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15th Annual Conference on Advances in Autonomous Robotics Systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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Development of A 4kV EMP generator based on break over diode

Development of A 4kV EMP generator based on break over diode

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IEEE PES Asia-Pacific Power and Energy engineering Conference (APPEEC)

作者： Qing Liu Hongyan Li Yanzhao Xie State Key Lab. of Electrical Insulation and Power Equipment Xi'an Jiaotong University Xi'an China Department of Electrical and Control Engineering Xi'an University of Science & Technology Xi'an China

ISBN: (纸本)9781479975389

A 4kV compact electromagnetic pulse (EMP) generator based on Break Over Diode (BOD) has been developed in this paper. The EMP generator consists of a high-voltage DC power source, a Marx circuit and the corresponding digital trigger circuit. The output of the EMP generator has the peak voltage of 4kV, the rise time of 300 nanoseconds and the FWHM within 20ns, which can satisfy the design requirements. In addition, some factors which could affect the rise time and pulse width are discussed through computer simulation and field tests. The EMP generator not only can be used as the excitation pulse source of protection devices, but also can be used in experimental investigation of newly emerging field of bio-electrics.

关键词： Pulse generation Capacitors Generators Insulated gate bipolar transistors Voltage control Thyristors Capacitance

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Two-stage heuristic-correction for dynamic reactive power optimization based on relaxation-MPEC and MIQP

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Zhongguo Dianji Gongcheng Xuebao/Proceedings of the Chinese Society of Electrical engineering 2014年第13期34卷 2100-2107页

作者： Ding, Tao Guo, Qinglai Bo, Rui Sun, Hongbin Wu, Wenchuan Zhang, Boming Yao, Zhengyi State Key Lab. of Control and Simulation of Power Systems and Generation Equipments Dept. of Electrical Engineering Tsinghua University Haidian District Beijing 100084 China Midwest ISO St. Paul 55108 United States Baoji Power Supply Bureau Baoji 721004 Shannxi Province China

To achieve a fast approach to the dynamic reactive power optimization model, a mixed integer nonlinear programming model was set up, with consideration of the discrete reactive power equipment operation limit and power grid security constraints, to minimize the transmission losses. Furthermore, a method called heuristic search and variable correction was proposed that for the first stage, the discrete variables are relaxed into continuous ones, which leads to an optimization model with equilibrium constraints. According to the optimal value of relaxed model, a mixed integer quadratic programming model is formulated to minimize the objective of approximation variance, satisfied the discrete switching operation constraints in primary model. For the second stage, the continuous variables are redressed with respect to the determined discrete variables. The impact of adjustment step and operation limit on the optimal solution was fully studied in IEEE 14-bus test system. Besides, the result of IEEE 30, 57, 118 test systems show that an optimal solution can fast be obtained by proposed method, and the precision satisfies the actual engineering, which can also employ the parallel technology. © 2014 Chinese Society for Electrical engineering.

关键词： Integer programming

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Implication of Climate Change Induced Variation in Wind Extremes on Wind Farm in Mountainous Area of Central China—A Case Study of Hengshan

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Energy Procedia 2014年 61卷 2262-2266页

作者： Sheng Su Guangyuan Liu Na Wang Yinhong Li Xianzhong Duan Hunan key laboratory of smart grids operation & control (Changsha University of Sci.& Tech.) Jinpen Road Changsha 410004 China State Key Lab. of Advanced Electromagnetic Engineering & Tech. (Huazhong University of Sci.& Tech.) Luoyu road Wuhan 430074 China

Wind load is critical to the safety of wind turbines. Wind turbines are designed according to the referrence wind speed of 50-year recurrence interval. The climate change induced variation in extremes of wind could impact safety of wind turbines. Meteorological data from Hengshan weather station in central China is investigated. The wind data of 1973–1992 and 1992–2011 are utilized to estimate the extreme wind of 50-year recurrence interval using method of independent storm and generalized pareto distribution model. It is uncovered that although extreme wind of 50-year recurrence interval escalate a little during the two time spans, it will not affect the safety of wind turbines over there notably.

关键词： Wind turbine recurrence interval extreme wind climate change

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Distributed Time Synchronization under Bounded Noise in Wireless Sensor Networks

Distributed Time Synchronization under Bounded Noise in Wire...

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IEEE Annual Conference on Decision and control

作者： Jianping He Xiaoming Duan Peng Cheng Ling Shi Lin Cai The State Key Lab. of Industrial Control Technology Zhejiang University China The Department of Electric and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong The Department of Electrical & Computer Engineering at the University of Victoria BC Canada

ISBN: (纸本)9781467360890

It is important and challenging to achieve accurate time synchronization in wireless sensor networks. Various noises, e.g., communication delay, clock fluctuation and measurement errors, are inevitable and hard to be estimated accurately, which is the main challenge for achieving an accurate time synchronization. In this paper, we focus on how to achieve accurate time synchronization by considering a practical noise model, bounded noise, which may not satisfy any known distributions. The principle that a bounded monotonic sequence must possess a limit and the concept of maximum consensus are exploited to design a novel time synchronization algorithm for the network to achieve accurate synchronization under bounded noise. The proposed algorithm is fully distributed, with high synchronization accuracy and fast convergence speed, and is able to compensate both clock skew and offset simultaneously. Moreover, we prove that the algorithm converges with probability one, which means that time synchronization is achieved completely, and the probability of the complete synchronization converges exponentially.

关键词： Synchronization Noise Estimation Accuracy Clocks Protocols Wireless sensor networks

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Event-Triggered Reinforcement Learning Approach for Unknown Nonlinear Continuous-Time System

Event-Triggered Reinforcement Learning Approach for Unknown ...

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International Joint Conference on Neural Networks

作者： Xiangnan Zhong Zhen Ni Haibo He Xin Xu Dongbin Zhao Department of Electrical Computer and Biomedical Engineering University of Rhode Island Kingston USA College of Mechatronics and Automation National University of Defense Technology Changsha China State Key Lab of Management and Control for Complex Systems Chinese Academy of Sciences Beijing P. R. China

This paper provides an adaptive event-triggered method using adaptive dynamic programming (ADP) for the nonlinear continuous-time system. Comparing to the traditional method with fixed sampling period, the event-triggered method samples the state only when an event is triggered and therefore the computational cost is reduced. We demonstrate the theoretical analysis on the stability of the event-triggered method, and integrate it with the ADP approach. The system dynamics are assumed unknown. The corresponding ADP algorithm is given and the neural network techniques are applied to implement this method. The simulation results verify the theoretical analysis and justify the efficiency of the proposed event-triggered technique using the ADP approach.

关键词： Equations Neural networks Stability analysis Performance analysis Approximation algorithms Approximation methods Heuristic algorithms

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Wearable gait analysis system for ambulatory measurement of kinematics and kinetics

Wearable gait analysis system for ambulatory measurement of ...

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IEEE Sensors

作者： Guangyi Li Tao Liu Linyi Gu Yoshio Inoue Haojie Ning Meimei Han The State Key Laboratory of Fluid Power Transmission and Control Dept. of Mech. Eng. Zhejiang University 310027 Hangzhou China School of Systems Engineering Kochi University of Technology Kochi Japan INSENCO R&D LAB. INC. Tokyo Japan

ISBN: (纸本)9781479901609

A wearable gait analysis system composed of mobile six-axial force plates and multi-axial motion sensors is capable of gait analysis in non-lab.ratory environment. Triaxial ground reaction force (GRF), triaxial joint angle, joint force and joint moment for the three joints of lower limbs were extracted using the measured data. Presently, we have discussed the components of main axis of these experiment results. GRF, joint angle and joint force showed reasonable agreement with the reference system composed of an optical motion analysis system and stationary force plate (average RMSE of 5.5° and correlation coefficient of 0.94). Only the x-axial moments of ankle and hip showed relatively low consistency.

关键词： gait analysis six-axial force plate motion sensor GRF joint angle joint force joint moment

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Study about formation mechanism of red spark discharge of micro-arc oxidation

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Advanced Materials Research 2013年 764卷 21-25页

作者： Pan, Ming Qiang Wang, Yan Gjun Chen, Tao Liu, Ji Zhu Chen, Li Guo Di, Shi Chun Robotics and Microsystems center Soochow University Suzhou 215021 Jiangsu China School of Mechatronics Engineering Harbin Institute of Technology Harbin 150001 Heilongjiang China The State Key Lab of Fluid Power Transmission and Control Zhejiang University Hangzhou 310027 Zhejiang China

ISBN: (纸本)9783037857694

Formation mechanism of the micro-arc oxidation spark discharge is always a research problem;so far there isn't a theoretical model for analyzing the spark discharge formation which is widely recognized. Based on analyzing the reaction phenomena and the coating feature in the different periods of the red spark discharge, the formation model of the red spark discharge was established. The spark discharge formation mechanism is shown that it causes the spark discharge formation that the electron bombards the gas layer wrapping the coating in the infancy of red spark discharge stage;at the later period the area of strong electric field generates the spark discharge where the coating of excessive polarization turns out easily. © (2013) Trans Tech Publications, Switzerland.

关键词： Coatings

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Short-Range detection system with polarized laser and polarization characteristics of typical targets

Short-Range detection system with polarized laser and polari...

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3rd International Conference on Materials Science and Information Technology, MSIT 2013

作者： Yang, Yu Ying Chen, Hui Min Chen, He Jiao Yang, Yu Ying Shao, Yun Feng State Key Lab of Mechatronics Engineering and Control Beijing Institute of Technology Beijing 100081 China Department of Arms Engineering Academy of Armored Force Engineering Beijing 100072 China Nanjing Artillery Academy Langfang Campus Langfang 065000 China

ISBN: (纸本)9783037857700

In view of using only the intensity information of retroreflection light and poor capacity of anti-interference in laser short-range detection, this paper presents a short-range detection method based on laser polarization properties of targets, designs the polarization detection model and constructs the polarization detection system. Through the analysis and the comparison of data which is obtained from the polarization characteristic and intensity characteristic experiments of five different targets, the conclusion that the detection method based on the laser polarization characteristics can effectively distinguish target is achieved. Meanwhile, the analysis of detection model in this paper can also provide certain theory significance for further research on polarization detection. © (2013)Trans Tech Publications, Switzerland.

关键词： Polarization

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Effect of differential modeling on handling and stability

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FISITA 2012 World Automotive Congress

作者： Huang, Rui Zhan, Jun Wu, Jungang China Automotive Engineering Research Institute Co. Ltd. Shanghai China State Key Lab. of Automobile Simulation and Control Jilin University Jilin China

ISBN: (纸本)9783642337949

Research target: There are exists many principle types of limited slip differential. If simplify limited slip differential model to open differential, vehicle handling and stability simulation results will be uncorrected. So the paper's target is to build several principle differentials, prove that: different differential have different effects to handling and stability, different transfer case and drive style have the same effects additionally. Research method: Build several limited slip differential models and vehicle dynamic models, respectively;then, simulate different drive style vehicle with different differential or transfer case on the Steady state Cornering and steering wheel angle step input maneuver;compared the simulation results to prove the conclusion of the paper. Research production: Through research and analyses, build up several principle limited slip differential and transfer case models rightly, and connected with vehicle model perfectly. Innovation: Through vehicle dynamic simulation, it is easy for us to find effects of limited slip differential to handling and stability. Other papers in the field have not cover limited slip differential, transfer case model and vehicle drive style, comprehensively, this paper has researched all of those models, getting some general conclusion at last. Insufficiency: This paper shows different differential models how to affect handling and stability, but lacking of correlation of the corresponding differential and vehicle test. Conclusion: The compared simulation analysis of vehicle with different forms of differential and drive type shows that: limited slip differential in the low friction coefficient road affects more obviously, and have more effects to front-drive vehicle, different differential models will have a significant impact to handling and stability. Remark: The work was completed with the assistance of National 863 plan (serial number is 2012AA111801). © 2013 Springer-Verlag.

关键词： Friction

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