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WRC Symposium on Advanced Robotics and Automation (WRC SARA)

作者： Yi Zhang Lelai Zhou Jingyu Sun Shenglin Fan Guowei Li Mingjun Sui Xiaomeng Dai Yibin Li Center for Robotics School of Control Science and Engineering Shandong University Jinan China Ministry of Education Engineering Research Center of Intelligent Unmanned System Jinan China National Innovation Center of High-Speed Rail Technology (Qingdao) Qingdao China China Railway Construction Corporation Bridge Engineering Bureau Group Construction Assemble Technology Corporation Tianjin China China Railway Construction Bridge Engineering Bureau Group Tianjin China

ISBN: (数字)9798331506100

ISBN: (纸本)9798331506117

The legged robot with a waist structure has a more flexible body structure than that with a rigid body. To address the complexity of the waist structure, this paper proposes a lightweight combined octopod robot consisting of two quadruped robots connected back and forth by a novel detachable docking mechanism. To address the issue of performance loss caused by model predictive control (MPC) in high-dimensional nonlinear systems of octopod robots, a centralized control framework for nonlinear model predictive control (NMPC) and whole body control (WBC) is proposed to optimize the contact forces and joint torques. Apart from that, an attitude adaptation control strategy is designed in order to improve the traversing capability in the steep slope terrain. The combined octopod robot platform and motion control framework have been evaluated through a series of experiments, and the results show that the robot has excellent omnidirectional motion capability, as well as strong terrain adaptability and traversing ability in sloping terrain.

关键词： Legged locomotion Turning Complexity theory Quadrupedal robots Motion control Nonlinear systems Robots

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Scheduling optimization of silicon single crystal production process based on adaptive improved particle swarm optimization

Scheduling optimization of silicon single crystal production...

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2021 China Automation Congress, CAC 2021

作者： Kang, Lu Liu, Ding Wu, Yali Ping, Guozheng School of Automation and Information Engineering Xi'an University of Technology National and Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an710048 China School of Automation and Information Engineering Xi'an University of Technology National and Local Joint Engineering Research Center of Crystal Growth Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an710048 China School of Automation and Information Engineering Xi'an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an710048 China

ISBN: (纸本)9781665426473

Aiming at the potential safety hazards of silicon single crystal production enterprises in the process of multi-furnace silicon single crystal production, and considering the maximum power load requirements in actual enterprises, a silicon single crystal production process scheduling model with the goal of minimizing the maximum completion time was established. Based on this model, an adaptive improved particle swarm optimization algorithm (Adaptive GPSO) is proposed to solve it. The algorithm retains the individual optimal value and global optimal value of the particle swarm algorithm, and introduces the crossover operation and mutation operation in the genetic algorithm to improve the new individual generation mechanism. At the same time, it performs dynamic iterative calculations on the mutation probability and crossover probability to avoid the algorithm fall into the local optimum, and improve the diversity and convergence of the algorithm. By solving different scales scheduling problems of silicon single crystal production process, the experiments on real-world data shows that the feasibility and effectiveness of the proposed algorithm. © 2021 IEEE

关键词： Genetic algorithms

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Carousel Storage and Picking Scheduling Issues: A Review

Carousel Storage and Picking Scheduling Issues: A Review

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

作者： Qin, Shujin Yang, Xinyi Wang, Jiacun Liu, Shixin Guo, Xiwang Qi, Liang Research Center of the Economic and Social Development of Henan East Provincial Joint Shangqiu Normal University Shangqiu476000 China Monmouth University Department of Computer Science and Software Engineering West Long BranchNJ07764 United States College of Information Science and Engineering Northeast University Shenyang110819 China College of Information and Control Engineering Liaoning Petrochemical University Fushun113001 China College of Computer Science and Engineering Shandong University of Science and Technology Qingdao266590 China

ISBN: (纸本)9798350337020

This paper classifies and summarises the historical literature on carousel systems in automated storage and retrieval systems in recent years. As an automated storage and retrieval system for distribution centers and production facilities, carousels facilitate the storage and dispatching of goods, significantly improving warehouse turnover efficiency. Their performance have been investigated by many scholars and experts. As carousels evolve and upgrade, more and more innovative algorithms have been used to improve the efficiency of outbound carousel storage. In this paper, we collate articles investigating how the carousel system is stored inbound versus retrieved outbound. We then discuss articles on the dual-command model of automatic storage retrieval systems as a whole. By reviewing over 50 papers, we summarise research on how to store and unload goods, focusing on the performance of automatic storage retrieval systems under dual-command conditions. On this basis, we review the current research's limitations and suggest future research directions. © 2023 IEEE.

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Active Power control for Off-Shore Wind Turbines Against FDI Attack

Active Power Control for Off-Shore Wind Turbines Against FDI...

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IEEE International Conference on Communications in China Workshops (ICCC)

作者： Xuguo Jiao Hao Luo Liuyang Jiang Lin Wang Xin Wang Zuqiang Huang State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China School of Information and Control Engineering Qingdao University of Technology Qingdao China Zhejiang Windey Co. Ltd. Hangzhou China Key Laboratory of Computing Power Network and Information Security Ministry of Education Shandong Computer Science Center Shandong Academy of Sciences Qilu University of Technology Jinan China Shandong Provincial Key Laboratory of Computer Networks Shandong Fundamental Research Center for Computer Science Jinan China School of Civil Engineering Zhengzhou University Zhengzhou China

ISBN: (数字)9798350377675

ISBN: (纸本)9798350377682

Recently, offshore wind power has rapidly developed due to its low environmental interference and abundant wind resources. However, due to its remote geographical location and high demand for communication infrastructure, off-shore wind turbines (OWTs) are vulnerable to potential threats from false data injection (FDI) attack. FDI attack can interfere with active power control strategies by tampering with the rotor speed data measured by sensors and pose a threat to the stability of the power grid. To ensure that OWTs can accurately track the active power instructions set by wind farm's control center under FDI attack, this paper proposes a rotor speed control (RSC) strategy based on Kalman filtering technology (RSC- KF). This strategy can estimate the rotor speed of the wind turbine in real-time, and then a residual detection and compensation mechanism is designed to effectively detect and correct attacked rotor speed information caused by FDI attack. Further, based on the corrected rotor speed, the RSC method is developed, which can flexibly switch control strategies according to different rotor speed values, ensuring the efficient operation of OWTs under different wind speed conditions. The proposed approach's effectiveness is proved via simulations conducted on the OpenFAST platform.

关键词： Filtering Velocity control Power control Rotors Power system stability Stability analysis Real-time systems Wind turbines Kalman filters Cyberattack

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Digital-Twin-Based Clock Synchronization in Industrial IoT systems

Digital-Twin-Based Clock Synchronization in Industrial IoT S...

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IEEE International Conference on Cyber technology in Automation, control, and intelligent systems

作者： Ting Cheng Shuai Liu Qimin Xu Shanying Zhu Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China School of Control Science and Engineering Shandong University Jinan China

Close and efficient cooperation between devices in the Industrial Internet of Things (IIoT) requires precise clock synchronization as a prerequisite. The uncertainty of IIoT networks and the complexity of industrial environments have led to less precise clock synchronization achieved by traditional algorithms and higher network resource consumption. This paper proposes a digital-twin-based clock synchronization scheme for IIoT systems. By building the digital model for each local clock to predict their clock skew, the information interaction required to achieve synchronization is reduced. In order to model the clock accurately, this paper proposes to use the extended state Kalman filter to handle uncertain dynamics and unknown measurement bias to improve the estimation accuracy of clock skew further. The simulation results show that the proposed algorithm can achieve high- precision clock synchronization while reducing the consumption of network resources.

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Model-based Robust control of Permanent Magnet Synchronous Motor for Joint Module of Cooperative Robot

Model-based Robust Control of Permanent Magnet Synchronous M...

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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Zheng Wang Shengchao Zhen XiaoLi Liu Ke Chen Ye-Hwa Chen School of Mechanical Engineering Hefei University of Technology Hefei Anhui PR China The Geroge W.Woodrufi School of Mechanical Engineering Georgia Institute of Technology Atlanta Georgia USA School of Artificial Intelligence Anhui University Hefei Anhui PR China Engineering Research Center of Autonomous Unmanned System and Intelligent Technology Ministry of Education Anhui University Hefei Anhui PR China Anhui Provincial Engineering Research Center for Unmanned System and Intelligent Technology Anhui University Hefei Anhui PR China

In this paper, a new robust control algorithm is proposed to reduce the influence of load and system parameter changes on the dynamic performance of permanent magnet synchronous motor(PMSM), and finally solve the dynamic control problem of PMSM position tracking. The algorithm's controller is divided into two parts: a nominal control element created using the dynamics model with the goal of stabilizing the nominal motor system; and a robust control element built using the Lyapunov method with the goal of reducing the impact of uncertain factors like nonlinear friction, parameter uncertainty, and outside interference on tracking performance. By means of Lyapunov minimax method, the uniformly bounded and uniformly final bounded systems are proved and the corresponding conclusions are *** on the test platform of permanent magnet synchronous motor, this paper uses cSPACE fast controller to do simulation research. The simulation findings demonstrate that the designed controller is capable of achieving more precise position tracking in the presence of ambiguity as well as good control of the permanent magnet synchronous motor.

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research on Model Based Optimization of Thermal Management for Pure Electric Vehicles Under Low Temperature Operating Conditions

SSRN

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SSRN 2024年

作者： Zhang, Chunfeng Wan, Yilong Yang, Yanhong Lin, Qiao Xihua University Chengdu610039 China Vehicle Measurement Control and Safety Key Laboratory of Sichuan Province Chengdu610039 China Provincial Engineering Research Center for New Energy Vehicle Intelligent Control and Simulation Test Technology of Sichuan Chengdu610039 China Sichuan Industrial School of Intelligent and New Energy Automobile Chengdu610039 China

A reasonable and effective high-precision thermal management system can alleviate the significant increase in energy consumption and decrease in range of pure electric vehicles under low-temperature conditions. This article establishes a subsystem model of the vehicle thermal management system based on common thermal management system architectures, including vehicle power system, battery motor, compressor, condenser, heat exchanger, chiller and heater models. A vehicle thermal management system under development was built using a subsystem model, and the effectiveness of the model was verified by comparing the collaborative simulation data in Amesim and Simulink with the actual vehicle validation data under low-temperature conditions. From both simulation and experimental data, it was found that the energy consumption of PTC exceeds 30% under low temperature conditions. Therefore, a model-based optimization study on vehicle thermal management was conducted to address the high energy consumption of PTC. The optimization results show that the ambient temperature threshold strategy has increased the driving range by 3.37% to 4.85% compared to the original strategy;The thermal management system architecture with a waste heat recovery motor has increased the range from 268.07 km to 285.14 km, an increase of 6.37%. Prove the effectiveness and universality of the model. © 2024, The Authors. All rights reserved.

关键词： Temperature control

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Data-Driven Active Power Dispatch for Wind Farms

Data-Driven Active Power Dispatch for Wind Farms

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Data Driven control and Learning systems (DDCLS)

作者： Xuguo Jiao Daoyuan Zhang Xin Wang Zhaoxing Ma Zhenyong Zhang Wenfeng Liu School of Information and Control Engineering Qingdao University of Technology Qingdao China State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China Key Laboratory of Computing Power Network and Information Security Ministry of Education Shandong Computer Science Center Qilu University of Technology Shandong Academy of Sciences Jinan China Shandong Provincial Key Laboratory of Computer Networks Shandong Fundamental Research Center for Computer Science Jinan China State Key Laboratory of Public Big Data College of Computer Science and Technology Guizhou University Guiyang China School of Civil Engineering Qingdao University of Technology Qingdao China

ISBN: (数字)9798350361674

ISBN: (纸本)9798350361681

Active power dispatch of wind farms plays an important role in power grid scheduling. In this paper, a data-driven active power dispatch strategy for wind farms is proposed, which uses the key point of minimizing the standard deviation of wind turbines' output power series to reduce their fluctuations. First, to build the optimization problem, the historical active power output data of each wind turbine is collected from the Supervisory control And Data Acquisition (SCADA) system. Then, the objective function is developed based on the idea of minimizing the standard deviation of the output power time series. Meanwhile, considering the constraints of wind turbines' output power and active power balance of the grid, the feasible domain of the cost function is constructed. Further, to solve the proposed nonlinear optimization problem with equality and inequality constraints, the trust region interior point method (TRIPM) is employed to explore optimal solution within the feasible domain. Finally, actual data collected from wind farms is used to test effectiveness of the designed approach and experimental results show that our method can achieve better output power smoothing performance than conventional Proportional Dispatch (PD) method.

关键词： Fluctuations Time series analysis SCADA systems Power smoothing Wind farms Linear programming Power grids

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Monitoring C-C coupling in catalytic reactions via machine-learned infrared spectroscopy

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National Science Review 2025年第2期 177-185页

作者： Li Yang Zhicheng Zhao Tongtong Yang Donglai Zhou Xiaoyu Yue Xiyu Li Yan Huang Xijun Wang Ruyun Zheng Thomas Heine Changyin Sun Jun Jiang Sheng Ye Institutes of Physical Science and Information Technology School of Chemistry&Chemical EngineeringEngineering Research Center of Autonomous Unmanned System Technology(Ministry of Education) Anhui Provincial Engineering Research Center for Unmanned System and Intelligent Technology School of Artificial IntelligenceAnhui University Helmholtz-Zentrum Dresden-Rossendorf Theoretical Chemistry Technische Universit?t Dresden Key Laboratory of Precision and Intelligent Chemistry School of Chemistry and Materials Science University of Science and Technology of China

Tracking atomic structural evolution along chemical transformation pathways is essential for optimizing chemical transitions and enhancing control. However, molecule-level knowledge of structural rearrangements during chemical processes remains a great challenge. Here, we couple infrared spectroscopy as a non-invasive method to probe molecular transformations, with a machine-learned protocol to immediately map the spectroscopic fingerprints to atomistic structures. From the theoretical perspective, we demonstrate it here with the example of C–C coupling in catalytic reactions, elucidating various structural conformations along dynamic trajectories. Within the transferable application to the specific CO–CO dimerization reaction, the structural and energetic variations of the critical chemical species could be identified via infrared spectroscopy. This approach extends the power of spectroscopy from fingerprinting chemical configurations to using them for assigning dynamic structural information.

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Applications of MXenes in human-like sensors and actuators

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Nano research 2023年第4期16卷 5767-5795页

作者： Jinbo Pang Songang Peng Chongyang Hou Xiao Wang Ting Wang Yu Cao Weijia Zhou Ding Sun Kai Wang Mark H.Rümmeli Gianaurelio Cuniberti Hong Liu Institute for Advanced Interdisciplinary Research(iAIR) Collaborative Innovation Center of Technology and Equipment for Biological Diagnosis and Therapy in Universities of ShandongUniversity of JinanJinan 250022China Institute for Materials Science and Max Bergmann Center of Biomaterials Technische Universität DresdenDresden 01069Germany Center for Advancing Electronics Dresden Technische Universität DresdenDresden 01069Germany Dresden Center for Computational Materials Science Technische Universität DresdenDresden 01062Germany Dresden Center for Intelligent Materials(GCL DCIM) Technische Universität DresdenDresden 01062Germany High-Frequency High-Voltage Device and Integrated Circuits R&D Center Institute of MicroelectronicsChinese Academy of SciencesBeijing 100029China Key Laboratory of Microelectronic Devices&Integrated Technology Institute of MicroelectronicsChinese Academy of SciencesBeijing 100029China Shenzhen Key Laboratory of Nanobiomechanics Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhen 518055China State Key Laboratory of Biobased Material and Green Papermaking Qilu University of TechnologyShandong Academy of SciencesJinan 250353China School of Bioengineering Qilu University of TechnologyShandong Academy of ScienceJinan 250353China Key Laboratory of Modern Power System Simulation and Control&Renewable Energy Technology(Ministry of Education) Northeast Electric Power UniversityJilin 132012China School of Electrical Engineering Northeast Electric Power UniversityJilin 132012China School of Electrical Engineering Weihai Innovation Research InstituteQingdao UniversityQingdao 266000China School of Electrical and Computer Engineering Jilin Jianzhu UniversityChangchun 130118China Institute for Complex Materials Leibniz Institute for Solid State and Materials Research Dresden(IFW Dresden)20 Helmholtz StrasseDresden 01069Germany College of Energy Soochow Institute for Energy and Materials Innovations Soochow UniversitySuzhou 215006China Key L

Human beings perceive the world through the senses of sight,hearing,smell,taste,touch,space,and *** first five senses are prerequisites for people to *** sensing organs upload information to the nervous systems,including the brain,for interpreting the surrounding ***,the brain sends commands to muscles reflexively to react to stimuli,including light,gas,chemicals,sound,and ***,as an emerging two-dimensional material,has been intensively adopted in the applications of various sensors and *** this review,we update the sensors to mimic five primary senses and actuators for stimulating muscles,which employ MXene-based film,membrane,and composite with other functional ***,a brief introduction is delivered for the structure,properties,and synthesis methods of ***,we feed the readers the recent reports on the MXene-derived image sensors as artificial retinas,gas sensors,chemical biosensors,acoustic devices,and tactile sensors for electronic ***,the actuators of MXene-based composite are ***,future opportunities are given to MXene research based on the requirements of artificial intelligence and humanoid robot,which may induce prospects in accompanying healthcare and biomedical engineering applications.

关键词： MXenes sensors actuators gas sensors biosensors tactile sensors sound sensors artificial retina

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