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2017 China International Electrical and Energy Conference, CIEEC 2017

作者： Peng, Xiaosheng Chen, Yuzhu Che, Jianfeng Wang, Bo School of Electrical and Electronic Engineering Huazhong University of Science and Technology Wuhan China State Key Laboratory of Operation and Control of Renewable Energy and Storage Systems China Electric Power Research Institute Beijing China

ISBN: (纸本)9781509062751

Wind Power Prediction (WPP) of regions is beneficial for the department of power grid dispatching to evaluate the wind power output characteristics from a global perspective and to formulate a scientific and reasonable scheduling scheme for power grid. The statistical up-scaling based WPP of regions is one of the most popular methods, which has been widely applied by the industrial companies. The selection of reference wind farms is one of the key factors of the statistical up-scaling method based WPP of regions. However, most of the methods for the selection of reference wind farms are not flexible, which restrict the improvement of the WPP accuracy, as the weather of wind farm sub-regions are always changeable. To overcome the challenge, a dynamic adaptive algorithm based WPP of regions is presented in the paper, in terms of the dynamic selection of reference wind farms, the dynamic selection of the WPP methods based on the classification of the weather types of the wind farms and the dynamic selection of the up-scaling method. The results show that the proposed method is with higher accuracy than the traditional statistical up-scaling based WPP of regions and is applicable for industrial WPP of regional wind farms. © 2017 IEEE.

关键词： Wind farm

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A learning-based decentralized optimal control method for modular and reconfigurable robots with uncertain environment 24th

A learning-based decentralized optimal control method for mo...

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24th International Conference on Neural Information Processing, ICONIP 2017

作者： Dong, Bo Liu, Keping Li, Hui Li, Yuanchun Department of Control Science and Engineering Changchun University of Technology Yan’an Avenue. 2055 Changchun130012 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Zhongguancun East Road. 95 Beijing100190 China

ISBN: (纸本)9783319701356

This paper presents a novel decentralized control approach for modular and reconfigurable robots (MRRs) with uncertain environment contact under a learning-based optimal compensation strategy. Unlike the known optimal control methods that are merely suitable for specific classes of robotic systems without implementing dynamic compensations, in this investigation, the dynamic model of the MRR system is described as a synthesis of interconnected subsystems, in which the obtainable local dynamic information is utilized effectively to construct the feedback controller, thus making the decentralized optimal control problem of the MRR system be formulated as an optimal compensation issue of the model uncertainty. A policy iteration algorithm is employed to solve the Hamilton-Jacobi-Bellman (HJB) equation with a modified cost function, which is approximated by constructing a critic neural network, and then the approximate optimal control policy can be derived. The asymptotic stability of the closed-loop MRR system is proved by using the Lyapunov theory. At last, simulations are performed to verify the effectiveness of the proposed decentralized optimal control approach. © Springer International Publishing AG 2017.

关键词： Neural networks

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Reactive power optimisation design and fault ride through of MMC-PLUS

Reactive power optimisation design and fault ride through of...

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6th International Conference on Renewable Power Generation

作者： Yang, Zhihan Xiang, Wang Yao, Liangzhong Wang, Zhibing Wen, Jinyu State Key Laboratory of Advanced Electromagnetic Engineering and Technology Huazhong University of Science and Technology Wuhan Hubei Province430074 China China Electric Power Research Institute State Key Laboratory of Operation and Control of Renewable Energy and Storage Systems Beijing100192 China

To integrate bulk wind power, a modular multilevel converter (MMC)-PLUS composed of the series connection of line commutated converter (LCC) and MMC is investigated. The system combines the advantages of LCC and MMC, such as high power, high voltage, selfcommutating and direct current (DC) fault blocking capability. However, due to the coupled control of active power and reactive power, much reactive power should be compensated during the operation of LCC. The study makes a detailed analysis and optimisation of reactive power compensation devices taking into account the PQ operation curve of MMC and making full use of the capacity of MMC. In addition, further studies the control strategy of DC fault isolation and system restart under DC fault. The effectiveness of the reactive power configuration and DC fault strategy is verified by simulations in PSCAD/EMTDC. © 2017 Institution of Engineering and technology. All rights reserved.

关键词： Reactive power

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control and operation of a hybrid HVDC integrating wind farm based on SB-MMC and LCC

Control and operation of a hybrid HVDC integrating wind farm...

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6th International Conference on Renewable Power Generation

作者： Sun, Shida Xiang, Wang Yao, Liangzhong Li, Yan Wen, Jinyu State Key Laboratory of Advanced Electromagnetic Engineering and Technology Huazhong University of Science and Technology Wuhan Hubei Province430074 China China Electric Power Research Institute State Key Laboratory of Operation and Control of Renewable Energy and Storage Systems Beijing100192 China

To integrate offshore wind power, a hybrid high-voltage DC (HVDC) system consisting of the self-blocking modular multilevel converter (SB-MMC) and line commutated converter (LCC) is investigated. The SB-MMC is installed at the sending end to support the wind farm and the LCC is installed at the power grid side. The start-up strategy of the hybrid system is studied. To eliminate the transients during start-up, a virtual limiting resistor is introduced for the LCC and a grouping sequentially charging method is proposed for the SB-MMC. The DC fault behaviour and isolation of the hybrid system is analysed. The response during AC fault and commutation failure at LCC is considered. Finally, the feasibility of start-up, DC fault isolation and AC fault ride through of the hybrid HVDC system is verified by simulations in power systems computer-Aided design/electro-magnetic transient design and control. © 2017 Institution of Engineering and technology. All rights reserved.

关键词： Hybrid systems

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AC and DC fault ride through hybrid MMC integrating wind power

AC and DC fault ride through hybrid MMC integrating wind pow...

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6th International Conference on Renewable Power Generation

作者： Cao, Shuai Wang, Xiang Yao, Liangzhong Yang, Bo Wen, Jinyu State Key Laboratory of Advanced Electromagnetic Engineering and Technology Huazhong University of Science and Technology Wuhan Hubei Province430074 China State Key Laboratory of Operation and Control of Renewable Energy and Storage Systems China Electric Power Research Institute Beijing100192 China

To transmit bulk wind power over long distance, using high-voltage direct current (HVDC) transmission technology with overhead lines is a preferred approach. Since direct current (DC) faults are frequent in overhead lines, this study adopts the hybrid modular multilevel converter (MMC) based on half bridge sub-module and full bridge sub-module to integrate wind power. The design of controllers, the alternating current (AC) and DC fault ride-through strategy of the hybrid MMC-HVDC system will be presented. Since the wind power continues injecting into the system during the faults, the damping resistor is adopted to dissipate the surplus wind power. The coordination control of the damping resistor and the chopper resistor inside the wind turbine is designed. Finally, the performance during AC, DC faults ride though is verified by extensive simulations. © 2017 Institution of Engineering and technology. All rights reserved.

关键词： Wind power

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Siamese-ResNet: Implementing Loop Closure Detection based on Siamese Network

Siamese-ResNet: Implementing Loop Closure Detection based on...

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2018 IEEE Intelligent Vehicles Symposium, IV 2018

作者： Qiu, Kai Ai, Yunfeng Tian, Bin Wang, Bin Cao, Dongpu School of Aritificial Intelligence University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Cloud Computing Center Chinese Academy of Sciences Dongguan523808 China School of Software Engineering University of Science and Technology of China HeFei230026 China Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L 3G1 Canada

ISBN: (纸本)9781538644522

Deep learning has made significant breakthroughs in the tasks of image classification, detection, segmentation, etc. However, the application of deep learning in robotics is still scarce. SLAM is a fundamental problem in robotics and loop closure detection is an important part of SLAM. This paper attempts to use supervised learning methods to solve the loop closure detection problem in vision SLAM. We proposed Siamese-ResNet network, which combines Siamese network with ResNet to detect loop closure. To show the effectiveness of Siamese-ResNet, we evaluate Siamese-ResNet and FabMap2.0 on several open published datasets, like TUM SLAM dataset and FabMap SLAM dataset. Compared with FabMap2.0, Siamese-ResNet shows higher accuracy, better robustness and shorter time-consuming. © 2018 IEEE.

关键词： Robotics

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Decentralized adaptive neural network sliding mode position/force control of constrained reconfigurable manipulators

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Journal of Central South University 2016年第11期23卷 2917-2925页

作者：李元春丁贵彬赵博 Department of Control Science and Engineering Changchun University of Technology Department of Control Science and Engineering Jilin University State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

A decentralized adaptive neural network sliding mode position/force control scheme is proposed for constrained reconfigurable manipulators. Different from the decentralized control strategy in multi-manipulator cooperation, the proposed decentralized position/force control scheme can be applied to series constrained reconfigurable manipulators. By multiplying each row of Jacobian matrix in the dynamics by contact force vector, the converted joint torque is obtained. Furthermore, using desired information of other joints instead of their actual values, the dynamics can be represented as a set of interconnected subsystems by model decomposition technique. An adaptive neural network controller is introduced to approximate the unknown dynamics of subsystem. The interconnection and the whole error term are removed by employing an adaptive sliding mode term. And then, the Lyapunov stability theory guarantees the stability of the closed-loop system. Finally, two reconfigurable manipulators with different configurations are employed to show the effectiveness of the proposed decentralized position/force control scheme.

关键词： constrained reconfigurable manipulators position/force control model decomposition decentralized control neural network

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Finding the proper node ranking method for complex networks

arXiv

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arXiv 2018年

作者： Yu, Senbin Gao, Liang Wang, Yi-Fan Institute of Transportation Systems Science and Engineering MOE Key Laboratory of Urban Transportation System Theory and Technology State Key Laboratory of Rail Traffic Control and Safety Center of Cooperative Innovation for Beijing Metropolitan Transportation Beijing Jiaotong University Beijing100044 China Yinchuan Municipal Bureau of Big Data Management and Service Yinchuan750011 China

Ranking node importance is crucial in understanding network structure and function on complex networks. Degree, h-index and coreness are widely used, but which one is more proper to a network associated with a dynamical process, e.g. SIR spreading process, is still unclear. To fill this gap, a, which is extracted from the fitting 1 function (f(x) = 1 − e2a(x−b)+1) of the average number of nodes in each radius of the neighborhood of a node, is proposed. Experiment results which are carried out on twenty real-world networks show that a can classify which of the three measures (degree, h-index and coreness) is more proper to a network in ranking node importance. We also find that [b/3] is a good indicator for forecasting the optimal radius of the neighborhood of a node in ranking node importance for a given network. To the best of our knowledge, it is the first solution of this interesting and open issue. Furthermore, by extending the range of neighborhood where we construct an operator ℋ on of a node, we propose a new method to quantify the importance of a node. The ranking accuracies of most networks can be improved when the radius is increased from 0 to its forecasting optimal radius and the improvement, for the best case, reaches up to 111%. The performances will reduce on half of the networks studied in this paper if we roughly extend the radius of the neighborhood. Our work deepens the understanding of how to find out the proper node ranking method for complex networks. The proposed methods bridge the gaps among network structure and node importance, and may have potential applications in controlling the outbreak of disease, designing of optimal information spreading *** Codes Game theory, economics, social and behavioral sciences Copyright © 2018, The Authors. All rights reserved.

关键词： Complex networks

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Local articulation points in complex networks

arXiv

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arXiv 2018年

作者： Yu, Senbin Gao, Liang Song, Rongqiu Institute of Transportation Systems Science and Engineering MOE Key Laboratory of Urban Transportation System Theory and Technology State Key Laboratory of Rail Traffic Control and Safety Center of Cooperative Innovation for Beijing Metropolitan Transportation Beijing Jiaotong University Beijing100044 China Yinchuan Municipal Bureau of Big Data Management and Service Yinchuan750011 China

An articulation point (AP) is any node whose removal increases the number of connected components of a graph. There is no doubt that this kind of node which occupies a non-ignorable fraction of real-world networks plays a key role in ensuring the connectivity. However, we should not thus neglect the impacts of non-APs nodes. In this paper, we define a local AP (LAP) whose removal will increase the number of connected components within its r-step neighborhood. Through investigating the fraction of LAPs in forty-five real networks, we find a critical proportion Scr, which is equal to 0.5 (S = r/D, D is the diameter of a network), and this result can also be turned out in ER networks. In addition, we present a unique advantage of LAPs in dismantling networks under the process of targeted attack, compared with APs, which provide another way of thinking to improve the calculation efficiency of APs and design better targeted attack strategy of network *** Codes Game theory, economics, social and behavioral sciences Copyright © 2018, The Authors. All rights reserved.

关键词： Complex networks

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An Integrated Design for Batch Process using Optimal Average Profit control with Unfixed Terminal Time 35

An Integrated Design for Batch Process using Optimal Average...

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第35届中国控制会议

作者： LU Pengcheng XIE Lei CHEN Junghui SU Hongye Institute of Cyber-Systems and Control National Key Laboratory of Industrial Control TechnologyZhejiang University Department of Chemical Engineering Chung Yuan Christian University

ISBN: (纸本)9781509009107

Batch processes are flexible to meet the needs of the fluctuated market and have become very important in the modern chemical ***-level control structure is widely adjusted in the operation of batch *** higher level is the end-point property control and the low level tracks the time-varying reference trajectories designed by the high *** twolevel control structure does not take the dynamics of the low level into consideration in the high level that the low level cannot track the given trajectories perfectly because of model-plant ***,this structure does not take the duration of the batch process into consideration which may lead to economic loss in the *** integrated control structure is proposed in this paper to deal with the drawbacks of two-level ***,different from the traditional objective of the high level,it is a pure economic objective in the integrated control structure using average profit *** order to gain higher economic performance,the predictive horizon is relaxed here to achieve larger feasible region.

关键词： Integrated Average Unfixed On-line Nonlinear Optimization

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