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Model Predictive Control Strategy for Residential Battery Energy Storage System in Volatile Electricity Market with Uncertain Daily Cycling Load

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Journal of Modern Power Systems and Clean Energy 2023年第2期11卷 534-543页

作者： Dejan P.Jovanović Gerard F.Ledwich Geoffrey R.Walker Institute of Electrical and Electronic Engineers QueenslandAustralia School of Electrical Engineering&Robotics Queensland University of TechnologyBrisbaneAustralia

This paper presents a control strategy for residential battery energy storage systems,which is aware of volatile electricity markets and uncertain daily cycling *** economic benefits of energy trading for prosumers are achieved through a novel modification of a conventional model predictive control(MPC).The proposed control strategy guarantees an optimal global solution for the applied control action.A new cost function is introduced to model the effects of volatility on customer benefits more ***,the newly presented cost function models a probabilistic relation between the power exchanged with the grid,the net load,and the electricity *** probabilistic calculation of the cost function shows the dependence on the mathematical expectation of market price and net *** techniques for calculating this value are *** proposed strategy differs from the stochastic and robust MPC in that the cost is calculated across the market price and net load variations rather than across model constraints and parameter variations.

关键词： Optimal control model predictive control(MPC) energy market nonlinear constrained optimization revenue for battery energy storage system Gaussian mixture model autoregressive integrated moving average model

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A novel method of water bath heating assisted small ball-end magnetorheological polishing for hemispherical shell resonators

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Chinese Journal of Aeronautics 2023年第12期36卷 451-460页

作者： Jinchuan TIAN Mingjun CHEN Jian CHENG Henan LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Center for Precision Engineering Harbin Institute of TechnologyHarbin 150001China

Hemispherical shell resonator(HSR)is the core component of hemispherical resonator *** is aφ-shaped small-bore complex component with minimum curvature radius less than 3 ***,traditional polishing methods are difficult to polish *** ball-end magnetorheological polishing method can polish the small components with complicated three-dimensional surface and obtain non-destructive ***,this method is suitable for polishing ***,the material removal rate of the ordinary small ball-end magnetorheological polishing is low,leading to long polishing time and low output of *** solve this problem,a water bath heating assisted small ball-end magnetorheological polishing method is proposed in this *** influence rule of processing parameters on the material removal rate is studied experimentally.A set of optimal processing parameters is obtained to maximize the material removal *** with the ordinary method,the material removal rate of the new method can be improved by 143%.Subsequently,an HSR is polished by the new *** results show that the polishing time can be reduced by 55%,and the polished surface roughness can reach 7.7 *** new method has the great potential to be used in actual production to improve the polishing efficiency of HSR.

关键词： Hemispherical shell resonator Magnetorheological fluid temperature Material removal rate Optimization Small ball-end magnetorheological polishing

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Trash Detection in Water Bodies Using Yolo With Explainable AI Insight 6

Trash Detection in Water Bodies Using Yolo With Explainable ...

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6th International Conference on robotics and Automation in Industry, ICRAI 2024

作者： Rasheed, Shafaq Mirza, Amal Saeed, Muhammad Saad Yousaf, Muhammad Haroon University of Engineering and Technology Department of Computer Engineering Taxila Pakistan National Center of Robotics and Automation Swarm Robotics Lab Taxila Pakistan

ISBN: (纸本)9798350355703

Waste disposal into water bodies is a serious concern for environmental engineers, often resulting in urban flooding, soil degradation in agricultural areas, and freshwater pollution. Additionally, trash accumulation in water bodies threatens ma-rine life by introducing contaminants through storm drains, rivers, and other channels. Furthermore, the unique character-istics of underwater environments, including high noise levels, low visibility, and color variation, pose challenges for trash detection. Thus, addressing this issue is crucial for environmental sustainability. The work focuses on both floating and submerged trash in water bodies. Typically, the detection of trash on water bodies is impacted by environmental variability, diverse appearance, and background clutter. These conditions also make usual object detection techniques less effective. Deep learning methods have shown promise in handling challenging visual tasks, therefore researchers have turned to them to get over these challenges. In this work, we focus on applying different versions of YOLO to the problem of water trash detection. To assess these models' performance, we use four different datasets: Trash Flow rate Dataset, DeepTrash, FloW, and TrashICRA. Each dataset represents various trash types under different conditions such as underwater trash and floating trash. Our study attempts to identify the best method suitable for the detection of aquatic waste. Our results highlight the effectiveness of YOLO variants in identifying the presence of trash in water ecosystems. By leveraging Grad-CAM we gain insights into the interpretability and transparency of deep learning models thus enabling Explainable AI. This approach will also contribute to the understanding and trustworthiness of artificial systems deployed for trash detection applications by providing a transparent view of decision making process of deep learning models. © 2024 IEEE.

关键词： Storm sewers

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Reinforcement Learning Navigation for Robots Based on Hippocampus Episode Cognition

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Journal of Bionic engineering 2024年第1期21卷 288-302页

作者： Jinsheng Yuan Wei Guo Zhiyuan Hou Fusheng Zha Mantian Li Pengfei Wang Lining Sun State Key Laboratory of Robotics and System Harbin Institute of Technology(HIT)Harbin 150001China Shenzhen Academy of Aerospace Technology Shenzhen 518057China School of Mechanical and Electrical Engineering Lanzhou University of TechnologyLanzhou 730050China

Artificial intelligence is currently achieving impressive success in all ***,autonomous navigation remains a major challenge for *** learning is used for target navigation to simulate the interaction between the brain and the environment at the behavioral level,but the Artificial Neural Network trained by reinforcement learning cannot match the autonomous mobility of humans and *** hippocampus–striatum circuits are considered as key circuits for target navigation planning and *** paper aims to construct a bionic navigation model of reinforcement learning corresponding to the nervous system to improve the autonomous navigation performance of the *** ventral striatum is considered to be the behavioral evaluation region,and the hippocampal–striatum circuit constitutes the position–reward *** this paper,a set of episode cognition and reinforcement learning system simulating the mechanism of hippocampus and ventral striatum is constructed,which is used to provide target guidance for the robot to perform autonomous *** with traditional methods,this system reflects the high efficiency of learning and better Environmental *** research is an exploration of the intersection and fusion of artificial intelligence and neuroscience,which is conducive to the development of artificial intelligence and the understanding of the nervous system.

关键词： Episode cognition Reinforcement learning Hippocampus Robot navigation

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Detection of neurodegenerative diseases using hybrid MODWT and adaptive local binary pattern

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Neural Computing and Applications 2024年第31期36卷 19417-19433页

作者： Prasanna, J. George, S. Thomas Subathra, M.S.P. Department of Biomedical Engineering Karunya Institute of Technology and Sciences Tamil Nadu Coimbatore641114 India Department of Robotics Engineering Karunya Institute of Technology and Sciences Tamil Nadu Coimbatore641114 India

Neurodegenerative diseases cause significant irregularities in walking patterns, impacting gait dynamics and rhythms analyzed through gait time series. Human gait analysis is a promising avenue for identifying unique walking patterns. Automated computer-aided techniques show potential in tracking pathological progression, particularly through non-invasive methods using football contact sensors. In this study, wavelet coefficients extracted via the maximal overlapped discrete wavelet transform from gait time series provide valuable insights into neurological deficiencies and deviations in gait. We employed various local binary patterns (LBPs), including inverse LBP, adaptive right-shifted LBP, and adaptive left-shifted LBP (ALS-LBP) on wavelet coefficients for classifying neurodegenerative diseases such as amyotrophic lateral sclerosis (ALS), Huntington’s disease (HD), Parkinson’s disease (PD), and healthy control (HC). Histogram-oriented features were extracted using different binary pattern techniques on gait time series. The feature subset was classified using the long short-term memory classifier. The study achieved maximum accuracy across all experimental cases, analyzing signals from left, right, and both feet during stride, swing, and stance. This approach demonstrated 100% classification accuracy for tasks involving HC versus PD, ALS versus HD, and ALS versus PD. The proposed method could open avenues for early-stage diagnosis of neurodegenerative diseases. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Discrete wavelet transforms

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Evaluation of optimal responses in Monel 400 alloy using computer based unconventional machining process

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Interactions 2025年第1期246卷 1-11页

作者： Manohar, Gunaselvi Chandrasekar, G. Radhakrishnan, G. Raj, P. Anantha Christu Ram, S. Department of Electronics and Instrumentation Engineering Easwari Engineering College Chennai India Department Mechanical Engineering PSNA College of Engineering and Technology Dindigul India Department of Electrical and Electronics Engineering Sri Krishna College of Engineering and Technology Tamilnadu Coimbatore India Division of Robotics Engineering Karunya Institute of Technology and Sciences Tamilnadu Coimbatore India Department of Mechanical Engineering Gokaraju Rangaraju Institute of Engineering and Technology Hyderabad India

The unconventional machining is an essential role in metal forming process. The dimensional accuracy and super finish are the main features of modern machining methods. Electric discharge machining is a competent process to any materials and composites. In this article is used to machining characteristics of Monel 400 alloy with monitored by computer networks. The response variables are mainly depending on input variables and their levels. Taguchi method is utilized to evaluate the optimal control factors. The mean and SN ratio is evaluated by based on the criteria of the responses. The involvement of control variables to the responses have been validated by variance analysis. The best possible MR was attained at a discharge current of 40 A, pulse on time of 140µs, and spark voltage of 25 *** finest RTW and SR was occurred at a discharge current of 40 A, pulse on time of 140µs, and spark voltage of 20 V. The scope of the work is to maximize the metal removal and minimize the tool wear. © The Author(s), under exclusive licence to Springer Nature Switzerland AG 2025.

关键词： Metal forming

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Temperature field characteristics of CF/PEEK thermoplastic composites formed by automated fiber placement using hot gas torch with slit structure nozzle

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Chinese Journal of Aeronautics 2024年第6期37卷 392-409页

作者： Ziang JIN Shouzheng SUN Sunil Chandrakant JOSHI Zhenyu HAN Hongya FU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore 639798Singapore

In-situ consolidation forming of high-performance thermoplastic composites by Automated Fiber Placement(AFP)is of significant interest in *** the laying process,the heating temperature has a great influence on the quality of the formed components.A threedimensional heat transfer finite element model of Carbon Fiber(CF)/Polyether Ether Ketone(PEEK)heated by Slit Structure Nozzle Hot Gas Torch(SSNHGT)assisted AFP is *** influence of gas flow rate,heat transfer distance,and laying speed on heating temperature is *** results show that the overall temperature increases and then decreases as the gas flow rate *** the increase in heat transfer distance and laying speed,the overall temperature ***,the gas flow rate has the greatest influence on the temperature of CF/PEEK being heated,followed by the laying speed and finally the heat transfer ***,the model can also be extended to other fiber-reinforced polymer composites formed by hot gas torch assisted AFP,which can guide the optimization of process parameters for subsequent heating temperature control.

关键词： Fiber reinforced plastics Thermoplastics Heating temperature Automated fiber placement CF/PEEK

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Design and In Situ Additive Manufacturing of Multifunctional Structures

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engineering 2023年第9期28卷 58-68页

作者： Yan Zhang Guangyu Zhang Jing Qiao Longqiu Li State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China School of Materials Science and Engineering Harbin Institute of TechnologyHarbin 150001China

Multifunctional structures(MFSs)integrate diverse functions to achieve superior ***,conventional design and manufacturing methods—which generally lack quality control and largely depend on complex equipment with multiple stations to achieve the integration of distinct materials and devices—are unable to satisfy the requirements of MFS applications in emerging industries such as aerospace *** by the concept of design for manufacturing,we adopt a layer regulation method with an established optimization model to design typical MFSs with load-bearing,electric,heat-conduction,and radiation-shielding functions.A high-temperature in situ additive manufacturing(AM)technology is developed to print various metallic wires or carbon fiber-reinforced high-meltingpoint polyetheretherketone(PEEK)*** is found that the MFS,despite its low mass,exceeds the stiffness of the PEEK substrate by 21.5%.The embedded electrics remain functional after the elastic deformation *** with those of the PEEK substrate,the equivalent thermal conductivity of the MFS beneath the central heat source area is enhanced by 568.0%,and the radiation shielding is improved by 27.9%.Moreover,a satellite prototype with diverse MFSs is rapidly constructed as an *** work provides a systematic approach for high-performance design and advanced manufacturing,which exhibits considerable prospects for both the function expansion and performance enhancement of industrial equipment.

关键词： Additive manufacturing Multifunctional structure Optimal design Satellite Polyetheretherketone

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Hydrogel bioadhesives harnessing nanoscale phase separation for Achilles tendon repairing

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Nano Research 2024年第2期17卷 778-787页

作者： Jun Zhang Xingmei Chen Jingseng Lin Pei Zhang Iek Man Lei Yue Tao Jiajun Zhang Tian Luo Ji Liu Department of Mechanical and Energy Engineering Southern University of Science and TechnologyShenzhen 518055China Research and Innovation Center SKG Health TechnologyShenzhen 518000China SAFE(Shenzhen)Medical Technology Company Limited Shenzhen 518000China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and TechnologyShenzhen 518055China

Repairing Achilles tendon has emerged as a long-standing challenge in the orthopaedic *** suture is the gold standard for re-attaching and repairing the fractured Achilles tendons in clinical surgeries,it is still subjected to numerous adverse side-effects,including chronic inflammatory,tendon tissue re-rupture,scar formation,and post-surgical peritendinous *** this work,we develop a class of hydrogel bioadhesives with tailored nanoscale phase separation for Achilles tendon *** address the existing limitations of sutures,our hydrogel bioadhesives encompass three core functionalities:(i)instant and tough adhesion to Achilles tendon tissues,(ii)extraordinary long-term adhesion robustness under wet and dynamic in vivo conditions,and(iii)anti-postsurgical peritendinous *** our hydrogel bioadhesives with sutures,such kind of integrated approach enables a conformable yet robust biointerface with the tendon tissues,and prevents the fibroblast migration and formation of connective tissues,thus facilitating the tendon *** hydrogel bioadhesives reported here open up new opportunities for the repairing of fractured Achilles tendons in diverse and complicated clinical scenarios.

关键词： hydrogels phase separation bioadhesion robustness tendon repairing

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VISION-GUIDED DRY LEAF COLLECTING ROBOT

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International Journal of Electrical engineering 2023年第1期30卷 9-17页

作者： Sawangbunrod, Burid Chonwitthayasittikul, Thaksin Ruangpayoongsak, Niramon Producion and Robotics Engineering Department Faculty of Engineering King Mongkut’s University of Technology North Bangkok Bangkok Thailand

Dry leaves fallen on ground in yards need to be cleaned up. Leaf collecting is time consuming and is repetitive task, therefore the task can be done by a robot. This paper presents hardware design and software implementation of a dry leaf collecting autonomous robot to replace human worker. The robot is a low-cost robot guided by vision using a web camera. The robot is controlled by algorithm developed on ROS running on Jetson Nano and Arduino Mega. The leaves are detected and identified by using YOLO. Real time leaves detection by using YOLOv5 and YOLOv8 are compared. The experimental results show that the YOLOv8 has impressive higher performance in leaf identification than YOLOv5 and the robot can successfully collect dry leaves on ground. © 2023, Chinese Institute of Electrical engineering. All rights reserved.

关键词： Robot vision

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