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7th Global intelligent Industry Conference, GIIC 2024

作者： Ou, Hengchang Ma, Le Jiang, Peng Wang, Pengfei Lu, Jie Zhou, Xin Sun, Jianfeng National Key Laboratory of Laser Spatial Information Institute of Opto-Electronic Harbin Institute of Technology Heilongjiang Harbin150001 China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Beijing Institute of Remote Sensing Beijing100854 China 44th Research Institute China Electronics Technology Group Corporation Chongqing400060 China Research Center for Space Optical Engineering Harbin Institute of Technology Heilongjiang Harbin150001 China Zhengzhou Research Institute of Harbin Institute of Technology Zhengzhou Henan450046 China

ISBN: (纸本)9781510682986

Poisson distribution model is the basis of data analysis for GM-APD lidar, but it is only applicable to the mirror reflected target under ideal conditions, and cannot accurately describe the photon triggering process of actual GM-APD lidar detection. For the actual target with rough surface, the negative binomial distribution with M as the parameter can describe the photon distribution model more accurately. In order to solve this problem, this paper compares and analyzes Poisson distribution triggering model and the negative binomial distribution triggering model that conforms to the triggering situation of the echo signal of the target with rough surface, considering the differences in the triggering probability under different noise and signal levels. The results show that the trigger probability curve corresponding to the trigger model based on negative binomial distribution is lower in peak value, wider in bottom value and fatter overall than that of the trigger model based on Poisson distribution, and the difference between the two is more prominent under the conditions of low noise level and high signal level. This study has guiding significance for the signal extraction research based on different surface echoes. © 2024 SPIE.

关键词： Photons

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Transient Voltage Analysis for Hybrid Grid-Following and Grid-Forming Converters

Transient Voltage Analysis for Hybrid Grid-Following and Gri...

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IEEE Asia Power and Energy engineering Conference (APEEC)

作者： Xindi Liu Shanshan Qiu Changhui Ma Xing Lei Xinyu Wei Changgang Li Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Shandong University Jinan China State Grid Shandong Electric Power Research Institute Shandong Smart Grid Technology Innovation Center Jinan China State Grid Shanghai Municipal Electric Power Company Shanghai China

ISBN: (数字)9798331517540

ISBN: (纸本)9798331517557

With the integration of power electronic devices, the dynamic characteristics of power system have become increasingly complex. Renewable energy units are integrated into the grid through grid-following (GFL) and grid-forming (GFM) converters. In order to reveal the impact of hybrid GFL and GFM converters on transient voltage in renewable energy base, this paper analyzes the terminal voltage characteristics. Firstly, this paper simplifies the renewable energy base and proposes a formula for calculating terminal voltage. Next, this paper analyzes the impact of GFL converter parameters, GFM converter parameters, and the capacity ratio of GFL to GFM converters on terminal voltage. Then, we propose a calculation formula for the capacity configuration ratio of GFM converters in renewable energy bases. Finally, the theoretical analysis in this paper is verified.

关键词： Electrical engineering Renewable energy sources Grid following Power system dynamics Voltage Power electronics Topology Transient analysis Voltage control Grid forming

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HCRI: A ROS2 Human Collision Object Interface for Robotic Manipulation Planning

HCRI: A ROS2 Human Collision Object Interface for Robotic Ma...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Changcong Wang Chongyi Wei Shaoping Bai Yibin Li Xincheng Tian Lelai Zhou the Center for Robotics School of Control Science and Engineering Shandong University Jinan China the Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan China Department of Materials and Production Aalborg University Aalborg Denmark

Human-Robot Collaboration (HRC) is people and robots work together in the same workspace to achieve shared goals. To ensure safety, robots need to perceive the position of the human body for planning purposes. However, there is no universal method for converting the human body into collision objects. To solve this problem, we propose an interface to convert the human body segments into collision objects in the robot planning scene. The interface estimates the human body Skinned Multi-Person Linear model (SMPL) by RGB image and measures the collision object size of the corresponding body segment. The corresponding size of collision objects are added to the corresponding positions of the human pose estimated by different types of sensors. The accuracy of human size estimation is verified on TotalMocap of AMASS. The interface with OctoMap is compared to evaluate the efficiency and the validity on interface is verified on the robot UR5e.

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Transfer Learning Based Multi-Perception Safety Strategy for Human-Robot Collaboration

Transfer Learning Based Multi-Perception Safety Strategy for...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Chongyi Wei Changcong Wang Shaoping Bai Yibin Li Xincheng Tian Lelai Zhou Center for Robotics School of Control Science and Engineering Shandong University Jinan China Engineering Research Center of Intelligent Unmanned System Ministry of Education Jinan China Department of Materials and Production Aalborg University Aalborg Denmark

Human-robot collaboration (HRC) is vital to adapt to the significant change in manufacturers’ demands for automation, and safety is a primary and major challenge that must be addressed for it. In this paper, a muti-perception safety strategy and framework are introduced to ensure human safety while trying to avoid reducing the work efficiency of the robot by taking human activity intentions and human-robot distance into account. To realize the safety strategy, an LSTM-CNN based neural network is built for human activity classification. To improve the generalization ability and performance of the network with data scarcity for existing deep learning-based human activity recognition methods, transfer learning-enabled activity recognition is proposed. Based on the studies, a feasible security system is implemented in the human-robot collaboration scenario.

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Adaptive ELM-Based Time-Constrained control of Uncertain Robotic Manipulators With Minimum Learning Computation

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IEEE Transactions on Emerging Topics in Computing 2025年

作者： Jin, Xiaozheng Hou, Yuhan Wu, Xiaoming Chi, Jing Qilu University of Technology Shandong Academy of Sciences Key Laboratory of Computing Power Network and Information Security Ministry of Education Shandong Computer Science Center National Supercomputer Center in Jinan Shandong Jinan250353 China Shandong Fundamental Research Center for Computer Science Shandong Provincial Key Laboratory of Computing Power Internet and Service Computing Shandong Jinan250013 China Qilu Institute of Technology School of Intelligent Manufacturing and Control Engineering Shandong Jinan250200 China Shandong University of Finance and Economics School of Computing and Artificial Intelligence Shandong Jinan250014 China

This paper studies the extreme learning machine (ELM)-based time-constrained trajectory tracking control of a class of robotic manipulator systems with model/input uncertainties, matched and mismatched disturbances. A uniform robust exact differentiator (URED) is developed to construct a multi-layer virtual control framework of the robotic manipulator system. Under the control framework, adaptive ELM-based control strategies are proposed to suppress the influence of the uncertainties and disturbances layer-by-layer, combining with the minimum learning parameter (MLP) technique which is employed to reduce the calculation complexity of ELM parameters. The significance of this study is that general model/input uncertainties, matched and mismatched disturbances can be effectively compensated within a limited time, so that bounded trajectory tracking of the robotic manipulator can be achieved avoiding the complexity explosion issue. The time-constrained stability of the closed-loop robotic error systems is proved through Lyapunov stability theory. Finally, comparative simulations are employed to display the feasibility and superiority of the designed robust adaptive ELM-based control schemes of a robotic manipulator system. © 2013 IEEE.

关键词： Robust control

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A SINS Error Correction Approach Based on Dual-Threshold ZV Detection and Cubature Kalman Filter

A SINS Error Correction Approach Based on Dual-Threshold ZV ...

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2023 IEEE International Conference on systems, Man, and Cybernetics, SMC 2023

作者： Xu, Ruijie Chen, Shichao Sun, Wenqiao Lv, Yisheng Luo, Jialiang Tang, Ying Institute of Automation Chinese Academy of Sciences College of Information Science & Technology Beijing University of Chemical Technology The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation Chinese Academy of Sciences The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Transportation and Economics Research Institute The Center of National Railway Intelligent Transportation System Engineering and Technology China Academy of Railway Sciences Corporation Limited Beijing China Institute of Automation Chinese Academy of Sciences The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Institute of Automation Chinese Academy of Sciences China University of Geosciences Beijing School of Information Engineering The State Key Laboratory for Management and Control of Complex System State Key Laboratory of Multimodal Artificial Intelligence Systems Beijing China Rowan University Department of Electrical and Computer Engineering Glassboro United States

ISBN: (纸本)9798350337020

Global Navigation Satellite systems (GNSS) can provide real-time positioning information for outdoor users, but cannot for indoor scenarios or heavily occluded outdoor scenarios. Strap-down Inertial Navigation system (SINS) are widely used to locate people in complex interior or heavily occluded outdoor scenarios due to its light weight and low power consumption. However, IMU of SINS are noisy, and the sampling data error is large, which is a divergence of the error with time. Therefore, it will generate a positioning accumulation error, which affects the final positioning accuracy. The problem of cumulative IMU errors is usually dealt with by Zero-Velocity Update (ZUPT). The zero-velocity detection part of basic ZUPT method usually uses a single threshold to determine the gait of pedestrian, which often has the problem of gait misjudgment and omission. To address these problems, this paper proposes a composite conditional detection method to solve the problem of misjudgment in the zero-velocity interval. In addition, we redesign the zero-velocity update algorithm and uses the Cubature Kalman filter (CKF) for pedestrian positioning error correction. The experimental results demonstrate that the proposed ZUPT method based on dual-threshold detection can better detect the interval between pedestrian motion and stationery than ones with single threshold. The zero-velocity update algorithm based on CKF has higher performance than conventional EKF and UKF methods, which constrains the cumulative error of SINS to about 0.2% of the whole walking distance. © 2023 IEEE.

关键词： Cubature Kalman Filter Inertial Pedestrian Navigation Zero-Velocity Update

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Distributed Generalized Nash Equilibria Learning for Online Stochastic Aggregative Games

arXiv

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arXiv 2025年

作者： Du, Kaixin Meng, Min Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai200092 China Department of Control Science and Engineering College of Electronics and Information Engineering National Key Laboratory of Autonomous Intelligent Unmanned System Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education Shanghai Research Institute for Intelligent Autonomous Systems Shanghai Institute of Intelligent Science and Technology Tongji University Shanghai China

This paper investigates online stochastic aggregative games subject to local set constraints and time-varying coupled inequality constraints, where each player possesses a time-varying expectation-valued cost function relying on not only its own decision variable but also an aggregation of all the players’ variables. Each player can only access its local individual cost function and constraints, necessitating partial information exchanges with neighboring players through time-varying unbalanced networks. Additionally, local cost functions and constraint functions are not prior knowledge and only revealed gradually. To learn generalized Nash equilibria of such games, a novel distributed online stochastic algorithm is devised based on push-sum and primal-dual strategies. Through rigorous analysis, high probability bounds on the regret and constraint violation are provided by appropriately selecting decreasing stepsizes. Moreover, for a time-invariant stochastic strongly monotone game, it is shown that the generated sequence by the designed algorithm converges to its variational generalized Nash equilibrium (GNE) almost surely, and the time-averaged sequence converges sublinearly with high probability. Finally, the derived theoretical results are illustrated by numerical simulations. Copyright © 2025, The Authors. All rights reserved.

关键词： Nash equilibrium

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Two-step Optimal Allocation of Stationary and Mobile Energy Storage systems in Resilient Distribution Networks

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Journal of Modern Power systems and Clean Energy 2021年第4期9卷 788-799页

作者： Xinyi Jiang Jian Chen Qiuwei Wu Wen Zhang Yicheng Zhang Jie Liu Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Shandong UniversityJinan 250061China Center for Electric Power and Energy(CEE) Department of Electrical EngineeringTechnical University of Denmark(DTU)2800 Kongens LyngbyDenmark Institute for Infocomm Research(I2R) Agency for ScienceTechnology and Research(A*STAR)Singapore State Grid Yantai Power Supply Company YantaiChina

Energy storage systems (ESSs) are acknowledged to be a promising option to cope with issues in high penetration of renewable energy and guarantee a highly reliable power supply. In this paper, a two-step optimal allocation model is proposed to obtain the optimal allocation (location and size) of stationary ESSs (SESSs) and mobile ESSs (MESSs) in the resilient distribution networks (DNs). In the first step, a mixed-integer linear programming (MILP) problem is formulated to obtain the preselected location of ESSs with consideration of different scenarios under normal operation conditions. In the second step, a two-stage robust optimization model is established to get the optimal allocation results of ESSs under failure operation conditions which are solved by column-and-constraint generation (C&CG) algorithm. A hybrid ESS allocation strategy based on the subjective and objective weight analysis is proposed to give the final allocation scheme of SESSs and MESSs. Finally, the proposed two-step optimal allocation model is demonstrated on a modified IEEE 33-bus system to show its effectiveness and merits.

关键词： Resilient distribution network stationary energy storage system mobile energy storage system optimal allocation

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Optimization of Extreme Learning Machine Based on Improved Beetle Antennae Search for Slot Die Coating Prediction

Optimization of Extreme Learning Machine Based on Improved B...

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Chinese control and Decision Conference, CCDC

作者： Haonan Yang Ding Liu Jun-Chao Ren Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an China

In the actual production of slot die coating, the minimum coating thickness and the maximum substrate moving speed could only be judged by production experience, and there was no accurate prediction model due to the nonlinear characteristics of fluid motion. Therefore, building a reasonable and efficient prediction model for slot die coating is now an urgent and challenging task. In this paper, an optimized extreme learning machine (ELM) based on improved beetle antennae search (IBAS) algorithm is proposed for slot die coating prediction. The optimized ELM model can well learn the nonlinear characteristics of the system and make accurate predictions, thus solving the traditional inaccurate empirical judgment. As the prediction accuracy of ELM depends on the selection of weights and biases, the IBAS optimization algorithm is used to quickly search for the optimal value of weights and biases in the ELM network. IBAS algorithm improves the generation mechanism of antennae on the basis of the original algorithm, so that the algorithm can converge quickly. At the same time, the search strategy of the algorithm is improved to avoid falling into the local optimal solution. By predicting the production data of slit coating, the feasibility and effectiveness of IBAS-ELM model are proved.

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Equivalence analysis of different sequence impedance modeling methods

Equivalence analysis of different sequence impedance modelin...

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China International Electrical and Energy Conference (CIEEC)

作者： Qiao Fang Facai Xing Zhe Jiang Yujing Zhao Cheng Wu Power Grid Technology Center State Grid Shandong Electric Power Research Institute Jinan China Key Laboratory of Power System Intelligent Dispatch and Control of Ministry of Education Shandong University Jinan China Shandong Electric Power Dispatching and Control Center State Grid Shandong Electric Power Company Jinan China

The sequence impedance has a clear physical meaning and can be directly measured by commercial equipment, so it is widely used for stability analysis in the field of electrical engineering. It can be transformed from dq impedance indirectly or calculated based on Harmonic State Space (HSS) theory directly. This paper analyzes the equivalence of the above two methods. Firstly, the dq impedance model of grid-connected converter is established, and the equivalence of impedance in dq domain and sequence domain is proved by mathematical transformation. Then, modified sequence impedance model of grid-connected converter is established considering the frequency coupling phenomenon. On the other hand, the impedance model can also be obtained from HSS modeling with h order harmonics. Subsequently, the relationship between the modified sequence impedance and HSS impedance can be found. The former is a special case when the latter takes h=2. When considering the coupling effect of higher harmonics, HSS impedance model has higher accuracy. Finally, the accuracy and the equivalence of the above-mentioned two methods are verified by frequency sweep.

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