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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Pingyu Xiang Ke Qiu Danying Sun Jingyu Zhang Qin Fang Xiangyu Mi Shudong Wang Mengxiao Chen Yue Wang Rong Xiong Haojian Lu State Key Laboratory of Industrial Control and Technology and Institute of Cyber-Systems and Control Zhejiang University Hangzhou China State Key Laboratory of Electrical Insulation and Power Equipment School of Electrical Engineering Xian Jiaotong University Research Center for Humanoid Sensing Zhejiang Lab 311100 Zhejiang Lab Nanhu Headquarters Hangzhou P.R. China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Magnetic continuum robots are subject to external magnetic fields and deformed remotely, simplifying the robot’s transmission mechanism and providing it with significant potential for miniaturization and operational flexibility. However, modeling magnetic field distribution generated by permanent magnets is complex and requires time-consuming pre-calibrations. Moreover, it is highly susceptible to environments with ferromagnetic materials, posing significant challenges for the control of magnetic continuum robots. In response, we propose an approach that does not overly focus on the magnetic field distribution but instead directly learns the inverse kinematics of magnetic continuum robots end-to-end. Binding the robot’s configuration to the pose of external magnets, precise control of continuum robots is facilitated. Additionally, we leverage teleoperation techniques to broaden the applicability of this method. By mounting magnets on a robotic arm and directly utilizing the target pose of the external magnet predicted by a multi-layer perceptron (MLP), we achieve the operation and navigation of magnetic continuum robots in complex environments. Experiments demonstrate that the mean control accuracy along the robot using our learning-based inverse kinematics is about half of the robot’s diameter.

关键词： Uncertainty Navigation Kinematics Manipulators Permanent magnets Continuum robots Magnetic fields Robots Intelligent robots Magnetic susceptibility

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Adaptability Study on Out-of-Step Separation Devices of Complex Multiinfeed AC/ DC power systems

Adaptability Study on Out-of-Step Separation Devices of Comp...

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2021 International Conference on power System Technology, powerCON 2021

作者： Chen, Yong Chang, Dongxu Zhu, Yihua Zhu, Yukun Guo, Hengdao Li, Shengnan Electric Power Research Institute Ltd. of Yunnan Power Grid Co. KunMing China Guangdong Provincial Key Laboratory of Intelligent Operation and Control for New Energy Power System China CSG Key Laboratory for Power System Simulation Electric Power Research Institute China Southern Power Grid Guangzhou China China Southern Power Grid State Key Laboratory of HVDC Electric Power Research Institute Guangzhou China

ISBN: (纸本)9781665407373

The power flow distribution of the GuangxiGuangdong AC transmission section (GX-GD section) has changed greatly as Kunliulong and Lugaozhao three-terminal HVDC projects have been put into operation, and it is necessary to study on the adaptability of out-of-step separation devices. Based on the real primary system, an equivalent system model is proposed in this paper which can accurately locate the oscillation center and calculate the minimum voltage at the measuring point. Dynamic real-time simulation is carried out for various types and different principles of out-of-step separation devices. Typical problems such as unreliable out-of-step locking criterion in the fault process and device refusing to move when the oscillation center is located at the device installation point are found and solved At the same time, based on the power grid panoramic simulation test technology and the actual configuration of out-of-step separation devices, the problems in the coordination of out-of-step devices near the GX-GD section are comprehensively studied, and the suggestions of putting the wide area out-of-step separation system into operation as soon as possible are put forward. The improvement and optimization measures proposed in this paper have been applied in the real system. © 2021 IEEE.

关键词： Electric load flow

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An Optimization-based Coordination of Multi-lane Platoons of Connected and Automated Trucks for Reducing Travel Time

An Optimization-based Coordination of Multi-lane Platoons of...

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International Conference on Intelligent Transportation

作者： Jiaiq Liu Nasser L. Azad Ting Qu State Key Laboratory of Automotive Simulation and Control Jilin University Changchun PR China Department of Systems Design Engineering University of Waterloo Waterloo ON Canada National Key Laboratory of Automotive Chassis Integration and Bionics Jilin University Changchun PR China

This research proposes a new strategy for a multi-lane truck platoon with tasks over long distances to merge into one lane for better traffic management and travel time optimization. The increasing demand for goods transportation and the growing concern over environmental issues have driven the need for more efficient and sustainable truck operations. We propose a new approach for automatically merging multi-lane truck platoons on public roads. When there is slow traffic ahead in some lanes, the platoon will merge into the fastest lane, reducing the travel time while ensuring safety and energy consumption by choosing an optimal gear. By the proposed approach, we can achieve more time-efficient truck operation and contribute to a more sustainable and intelligent transportation system. Based on our simulation results for two different situations, the platoon's travel time was reduced by up to 13% for the same path using our devised method. This study can serve as a foundation for further research into developing new technologies and solutions for enhancing the potential of truck platoon merging in multi-lane environments.

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Performance-Aware control of Modular Batteries For Fast Frequency Response

arXiv

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arXiv 2025年

作者： He, Yutong Ruan, Guangchun Zhong, Haiwang State Key Laboratory of Power System Operation and Control Department of Electrical Engineering Tsinghua University Beijing100084 China Lab for Information and Decision Systems Massachusetts Institute of Technology CambridgeMA02139 United States

Modular batteries can be aggregated to deliver frequency regulation services for power grids. Although utilizing the idle capacity of battery modules is financially attractive, it remains challenging to consider the heterogeneous module-level characteristics such as dynamic operational efficiencies and battery degradation. In addition, real-time decision making within seconds is required to enable fast frequency response. In order to address these issues, this paper proposes a performance-aware scheduling approach for battery modules to deliver fast frequency response (FFR) support. In particular, the conduction loss and switching loss of battery packs as well as converters are captured within a mix-integer quadratic constrained program (MIQCP). The cycle-based aging model identifies the aging cost of battery modules during frequent cycling by introducing the aging subgradient calculation and linearization. Case studies based on real-world battery data show that the proposed scheduling approach can effectively reduce power loss cost by nearly 28%-57% and battery aging cost by 4%-15% compared to conventional methods, which can also enhance the SoC balance. Copyright © 2025, The Authors. All rights reserved.

关键词： Battery management systems

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Research on Partition Method of Distributed Photovoltaic Cluster Based on Modularity Index and Absorption Ability

Research on Partition Method of Distributed Photovoltaic Clu...

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Smart Grids and Energy systems (SGES), International Conference on

作者： Tao Meng Xiangyu Lv Chenggang Li Dexin Li Yifu Zhang Xiangdong Meng Electric Power Research Institute State Grid Jilin Electric Power Co. Ltd. Key Laboratory of Modern Power System Simulation and Control & Renewable Energy Technology Ministry of Education School of Electrical Engineering Northeast Electric Power University Changchun Jilin China

To achieve large-scale renewable energy, grid friendly coordination and the need to maximize grid-connection and consumption functions, the clustering method has become a forward-looking solution for distribution network planning, construction and dispatching control. In this paper, the modularity index and active power balance index based on electrical distance are taken as the comprehensive classification index. Then genetic algorithm is introduced to divide the distributed PV cluster in the distribution network. Finally, a 10kV distribution system is taken as an example, and the distributed photovoltaic cluster planning is simulated and analyzed, which proves that the distributed photovoltaic cluster division method is effective.

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Multi-objective Optimal Allocation Strategy for Distributed Energy Storage in Distribution Networks Adapted to High Penetration Distributed Photovoltaics

Multi-objective Optimal Allocation Strategy for Distributed ...

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power and Electrical Engineering (ACPEE), 5th Asia Conference on

作者： Cuiping Li Yanli Wang Yiming Chen Xuesong Qi Yunjing Liu Qian Fang Shengyuan Cui Yuming Wang Key Laboratory of Modern Power System Simulation and Control & Renewable Energy Technology Northeast Electric Power University Jilin China Science and Technology Section State Grid Shanghai South Power Supply Company Shanghai China Power dispatching and control center Jilin Power Supply Company Jilin China Science and Technology Section Jilin Power Supply Company Jilin China Ministry of Science and Technology Jilin Power Supply Company Jilin China

ISBN: (数字)9798350309638

ISBN: (纸本)9798350309645

High percentage of photovoltaic gain connect to the wire line, so that the electricity grid from power distribution of the receiving end of the network into a set of production, storage, distribution of multi-source complex new network, the distribution network security operation and new energy consumption pressure increases. In response to the above, this paper puts forward the distributed ES multi-objective optimization configuration strategy of distribution network adapted to the high penetration rate distributed PV. And through a county power grid practical example to certify that the ES configuration approach proposed can effectively mitigate the impact of a high proportion of PV accessed, and it can reduce the abandonment of light.

关键词： Photovoltaic systems Wires Distribution networks Production power grids Regulation Resource management

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ANALYSIS OF THE MULTI-MODE OSCILLATIONS OF OFFSHORE WIND FARMS 18

ANALYSIS OF THE MULTI-MODE OSCILLATIONS OF OFFSHORE WIND FAR...

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18th International Conference on AC and DC power Transmission, ACDC 2022

作者： Fan, Yupeng Dong, Wenkai Li, Peng Qin, Yi Jiang, Haojie Xie, Xiaorong Datang Guoxin Binhai Offshore Wind Power Generation Co. Ltd Jiangsu Province Yancheng224000 China State Key lab of Control and Simulation of Power Systems and Generation Equipment Dept. of Electric Engineering Tsinghua University Beijing100084 China China Datang Corporation Science and Technology General Research Institute Ltd Beijing100040 China

ISBN: (数字)9781839537615

ISBN: (纸本)9781839537615

Multi-mode oscillation (MMO) is more prone to happen in the offshore wind farm (OWF) than the onshore, which seriously impacts the safe operation of the system. In this paper, the mechanism for the MMO of the OWF is analytically studied. First, the impedance model (IM) of a grid-connected OWF is derived with the AC submarine cable modelled as a distributed parameter circuit (DPC). Second, since the DPC of N n sections can be approximately seen as composed of N identical capacitances in daisy-chain connection, based on the consistent control theory for homogeneous systems, the IM of the DPC is decoupled into N subsystems, each of which is composed of a x circuit. The IM of the DPC is the weighted sum of the IMs of the N subsystems. As each x circuit has one tip (jump between ±90°) in the amplitude(phase)-frequency characteristics (APFC), the IM of the cable will have N tips (jumps) in the APFC and is much more prone to intersect with the IM of the OWF. Thus, resonance is more likely to happen at multiple frequency points. Finally, effectiveness of the methods proposed and conclusions drawn is validated via study cases. © ACDC 2022. All rights reserved.

关键词： Offshore wind farms

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Research on Multi-objective Active power Optimization simulation of Novel Improved Water Cycle Algorithm

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IAENG International Journal of Applied Mathematics 2021年第1期51卷 1页

作者： Chen, Gonggui Han, Ying Zhang, Zhizhong Zeng, Xianjun Li, Shuaiyong Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China Chongqing Key Laboratory of Complex Systems and Bionic Control Chongqing University of Posts and Telecommunications Chongqing400065 China Key Laboratory of Communication Network and Testing Technology Chongqing University of Posts and Telecommunications Chongqing400065 China State Grid Chongqing Electric Power Company Chongqing400015 China

Water cycle algorithm (WCA) is a heuristic algorithm proposed in recent years. To overcome the insufficiency of standard WCA algorithm in solving the non-convex optimal power flow (OPF) problems, the multi-objective novel improved water cycle algorithm (MONIWCA) is proposed in this paper. The evaporation process is improved in WCA by introducing evaporation rate and the normal distribution optimization mechanism is used to mutate the individual position. The modified WCA also adopts a constraint-based strategy to ensure zero constraint violations. In order to obtain a high-quality Pareto optimal solution set (POS) and select the best compromise solution (BCs), a global ranking strategy is proposed. The global ranking strategy includes the novel constraint handling method, the rank index calculation and the BCs on fuzzy satisfaction theory to deal with the complex constraints of the optimization problem. The MONIWCA has been simulated under the constraints of zero violations on IEEE 30, IEEE 57 and IEEE 118 standard test systems, including six dual-objective cases and one tri- objective case. The simulation results are compared with the multi-objective particle swarm optimization (MOPSO). The results show that the improved method can effectively solve the MOOPF problem, not only to obtain a uniform continuous Pareto solution set but also to achieve a better compromise solution. In addition, the two performance indicators of the generational distance (GD) and the spacing (SP) also show that the MONIWCA algorithm has uniform distribution, high convergence and strong stability. © 2021, IAENG International Journal of Applied Mathematics. All Rights Reserved.

关键词： Particle swarm optimization (PSO)

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Construction of Vehicle Driving Conditions Based on Rain flow Counting Theory 6

Construction of Vehicle Driving Conditions Based on Rain flo...

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6th CAA International Conference on Vehicular control and Intelligence, CVCI 2022

作者： Wang, Yunyi Lin, Jiamei Wang, Chao Guo, Jinyan Liu, Sihan Song, Xincheng School of Mechanical and Aerospace Engineering Key Laboratory of Cnc Equipment Reliability Jilin Changchun China Jilin University State Key Laboratory of Automotive Simulation and Control Jilin Changchun China Changchun Power Supply Company Construction Department Jilin Changchun China Engineering Training Center Jilin University Jilin Changchun China School of Mechanical and Aerospace Engineering Jilin Changchun China

ISBN: (数字)9781665453745

ISBN: (纸本)9781665453745

Vehicle driving conditions are used to describe the driving characteristics of a vehicle in a specific traffic environment. which can provide an important reference for vehicle fuel consumption and pollutant control. This paper presents a description of automotive vehicle working conditions based on rain flow counting theory. By using principal component analysis, the main characteristic parameters are obtained to represent the total sample, and the driving speed mapping method based on the rain flow counting theory is used to construct the vehicle driving condition curve that conforms to the urban characteristics. © 2022 IEEE.

关键词： Principal component analysis

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MOF/PDMS Hybrid Nanofilm-based QCM for VOC Selective Virtual Sensing in High-Humidity Environments

MOF/PDMS Hybrid Nanofilm-based QCM for VOC Selective Virtual...

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International Conference on Solid state Sensors and Actuators (TRANSDUCERS)

作者： Mengyao Fu Dongsheng Li Chenyang Gao Jin Xie Dibo Hou Yunqi Cao College of Control Science and Engineering Zhejiang University Hangzhou PR China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou PR China

As one of the most promising gravimetric gas sensors, the quartz crystal microbalance (QCM) sensor can effectively detect volatile organic compounds (VOCs) with high selectivity based on the virtual sensor array (VSA) technique. However, the susceptibility of the chemical sensing material to water molecules limits the applications in high-humidity environments such as urban underground pipeline galleries. Herein, we propose a novel QCM VOC sensor coated with a hydrophobic sensing layer of MOF/PDMS hybrid nanofilm. A modified selective virtual sensing (SVS) technique is also proposed to create high dimensional vectors by combining the resonant signal features and lumped parameters, which can be used to generate distinctive features under various concentrations of 5 different VOCs. Experimental results show that the sensitivity to relative humidity (RH) has been lowered to nearly 25% with the help of the few nanometer-thick PDMS coating. The presented work may enable qualitative and quantitative analysis of VOC compounds in the high RH environment.

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