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arXiv 2024年

作者： Liu, Wei Zhu, Jiaqi Zhuo, Guirong Fu, Wufei Meng, Zonglin Lu, Yishi Hua, Min Qiao, Feng Li, You He, Yi Xiong, Lu School of Automotive Studies Tongji University Shanghai201804 China Department of Civil and Environmental Engineering University of California Los Angeles Los AngelesCA United States Shanghai Gongji Technology Co. Ltd Shanghai201804 China Department of Mechanical Engineering The University of Birmingham B15 2TT United Kingdom RWTH Aachen University Aachen52062 Germany State Key Laboratory of Surveying Mapping and Remote Sensing Wuhan University Wuhan China Intelligent Transportation System Research Center Wuhan University of Technology Wuhan China

Intelligent transportation systems (ITS) localization is of significant importance as it provides fundamental position and orientation for autonomous operations like intelligent vehicles. Integrating diverse and complementary sensors such as global navigation satellite system (GNSS) and 4D-radar can provide scalable and reliable global localization. Nevertheless, multi-sensor fusion encounters challenges including heterogeneity and time-varying uncertainty in measurements. Consequently, developing a reliable and unified multi-sensor framework remains challenging. In this paper, we introduce UniMSF, a comprehensive multi-sensor fusion localization framework for ITS, utilizing factor graphs. By integrating a multi-sensor fusion front-end, alongside outlier detection&noise model estimation, and a factor graph optimization back-end, this framework accomplishes efficient fusion and ensures accurate localization for ITS. Specifically, in the multi-sensor fusion front-end module, we tackle the measurement heterogeneity among different modality sensors and establish effective measurement models. Reliable outlier detection and data-driven online noise estimation methods ensure that back-end optimization is immune to interference from outlier measurements. In addition, integrating multi-sensor observations via factor graph optimization offers the advantage of "plug and play". Notably, our framework features high modularity and is seamlessly adapted to various sensor configurations. We demonstrate the effectiveness of the proposed framework through real vehicle tests by tightly integrating GNSS pseudorange and carrier phase information with IMU, and 4D-radar. © 2024, CC BY.

关键词： Global positioning system

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Research on the control strategy of hybrid energy storage cooperative operation based on VSG control

Research on the control strategy of hybrid energy storage co...

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International Conference on Power system technology (POWERCON)

作者： Jingsen Yu Jianhui Meng Kairang Wang Hui Liu Di Liu State Key Laboratory Of Alternative Electrical Power System With Renewable Energy Sources (NCEPU) North China Electric Power University(Baoding) (Ministry of Education of the People’s Republic of China) Baoding China Grid-Connected Operation Technology For Wind-Solar-Storage Hybrid System State Grid Corporation Key Laboratory (NCEPRI) North China Electric Power Research Institute (State Grid Jibei Electric Power Company Limited) Beijing China

ISBN: (纸本)9781665407380

The large number of energy storage sources in the grid reduces the rotational inertia of the system, and the virtual synchronous generator (VSG) technology, as an effective way to solve this problem, has significant advantages in terms of its flexible and adjustable virtual inertia, but its flexible adjustment must meet the constraints of a variety of constraints. In this paper, we propose a flexible virtual inertia control strategy under different beam constraints, which takes into account the charge state of the energy storage unit and the adjustable power per unit time of the system. A two-end system model with optical storage VSG units is built. Finally, the effectiveness and practicality of the proposed virtual inertia control strategy under different constraints are verified by MATLAB/Simulink.

关键词： Performance evaluation Power system dynamics Control systems Synchronous generators Mathematical models Hybrid power systems Adaptive optics

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A Path Planning Algorithm of Spray Robot based on 3D Point Cloud

A Path Planning Algorithm of Spray Robot based on 3D Point C...

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International Conference on Communications, Information system and Computer Engineering (CISCE)

作者： Jubo Yang Minxiu Kong Rundong Wang School of Mechatronics Engineering Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin China

The following topics are dealt with: learning (artificial intelligence); feature extraction; neural nets; diseases; convolutional neural nets; computer aided instruction; power engineering computing; teaching; educati... 详细信息

ISBN: (数字)9781728197616

ISBN: (纸本)9781728197623

关键词： Three-dimensional displays Spraying Robot sensing systems Robots Robot kinematics Covariance matrices Gravity

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Predictive Thrust Control Without Optimal Weighting Factor Based on Robust Primary Flux Constraint for Linear Induction Machine 13

Predictive Thrust Control Without Optimal Weighting Factor B...

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13th International Symposium on Linear Drives for Industry Applications, LDIA 2021

作者： Tang, Lei Xu, Wei Wang, Xiaoguang Xiao, Xinyu Dong, Dinghao Zhang, Yunhong School of Electrical Engineering School of Management Xi'an Jiaotong University Xi'an China School of Electrical and Electronic Engineering Huazhong University of Science and Technology Wuhan China Hubei Key Laboratory for High-Efficiency Utilization of Solar Energy and Operation Control of Energy Storage System Hubei University of Technolog Wuhan China State Grid Chongqing Qinan Electric Power Supply Company Chongqing China

ISBN: (纸本)9781728172101

The model predictive thrust control (MPTC) is recognized as an effective approach for a linear induction machine (LIM). The flexibility of MPTC can achieve more control targets. However, the weighting factors in the multiple control objectives need to be tuned. It can greatly increase the complexity of controller design. Based on the robust primary flux constraint and fuzzy probability, a novel predictive thrust control without optimal weighting factor is proposed in this paper. As a result, weighting factor selection is avoided, which can reduce computation time, and increase dynamic response. At last, the performance of the proposed method has been verified by comprehensive simulation results. © 2021 IEEE

关键词： Model predictive control

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High impedence ground fault identification method in medium voltage networks based on experiments 16

High impedence ground fault identification method in medium ...

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16th IET International Conference on AC and DC Power Transmission, ACDC 2020

作者： Liu, Hongwen Ran, Jiaquan Yang, Qing Wang, Ke He, Lewei State Key Laboratory of Power Transmission Equipment and System Security and New Technology Chongqing University Chongqing400044 China Electric Power Research Institute Yunnan Power Grid Co. Ltd. Kunming650217 China

ISBN: (纸本)9781839533914

The working environment of medium voltage networks is complicated and the reliability of fault discrimination is relatively high. However, high impedance ground fault induced by a falling tree or transmission line grounding has relatively insignificant diagnostic efficiency. In order to improve the efficiency of high impendence ground fault identification, an improved identification structure is proposed. Single-phase ground fault experiments were carried out on 10kV test platform, and several fault conditions were taken into consideration. Basing on experimental results acquired, the characteristics of the fault current and the pattern of three-phase voltage were analysed. The structure of high impendence ground fault identification based on support vector machine is established. It is an improvement on high impendence ground fault identification. © 2020 Institution of Engineering and technology. All rights reserved.

关键词： Support vector machines

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Control of the two-wheeled inverted pendulum (TWIP) robot moving on the continuous uneven ground

Control of the two-wheeled inverted pendulum (TWIP) robot mo...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Zhou, Haitao Li, Xu Feng, Haibo Li, Enbo Ding, Pengchao Zhai, Yanwu Zhang, Songyuan Fu, Yili Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province150001 China

ISBN: (纸本)9781728163215

Uneven terrain is common in natural environment. The TWIP robot has demonstrated its rapid movement ability in even ground in previous works. This paper explores control of the TWIP robot in the continuous uneven ground except the step case. The sinusoidal function and the piece-wise linear function type ground surface are taken as an example to explore motion characteristics of robots on complex terrain. As for the robotic system, continuous or step changes of slope are the main types of disturbance to it. To cope with these disturbance, a Sliding Mode Control (SMC) is used to design the nominal controller due to its insensitivity to uncertainty. Then, the Extended Kalman Filter (EKF) is adopted to estimate the slope of unknown terrain without any ground information from sensors but according to motion state of robot and the Equilibrium Point Estimation (EPE) is then achieved based on the obtained slope angle. In simulation, the TWIP robot moves on these two types of uneven ground surface to track the reference position or velocity trajectory. The comparative experimental results have demonstrated that SMC combined with the EPE method can enable TWIP robot to locomote on some limited uneven ground with higher stability and dynamic performance, compared to the single LQR and the single SMC method. Also, the proposed algorithm has been conduted successfully on the WIP-Bot robot to travel upward and downward slope. © 2019 IEEE.

关键词： Sliding mode control

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Study on particle size distribution of debris in electrical discharge machining of deep narrow slots

Study on particle size distribution of debris in electrical ...

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20th CIRP Conference on Electro Physical and Chemical Machining, ISEM 2020

作者： Zhang, Rui-Xue Chen, Mo Xi, Xue-Cheng Yan, Xiao-Shen Zhao, Wan-Sheng State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University 800 Dongchuan RD Shanghai200240 China Department of Production Engineering KTH Royal Institute of Technology Stockholm10044 Sweden

Deep narrow slot (DNS) structures can be used in heat-dissipating fins of die-casting molds, grooves in flexible joints of gyros, and slots for inserts in tire molds. However, debris accumulation in the gap makes EDM process unstable and time-consuming, resulting in that slots with high aspect ratio are difficult to achieve. Various methods, such as flushing and electrode jumping, have been used to help evacuate debris and have achieved good results. Nevertheless, these methods treat debris with no distinction under the fact that some debris can naturally leave the gap with bubbles and fluid while the others cannot. This study aims to find out the difference between the easy-to-leave debris and the difficult-to-leave debris from the perspective of the particle size distribution of debris. Factors including currents, machining depths and electrode thicknesses, are studied on their influences on the particle size distribution of debris. In this paper, a laser particle analyzer (LPA) is used to obtain the statistical particle size distribution of debris, while a scanning electronic microscopy is used to observe and record the particle morphology and measure the particle diameters of partial debris. The knowledge of the difference in debris may help seek targeted ways to expel easy-to-leave debris and difficult-to-leave debris. © 2020 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (http://***/licenses/by-nc-nd/4.0/) Peer-review under responsibility of the scientific committee of the ISEM 2020

关键词： Particle size analysis

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Design and simulation of an accelerometer allocation scheme for six-dimensional acceleration sensor

Design and simulation of an accelerometer allocation scheme ...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Wu, Zhiwei Sun, Yongjun Ni, Fenglei Liu, Yiwei Liu, Hong Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province China China

ISBN: (纸本)9781728163215

In this paper, a novel spatial geometry of sixdimensional acceleration sensor(SDAS) is designed. And the sensor equation is calculated. The reliability of SDAS is improved by adding redundant line accelerometer. The GDOP(Geometric Dilution of Precision) index used in satellite navigation is introduced into SDAS for configuration evaluation. Compared with the classic cube configuration, the three indexes have improved significantly. The relationship between the output error of the SDAS and the installation error of the linear accelerometer is analyzed theoretically. Compared with the proposed layout structure using 12 accelerometers, it has obvious advantages. © 2019 IEEE.

关键词： Accelerometers

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N -Benzyl-R-2,C-6-Diphenylpiperidines: Synthesis, Spectral Characterization, Conformational Analysis and Evaluation of Biological Activities

SSRN

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SSRN 2024年

作者： Chandrika, P. Sethuvasan, S. Santhosh, Pugazh Kesavan, M. Aswathy, K.A. Ganesh, M.R. Ponnuswamy, Subbu Tamil Nadu Coimbatore641 018 India Venkatasai Life Science 5-5-35/207B Prashant Nagar Kukatpally Telangana Hyderabad500072 India State Key Laboratory of Drug Research Shanghai Institute of Materia Medica Chinese Academy of Sciences 555 Zuchongzhi Road Shanghai201203 China University of Chinese Academy of Sciences No. 19A Yuquan Road Beijing100049 China Molecular and Immunobiology Laboratory Interdisciplinary Institute of Indian System of Medicine SRM Institute of Science and Technology Tamil Nadu Kattankulathur603 203 India Department of Biotechnology School of Bioengineering SRM Institute of Science and Technology Tamil Nadu Kattankulathur603203 India Department of Chemistry SRM Institute of Science and Technology Tamil Nadu Kattankulathur603203 India

Six new N-benzyl-2,6-diphenylpiperidines 13-18 have been synthesized. The newly synthesized compounds are characterized using mass, IR, 1D NMR and selected compounds are characterized by 2D (1H-1H, COSY and 1H-13C, HSQC) NMR spectra. The NMR spectral data suggest that the compounds 13-18 exhibit a preference for chair conformation. Invitro anti-bacterial evaluation reveals that when compared to standard drug gatifloxacin, the compounds 14, 17 & 18 show greater efficacy against all the four tested bacteria and these compounds may act as highly effective drugs. All the compounds show less activity against the tested fungi. Compounds 13, 16&18 show the strongest radical scavenging activity out of the six new compounds against DPPH. Against the human leukemic THP-1 cell line, compounds 13, 16 & 18 exhibit the highest cytotoxicity in MTT assay. The ROS scavenging activity was determined for the compounds 13, 16& 18 and the order of ROS scavenging efficiency is 18 > 16 > 13. Based on the biological evaluation, compound 18 can be utilized as a promising drug candidate against pathogenic bacterial infection and cancer treatment. © 2024, The Authors. All rights reserved.

关键词： Nuclear magnetic resonance spectroscopy

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Compliance control of the hydraulic-driven single legged robot

Compliance control of the hydraulic-driven single legged rob...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Fan, Yixiao Li, Xu Feng, Haibo Zhang, Songyuan Zhang, Chengbo Fu, Yili Harbin Institute of Technology State Key Laboratory of Robotics and System Harbin Heilongjiang Province150001 China

ISBN: (纸本)9781728163215

This paper presents the force control strategies and a kind of compliance control strategies of the hydraulic- driven unit (HDU) in the legged robots. The model of HDU is established and the transfer function of the HDU force control system is given. The analysis of the force control strategies is introduced according to the characteristic of the HDU system. Based on the force control strategy called velocity feedback control strategy which performs the best, the virtual model control strategy which is a kind of compliance control strategy is presented to enhance the adaptability of the legged robot. Finally, the experiments are taken on the HDU experiment platform to test the performance of the force control strategies and the compliance control strategy. The landing buffer experiments are taken on the single leg robot to verify the effectiveness of the compliance control strategy. In the landing buffer experiments, the impact force of the single leg robot's knee HDU is about 0.33 time of what it is without the compliance control strategy while landing. © 2019 IEEE.

关键词： Compliance control

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