuristic – to obtain upper and lower bounds on the value of the objective function of the problem under consideration. Then, we use the Branch and Bound scheme controlled by quantum annealing. This allows us to obtain very quickly – in constant time – the boundaries of the considered subproblems. Our approach is a combination of calculations realized on a quantum machine controlled by procedures implemented on a classical computer, allowing us to generate optimal solutions to the NP-hard problems of task scheduling on a single machine with a total weighted tardiness criterion. The proposed quantum algorithm shows a significant advantage over the classical CPU approach both in terms of calculation time and the number of generated solution tree nodes. © 2023, CC BY.

关键词： Quantum computers

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