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2024 China automation Congress, CAC 2024

作者： Cheng, Guiying Jia, Jianfang Pang, Xiaoqiong Wen, Jie Shi, Yuanhao Zeng, Jianchao School of Electrical and Control Engineering North University of China Taiyuan China School of Computer Science and Technology North University of China Taiyuan China

ISBN: (纸本)9798350368604

Traditional visual localization algorithms often assume a static world, making them susceptible to inaccuracies and reduced robustness in real environments with dynamic objects. Additionally, these algorithms struggle to maintain high localization accuracy in low-texture settings. To overcome these challenges, we propose a dynamic SLAM system with enhanced feature extraction capabilities, called DFE-SLAM (Dynamic SLAM based on improved feature extraction). DFE-SLAM employs a lightweight YOLOv5s dynamic target detection network to filter out dynamic features from detection results. It also utilizes adaptive thresholding during the feature point detection stage to enhance accuracy. Moreover, the system incorporates a dense map construction thread, which creates dense point cloud maps using keyframes with corresponding bit poses. We evaluated DFE-SLAM using the TUM and Bonn datasets, benchmarking it against several advanced SLAM systems. The results demonstrate that DFE-SLAM excels in dynamic environments, delivering superior accuracy and robustness compared to most existing SLAM systems. © 2024 IEEE.

关键词： dense map Dynamic scenes feature extraction simultaneous localization and map building YOLOv5s

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Simultaneous Placement of Tie-lines and Distributed Generations to Optimize Distribution System Post-outage Operations and Minimize Energy Losses

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CSEE Journal of Power and Energy Systems 2021年第2期7卷 318-328页

作者： Farzaneh Shojaei Mohammad Rastegar Morteza Dabbaghjamanesh Department of Power and Control Engineering School of Electrical and Computer EngineeringShiraz UniversityShirazIran Electrical and Computer Engineering Department The University of Texas at DallasUSA.

This study proposes a new method which aims to optimally install tie-lines and distributed generations *** is done to optimize the post-outage reconfiguration and minimize energy losses and energy not supplied of distribution *** number and location of tie-lines,as well as the number,size,and location of DGs,are pinpointed through teaching the learning-based optimization(TLBO)*** objective function in the current research is to minimize the costs pertaining to the investment,operation,energy losses,and energies not *** addition to the normal operational condition,fault operational condition is also ***,the optimal post-fault reconfigurations for fault occurrences in all lines are ***,the operational constraints such as the voltage and line current limits are taken into account in both normal and post-fault operational ***,the modified IEEE 33-bus and 69-bus distribution test systems are selected and tested to demonstrate the effectiveness of the simultaneous placement of DGs and tie-line technique proposed in this paper.

关键词： Distribution system reliability distributed generation energy loss post-outage reconfiguration tie-lines

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MULTIDISCIPLINARY MODELING AND ANALYSIS OF NOSE LANDING GEAR SHIMMY

MULTIDISCIPLINARY MODELING AND ANALYSIS OF NOSE LANDING GEAR...

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2024 CSAA/IET International Conference on Aircraft Utility Systems, AUS 2024

作者： Chen, Xiying Pan, Zhe Zhao, Shutong Gao, Bo Wang, Zeng Beijing Institute of Precision Electromechanical Control Beijing China School of Automation Science and Electrical Engineering Beihang University Beijing China Innovation Center for Control Actuators Beijing China

The research content is the shimmy analysis of the nose landing gear, mainly considering the stiffness of the main structural parts of the nose landing gear, the structure and damping parameters of shimmy damper, establishing a multi-body dynamics co-simulation model of the shimmy based on one-dimensional and three-dimensional co-simulation, and analyzing the anti-shimmy effect of the nose landing gear under different interference forces during landing and taxiing. To verify the rationality of the nose landing gear structure and parameter design, the critical shimmy damping hole diameter curve is calculated. It can be seen that the shimmy stability margin requirements are met with the gradual increase of aircraft taxiing speed. The diameter of the critical damping hole is slightly reduced at first, and the gradually increased. According to the analysis results, the damping parameters that meet the actual demand of shimmy reduction are given, which provides necessary technical support for the design of shimmy reduction system. © The Institution of engineering & Technology 2024.

关键词： Damping

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Named Entity Recognition for Safety Risks in electrical Work

Named Entity Recognition for Safety Risks in Electrical Work

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2024 IEEE International Conference on Imaging Systems and Techniques, IST 2024

作者： Liu, Peng Fan, Shanshan Cao, Xiaofan Jia, Yujiao Yang, Jianing Institute of Energy and Electrical Engineering Changchun University of Science and Technology Changchun China School of Control and Computer Engineering North China Electric Power University Beijing China School of Electrical Engineering North China Electric Power University Beijing China

ISBN: (纸本)9798350378214

The texts of safety risks in eletrical work describe the safety risks involved and management measures. The text records information on potential risks, risk levels, and preventive measures within the electrical work, which is crucial for extracting and mining safety risks. Named Entity Recognition for Safety Risks in electrical Work (EWSR-NER) is a key technique for information extraction and knowledge discovery. It identifies objects related to safety risks in electrical work, such as risk level, risk factors, risk categories and protective measures, which convey critical meanings within the text. Current Named Entity Recognition (NER) is used to identify generic entities. However, their accuracy is limited by inherent linguistic irregularities in natural language texts, such as nested entities, lengthy entities, and the scarcity of domain-specific annotated corpora. To address this issue, the established standards and principles of safety risk texts in electrical work were followed to analyze the structure and characteristics of the text, developing a dataset of safety risk in electrical work. A new model, RoBERTa-BiLSTM-Efficient GlobalPointer (RoBEGP), was proposed in this paper. It uses the Robertly Optimized Bidirectional Encoder Representation from Transformers Pretraining Approach(RoBERTa) pretraining model to learn the characteristics of electrical work content and generate representation vectors. These representation vectors are input into a dynamic fusion layer, which adjusts the weights of each layer's representation vectors based on the specific requirements of the task, reducing the dimensionality from 1024 to 512. The fused vectors are input into a Bidirectional Long Short-Term Memory(BiLSTM) network to generate feature representations. Efficient GlobalPointer decodes these representations to identify nested entities within the text. Experimental results show that the proposed model achieves an F1 score of 92.38% on a self-constructed dataset of safe

关键词： Risk assessment

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Toward Safe Human-Robot Interaction: More Efficient Safety Monitoring Technology For Robotic Arms 5

Toward Safe Human-Robot Interaction: More Efficient Safety M...

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5th World Robot Conference Symposium on Advanced Robotics and automation, WRC SARA 2023

作者： Gong, Zihang Liu, Zhaowei Su, Hang Yantai University School of Computer and Control Engineering Yantai264005 China Guandong Univerisity of Technology School of Automation Guangzhou China

ISBN: (纸本)9798350307320

Presently, advanced humanoid robotic arms have the ability to work independently, and although most current research can make the robotic arm react appropriately and autonomously to the changing environment, it cannot completely prevent the robotic arm from reacting incorrectly due to a variety of uncontrollable factors;therefore, it is necessary to detect the overall posture of the operating robotic arm. In this paper, we propose a more effective vision fusion-based robot safety monitoring method that can detect the robot arm's posture change in real time, thereby significantly enhancing the safety of the robot arm at work. The visual fusion method utilized in this paper enables faster and more stable skeleton visualization tracking of the robot arm's motion, and at the same time, more accurate skeleton information extraction of the robot arm in three-dimensional space, which increases the accuracy of detecting the bending angle of each joint under each posture of the robot arm. The research experiment demonstrates that the method proposed in this paper has a positive effect on monitoring the robotic arm in real time. © 2023 IEEE.

关键词： Robotic arms

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ComESN: Compressive Echo State Network for Multi-task Time-series Prediction

ComESN: Compressive Echo State Network for Multi-task Time-s...

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2023 IEEE International Symposium on Product Compliance engineering - Asia 2023, ISPCE-AS 2023

作者： Jiang, Ruiqi Wu, Zhou Zhang, Yongfeng Ye, Xianming Chongqing University School of Automation Chongqing China University of Jinan School of Electrical Engineering Jinan China University of Pretoria Department of Electrical Electronic and Computer Engineering Pretoria South Africa

ISBN: (纸本)9798350361209

Time-series prediction has been widely studied for single-variable applications, but shows poor performance for multi-variable applications due to the complex correlation. Multivariable prediction is often transferred into many single-variable tasks, and results into high computational cost. The prediction performance decreases exponentially as the dimensions increase. The compression of multiple prediction tasks is necessary to provide a trade-off between computational cost and prediction accuracy. For this purpose, compressive echo state neural network (ComESN) is proposed, which consists of a compressive module and a multi-task echo state network (MT-ESN). In this study, the locally linear embedding algorithm is adopted as compression method to reduce the number of prediction tasks for improving the computational efficiency. A novel MT-ESN is developed to further improve the performance of ESN for multi-task prediction. Due to highly efficient compression and unveiling correlation of multiple tasks, ComESN could cut down the computational cost while providing a promising prediction accuracy. Experiments on three real-world datasets illustrate that the proposed ComESN could compete with state-of-the-art methods with regard to computational cost and accuracy. © 2023 IEEE.

关键词： Forecasting

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Adaptive Prescribed Finite-Time Bipartite Consensus control for Nonaffine Nonlinear MASs Under Structurally Unbalanced Topology

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3532-3541页

作者： Wang, Xiaomei Song, Yongduan Zhao, Xudong Wang, Huanqing Wang, Ding Niu, Ben Chongqing University School of Automation Chongqing400044 China Shandong Normal University School of Information Science and Engineering Shandong Jinan250014 China Dalian University of Technology School of Control Science and Engineering Liaoning Dalian116023 China Bohai University College of Mathematical Sciences Liaoning Jinzhou121013 China Beijing University of Technology Faculty of Information Technology Beijing100124 China Sichuan University School of Electrical Engineering Chengdu610065 China

This article investigates an adaptive bipartite consensus tracking control algorithm for a class of heterogeneous nonaffine nonlinear multiagent systems (MASs) with prescribed finite-time tracking performance under an unbalanced communication topology. In the case of an unbalanced digraph, a novel locally optimal bipartition strategy is proposed to transform the unbalanced communication topology into a structurally balanced one, thereby enabling the implementation of bipartite consensus tracking control. To achieve the expected tracking performance, the design philosophy focuses on developing a prescribed finite-time performance function (PFTPF), capable of preassigning the convergence time and accuracy precisely beforehand. The explored adaptive control algorithm can ensure that the whole signals concerning the closed-loop MASs remain bounded while the bipartite consensus errors converge to a predetermined range around zero within the prescribed finite time. Ultimately, the simulation results on robotic systems prove the availability of the developed design solution. © 2013 IEEE.

关键词： Topology

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Receding horizon control for continuous-time mean-field systems

Receding horizon control for continuous-time mean-field syst...

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作者： Gao, Rong Liu, Junzhe Zhang, Fang Xu, Juanjuan Wang, Hongxia School of Mathematics and Statistics Science Ludong University Yantai China School of Control Science and Engineering Shandong University Jinan China College of Electrical and Automation Engineering Shandong University of Science and Technology Qingdao China

In this paper, we study the receding horizon control (RHC) stabilization of continuous-time mean-field system. An explicit RHC controller is obtained by introducing a cost function with two terminal matrices and the conditions that make the system stable are also obtained;that is, when two coupled Lyapunov inequalities are satisfied, the system controlled by RHC is stabilized. Finally, a simulation example is given to verify the effectiveness of the proposed strategy. © 2023 Chinese Automatic control Society and John Wiley & Sons Australia, Ltd.

关键词： Stabilization

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Embedded Multi-Port Converters for Synthesis and Enhancement of Hybrid-Clamped Multilevel Converters

Embedded Multi-Port Converters for Synthesis and Enhancement...

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2023 IEEE Energy Conversion Congress and Exposition, ECCE 2023

作者： Li, Yuzhuo Gunawardena, Pasan Tian, Hao Li, Yunwei University of Alberta Department of Electrical and Computer Engineering Edmonton Canada Shandong University School of Control Science and Engineering Jinan China

ISBN: (纸本)9798350316445

Leveraging a number of inner capacitors/inductors, hybrid-clamped multilevel converters (MLCs) normally face great challenges among good performance (proper charge/discharge of these devices), high efficiency (maintaining low losses) and high power density (compact profile). On the other hand, these multiple-device energy-processing requirements have been addressed well in some promising multi-port converters (MPCs), and, therefore, inspire us to implement well-developed compact MPCs to facilitate the voltage/current level generation process in hybrid-clamped MLCs. Though recently, some researchers started to integrate active cells into hybrid-clamped MLCs and improve capacitor voltage control and generate extra output levels, the systematic synthesis method is still unclear and rarely discussed in the literature. To address this gap, we propose a systematic synthesis method for those hybrid clamped MLCs that can benefit from embedding well-developed MPCs. The approach can be applied for both voltage-source and current-source hybrid-clamped MLCs, covering emerging MLCs. In particular, we also derived and verified a new mixed hybrid MLC family through an emerging current-fed dual-input isolated multi-port converter. This topology features both current-source and voltage-source benefits and is ideal for future renewable generation integration. © 2023 IEEE.

关键词： Converters Synthesis Hybrid-Clamped Multi-level Converters Multi-port Converters

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On the Teaching Innovation Mode of "One Center, Two Closed Loops and Three Drives" from the Perspective of Curriculum Ideology and Politics 5th

On the Teaching Innovation Mode of "One Center, Two Closed L...

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5th International Conference on computer Science and Educational Informatization, CSEI 2023

作者： Qi, Huamei Jin, Yisu Cao, Dan Kui, Xiaoyan Tang, Fei School of Computer Science and Engineering Central South University Changsha China Teacher Development Center Central South University Changsha China School of Electrical Engineering and Automation Wuhan University Wuhan China

ISBN: (纸本)9789819994984

Through the analysis of the current situation of ideological and political teaching in professional courses, find the pain points in the current teaching mode, put forward the teaching innovation mode of "one center, two closed loops and three drives, and give the "data structure" of the basic course of the school of computer Science as an example to practice cases of the reform planning to provide reference for the ideological and political construction of the curriculum. © 2024, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Curricula

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