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arXiv 2022年

作者： Sang, Jinsong Sun, Hongbin Kou, Lei Changchun Institute of Technology School of Electrical Engineering Changchun130012 China National and Local Joint Engineering Research Center for Smart Distribution Network Measurement Control and Safe Operation Technology Changchun130012 China Qingdao266075 China

As an efficient way to integrate multiple distributed energy resources (DERs) and the user side, a microgrid is mainly faced with the problems of small-scale volatility, uncertainty, intermittency and demand-side uncertainty of DERs. The traditional microgrid has a single form and cannot meet the flexible energy dispatch between the complex demand side and the microgrid. In response to this problem, the overall environment of wind power, thermostatically controlled loads (TCLs), energy storage systems (ESSs), price-responsive loads and the main grid is proposed. Secondly, the centralized control of the microgrid operation is convenient for the control of the reactive power and voltage of the distributed power supply and the adjustment of the grid frequency. However, there is a problem in that the flexible loads aggregate and generate peaks during the electricity price valley. The existing research takes into account the power constraints of the microgrid and fails to ensure a sufficient supply of electric energy for a single flexible load. This paper considers the response priority of each unit component of TCLs and ESSs on the basis of the overall environment operation of the microgrid so as to ensure the power supply of the flexible load of the microgrid and save the power input cost to the greatest extent. Finally, the simulation optimization of the environment can be expressed as a Markov decision process (MDP) process. It combines two stages of offline and online operations in the training process. The addition of multiple threads with the lack of historical data learning leads to low learning efficiency. The asynchronous advantage actor-critic (Memory A3C, M-A3C) with the experience replay pool memory library is added to solve the data correlation and nonstatic distribution problems during training. The multithreaded working feature of M-A3C can efficiently learn the resource priority allocation on the demand side of the microgrid and improve the flexible sche

关键词： Reinforcement learning

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Robust UAV Path Planning with Obstacle Avoidance for Emergency Rescue

Robust UAV Path Planning with Obstacle Avoidance for Emergen...

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2025 IEEE Wireless communications and Networking Conference, WCNC 2025

作者： Mao, Junteng Jia, Ziye Gu, Hanzhi Shi, Chenyu Shi, Haomin He, Lijun Wu, Qihui Nanjing University of Aeronautics and Astronautics The Key Laboratory of Dynamic Cognitive System of Electromagnetic Spectrum Space Ministry of Industry and Information Technology Jiangsu Nanjing211106 China Southeast University National Mobile Communications Research Laboratory Jiangsu Nanjing211111 China The School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China

ISBN: (纸本)9798350368369

The unmanned aerial vehicles (UAVs) are efficient tools for diverse tasks such as electronic reconnaissance, agricultural operations and disaster relief. In the complex three-dimensional (3D) environments, the path planning with obstacle avoidance for UAVs is a significant issue for security assurance. In this paper, we construct a comprehensive 3D scenario with obstacles and no-fly zones for dynamic UAV trajectory. Moreover, a novel artificial potential field algorithm coupled with simulated annealing (APF-SA) is proposed to tackle the robust path planning problem. APF-SA modifies the attractive and repulsive potential functions and leverages simulated annealing to escape local minimum and converge to globally optimal solutions. Simulation results demonstrate that the effectiveness of APFSA, enabling efficient autonomous path planning for UAVs with obstacle avoidance. © 2025 IEEE.

关键词： Drones

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Distilling Object Detectors with Efficient Logit Mimicking and Mask-Guided Feature Imitation

SSRN

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SSRN 2023年

作者： Lu, Xin Cao, Yichao Chen, Shikun Li, Weixuan Zhou, Xin Lu, Xiaobo School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing210096 China Nanjing Enbo Technology Co. Ltd. Nanjing210007 China

Knowledge distillation (KD) is a promising approach to learning compact models for object detection with information inherited from intricate teacher networks. In this paper, we raise some shortcomings of existing KD methods for object detectors, e.g., ignoring knowledge selection, coarse feature imitation mask, etc. To address these issues, we present a novel KD framework to train efficient object detectors via Logit Mimicking and Feature Imitation (LMFI). First, we put forward a novel logit mimicking method for classification and localization heads. On the one hand, it first proposes to mimic the classification logits of one-category object detectors. On the other hand, we exploit the localization knowledge from teacher predictions and ground truths, which dynamically guides the learning of student's regression outputs by stages. Second, an adaptive positive teacher selection (APTS) strategy is designed to obtain high-quality teacher samples during distillation, which reduces the transmission of inferior knowledge. Moreover, we heuristically introduce a soft metric and fine-grained mask to reconcile the discrepancy between teacher and student features in a position-wise manner. Extensive experiments show that LMFI outperforms the state-of-the-art KD frameworks for object detection. It can significantly boost the performance of various detectors on different benchmarks, e.g., 2.83% and 2.58% MR-2 reduction of Cascade R-CNN on the S and All sets of CityPersons, and an improvement of ResNet-50 based ATSS from 36.7% to 40.5% mAP on the COCO benchmark. © 2023, The Authors. All rights reserved.

关键词： Object detection

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An Obstacle Avoidance Path Planning Algorithm for Manipulator in Deep Crate Grasping

An Obstacle Avoidance Path Planning Algorithm for Manipulato...

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Chinese Automation Congress (CAC)

作者： Zhuobin Yao Yahui Gan Zao Han Huan Gao Ang Li Key Laboratory of Measurement and Control of Systems of Engineering Ministry of Education School of Automation Southeast University NanJing China Nanjing YingQi Intelligent Technology Co. Ltd. Intel Joint Research Institute on Intelligent Edge Computing NanJing China

The deep crate grasping problem is a major challenge for manipulator in industrial applications. In order to solve the issue of deep crate grasping and ensure the path quality of the algorithm, this paper proposes a new hybrid obstacle avoidance planning algorithm based on goal-biased rapidly exploring random tree and improved artificial potential field (RRT-APF). Initially, the algorithm strategizes an efficient trajectory for the working element within the operational area. Subsequently, it dissects this trajectory through sampling, creating a sequence of sub-target points. These points serve as the basis for obstacle avoidance planning within the manipulator's configuration space, mitigating planning complexities. Moreover, the RRT algorithm is employed to address the challenge of local optima within the artificial potential field method. The stochastic nature of the RRT algorithm plays a crucial role in enabling the APF algorithm to break free from local optima. Ultimately, the efficacy of the algorithm is demonstrated through the planning of a path for obstacle avoidance on the DOBOT CR5 manipulator using MATLAB.

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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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DynaInsRemover: A Real-time Dynamic Instance-Aware Static 3D LiDAR Mapping Framework for Dynamic Environment

DynaInsRemover: A Real-time Dynamic Instance-Aware Static 3D...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Huanfeng Zhao Meibao Yao Xueming Xiao Bo Zheng Intelligent Robotics Lab (IRL) School of Artificial Intelligence Jilin University Changchun China Engineering Research Center of Knowledge-Driven Human-Machine Intelligence Ministry of Education China CVIR Lab Changchun University of Science and Technology Changchun China Key Lab of Opto-Electronic Measurement and Optical Information Transmission Technology Shanghai Aerospace Control Technology Institute Shanghai China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Dynamic objects diversify the distribution of point cloud in the map, degrading the performance of the robotic downstream tasks. To address this problem, we present a novel real-time dynamic instance-aware static mapping framework called DynaInsRemover, which exploits the geometric discrepancies between instances to efficiently remove dynamic objects and preserve more details of static map. It contains the Instance Occupancy Check module for initial dynamic instance proposal and the Instance Belief Update module for reverting false positives. We quantitatively evaluate our approach performance on the SemanticKITTI dataset and validate it in a real-world environment. Experimental evaluations show that our method achieves very promising results in dynamic environments. The implementation of our method is available as open source at: https://***/Zhaohuanfeng/***.

关键词： Point cloud compression Three-dimensional displays Laser radar Real-time systems Windows Proposals Object recognition

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An Economic Scheduling Strategy of Photovoltaic Storage Micro-grid Considering Demand Response

An Economic Scheduling Strategy of Photovoltaic Storage Micr...

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IEEE Asia Power and Energy engineering Conference (APEEC)

作者： Rundong Liu Sen Zhang Yincheng Zhao Haojie Ma Luan Chen Weihao Hu Ming Tang Wei Zhan Qingjia Zhou 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 SPIC Sichuan Electric Power Co. LTD Chengdu China SPIC Southwest Energy Research Institute Chengdu China

ISBN: (数字)9798350373479

ISBN: (纸本)9798350373486

To realize the economic optimization dispatch of PSMG (Photovoltaic Storage Micro-grid), considering the stochastic influence of multiple uncertainties, this study formulates a day-ahead optimal dispatching strategy of PSMG with the minimum comprehensive operating cost as the objective function. Firstly, the source-load uncertainty is dealt with by scenario generation using the Monte Carlo method and k-means clustering algorithm. Then the peak shaving ability of the system is enhanced by the introduction of flexible loads, and the scheduling flexibility of the photovoltaic storage system is increased by the integrated demand response increases the scheduling flexibility of the photovoltaic storage system. Finally, simulation results show that the scheduling scheme can prompt the source-load to participate in peak shaving and valley filling at the same time, increase the new energy consumption capacity of the photovoltaic storage micro-grid, and effectively improve the economic and social benefits of the micro-grid.

关键词： Photovoltaic systems Uncertainty Fluctuations Costs Monte Carlo methods Simulation Demand response

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Joint power allocation and relay selection algorithm for multiple-antenna terminals in cooperative MIMO systems

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International Journal of Performability engineering 2019年第6期15卷 1570-1579页

作者： Han, Yuhui Sun, Jiyu Higher Educational Key Laboratory for Measuring and Control Technology Instrumentations of Heilongjiang Harbin150080 China School of Measurement and Control Technology and Communications Engineering Harbin University of Science and Technology Harbin150080 China

The relay selection and power allocation of cooperative MIMO with multiple-antenna terminals are investigated. Based on the classic worst-link-first algorithm, we propose a joint power allocation and relay selection algorithm, which takes maximizing the system energy gain as the optimization purpose. We consider quasi-static, flat fading channels, select relays, and allocate power according to the instantaneous channel state information. Theoretical analysis and computer simulations show that the proposed algorithm can achieve higher average network energy gain than the traditional worst-link-first algorithm, and its computational complexity is much lower. © 2019 Totem Publisher, Inc. All rights reserved.

关键词： MIMO systems

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Sde-Det: A Precision Network for Shatian Pomelo Detection in Complex Orchard Environments

SSRN

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SSRN 2025年

作者： Hu, Yihao Wang, Pan Bai, Xiaodong Cai, Shijie Wang, Hang Liu, Huazhong Yang, Aiping Li, Xiangxiang Ding, Meiping Liu, Hongyan Yao, Jianguo School of Computer Science and Technology Hainan University Hainan Haikou570228 China College of Computer and Control Engineering Northeast Forestry University Harbin150040 China Agricultural Meteorological Center Jiangxi Meteorological Bureau Jiangxi Nanchang330045 China Hainan University Hainan Haikou570228 China School of Communications and Information Engineering Nanjing University of Posts and Telecommunications Jiangsu Nanjing210003 China

Pomelo detection is an essential process for their localization, automated robotic harvesting, and maturity analysis. However, detecting Shatian pomelo in complex orchard environments poses significant challenges, including multi-scale issues, obstructions from trunks and leaves, small object detection, etc. To address these issues, this study constructs a custom dataset STP-AgriData and proposes the SDE-DET model for Shatian pomelo detection. SDE-DET first utilizes the Star Block to effectively acquire high-dimensional information without increasing the computational overhead. Furthermore, the presented model adopts Deformable Attention in its backbone, to enhance its ability to detect pomelos under occluded conditions. Finally, multiple EMA mechanisms are integrated into our model to reduce the computational overhead and extract deep visual representations, thereby improving the capacity for small object detection. In the experiment, we compared SDE-DET with the Yolo series and other mainstream detection models in Shatian pomelo detection. The presented SDE-DET model achieved scores of 0.883, 0.771, 0.838, 0.497, and 0.823 in Precision, Recall, mAP@0.5, mAP@0.5:0.95 and F1-score, respectively. SDE-DET has achieved state-of-the-art performance on the STP-AgriData dataset. Experiments indicate that the SDE-DET provides a reliable method for Shatian pomelo detection, laying the foundation for the further development of automatic harvest robots. © 2025, The Authors. All rights reserved.

关键词： Orchards

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Periodic intensity fluctuations in spatiotemporal mode-locked lasers 16

Periodic intensity fluctuations in spatiotemporal mode-locke...

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16th National Conference on Laser technology and Optoelectronics

作者： Ding, Yihang Xiao, Xiaosheng Fan, Shuzheng Yang, Changxi State Key Laboratory of Precision Measurement Technology and Instruments Department of Precision Instruments Tsinghua University Beijing100084 China State Key Laboratory of Information Photonics and Optical Communications School of Electronic Engineering Beijing University of Posts and Telecommunications Beijing100876 China

ISBN: (数字)9781510646643

ISBN: (纸本)9781510646636

We report the periodic intensity fluctuations and period-timing bifurcation in a spatiotemporal mode-locked multimode fiber laser. By adjusting the intracavity waveplate or the pump power, the intensity pattern of the spatiotemporal modelocked output could transit from uniformity to period-2, then to period-4. We further find that, in the state of multipleperiod pulsations, the extent of intensity fluctuation of different transverse modes varies. This indicates that not only the entire energy, but also the shape of the output spatial profile alters with multiple-period. A simple model is proposed to interpret the output pulse dynamics of multimode fiber lasers. This investigation would contribute to the understanding of the complex nonlinear dynamics in spatiotemporal mode-locked multimode fiber lasers. © 2021 SPIE.

关键词： Fiber lasers

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