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Frequency-constrained Unit Commitments with Linear Rules Extracted from Simulation Results Considering Regulations from Battery Storage

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Journal of Modern Power systems and Clean Energy 2023年第4期11卷 1041-1052页

作者： Jiawei Zhang Zhichao Chen Ning Zhang Xianfeng Zhang State Key Lab of Power Systems Department of Electrical EngineeringTsinghua UniversityBeijing 100084China Science and Technology Research Institute ChinaThreeGorgesCorporationBeijing100038China

Heavy renewable penetrations and high-voltage cross-regional transmission systems reduce the inertia and critical frequency stability of power systems after ***,the power system operators should ensure the frequency nadirs after possible disturbances are within the set restriction,e.g.,0.20 *** methods utilize linearized and simplified control models to quantify the frequency nadirs and achieve frequency-constrained unit commitments(FCUCs).However,the simplified models are hard to depict the frequency responses of practical units after ***,they usually neglect the regulations from battery *** paper achieves FCUCs with linear rules extracted from massive simulation *** simulate the frequency responses on typical thermal-hydro-storage systems under diverse unit online ***,we extract the rules of frequency nadirs after disturbances merely with linear support vector machine to evaluate the frequency stability of power *** algorithm holds a high accuracy in a wide range of frequency ***,we apply the rules to three typical cases to show the influences of frequency constraints on unit commitments.

关键词： Frequency regulation unit commitment machine learning rule extraction primary frequency regulation energy storage support vector machine

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An Improved Hypervolume-Based Evolutionary Algorithm for Many-Objective Optimization 8th

An Improved Hypervolume-Based Evolutionary Algorithm for Ma...

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8th International Workshop on Advanced Computational Intelligence and intelligent Informatics, IWACIII 2023

作者： Wen, Chengxin Li, Lihua Ma, Hongbin School of Automation Beijing Institute of Technology Beijing100081 China National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing100081 China

ISBN: (纸本)9789819975891

The hypervolume indicator is commonly utilized in indicator-based evolutionary algorithms due to its strict adherence to the Pareto domination relationship. However, its high computational complexity in high-dimensional objective spaces limits its widespread adoption and application. In this paper, we propose a fast and efficient method for approximating the overall hypervolume to overcome this challenge. We then integrate this method into the basic evolutionary computation framework, forming an algorithm for solving many-objective optimization problems. To evaluate its performance, we compared our proposed algorithm with six state-of-the-art algorithms on WFG and DTLZ test problems with 3, 5, 10, and 15 objectives. The results demonstrate that our proposed method is highly competitive in most cases. © 2024, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Evolutionary algorithms

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Recent Developments in Metallic Degradable Micromotors for Biomedical and Environmental Remediation Applications

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Nano-Micro Letters 2024年第3期16卷 1-35页

作者： Sourav Dutta Seungmin Noh Roger Sanchis Gual Xiangzhong Chen Salvador Pané Bradley J.Nelson Hongsoo Choi Department of Robotics and Mechatronics Engineering Daegu Gyeongbuk Institute of Science and Technology(DGIST)Daegu 42988Republic of Korea DGIST‑ETH Microrobotics Research Center DGISTDaegu 42988Republic of Korea Multi‑Scale Robotics Lab Institute of Robotics and Intelligent SystemsETH Zurich8092 ZurichSwitzerland Institute of Optoelectronics State Key Laboratory of Photovoltaic Science and TechnologyShanghai Frontiers Science Research Base of Intelligent Optoelectronics and PerceptionFudan UniversityShanghai 200433People’s Republic of China

Synthetic micromotor has gained substantial attention in biomedicine and environmental ***-based degradable micromotor composed of magnesium(Mg),zinc(Zn),and iron(Fe)have promise due to their nontoxic fuel-free propulsion,favorable biocompatibility,and safe excretion of degradation products Recent advances in degradable metallic micromotor have shown their fast movement in complex biological media,efficient cargo delivery and favorable biocompatibility.A noteworthy number of degradable metal-based micromotors employ bubble propulsion,utilizing water as fuel to generate hydrogen *** novel feature has projected degradable metallic micromotors for active in vivo drug delivery *** addition,understanding the degradation mechanism of these micromotors is also a key parameter for their design and *** propulsion efficiency and life span govern the overall performance of a degradable metallic *** we review the design and recent advancements of metallic degradable ***,we describe the controlled degradation,efficient in vivo drug delivery,and built-in acid neutralization capabilities of degradable micromotors with versatile biomedical ***,we discuss micromotors’efficacy in detecting and destroying environmental ***,we address the limitations and future research directions of degradable metallic micromotors.

关键词： Magnesium Zinc Iron Biodegradable microrobot Biomedical Environmental

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Revitalizing Human-Robot Interaction: Phygital Twin Driven Robot Avatar for China-Sweden Teleoperation

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Chinese Journal of Mechanical Engineering 2023年第5期36卷 1-6页

作者： Huiying Zhou Honghao Lv Ruohan Wang Haiteng Wu Geng Yang State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical EngineeringZhejiang UniversityHangzhou 310027China Hangzhou Shenhao Technology Co. Ltd.Hangzhou 310000China Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou 310000China

1 Introduction Digital Twin(DT)is built and maintained in the digital rather physical realm[1,2].Dynamic DT mirrors the exact state of the physical system by means of multidimensional models describing the behavior of physical entity,and sensors providing the real-time coupling to models[3].Te outbreak of COVID-19 pandemic results in speeding up the virtualization and digitization of the physical entity with the support from ***,quarantine and division led by COVID-19 pandemic make human beings’eyes for the physical interaction become more *** physical world and the digital world are becoming interwoven,which indicates a new opportunity towards phygital *** is so often the question:how can I get closer to my distant companion?How can I extend my service or emotional concern to facilitate interaction in spite of space obstruction?Tese questions deserve thinking as a lesson learned from outbreak of COVID-19 pandemic.

关键词： Twin Robot closer

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Learning to Grasp through World Models with Backward Prediction

Learning to Grasp through World Models with Backward Predict...

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第43届中国控制会议

作者： Shuze Wang Yetian Yuan Yunpeng Mei Jian Sun Gang Wang State Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

In the era of the fourth industrial revolution, the paradigm of intelligent manufacturing has ascended as a pivotal driver for future advancements. The combination of intelligent manufacturing with reinforcement learning offers significant benefits and opportunities. However, applying reinforcement learning in practical settings faces challenges due to sampling ***, model-based reinforcement learning algorithms have demonstrated higher sample efficiency. In this research, we introduce an enhanced version of the Dreamer algorithm and devise a system dedicated to mastering the tasks of picking and placing through the limited data collected. The improved algorithm addresses the issue of low sample efficiency and proves to be exceptionally effective in pixel-based tasks associated with high-dimensional state spaces. To corroborate the efficacy of the proposed algorithm, we evaluate the algorithm on a simulation environment of a production line for robotic arm operations developed in Coppeliasim. The merits of the augmented algorithm are further corroborated through its performance in complex DeepMind control tasks.

关键词： World Model Reinforcement Learning Robot Arm

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Mechanical Properties Inside Origami-Inspired Structures: An Overview

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Applied Mechanics Reviews 2025年第1期77卷 011001页

作者： Yan, Peng Huang, Hailin Meloni, Marco Li, Bing Cai, Jianguo Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China Harbin Institute of Technology Shenzhen518052 China Key Laboratory of C & PC Structures of Ministry of Education National Prestress Engineering Research Center Southeast University Nanjing211189 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China Key University Laboratory of Mechanism Machine Theory and Intelligent Unmanned Systems of Guangdong Habin Institute of Technology Shenzhen518052 China

In recent decades, origami has transitioned from a traditional art form into a systematic field of scientific inquiry, characterized by attributes such as high foldability, lightweight frameworks, diverse deformation modes, and limited degrees-of-freedom. Despite the abundant literature on smart materials, actuation methods, design principles, and manufacturing techniques, comprehensive reviews focusing on the mechanical properties of origami-inspired structures are relatively rare and unsystematic. This review aims to fill this void by analyzing and summarizing the significant studies conducted on the mechanical properties of origami-inspired structures from 2013 to 2023. We begin with an overview that includes essential definitions of origami, classical origami patterns, and their associated tessellated or stacked structures. Following this, we delve into the principal dynamic modeling method for origami and conduct an in-depth analysis of the key mechanical properties of origami-inspired structures. These properties include tunable stiffness, bistability and multistability, metamechanical properties demonstrated by origami-based metamaterials, and bio-inspired mechanical properties. Finally, we conclude with a comprehensive summary that discusses the current challenges and future directions in the field of origami-inspired structures. Our review provides a thorough synthesis of both the mechanical properties and practical applications of origami-inspired structures, aiming to serve as a reference and stimulate further research. © 2025 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Degrees of freedom (mechanics)

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Detection of Stealthy False Data Injection Attacks Against Cyber-Physical systems:A Stochastic Coding Scheme

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Journal of systems Science & Complexity 2022年第5期35卷 1668-1684页

作者： GUO Haibin PANG Zhonghua SUN Jian LI Jun State Key Lab of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Beijing Institute of Technology Chongging Innovation Center Chongqing 401120China Key Laboratory of Fieldbus Technology and Automation of Beijing North China University of TechnologyBeijing 100144China China Industrial Control Systems Cyber Emergency Response Team Beijing 100040China

This paper,from the view of a defender,addresses the security problem of cyber-physical systems(CPSs)subject to stealthy false data injection(FDI)attacks that cannot be detected by a residual-based anomaly detector without other defensive *** detect such a class of FDI attacks,a stochastic coding scheme,which codes the sensor measurement with a Gaussian stochastic signal at the sensor side,is proposed to assist an anomaly detector to expose the FDI *** order to ensure the system performance in the normal operational context,a decoder is adopted to decode the coded sensor measurement when received at the controller *** this detection scheme,the residual under the attack can be significantly different from that in the normal situation,and thus trigger an *** design condition of the coding signal covariance is derived to meet the constraints of false alarm rate and attack detection *** minimize the trace of the coding signal covariance,the design problem of the coding signal is converted into a constraint non-convex optimization problem,and an estimation-optimization iteration algorithm is presented to obtain a numerical solution of the coding signal covariance.A numerical example is given to verify the effectiveness of the proposed scheme.

关键词： Attack detection cyber-physical systems(CPSs) stealthy FDI attacks stochastic coding

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Distributed data-driven consensus control of multi-agent systems under switched uncertainties

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Control Theory and technology 2023年第3期21卷 478-487页

作者： Wenjie Liu Yifei Li Gang Wang Jian Sun Jie Chen National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081China Beijing Institute of Technology Chongqing Innovation Center Chongqing 401120China Department of Control Science and Engineering Tongji UniversityShanghai 201804China

Cooperative control of multi-agent systems(MASs),particularly consensus control,has gained significant attention in the last two decades,thanks to the rapid and sustained development of distributed and networked *** this paper,we present some new results focused on consensus control of a set of unknown linear MASs(whose system matrices are unknown)under unknown switched uncertainties,with an emphasis on distributed data-driven *** proposed controller is end-to-end,designed by solving two data-based semi-definite programs(SDPs),which adjust to the changes of the uncertainty *** approach achieves asymptotic consensus of the MAS provided that the switching is slow enough and the uncertainty is *** illustrate the effectiveness of our proposed method through a numerical example.

关键词： Data-driven control Multi-agent systems Consensus-Switched uncertainties

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Fusing Data- and Model-driven Methods for RUL Prediction in Smart Manufacturing systems 43

Fusing Data- and Model-driven Methods for RUL Prediction in ...

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43rd Chinese Control Conference, CCC 2024

作者： Cao, Hongjie Xiao, Wei Sun, Jian Gan, Ming-Gang Wang, Gang Beijing Institute of Technology National Key Lab of Autonomous Intelligent Unmanned Systems Beijing100081 China Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China

ISBN: (纸本)9789887581581

Remaining useful life (RUL) is of significance in prognostic and health management (PHM) of machinery equipment. The state-of-the-art RUL prediction methods, including data-driven, model-based, and hybrid approaches, suffer from constraints like incomplete/imprecise physical models, uncertainties in degradation processes, and measurement data noise. To address these constraints, a novel hybrid model-and data-driven RUL prediction approach is proposed in this paper, which leverage the strengths of data-based and model-driven approaches. The proposed method integrates an extended Kalman filter to estimate stochastic degradation model parameters and a multi-head attention transformer to extract information from sensor data. A regression token is introduced to seamlessly fuse the deep learning model and the stochastic filtering method. Numerical experiments conducted with real-world rolling bearing degradation datasets underscore the superiority of the proposed approach compared to competing methodologies. © 2024 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Smart manufacturing

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Energy-Consumption Optimization Control for Lunar Rover's Travel with Torque-Distribution-strategy in Rear Wheels

Energy-Consumption Optimization Control for Lunar Rover's Tr...

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2024 IEEE International Conference on Control Science and systems Engineering, ICCSSE 2024

作者： Li, Delun Cao, Jianfei Chen, Yiliang Xie, Zongwu Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China Beijing Institute of Spacecraft System Engineering Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing China

ISBN: (纸本)9798331517199

In anticipation of future extensive lunar surface operations, lunar rovers are required to advance towards higher speeds and improved energy conservation. When traveling at high speeds on the lunar surface, the vehicle's energy expenditure is greatly amplified by the influence of the terrain, particularly in conditions where driving and steering are coupled. This paper proposes an energy-saving control strategy for lunar rovers that employs dynamic rear-axle torque distribution, with the goal of optimizing transient energy consumption during travel. To tackle the challenge of non-differentiable functions within the optimization objectives, we suggest using a zeroth-order gradient optimization method for resolution, dynamically constraining the range of control parameters to fulfill the dynamic torque distribution objectives as needed for the task. The energy-saving control effectiveness of the algorithm has been confirmed through simulation, demonstrating a minimum energy-saving ratio of at least 4%, which increases to over 11% as the speed level rises, offering a valuable technical solution for the energy optimization of lunar rovers. © 2024 IEEE.

关键词： Rovers

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