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Data-driven electrical resistance tomography for robotic large-area tactile sensing

Science China(Information Sciences) 2024年第9期67卷 336-337页

作者： Wendong ZHENG Huaping LIU Xiaofeng LIU Fuchun SUN School of Electrical Engineering and Automation Tianjin University of Technology Department of Computer Science and Technology Tsinghua University Key Laboratory of Maritime Intelligent Cyberspace Technology (Hohai University) Ministry of Education

Tactile sensing plays a crucial role in enabling robots to safely interact with objects in dynamic environments [1].Given that potential physical contact can occur at any location during robot interaction, there is a ... 详细信息

关键词： Robot applications

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Distributed Formation control of Heterogeneous Multi-agent Systems with Nonlinear Dynamic Performance 24

Distributed Formation Control of Heterogeneous Multi-agent S...

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6th International Conference on control and Computer Vision, ICCCV 2024

作者： Cao, Runxi Liu, Jia Du, Jiayi Zhang, Yunxi School of Automation and Electrical Engineering Tianjin University of Technology and Education Tianjin China Tianjin Key Laboratory of Information Sensing and Intelligent Control School of Automation and Electrical Engineering Tianjin University of Technology and Education Tianjin China

ISBN: (纸本)9798400718045

This paper studies the formation control problem of heterogeneous multi-agent systems. We consider a heterogeneous multi-agent system with the first-order linear leaders and second-order nonlinear followers. A distributed formation control protocol is devised to make the system achieve formation control. Furthermore, using Lyapunov stability theory and linear matrix inequality method the stability analysis of the system is conducted, and the sufficient condition is presented for successful formation control in heterogeneous multi-agent systems. Finally, a numerical simulation example is provided to validate the obtained results. © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Linear matrix inequalities

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Electric Dual Variable Pump controlled Hydraulic Motor 42

Electric Dual Variable Pump Controlled Hydraulic Motor

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42nd Chinese control Conference, CCC 2023

作者： Yang, Jianmin Wang, Junzheng Niu, Shanshuai School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9789887581543

The combined control of variable speed and variable displacement is a new type of volume control with high efficiency and fast response. However, due to the inherent nonlinearity of multiplication, it brings certain difficulties to the control. The electric double-variable pump[1] is a dual-input single-output system, and it is a nonlinear system[2]. It is necessary to linearize the system or use a nonlinear control method to control and solve the control problem of the system. In this paper, an intelligent control rule is proposed for the nonlinear problem of double input and single output. Through backstepping design[3], the nonlinear system is transformed into multiple linear subsystems. Then the original system is turned into two independent subsystems with single input and single output, which are controlled separately. The co-simulation platform based on AMESIM and Simulink[4] has been verified and compared with a single PID control algorithm to simulate the step response and sinusoidal tracking performance of the system. The results show that the response speed of the system has been greatly improved. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Backstepping

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Dynamic J-A Hysteresis Model Correction of Iron Core Components and EMTP Program Implementation 7

Dynamic J-A Hysteresis Model Correction of Iron Core Compone...

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7th International Conference on Electric Power Equipment - Switching Technology, ICEPE-ST 2024

作者： Chen, Xi Chen, Lian School of Electrical Engineering and Automation Xiamen University of Technology Xiamen China School of Electrical Engineering and Automation Xiamen University of Technology Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control Xiamen China

ISBN: (纸本)9798350388947

Despite Jiles-Atherton (J-A) hysteresis theory has been widely used in the analysis of magnetic properties of iron core components in electric power equipment, the transient modeling of switching device considering hysteresis characteristics remains more challenging given that most electromagnetic transient simulation software lacks a practical dynamic J-A hysteresis inductor model. A J-A hysteresis inductor model considering the iron core's dynamic loss was developed with the Electromagnetic Transients Program-Alternative Transients Program (EMTPATP) in this study. The classical J-A hysteresis theory was first modified from the perspective of energy conservation equation. Then, the differential equations of the J-A hysteresis model considering dynamic loss were derived according to the field separation and statistical theory of losses, and the final J-A model parameters were determined by particle swarm optimization (PSO) algorithm. The modified dynamic J-A hysteresis model was programmed by Model Language using the Type-94 component in EMTP-ATP, thereby obtaining a dynamic J-A hysteresis inductor model that can be used for electromagnetic transient simulation. The proposed model was verified by sinusoidal excitation test and harmonic excitation simulation. The results show that the excitation simulation outcomes of the dynamic J-A hysteresis inductor model were well fit in the measured data, and it could work stably under harmonic excitation condition, which verifies the feasibility of this model. © 2024 IEEE.

关键词： Electromagnetic transients

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Ferromagnetic Resonance Fault Identification of 10kV Electromagnetic Voltage Transformer 7

Ferromagnetic Resonance Fault Identification of 10kV Electro...

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7th International Conference on Electric Power Equipment - Switching Technology, ICEPE-ST 2024

作者： Gao, Ji Chen, Li'an Guan, Mengxue School of Electrical Engineering and Automation Xiamen University of Technology Xiamen China School of Electrical Engineering and Automation Xiamen University of Technology Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control Xiamen China

ISBN: (纸本)9798350388947

With the increasing development of power grids, the problem of ferroresonance in neutral-point non-grounded power distribution systems is becoming more and more serious. Due to the close similarities in characteristics between single-phase grounding fault overvoltage and ferroresonance overvoltage, in order to correctly diagnose the type of overvoltage, firstly, the simulation model was built by PSCAD to obtain the simulation waveform of different faults. Then, the resonance overvoltage fault feature extraction method based on VMD was constructed by MATLAB. Finally, by comparing the influence of the number of input layer nodes and the number of hidden layer neurons on the BP neural network, the BP neural network was optimized by MATLAB to achieve the identification of ferroresonance and normal working, grounding fault states, and provide a reliable judgment standard for the action of protection devices. © 2024 IEEE.

关键词： MATLAB

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A LESO Based Backstepping controller Considering Coal Seam Hardness for Rotary Speed in Coal Mine Tunnel Drilling Process

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Journal of Systems Science & Complexity 2024年第5期37卷 1789-1808页

作者： CHEN Luefeng LIU Xiao WU Min LU Chengda PEDRYCZ Witold HIROTA Kaoru School of Automation China University of GeosciencesWuhan 430074China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan 430074China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China Department of Electrical and Computer Engineering University of AlbertaEdmontonAB T6R2G7Canada The Tokyo Institute of Technology Yokohama 226-8502Japan

In the process of coal mine drilling,controlling the rotary speed is important as it determines the efficiency and safety of *** this paper,a linear extended state observer(LESO)based backstepping controller for rotary speed is proposed,which can overcome the impact of changes in coal seam hardness on rotary ***,the influence of coal seam hardness on the drilling rig’s rotary system is considered for the first time,which is reflected in the numerical variation of load torque,and a dynamic model for the design of rotary speed controller is *** an LESO is designed to observe the load torque,and feedforward compensation is carried out to overcome the influence of coal seam *** on the model of the compensated system,a backstepping method is used to design a controller to achieve tracking control of the rotary ***,the effectiveness of the controller designed in this paper is demonstrated through simulation and field experiments,the steady-state error of the rotary speed in field is 1 r/min,and the overshoot is reduced to 5.8%.This greatly improves the stability and security,which is exactly what the drilling process requires.

关键词： Backstepping extended state observer hydraulic tunnel drilling machine rotary speed

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10KV Switchgear Temperature Field Analysis and Product Structure Optimization Research 7

10KV Switchgear Temperature Field Analysis and Product Struc...

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7th International Conference on Electric Power Equipment - Switching Technology, ICEPE-ST 2024

作者： You, Yimin Lin, Jing Dai, Dongyun Sang, Zhongqing School of Electrical Engineering and Automation Xiamen University of Technology Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control Xiamen China School of Electrical Engineering and Automation Xiamen University of Technology Xiamen China

ISBN: (纸本)9798350388947

Human activities have caused a series of environmental problems such as the greenhouse effect, ozone hole, etc. And the global ecological balance has been seriously damaged. Against this background, in order to implement the goal of carbon peaking and carbon neutrality and to realize the green and low-carbon development in China, the country is paying more and more attention to the development and utilization of solar energy, wind energy and other clean energy sources, and therefore, the market demand for photovoltaic and wind power stations in the 10kV switchgear market is gradually increasing. The stable operation of switchgear plays a pivotal role in maintaining the reliable operation of the power system. Whether the switchgear can be operated stably directly affects the reliability of the power system, and a series of aging and damage triggered by heat in the switchgear is the most common and the most important type of failure of the switchgear. Therefore, this paper will be based on the theory of heat generation of electrical appliances, heat transfer theory and airflow field theory and other related theories, synthesize the current status of research at home and abroad and the calculation method of temperature distribution, KYN-type 10kV switchgear as the object of research, its modeling, simulation analysis, and optimization of its temperature rise condition. This study provides important reference significance for the stable operation of 10KV switchgear in the power system. © 2024 IEEE.

关键词： Heat losses

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Low-Voltage Series Arc Fault Detection Method Based on VMD 7

Low-Voltage Series Arc Fault Detection Method Based on VMD

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7th International Conference on Electric Power Equipment - Switching Technology, ICEPE-ST 2024

作者： Tang, Qiaojia Chen, Li'an Li, Wenxuan School of Electrical Engineering and Automation Xiamen University of Technology Xiamen China School of Electrical Engineering and Automation Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control Xiamen University of Technology Xiamen China

ISBN: (纸本)9798350388947

Aiming at the current situation that the traditional overcurrent protection device is difficult to detect the low-voltage series arc fault, a detection model for low-voltage series fault arc based on Variational Mode Decomposition (VMD) was proposed, utilizing a VMD method optimized by the Whale Optimization Algorithm (WOA). Firstly, WOA was used to optimize the VMD parameters of different loads to decompose the signal. Then, a multi-feature data set was constructed by combining Pearson correlation coefficient and random forest importance assessment. Finally, combined with support vector machine, a low-voltage series arc fault detection model was built. The results show that the accuracy of the proposed arc fault detection method is more than 99 %, and it is suitable for a variety of typical loads. © 2024 IEEE.

关键词： Overcurrent protection

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Analysis of Temperature Fields of a 10kV Electromagnetic PT Under Ferroresonance 7

Analysis of Temperature Fields of a 10kV Electromagnetic PT ...

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7th International Conference on Electric Power Equipment - Switching Technology, ICEPE-ST 2024

作者： Wu, Zhiwei Chen, Li'an Guo, Mengqian School of Electrical Engineering and Automation Xiamen University of Technology Xiamen China School of Electrical Engineering and Automation Xiamen University of Technology Xiamen Key Laboratory of Frontier Electric Power Equipment and Intelligent Control Xiamen China

ISBN: (纸本)9798350388947

Electromagnetic potential transformer(PT) may undergo ferroresonance when subjected to external disturbances, which causes overvoltage and affects the stable operation of the power system. In order to provide reference advice for the installation and monitoring of the sensor, the temperature field of 10kV electromagnetic PT was simulated by utilizing the finite element method. In this paper, after establishing a three-dimensional model, joule loss, eddy current loss and hysteresis loss were calculated as heat sources, and then the temperature field distribution was simulated. Subsequently, the differences before and after the ferroresonance were compared to analyse the influence of the ferro resonance and inferred the location where the abnormal temperature rise occurs. The simulation results showed that the highest temperature of the shell is located at the side closest to the heat source, where the epoxy resin is the thinnest and most sensitive to temperature changes. Therefore, the temperature sensor should be mounted at this location, where the abnormal temperature rise can be detected quickly. This study not only will provide suggestions for the installation and monitoring of sensors, but also will lay a foundation for the realization of the 'self-healing' function of the robust smart grid, and improve the reliability and security of the grid operation. © 2024 IEEE.

关键词： Electric power transmission networks

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Terahertz Spectroscopic Characterization and Thickness Evaluation of Internal Delamination Defects in GFRP Composites

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Chinese Journal of Mechanical Engineering 2023年第1期36卷 190-210页

作者： Walter Nsengiyumva Shuncong Zhong Manting Luo Bing Wang Fujian Provincial Key Laboratory of Terahertz Functional Devices and Intelligent Sensing School of Mechanical Engineering and AutomationFuzhou UniversityFuzhou350108China Institute of Precision Instrument and Intelligent Measurement&Control Fuzhou UniversityFuzhou350108P.R.China School of Mechanical and Electrical Engineering Putian UniversityPutian351100China

The use of terahertz time-domain spectroscopy(THz-TDS)for the nondestructive testing and evaluation(NDT&E)of materials and structural systems has attracted significant attention over the past two decades due to its superior spatial resolution and capabilities of detecting and characterizing defects and structural damage in non-conducting *** this study,the THz-TDS system is used to detect,localize and evaluate hidden multi-delamination defects(i.e.,a three-level multi-delamination system)in multilayered GFRP composite *** obtain accurate results,a wavelet shrinkage de-noising algorithm is used to remove the noise from the measured time-of-flight(TOF)*** thickness and location of each delamination defect in the z-direction(i.e.,through-the-thickness direction)are calculated from the de-noised TOF signals considering the interaction between the pulsed THz waves and the different interfaces in the GFRP composite laminates.A comparison between the actual and the measured thickness values of the delamination defects before and after the wavelet shrinkage denoising process indicates that the latter provides better results with less than 3.712%relative error,while the relative error of the non-de-noised signals reaches 16.388%.Also,the power and absorbance levels of the THz waves at every interface with different refractive indices in the GFRP composite laminates are evaluated based on analytical and experimental *** present study provides an adequate theoretical analysis that could help NDT&E specialists to estimate the maximum thickness of GFRP composite materials and/or structures with different interfaces that can be evaluated by the ***,the accuracy of the obtained results highlights the capabilities of the THz-TDS for the NDT&E of multilayered GFRP composite laminates.

关键词： Glass-fiber-reinforced polymer-matrix(GFRP)composites Terahertz time-domain spectroscopy(THz-TDS) Nondestructive testing and evaluation(NDT&E) Stationary wavelet transform(SWT) Thickness evaluation Delamination defects

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